JP3409348B2 - Differential synchronous phase device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a differential synchronous phase device for adjusting the rotational phase of a main shaft and an output shaft.

[0002]

2. Description of the Related Art Conventionally, there is a synchronous phase device using a harmonic speed reducer as a differential device. This synchronous phase device is normally used (when the rotation phase between the input side and the output side is not required) with the wave generator that forms the input shaft of the harmonic speed reducer stopped, and When the rotation phase is required, the wave generator is rotated by an adjusting motor or the like.

[0003]

In the above-mentioned synchronous phase device, the input / output rotation speed is the relative rotation speed with respect to the wave generator, so the input allowable rotation speed (1
It will be used at 800 to 4000 rpm) or less.
However, the harmonic speed reducer has a problem in lubricity at high speed rotation (causes poor lubrication), which is a limitation for increasing speed. Further, since the load of centrifugal force generated during rotation acts on the differential device as a torsional force (a force that causes a rotation phase between the input side and the output side), there arises a problem in reliability during high-speed rotation. Further, as a characteristic of the speed reducer, the larger the allowable torque is, the lower the allowable rotational speed is. Conversely, increasing the permissible rotation speed reduces the permissible torque, which is not practical. From these points, in the conventional synchronous phase shifter, high-speed rotation (for example, 15000 rp) is performed.
There was a problem that it was not possible to deal with m). The present invention has been made based on the above circumstances, and an object thereof is to provide a differential synchronous phase shifter capable of coping with high-speed rotation.

[0004]

In order to achieve the above object, the present invention provides a main shaft which is rotated by receiving a rotational power from the outside and a main shaft which is supported coaxially with the main shaft to take out an output.
Both the force shaft and the input shaft are decelerated and transmitted to the output shaft.
To impart a rotational phase difference to the output shaft with respect to the main shaft
The first harmonic reducer and the first harmonic
Input shaft that gives input rotation to the speed reducer, the main shaft and the
The technical means includes a synchronous phase adjusting mechanism that is connected to the input shaft and adjusts a rotational phase between the both shafts .
Further, the synchronous phase adjusting mechanism speeds up the rotation speed at a predetermined speed increasing ratio with a first rotation shaft to which the rotational power of the main shaft is transmitted via a speed reducing means that reduces the rotation speed at a predetermined speed reducing ratio. And a second rotating shaft for transmitting rotational power to the output shaft via a speed increasing means, and decelerating the input rotation and transmitting the input rotation to the second rotating shaft.
As it reaches, the second rotation axis with respect to the first rotation axis
A second harmonic speed reducer that imparts a rotational phase difference to
Adjustment to give input rotation to this second harmonic reducer
With a motor for adjustment, depending on the number of rotations of this adjustment motor
The technical means is to adjust the rotational phases of the main shaft and the input shaft .

[0005]

In the differential synchronous phase shifter of the present invention having the above-described structure, when the synchronous phase adjusting mechanism causes a rotational phase between the main shaft and the input shaft, the input shaft rotates first.
Is transmitted to the output shaft through the harmonic speed reducer , the phase rotation occurs between the main shaft and the output shaft. Here, when the rotational power of the input shaft is transmitted to the output shaft, the rotational speed of the input shaft is reduced by the first harmonic speed reducer. Grows larger. Therefore, since the rotational torque of the input shaft can be made smaller than the required rotational torque of the output shaft, it is possible to reduce the load on the synchronous phase adjusting mechanism. Also, the reaction force that causes a rotational phase difference between the main shaft and the output shaft due to the centrifugal force during rotation is the first hard
Since it is damped by the monic speed reducer, the reliability at high speed rotation can be improved. Further, in the synchronous phase adjusting mechanism, the rotation speed of the main shaft is reduced by the speed reducing means to reduce the first speed.
By being transmitted to the rotary shaft, the relative rotation speed of the synchronous phase adjusting mechanism can be set to the allowable rotation speed, and as a result, the allowable rotation speed of the differential synchronous phase shifter can be improved.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the differential synchronous phase shifter of the present invention will be described below with reference to FIG. FIG. 1 is an overall sectional view of a differential synchronous phase shifter. The differential synchronous phase shifter 1 of this embodiment
Is a main shaft 2 that rotates by receiving rotational power from the outside, and an output shaft 5 that is supported coaxially with the main shaft 2 and that takes out output.
The input rotation is decelerated and transmitted to the output shaft 5, and
The first hub for imparting a rotational phase difference to the output shaft 5 with respect to the shaft 2.
-Monic reducer 3 (hereinafter abbreviated as harmonic reducer 3
Input) to this harmonic speed reducer 3
The input shaft 4, the main shaft 2 and the input shaft 4 are connected to each other
It is composed of a synchronous phase adjusting mechanism 6 and the like for adjusting the rotational phase between them. The main shaft 2 is composed of a rotary sleeve 2a and a rotary sleeve 2b each having a cylindrical shape, and is fastened in the axial direction. The rotating sleeve 2a is rotatably supported by the housing 8 via bearings 7 arranged on the outer peripheral portions of both ends in the axial direction. A timing pulley 9 is provided at the tip of the rotary sleeve 2a, and the rotational power of a drive device (not shown) is transmitted via a timing belt 10 that engages with the timing pulley 9. The rotating sleeve 2b is rotatably supported by a flange 12 fastened to the housing 8 via a bearing 11 arranged on the outer peripheral portion. The rear end surface of the rotary sleeve 2b has a timing pulley 13 that rotates integrally with the rotary sleeve 2b.
Has been concluded.

