Part 2: Maintenance 6. Replacing the Reduction Gear Units
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Structure of reduction gear unit
The reduction gear unit consists of the following three parts:
1. Waveform generator
An ellipsoid cam with ball bearings around the outer circumference. The inner ring of
bearings is secured to the cam, while the outer ring is capable of flexible deformation
through the ball bearings.
2. Fleck spline
A thin, elastic, cup-shaped metal body with gear teeth around the outer circumference
of the opening.
3. Circular spline
A rigid, ring-shaped body with gear teeth on the inner circumference. The circular
spline has twice as many teeth as the fleck spline but at identical pitch.
Circular spline
Fleck spline
Waveform generator
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