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US 10,760,664 B2Granted
Method of producing wave gear device and wave gear device
AssigneeCanon Kabushiki Kaisha
InventorAkira Yajima
Life of this patent
Estimating the term…
Abstract
A circular spline is secured to a housing. An output member is positioned relative to the circular spline, an outer race of a bearing is secured to the housing, and an inner race of the bearing is secured to the output member. A flex spline is positioned relative to the circular spline and secured to the output member. A wave generator is positioned relative to the circular spline, and a support member, by which the wave generator is rotatably supported, is secured to the housing.
Claims10
A wave gear device comprising:
- a cylindrical housing that has an inner circumferential surface;
- an annular circular spline that is attached to an inside of the housing and has internal teeth;
- a flex spline that has a cylindrical barrel portion, which has external teeth, and an attachment portion, which inwardly extends from an end of the barrel portion in a radial direction, and that is disposed inside the circular spline;
- a wave generator that is disposed inside the flex spline, that deforms the flex spline in the radial direction to bring part of the flex spline into engagement with part of the circular spline, and that moves an engagement position, where the internal teeth of the circular spline are in engagement with the external teeth of the flex spline, in a circumferential direction;
- a first bearing that has an outer race, which is secured to the housing;
- a second bearing that is disposed inside the housing;
- a support member that supports the wave generator through the second bearing such that the wave generator is rotatable, the support member being secured to the housing via the circular spline;
- and
- a securing member that secures the circular spline to the cylindrical housing without securing the support member to the circular spline, the support member being disposed over the securing member,
- wherein an outer circumferential surface of the circular spline is not in contact with the inner circumferential surface of the housing, and
- wherein a greatest outer diameter of the support member is less than a greatest outer diameter of the circular spline in a radial direction.
8 more elements
A robot, comprising:
- a robot arm which includes an articulation in which a drive motor and a wave gear device are disposed,
- wherein the wave gear device includes
- a cylindrical housing that has an inner circumferential surface;
- an annular circular spline that is attached to an inside of the housing and has internal teeth;
- a flex spline that has a cylindrical barrel portion, which has external teeth, and an attachment portion, which inwardly extends from an end of the barrel portion in a radial direction, and that is disposed inside the circular spline;
- a wave generator that is disposed inside the flex spline, that deforms the flex spline in the radial direction to bring part of the flex spline into engagement with part of the circular spline, and that moves an engagement position, where the internal teeth of the circular spline are in engagement with the external teeth of the flex spline, in a circumferential direction;
- a first bearing that has an outer race, which is secured to the housing;
- a second bearing that is disposed inside the housing;
- and
- a support member that supports the wave generator through the second bearing such that the wave generator is rotatable, the support member being secured to the housing via the circular spline;
- and
- a securing member that secures the circular spline to the cylindrical housing without securing the support member to the circular spline, the support member being disposed over the securing member,
- wherein an outer circumferential surface of the circular spline is not in contact with the inner circumferential surface of the housing, and
- wherein a greatest outer diameter of the support member is less than a greatest outer diameter of the circular spline in a radial direction.
11 more elements
Dependencies are inferred from the claim text.