The harmonic speed reducer 3 (reduction ratio R ₁ ) is
A circular spline (not shown) fastened to the rear end of the rotary sleeve 2a, a flexspline (not shown) fastened to the rear end of the output shaft 5, and a wave generator fastened to the front end of the input shaft 4 (shown in the figure). do not do). The input shaft 4 is coaxially arranged in the hollow portion of the rotary sleeve 2b, and the rotary sleeve 2b is mounted via a bearing 14.
It is rotatably held in. A timing pulley 15 that rotates integrally with the input shaft 4 is provided on the rear end surface of the input shaft 4.
Has been concluded. The output shaft 5 is coaxially arranged in the hollow portion of the rotary sleeve 2a and is rotatably held by the rotary sleeve 2a via a bearing 16.

The synchronous phase adjusting mechanism 6 includes a rotating sleeve 17
(First rotating shaft of the present invention), the drive shaft 18 (the onset
Second rotary shaft) , second harmonic speed reducer 19 (hereinafter
Lower harmonic reducer 19) , adjustment motor 2
0, a timing pulley 21, a timing pulley 22 and the like. The rotary sleeve 17 is rotatably supported by the housing 8 via a bearing 23. The drive shaft 18 is coaxially arranged in the hollow portion of the rotary sleeve 17, and is mounted via a bearing 24.
It is rotatably held in. Harmonic reducer 19
The (reduction ratio R ₂ ) is adjusted through the circular spline (not shown) fastened to the tip of the rotary sleeve 17, the flexspline fastened to the drive shaft 18 (not shown), and the coupling 25.
A wave generator (not shown) engaged with zero. The timing pulley 21 is fastened to the rear end surface of the rotary sleeve 17 to rotate integrally with the rotary sleeve 17, and is connected to the timing pulley 13 by a timing belt 26 so that a reduction gear ratio i ₁ can be obtained. The timing pulley 22 is fastened to the rear end surface of the drive shaft 18 and rotates integrally with the drive shaft 18, and the speed increasing ratio i ₂ {it is i ₂ = i
They are connected by the timing belt 27 so that ₁ × R / (R + 1)} can be obtained.

Next, the differential of this embodiment will be described. For adjustment
With the motor 20 stopped, the rotational power of the drive device is
By transmitting to the imming pulley 9,
Then, the timing pulley 9 rotates. This turning force is
From the timing pulley 13 via the ming belt 26
Reduction ratio i ₁Is transmitted to the timing pulley 21 and rotates.
The sleeve 17 is rotated. The rotation of this rotating sleeve 17
The circular spur of the harmonic reducer 19
The line will rotate, resulting in a flexspline (R +
1) / R to speed up. This allows the rotating sleeve 17 and
There is a difference in rotation between the drive shaft 18 and
The rotation of the Eve shaft 18 is transmitted via the timing belt 27.
Then, from the timing pulley 22, the speed increasing ratio i₂At Taimin
By being transmitted to the pulley 15, the rotary sleeve 2
The relative rotation between b and the input shaft 4 becomes zero. With this,
The force shaft 5 can rotate synchronously with the rotating sleeve 2a (spindle 2).
Becomes

Thereafter, when the adjusting motor 20 is rotated while the main shaft 2 is rotating, a rotational phase difference is generated between the rotating sleeve 17 and the drive shaft 18 at a reduction ratio of 1 / R. This rotational phase difference is transmitted from the timing pulley 22 to the timing pulley 15 at the speed increasing ratio i ₂ via the timing belt 27 and becomes the rotational phase difference between the rotary sleeve 2b and the input shaft 4. Then, this rotational phase difference is input to the harmonic speed reducer 3 to cause phase rotation between the circular spline of the harmonic speed reducer 3 and the wave generator, and this phase rotation is rotated via the flexspline at the speed reduction ratio R _1. Phase rotation occurs between the sleeve 2a (main shaft 2) and the output shaft 5.

