Seiko Epson Corporation

Nobuyuki Takehana

Yuya Kataoka

Satoru Masai

Yoshiyuki Soya

Kenji Aoyagi

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and rotate around a rotation axis relatively 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 external gear includes a cylindrical section including a first end portion with which the wave generator is in contact and a second end portion adjacent to the first end portion along the rotation axis. An inner circumferential surface of the first end portion includes a polished surface. An inner circumferential surface of the second end portion includes a lathe-cut surface.

Gear device and robot

A gearing includes an internal gear, a flexible external gear partially meshing with the internal gear and relatively rotating about a rotation axis to the internal gear, and a wave generator provided inside of the external gear and moving a mesh position between the internal gear and the external gear in a circumferential direction about the rotation axis, wherein the external gear includes an external tooth having an external tooth surface, the external tooth surface has an external tooth convex pattern including a first convex portion and a second convex portion extending in directions crossing directions of a tooth trace of the external tooth and arranged adjacent to each other in the directions of the tooth trace, and a distance between the first convex portion and the second convex portion is from 80 &#x3bc;m to 520 &#x3bc;m.

Gearing and robot

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and rotate, and a wave generator provided on an inner side of the external gear and configured to move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. A main material of the internal gear includes graphite particles. A tooth surface of an internal tooth of the internal gear has a convex pattern including a first convex part and a second convex part extending in a first direction having a component along the rotation axis and arranged side by side in a second direction crossing the first direction, and 10&#x2264;D&#x2264;40 and S&#x2212;D&#x2264;20, wherein D [&#x3bc;m] is an average particle diameter of the graphite particles and S [&#x3bc;m] is a separation distance between the first convex part and the second convex part in the second direction.

A robot includes a base, a first arm that is provided to be rotatable with respect to the base, and a gear device that transmits a driving force from the base to the first arm. The gear device has a flexible gear. The flexible gear has a cylindrical body portion and a bottom portion that is connected to one end portion of the body portion. The bottom portion has a metal flow radially extending from a center side to an outer peripheral side of the bottom portion.

Growing community of inventors

Matsumoto, Japan

Nobuyuki Takehana