Back to results
US 11,536,358 B2Granted
Gear device and robot
AssigneeSeiko Epson Corporation
InventorYuya Kataoka
Life of this patent
Estimating the term…
Abstract
A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator includes an elliptical cam and a bearing. Grease is applied to the inner circumferential surface of the external gear. A groove is provided along a rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing.
Claims7
A gear device comprising:
- an internal gear;
- a flexible external gear configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear;
- and
- a wave generator configured to come into contact with an inner circumferential surface of the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis, wherein
- the wave generator includes:
- a cam having an elliptical outer circumferential surface;
- and
- a bearing disposed between the inner circumferential surface of the external gear and the outer circumferential surface of the cam,
- grease is applied to the inner circumferential surface of the external gear,
- a groove is provided along the rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing,
- the grease contains a solid additive agent, and a width of the groove is the same as or more than a size of the solid additive agent, and
- a depth of the groove is smaller than the width of the groove.
9 more elements
A robot comprising:
- a first member configuring a base or an arm;
- a second member configuring an arm turnably provided with respect to the first member;
- and
- a gear device configured to transmit a driving force from one side to another side of the first member and the second member, wherein
- the gear device includes:
- an internal gear;
- a flexible external gear configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear;
- and
- a wave generator configured to come into contact with an inner circumferential surface of the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis,
- the wave generator includes:
- a cam having an elliptical outer circumferential surface;
- and
- a bearing disposed between the inner circumferential surface of the external gear and the outer circumferential surface of the cam,
- grease is applied to the inner circumferential surface of the external gear,
- a groove is provided along the rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing,
- the grease contains a solid additive agent, and a width of the groove is the same as or more than a size of the solid additive agent, and
- a depth of the groove is smaller than the width of the groove.
14 more elements
Dependencies are inferred from the claim text.