In this embodiment, the rotation of the main shaft 2 transmitted through the timing pulley 9 is transmitted to the timing pulley 13,
It is reduced at reduction gear ratio i ₁ of between 21 and harmonic reduction gear 1
9, the relative speed of the harmonic reducer 19 is changed to the allowable speed (1800 to 4000 rpm).
Can be set to. Therefore, the permissible rotational speed of the differential synchronous phase shifter 1 (the input rotational speed to the spindle 2) can be improved. Further, the rotation transmitted to the input shaft 4 is decelerated by the harmonic reducer 3 and transmitted to the output shaft 5, so that the rotation torque of the output shaft 5 becomes larger than the rotation torque of the input shaft 4. Therefore, the rotational torque of the input shaft 4 can be made smaller than the rotational torque required by the output shaft 5, so that the load on the harmonic speed reducer 19 can be reduced.

Further, vibrations in the rotational direction of the timing belts 26, 27, etc. caused by the high speed rotation are alleviated by the speed reduction ratio R ₁ of the harmonic speed reducer 3. Further, when a load of centrifugal force generated at the time of rotation is applied to the output shaft 5 as a torsional force that causes a rotational phase difference between the main shaft 2 and the output shaft 5, when the torsional force is transmitted to the input shaft 4, the harmonic deceleration is performed. Since it is damped according to the reduction ratio of the machine 3, the reliability during high speed rotation can be improved. In the harmonic reducer 3, since the rotational phase difference between the rotary sleeve 2b and the input shaft 4 becomes the input rotational speed, and the relative rotational speed is low,
Ordinary grease lubrication or the like is sufficient. Therefore, the harmonic reducer 3 can select a model having a large allowable torque according to the load. As a result, the low-vibration, high-speed rotation differential synchronous phase shifter 1 can be realized.

Next, a second embodiment of the present invention will be described. FIG. 2 is a sectional view of the facing unit on the distal end side, and FIG. 3 is a front view of the tool rest unit. In the present embodiment, the differential synchronous phase shifter of the present invention is used as means for providing the rotational phase difference between the rotary sleeve 29 of the facing unit 28 and the feed shaft 30. Facing unit 28
Is a cylindrical rotary sleeve 29,
1, the feed shaft 30 is coaxially arranged in the hollow portion of the rotary sleeve 29, and is rotatably held by the rotary sleeve 29 via a bearing 33. A face plate 34 is fixed to the end of the rotary sleeve 29, and a tool rest unit 35 is provided on the face plate 34. A tool rest 36 is held in the tool rest unit 35 so as to be slidable in the radial direction of the face plate 34.
As shown in FIG. 3, the turret 36 has a rack 3 on its side surface.
7, the rack 37 is engaged with a pinion 38 formed on the head of the feed shaft 30.

The rotary sleeve 29 is driven to rotate by a rotary drive motor (not shown), and the feed shaft 30 is rotated by a feed shaft 30 drive motor (not shown).
It is driven to rotate in synchronization with. Here, the rotation of the rotary sleeve 29 and the feed shaft 3 are controlled by using the differential synchronous phase shifter of the present invention.
By providing a rotation phase difference with the rotation of 0, the tool rest 36 can move on the tool rest unit 35 in the radial direction of the face plate 34, and by setting a predetermined rotation phase difference, The platform 36 can be positioned. In addition,
By using a servomotor or the like for the adjusting motor used in the differential synchronous phase shifter, the tool post 36 can be precisely (±
(0.01 or less).

