Patent ID: 11906026
Assignee: C AND M ROBOTICS CO., LTD.
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F  B | IPC B  F

Claim 4:
5. A frictional wave reducer comprising:
a wave generator having a conic pressurizing face on the outermost side;
a toothless flex spline having a conic friction tube in which the wave generator is accommodated with the conic pressurizing face inscribed in the conic friction tube;
a toothless circular spline accommodating the toothless flex spline and having an internal conic friction face in which the conic friction tube is inscribed at a plurality of axially symmetrical points to form an internal friction wheel with the toothless flex spline;
a pulling means for pulling the wave generator in the axial direction to generate frictional force between the conic friction tube and the internal conic friction face,
wherein the pulling means includes an extension shaft extending from the wave generator in the axial direction and passing through the center of the flex spline, a bearing rotatably supporting the extension shaft with respect to the flex spline, and a plug combined with the extension shaft to come into contact with the bearing to be supported in the axial direction;
wherein an inner circumferential face of the plug and an outer circumferential face of the extension shaft are combined with each other through screw joining such that tension applied by the plug to the wave generator is controllable; and
wherein the plug is supported by the bearing by means of a spring, and the spring is elastically compressively deformed in proportion to the tension.