Seiko Epson Corporation

Yuya Kataoka

Satoru Masai

Nobuyuki Takehana

Yoshiyuki Soya

Masanao Kunugi

Hiroyuki Kusumoto

A bearing includes an outer ring, an inner ring provided on the inner side in the radial direction of the outer ring, a rolling body provided between the outer ring and the inner ring, and a holder including a base formed in an annular shape around a center axis of the outer ring and the inner ring and a first wall section and a second wall section provided to project from the base, the holder holding the rolling body. The first wall section includes a first channel provided in the circumferential direction of the base. The second wall section includes a second channel provided in the circumferential direction of the base. The position of the first channel in the first wall section and the position of the second channel in the second wall section are different.

Bearing, gear device, and robot

A gear device includes an internal gear, an external gear having flexibility, a wave generator, a cross roller bearing, and a first seal and a second seal. The external gear includes a cylindrical body section including a first end portion, with which the wave generator is in contact, and a second end portion on the opposite side of the first end portion, external teeth provided on the outer circumferential surface of the first end portion, an annular diaphragm section provided on the outer side of the second end portion, and a boss section provided on the outer side of the diaphragm section. The first seal is sandwiched between the boss section and an outer ring of the cross roller bearing. The second seal includes a proximal end fixed to the outer ring and a distal end in contact with the outer circumferential surface of an inner ring.

Gear device and robot

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.

A gear device includes an internal gear, an external gear, and a wave generator. The external gear includes a cylinder section including external teeth, a diaphragm extending to a radial direction outer side of the cylinder section on the opposite side of the external teeth, and an annular boss section coupled to the outer circumferential end side of the diaphragm. The thickness of the diaphragm gradually decreases from the outer circumferential end toward a center portion in the radial direction of the diaphragm. In a natural state, a part (an inclination start part) where a first surface on the external teeth side of the diaphragm starts to incline with respect to an imaginary surface, which is a surface perpendicular to a rotation axis, is present further on the cylinder section side in the radial direction than the inner circumferential surface of the boss section.

A gear device includes an internal gear, an external gear, and a wave generator. The external gear includes a cylinder section, a diaphragm, and a boss section. The diaphragm includes a first coupling section, a second coupling section, and a diaphragm main body. A ratio of the length from one opening end of the cylinder section to the surface of the diaphragm on the opposite side of the opening end in a rotation axis direction to the length from the inner circumferential surface of the boss section coupled to the second coupling section to the outer circumferential surface of the cylinder section in the radial direction is 1.0 or more and 5.0 or less, and t(C)&#x2265;t(A), where t(A) represents the thickness of the inner circumferential end of the diaphragm and t(C) represents the thickness of the outer circumferential end.

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.

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 gearing includes an internal gear, an external gear including external teeth placed around a rotation axis and meshing with the internal gear, a barrel part adjacent to the external teeth along the rotation axis, and an inner circumferential surface on an inner surface of the external teeth, and having flexibility and relatively rotating about the rotation axis to the internal gear, and a wave generator including a bearing having an outer ring in contact with the inner circumferential surface, an inner ring, and balls intervening between the outer ring and the inner ring, and moving a mesh position between the internal gear and the external gear about the rotation axis.

Gearing, gearing unit, and robot

A gear device includes an internal gear, an external gear partially meshing with the internal gear, relatively rotating around a rotation axis to the internal gear, and having flexibility, and a wave generator being in contact with an inner circumferential surface of the external gear and moving a meshing position of the internal gear and the external gear in a circumferential direction about the rotation axis, wherein a virtual straight line as an extension of a tooth trace of the internal gear intersects with the rotation axis in a sectional view cut along a plane containing the rotation axis.

Robot and gear device

A robot includes a first member, a second member provided to be capable of turning with respect to the first member, and a gear device configured to transmit a driving force from one side to the other side of the first member and the second member. The gear device includes an internal gear, an external gear having flexibility and configured to partially mesh with the internal gear, a wave generator configured to be in contact with the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction, and lubricant disposed in at least one of a meshing section of the internal gear and the external gear and a portion where the external gear and the wave generator are in contact with each other. A last non-seizure load of the lubricant is 300 N or more.

Robot, gear device, and manufacturing method for gear device

A robot includes a first member, a second member that is provided so as to be movable around the first member, and a gear device that transmits driving force from one of the first member and the second member to the other. The gear device includes an internal gear, a flexible external gear that has an external tooth portion, which partially meshes with the internal gear, and a body portion, which is linked to the external tooth portion in a direction of a rotation axis, and a wave generator that comes into contact with the external gear and moves a position where the internal gear and the external gear are meshed with each other in a circumferential direction. An exterior surface of the body portion has an oil-repellent portion of which oil repellency is higher than oil repellency of an exterior surface of the external tooth portion.

Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins are inserted in the through holes. An elastic member having a circular ring shape, which is formed so that an inner diameter thereof can move with respect to an outer diameter thereof, is mounted to either an inner circumferential surface of the through hole or an outer circumferential surface of the penetration pin. Thus, the through hole and the penetration pin do not interfere with each other, and thus, it is possible to set a small clearance between the through hole and the penetration pin to such a degree, while preventing a speed reducer from being in a locked state due to interference. As a result, it is possible to suppress a backlash between the through hole and the penetration pin.

Growing community of inventors

Chino, Japan

Yuya Kataoka