Universal Robots A/s

Steffen Henrik Johansen

Esben H Oestergaard

Michael Fair

Malin Grummas

Michael Sjørup Christiansen

Rasmus Borgbjerg Nielsen

Anja Saabye

Amanda Bjurenborg

Johan Bohman

A strain wave gear includes an outer ring and an inner ring rotatably arranged in the outer ring. The inner ring includes an internally toothed gear and a flex spline is arranged in the inner ring and includes a flexible part that includes an external toothed gear. A wave generator is rotatable in relation to the flex spline and is configured to flex the flexible part in a radial direction to partly mesh the external toothed gear with the internally toothed gear causing rotation of the inner ring in relation to the outer ring. A part of the inner ring extends out of the outer ring and includes an outwardly protruding output flange. An encoder reader can be disposed on the outer ring and an encoder track can disposed on the inner ring. A robot joint that includes the strain wave gear is also disclosed.

Strain wave gear with output flange and integrated encoder

Robot joint

A strain wave gear comprising an outer ring and an inner ring rotatably arranged in the outer ring. The inner ring comprises an internally toothed gear and a flex spline is arranged in the inner ring and comprise a flexible part comprising an external toothed gear. A wave generator is rotatable in relation to the flex spline and is configured to flex the flexible part in a radial direction to partly mesh the external toothed gear with the internally toothed gear causing rotation of the inner ring in relation to the outer ring. A part of said inner ring extends out of said outer ring and comprises an outwardly protruding output flange. An encoder reader can be disposed on the outer ring and an encoder track can disposed on the inner ring. A robot joint comprising the strain wave gear is also disclosed.

A strain wave gear includes gear elements including a circular element having an internally-toothed gear and a flex element having a flexible externally-toothed gear arranged in the circular element. A wave generator is rotatably arranged in the flex element and configured to flex the externally-toothed gear in a radial direction to partly mesh the internally-toothed gear and the externally-toothed gear. Support elements include a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element. Elements of the support elements are fixed respectively to elements of the gear elements. An encoder arrangement includes an encoder track and an encoder reader. A part of the encoder arrangement is between an element of the support elements and an element of the gear elements.

Strain wave gear with encoder integration

A releasable joint between two component flanges is for use in a robot arm. The flanges have a number of teeth on each part that is pressed into contact by clamps, screws or other means. The releasable joint assembly is suitable for establishing a robot joint between a first and second component each having interlocking annular flange with respective contact surfaces, and where these flanges are held in place by a clamp.

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Odense S, Denmark

Steffen Henrik Johansen