Patent ID: 6701803
Filing Date: 2004-03-09
Classification: F16H,H02K,Y10T

Abstract:
A reduction gears-integrated actuator comprising: a hollow cylindrical actuator frame; a circular spline that is fixed on said actuator frame and has inner teeth on the inner circumference thereof; a cylindrical flexible spline that has outer teeth engageable with the inner teeth of said circular spline, and has an output shaft of the actuator coupled to an end face thereof; an elliptical wave generator attached on the inner circumference of said flexible spline; a rotation shaft for driving to rotate said wave generator; and an electric motor including a rotor provided with a magnetic pole consisting of a permanent magnet and a stator provided with an armature winding for generating a rotation magnet field at a stator core opposed to the outer circumferential side of said rotor via a gap; a rotation portion of a rotation position detector fixed on said rotation shaft; and a fixing portion of the rotation position detector, which is opposed to the rotation portion of said rotation position detector;wherein said rotor constitutes a cup-shaped rotation yoke integrally mounted at a center thereof so as to pass through said rotation shaft, and at the same time fixes said permanent magnet on the outer circumference of said rotation yoke; said circular spline is formed of a flange portion fixed at one end part of said actuator frame and a cylindrical portion disposed so as to be opposed to the inner circumference of said rotation voke via a gap; and within said circular spline between said output shaft and said rotation shaft is further provided a cup-shaped housing coupled to said output shaft on the inner circumferential side of said flexible spline, a bearing that is fitted to the inside of said housing and supports said rotation shaft and an elastic member that is provided in a gap in the axial direction between said housing and said bearing, and gives a preload to said bearing.