1.
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Rotation of the servo motor is transmitted through
the input gear to the spur gears, and the speed is reduced accordingly
with the gear ratio between the input gear and the spur gears <Fig.1>.
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Fig. 1 First
reduction section
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2.
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Since they are directly connected, the crankshafts
have the same rotational speed as the spur gears <Fig.1>.
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3.
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Two RV gears are mounted around the needle bearings
on the eccentric region of the crankshaft. (In order to balance the
equal amount of force, two RV gears are mounted) <Fig.2>.
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4.
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When the crankshafts rotate, the two RV gears mounted
on the eccentric sections also revolve eccentrically around the input
axis (crank movement) <Fig.2>.
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5.
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There are pins arrayed in a constant pitch in the grooves
inside the case. The number of pins is just one larger than the number
of RV teeth.
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Fig. 2 Crankshaft
section
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6.
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As the crankshafts revolve one complete rotation, the
RV gears revolve eccentrically one pitch of a pin (crank movement),
with all the RV teeth in contact with all of the pins.
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7.
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The rotation is then output to the shaft (output shaft)
via the crankshaft so that the crankshaft rotation speed can be reduced
in proportion to the number of pins. |
8.
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The total reduction ratio is the product of the first
reduction ratio multiplied by the second reduction ratio.
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