Next, a third embodiment of the present invention will be described. FIG. 4 is a front view of the tool post unit 35 used in the facing unit 28, and FIG. 5 is a sectional view taken along line AA of FIG.
The present embodiment is intended to solve the deterioration in the linearity of the feed of the tool rest 36 that occurs when the facing unit 28 described in the second embodiment is used at high speed rotation (around 10000 rpm). In the following description, if the component name is the same as that of the second embodiment, the same number is assigned. At the center of the tool post unit 35, the feed shaft 3
0 is projected, and the pinion 38 is formed at the projecting end. Further, parallel slide grooves 39 are formed on both sides of the tool rest unit 35 with the pinion 38 interposed therebetween. The sliding groove 39 has racks 37 (37a, 3a, 3a) on both sides.
7b) forming a pair of rack members 40 are slidably supported, and the inner rack 37a is meshed with the pinion 38. On the rack member 40, a pair of tool rests 36 to which a cemented carbide tip 41 is fixed are placed and fixed at symmetrical positions with respect to the pinion 38.
Are moved in the radial direction of the face plate 34 by the rotation of the pinion 38, and move toward and away from each other.

An idle pinion 42 that meshes with the rack 37b outside the rack member 40 is disposed on a straight line x that passes through the center of the pinion 38 and intersects the sliding groove 39 at a right angle. Further, in the tool post unit 35, a moving groove 43 orthogonal to the sliding groove 39 is formed outside the idle pinion 42. Balance weights 44 are movably arranged in the moving grooves 43.
The balance weight 44 has an oval shape, and its arcuate portions are in sliding contact with the moving grooves 43 and are connected to the eccentric pin 45 provided on the idle pinion 42. The eccentric pins 45 are located symmetrically with respect to the rotation center of the pinion 38, and are located in the opposite direction to the tool rest 36 with respect to the straight line x. The balance weight 44 moves in the radial direction of the face plate 34 when the idle pinion 42 rotates via the rack member 40 by the rotation of the pinion 38,
Get closer to or farther from each other. As shown in FIG. 5, the tool rest unit 35 is provided with a cover 46 and is fixed with bolts 47 (see FIG. 4).

Next, the facing unit 2 having the above structure
The differential of 8 will be described. When the rotary sleeve 29 is rotationally driven, a centrifugal force F ₁ acts in a direction in which the tool rest 36 of the tool rest unit 35 and the rack member 40 move away from the center of rotation. The centrifugal force F ₁ is applied to the rack member 40.
Is transmitted to the pinion 38 via the pinion and acts as a force for rotating the feed shaft 30. On the other hand, the balance weight 44 to which the centrifugal force F ₂ acts moves in the moving groove 43 and tries to separate from the center of rotation. The centrifugal force F ₂ acts on the eccentric pin 45 of the idle pinion 42, and tends to rotate the idle pinion 42 with a torque of F ₂ × y (y: the eccentric amount of the eccentric pin 45 with respect to the straight line x). This rotation direction is opposite to the rotation direction of the pinion 38 due to the above-described arrangement position of the eccentric pin 45, and even if the tool rest 36 is moved by the centrifugal force F ₁ and the pinion 38 is about to rotate, the rotation of the idle pinion 42 occurs. The acting torque of F ₂ × y acts as a counter force. Therefore, by setting the balance weight 44 with an appropriate weight, the pinion 3
8, that is, the rotation of the feed shaft 30 can be prevented.

Further, the feed shaft 3 for the rotating sleeve 29
When a rotational phase difference of 0 is generated and the tool rests 36 are moved toward the center of rotation and brought closer to each other, the centrifugal force acting on the tool rests 36 becomes small. At this time, the rotation of the pinion 38 is transmitted to the idle pinion 42 through the rack member 40, the idle pinion 42 rotates, and the eccentric amount y of the eccentric pin 45 with respect to the straight line x decreases, so that the counterweight exerted by the balance weight 44 is reduced. The power also becomes smaller. That is, when the feed shaft 30 is rotated asynchronously with the rotary sleeve 29 during rotational driving to position the tool rest 36 at an arbitrary position on the tool rest unit 35, centrifugal force acts to move the tool rest 36. The balance weight 44 exerts a counteracting force for preventing the above-mentioned phenomenon at a constant rate. Therefore, the turret 3
By setting the centrifugal force acting according to the position of 6 and the counter force of F ₂ × y, and controlling the positioning of the tool rest 36 in consideration of these, the radial movement of the tool rest 36 is prevented. The processing error can be reduced as much as possible.

