Gear Device And Robot

Abstract

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear, a bearing disposed at an inner side of the external gear, and a cam section having an elliptical shape disposed at an inner side of the bearing and configured to move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. The bearing is deformed in an elliptical shape by the cam section and includes a plurality of balls disposed side by side in the circumferential direction and a holder including a plurality of partition walls disposed alternately with the balls in the circumferential direction and holding the balls. A gap is provided between the ball located on a major axis of the bearing and the partition wall adjacent to the ball in the circumferential direction. The ball located on a minor axis of the bearing is in contact with each of the partition walls adjacent to the ball at both sides in the circumferential direction.

Dependencies are inferred from the claim text.