Strain Wave Gears and Strain Wave Gear Systems

Abstract

To provide a low-cost and high-rigidity strain wave gear not requiring manual adjustment.SOLUTION: A strain wave gear comprises 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 comprises a flexible part comprising an externally 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 externally 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 comprises an outwardly protruding output flange. An encoder reader can be disposed on the outer ring, and an encoder track can be disposed on the inner ring. A robot joint comprising the strain wave gear is also disclosed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a strain wave gear for a robot joint. and an inner ring rotatably disposed within the side ring, the inner ring including an internal gear. The flexspline is disposed within the inner ring and includes a flexible section including an external gear. The green fabric is bent in the radial direction to partially mesh the external gear with the internal gear, and the inner The ring is configured to rotate relative to the outer ring. Strain wave gears are cost-effective Easy to manufacture, has fewer parts, is easier to assemble, and is compact and small and has high rigidity. Furthermore, the present invention provides a method for reading the position of the output part of the gear by using the following: The present invention also relates to a strain wave gear having an encoder disposed within the gear. A robot configured such that a motor rotates an output flange via the strain wave gear. Regarding the iliac joint. [Background technology]

[0002] The robotic arm includes a plurality of robotic joints connecting various portions of the robotic arm. A robotic part in which joint motors are configured to move the parts relative to each other. In the field, strain wave gears transmit large forces without backlash, so they are effective in reducing joint motion. It is known to use strain wave gears as a transmission system between a rotor and a moving part.

[0003] The prior art discloses strain wave gear drives with flexible external gears. Flexible external gears consist of a flexspline and a main body (called a top hat or cup type). A circular diamond extending radially outward or inward from one open end of a a diaphragm, a circular boss integrally formed on the circumferential outer edge of the diaphragm, and the other open end of the body. and external teeth formed on the circumferential outer surface of the flexible gear section. Designed as a cylindrical ring with teeth (this type is often called a ring gear) do.

[0004] Strained wave gears are used in a variety of applications, including CNC machines, robotics, satellites, and solar trackers. Strain wave gears have little or no backlash and are It is highly accurate and therefore often requires high precision and accuracy of the output. In these applications, the electric motor that drives the input side of the strain wave gear is often used. A feedback system, such as an electronic encoder, connected to the control electronics that drive the electric motor. The stem is used.

[0005] This configuration allows for the output of the gear to be controlled with high precision and accuracy. Typically the read track for the encoder is located somewhere on the output of the strain wave gear, on the flat end face or outer diameter of the output axle. The encoder read head is typically located on some external gear geometry or in the housing / cabinet that holds the strain wave gear. This approach typically requires adjustments to properly position the encoder read head relative to the read track. The encoder technology can be magnetic, optical, inductive, etc. Another approach that is often used is to create a platform / bearing mechanism for the encoder with a flexible mechanism / axle from the output side of the strain wave gear to the encoder read track. In this way the encoder read head can be aligned with the encoder read track. headThe position of the platform can be controlled with separate bearings held in place by the platform. This approach requires many extra parts that add cost, take up space, and can fail if the quality or precision of the parts goes out of control.

[0006] Strain wave gears are usually constructed or assembled from several separate parts. That is, the output bearing portion includes a separate circular spline portion as well as a separate output flange portion. This method is used to assemble various output bearings and various output flanges together with a circular spring. By combining it with lines, it is possible to adapt each part to various uses. In some cases, the output bearing part was machined to combine with the circular spline part. The drawback of using separate components is that they are subject to the usually severe stresses imposed on the strain wave gear assembly. The assembly of these separate components requires high precision and multiple joints to support the load. The problem is that it requires a large number of strong screws.

[0007] U.S. Pat. No. 5,906,142 discloses a wave actuator having first and second end plates. The present invention discloses a gear drive, the first and second end plates having a clutch disposed between the plates. They are configured to rotate relative to each other using cross roller bearings. The inner race is integrally formed with the internal gear at the inner circumferential surface. The inner race is The outer race of the cross roller bearing is fixed directly to the gear of the external gear. The boss is secured to the second end plate so as to be retained between the outer race and the second end plate. The internal teeth are located radially inward of the raceway of the cross roller bearing. Therefore, the strain wave gear driver (1) is small and compact, and has increased rigidity.

[0008] U.S. Pat. No. 5,775,178 discloses a circular spline and a The flexspline is bent in the radial direction to form the flexspline. The external teeth formed on the circular spline are partially engaged with the internal teeth formed on the circular spline, and the engagement position is set The number of internal and external teeth between the circular spline and the flexspline is shifted in the circumferential direction. A wave generator placed within the flexspline to induce relative rotation in response to the difference between The circular spline has internal teeth along its inner circumferential surface. The annular rigid teeth portion is formed on the device housing and is rotatably supported on the device housing. A fastening portion is firmly fixed to one of the support members and a rigid tooth portion and a fastening portion are connected to each other. The connecting portion is in at least one of the direction of the axis of the device and the direction perpendicular to the axis. , the rigidity is low compared to the rigid tooth portion.