In this embodiment, the circular idle pinion 42 is used, but by using a non-circular, for example, elliptical idle pinion 42, the counterforce can be set more precisely and the tool rest 36. It is possible to increase the linearity of. Then, the radial movement of the tool rest 36 due to the centrifugal force during rotational driving is prevented by the counter force exerted by the balance weight 44 based on the acting centrifugal force, so that high-speed rotation is possible and the tool rest 36 is also possible. It is possible to provide the facing unit 28 capable of controlling the feed movement amount of the 36 with high accuracy. The present invention can be used as a means for providing a highly accurate rotation phase difference of the facing unit 28 that can rotate at high speed as described above.

Next, a fourth embodiment of the present invention will be described. FIG. 6 is a sectional view of the chuck unit on the distal end side. In this embodiment, the present invention is applied to the synchronous phase adjusting mechanism used in the chuck unit. The chuck unit 48 of this embodiment includes a rotary sleeve 49 having a cylindrical shape,
The torsion bar 50, which is coaxially arranged in the hollow portion of the rotary sleeve 49 and is capable of storing a twisting force, and the twisting force of the torsion bar 50 are transmitted to the work 51.
A chuck mechanism 52 for attaching and detaching (a workpiece, a tool, etc.);
The torsion bar 50 is synchronized with the rotation of the rotary sleeve 49.
Is constituted by a synchronous phase adjusting mechanism (not shown) capable of rotationally driving and changing its rotational phase.

The rotating sleeve 49 is rotatably held in the housing 54 via bearings 53 arranged on the outer peripheral portions of both ends. The tip side of the rotary sleeve 49 (see FIG. 6)
A scroll holder 56 is rotatably held on the inner peripheral portion on the left side) via a metal bearing 55, and the rear end portion of the scroll holder 56 and the front end portion of the torsion bar 50 are spline-coupled. A disk-shaped face plate 57 is fastened to the tip end surface of the rotary sleeve 49 by a bolt (not shown), and a master jaw 59 having a drive pin 58 is arranged on the face plate 57. This master jaw 59 moves while the drive pin 58 is guided by three grooves (not shown) formed in the face plate 57,
Each of them is provided so as to be slidable on the face plate 57 in the radial direction.

Further, as shown in FIG. 7 (view B of FIG. 6), three cam grooves 60 inclined in the radial direction are formed on the tip end surface of the scroll holder 56, and the cam grooves 6 are formed.
The drive pin 58 of the master jaw 59 is fitted to 0. Therefore, when a rotational phase occurs between the face plate 57 and the scroll holder 56, the drive pin 58 moves in the radial direction with the engagement with the cam groove 60, so that the master jaw 59 moves on the face plate 57 in the radial direction. Will slide on. The drive pin 58 is fastened to the master jaw 59 by a bolt 61. A top jaw 62 (see FIG. 7) for gripping the work 51 is fastened to the tip end side of the master jaw 59 with a bolt 63. The chuck mechanism 52 is composed of a scroll holder 56, a face plate 57, a master jaw 59, a top jaw 62 and the like.

Next, the operation of this embodiment will be described. A rotary phase difference is provided between the rotating sleeve 49 and the torsion bar 50 via a synchronous phase adjusting mechanism, and the master jaw 59
Is slid on the face plate 57 in the radial direction (center direction), so that the workpiece 51 is chucked via the top jaws 62. After chucking, by further changing the rotation phase, the torsion bar 50 is twisted, and the twisting force is transmitted as the chucking force. Since this chucking force is proportional to the twist amount of the torsion bar 50,
An arbitrary chucking force can be easily obtained. As described above, by using the present invention for the synchronous phase adjusting mechanism,
Non-stop chucking at high speed is possible, and by using a servo motor for the synchronous phase adjustment motor, the amount of phase shift increases in proportion to the number of revolutions, and the reduction of chucking force due to centrifugal force is canceled. Is possible. Then, by incorporating the chuck unit 48 into an NC lathe for double-sided processing, the workpiece 5 between the chuck spindles can be rotated at high speed (without stopping the spindle).
It is possible to change the grip of 1. At this time, by confirming whether the chuck or the uncuck is confirmed by the number of pulses of the servo motor, the gripping can be instantaneously changed (0.1 to 0.2 seconds).

