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Gear device and robot

A technology of gear device and external gear, applied in the direction of gear transmission device, transmission device, transmission device parts, etc., can solve the problems of easily damaged diaphragm and stress concentration.

Pending Publication Date: 2022-06-21
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the vicinity of the outer peripheral end of the diaphragm, when the surface on the side opposite to the protruding side of the boss decreases in floor thickness from the vicinity of the outer peripheral end toward the central part, when the end of the boss is located on the back side of the portion where the decrease starts, there is Problems of stress concentration and easy breakage of the diaphragm

Method used

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  • Gear device and robot
  • Gear device and robot
  • Gear device and robot

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Embodiment Construction

[0016] figure 1 It is a side view which shows the schematic structure of the robot 100 which concerns on this embodiment. It should be pointed out that in the following, for the convenience of description, the figure 1 In the drawings of , the upper side is referred to as "upper" and the lower side is referred to as "lower". In addition, will figure 1 Among them, the base 110 side is referred to as the "basal end side", and the opposite side, that is, the end effector 150 side is referred to as the "front end side". Furthermore, in figure 1 In the drawing of , let the up-down direction be "vertical direction" and the left-right direction be "horizontal direction". In addition, the direction in which the rotation axis Ja, which will be described later, extends is referred to as the "axial direction". In addition, the "direction" in this specification includes both the direction along one side of the axis and the opposite direction.

[0017] The robot 100 will be briefly d...

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PUM

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Abstract

The invention relates to a gear device and a robot. Stress is dispersed to suppress damage when the plate thickness near the outer peripheral end of a diaphragm decreases progressively in the direction of a boss on the opposite side of the protruding side of the boss. A gear device (1) is provided with an internal gear (2), an external gear (3), and a wave generator (4). The external gear (3) has: a cylindrical part (31) provided with external teeth (33); a diaphragm (32) extending radially outward of the cylindrical section (31) on the opposite side of the outer teeth (33); and an annular boss portion (35) connected to the outer peripheral end (C) side of the diaphragm (32), the thickness of the diaphragm (32) decreasing from the outer peripheral end (C) toward the central portion (B) of the diaphragm (32) in the radial direction. In a natural state, a portion (inclination start portion P) at which a first surface (327) on the outer tooth (33) side of the diaphragm (32) starts to incline with respect to a virtual surface (328), which is a surface perpendicular to the rotation axis (Ja), is located further toward the cylindrical portion (31) in the radial direction than an inner peripheral surface (351) of the boss portion (35).

Description

technical field [0001] The present invention relates to a gear device and a robot including the gear device. Background technique [0002] Patent Document 1 discloses that, in a wave reducer (gear device), an annular boss is provided on the outer peripheral end side of a hat-shaped diaphragm, and the surface on the opposite side to the protruding side of the boss increases from the vicinity of the outer peripheral end. The floor thickness decreases toward the center portion toward the boss side. [0003] Patent Document 1: International Publication No. 2018 / 100701 [0004] In the vicinity of the outer peripheral end of the diaphragm, when the surface on the opposite side to the protruding side of the boss decreases as the floor thickness decreases from the vicinity of the outer peripheral end toward the center portion, when the end of the boss is located on the backside of the portion where the decrease begins, there is a The problem of stress concentration and easy breaka...

Claims

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Application Information

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IPC IPC(8): F16H49/00F16H57/02F16H57/023F16H57/08B25J9/04B25J9/10
CPCF16H49/001F16H57/02F16H57/023F16H57/08B25J9/102B25J9/041F16H2057/02034F16H2057/02069F16H2049/003B25J9/1025F16H1/32
Inventor 片冈祐哉
Owner SEIKO EPSON CORP