Next, a fifth embodiment of the present invention will be shown. Figure 8
FIG. 8 is a sectional view of a chuck unit 48 that employs a static collet chuck. The parts having the same functions (or names) as those in the fourth embodiment are designated by the same numbers as in the fourth embodiment. In the chuck unit 48 of this embodiment, the torsion bar 5 is attached to the shaft core portion of the rotary sleeve 49 rotatably supported by the housing 54 via the bearing 53.
0 and drawbar 64 are arranged. Drawbar 64
Is held by the torsion bar 50 so as to be slidable in the axial direction and is fixed to the rear end side (right side in FIG. 8) of the detent pin 65.
Are axially slidably engaged with the groove 66 formed on the inner peripheral surface of the rotary sleeve 49. A top 67 is fastened to the tip of the draw bar 64. Rotating sleeve 49
A cylindrical holder 69 is fastened to the tip end surface of the holder via a bolt 68, and a sleeve 70 is attached to the inner peripheral portion of the holder 69.
Is held slidably in the axial direction. A collet 71 for attaching and detaching the work 51 is arranged inside the sleeve 70, and a taper surface formed on the inner circumference of the distal end side of the sleeve 70 and a taper surface formed on the outer circumference of the collet 71 are engaged with each other. Has been done. A cap 72 is fastened to the outer peripheral portion of the tip of the holder 69. On the right side of FIG. 8, a synchronous phase adjusting mechanism using the present invention is provided, and the torsion bar 50 is synchronously rotationally driven with respect to the rotary sleeve 49, and the rotational phase is changed. be able to.

The chuck unit 48 having the above structure is
The draw bar 64 moves in the axial direction by providing the rotary phase difference between the rotary sleeve 49 and the torsion bar 50 by the synchronous phase adjusting mechanism. With the movement of the draw bar 64, the collet 71 moves relative to the sleeve 70. The taper surface is brought into sliding contact with the taper surface, and the tip end portion of the collet 71 is displaced in the radial direction. As described above, by adopting the structure in which the draw bar 64 is axially driven via the torsion bar 50, other than the static collet chuck of this embodiment, for example, a wedge chuck 73 as shown in FIG. 9 or a crank chuck. Type chuck, compensating type chuck, wedge type 3-jaw hollow chuck,
It is possible to adopt power chucks such as draw-dunk chuck and power change chuck.

[0026]

[Brief description of drawings]

FIG. 1 is an overall sectional view of a differential synchronous phase shifter according to a first embodiment.

FIG. 2 is a distal end side sectional view of a facing unit according to a second embodiment.

FIG. 3 is a front view of a tool post unit according to a second embodiment.

FIG. 4 is a front view of a tool post unit according to a third embodiment.

5 is a sectional view taken along line AA of FIG.

FIG. 6 is a cross-sectional view of a chuck unit according to a fourth embodiment on the distal end side.

FIG. 7 is a view from B of FIG.

FIG. 8 is a sectional view of a chuck unit according to a fifth embodiment.

FIG. 9 is a sectional view showing a modification of the chuck unit according to the fifth embodiment.

[Explanation of symbols]

1 Differential Synchronous Phase Device 2 Spindle 3 Harmonic Reducer ( 1st Harmonic Reducer ) 4 Input Shaft 5 Output Shaft 6 Synchronous Phase Adjusting Mechanism 17 Rotating Sleeve (1st Rotating Shaft) 18 Drive Shaft (2nd Rotating Shaft) 19 Harmonic reducer (second harmonic reducer
Machine) 20 motor for adjustment

Claims (2)

(57) [Claims] Claim: What is claimed is: 1. A main shaft which is rotated by receiving rotational power from the outside, and an output shaft which is supported coaxially with the main shaft and takes out an output.
And decelerating the input rotation and transmitting it to the output shaft,
A first for imparting a rotational phase difference to the output shaft with respect to the main shaft
Harmonic reducer and input that provides input rotation to this first harmonic reducer
Axis and is connected to said input shaft and said main shaft, differential synchronous phase system that includes a synchronization phase adjusting mechanism for adjusting the rotational phase between the two shafts. 2. The synchronous phase adjusting mechanism comprises: a first rotating shaft to which rotational power of the main shaft is transmitted via a speed reducing means for reducing the rotating speed at a predetermined speed reducing ratio; and a rotating speed at a predetermined speed increasing ratio. A second rotary shaft for transmitting rotational power to the output shaft via a speed increasing means for speeding up , and input speed is transmitted to the second rotary shaft after being decelerated.
A rotation phase difference is applied to the second rotation shaft with respect to the first rotation shaft.
Second harmonic reducer to be given and adjustment to give input rotation to this second harmonic reducer
Motor, and the main shaft and the input according to the rotation speed of the adjustment motor.
2. The differential synchronous phase shifter according to claim 1, wherein the rotational phase with the shaft is adjusted.