[0009] U.S. Pat. No. 8,991,282 discloses a first and second input bearing that supports a central shaft. The present invention discloses a strain wave gear unit having an input shaft disposed along a first input The first unit end plate on the bearing side is made of a bearing housing member made of a ferrous material, which is lightweight. The end plate body member is a composite member that is integrated with the second input bearing side. The second unit end plate is integral with the rigid internal gear and is made of a second lightweight material. The member is a composite member integrated with a first member made of a lightweight material. An end plate body portion of the unit end plate of 2 and a gear body portion of the rigid internal gear while the second member includes a bearing housing portion of the second unit end plate and a rigid and a tooth-forming portion of the internal gear. Summary of the Invention [Problem to be solved by the invention]

[0010] It is an object of the present invention to provide a method and apparatus for manufacturing a vehicle that is more cost effective and can be constructed with fewer parts, for example. This allows the output section to handle higher loads and provides a strain wave gear with increased rigidity. By providing the above limitations of the prior art, or the prior art used for robot arms, Another object of the present invention is to address other problems of the distortion wave gear. The problem is that the encoder has a higher accuracy than the conventional solution, and the distance between the read head and the read track is To provide a distortion wave gear that does not require manual adjustment of radial or axial distances This is achieved by a strain wave gear as defined by the independent claims. The dependent claims describe possible embodiments of the strain wave gear. The advantages and benefits will be explained in the detailed description of the invention. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 shows a simplified cross-sectional view of an embodiment of a strain wave gear according to a first aspect of the present invention. [Diagram 2] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a first aspect of the present invention; [Diagram 3] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a first aspect of the present invention; [Figure 4] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a first aspect of the present invention; [Diagram 5] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a first aspect of the present invention; [Figure 6]1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a first aspect of the present invention; [Figure 7] FIG. 2 shows a simplified cross-sectional view of an embodiment of a strain wave gear according to a second aspect of the present invention. [Figure 8] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a second aspect of the present invention. [Figure 9] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a second aspect of the present invention. [Figure 10] 1A-1D show simplified cross-sectional views of various embodiments of a strain wave gear according to a second aspect of the present invention. [Figure 11A-11B] 1 shows a strain wave gear according to the present invention. [Figure 12A] 1 shows a strain wave gear according to the present invention. [Figure 12B] 1 shows a strain wave gear according to the present invention. [Figure 13] 1 shows a robot joint including a strain wave gear according to the present invention. [Figure 14A-14B] 1 shows an alternative example of a strain wave gear drive according to the invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention has been described in terms of exemplary embodiments which are intended only to illustrate the principles of the invention. A person skilled in the art can provide several embodiments within the scope of the claims. Throughout the description, reference numerals for similar elements having similar effect will be numbered with the last two digits Moreover, it will be appreciated that where an embodiment includes multiple identical features, Only some of the features may be labeled with reference numbers.

[0013] FIG. 1 shows a simplified cross-sectional view of a strain wave gear 101 according to a first embodiment of the present invention. The distortion wave gear is made up of an outer ring 102, an inner ring 103, a flexspline 104, and a wave generator 105.

[0014] The outer ring 102 is formed as an annular molding, and the inner ring 103 is a In the illustrated embodiment, the outer ring is cylindrical. However, the inner ring 103 is rotatably disposed in the central opening of the outer ring. It should be noted that the outer ring does not have to be formed as a geometric cylinder or annulus. Thus, the outer ring can have many different configurations. functions as a housing for the strain wave gear, and connects the strain wave gear to the motor, for example. Or it can be used for fixing in a robot joint.

[0015] The inner ring 103 is formed as an annular molded body, and the flexspline 104 is In the illustrated embodiment, the outer ring of the inner ring is The part disposed within the ring is formed as a cylinder. If the inner ring can be rotatably placed in the central opening of the ring, the inner ring can be a geometric cylinder or annulus. It should be noted that the inner ring does not have to be formed as a single ring. Thus, the inner ring can be formed as a multiplicity of different The inner ring 103 may also have a configuration in which a The inner ring includes an internal gear 106 facing the central opening of the inner ring. The ring is rotatably disposed within the outer ring via an inner bearing 107 .

[0016] The inner bearing is made up of an outer racer 113 disposed in the outer ring 102 and an inner ring 103. 1 and an inner racer 114 disposed therein. Of course, any type of bearing may be used, for example ball bearings, cross roller bearings, needle bearings, a plain bearing, or any other suitable means that allows the inner ring to rotate relative to the outer ring. It should also be noted that more than one internal bearing may be provided. Keep it.

[0017] The flexspline 104 is formed as a flexible cylinder disposed within the inner ring. The external gear 108 is adapted to at least partially mesh with the internal gear 106. The flexspline is formed integrally with the cylindrical body and is disposed on the outside of the cylindrical body. The annular diaphragm 109 extends along the circumference of the diaphragm. The outer peripheral edge includes an annular boss 110 integrally formed thereon. The annular boss 110 may be secured to a screw, rivet, or other suitable fastener. , nails, click / snap mechanisms, adhesives, welding, or other means to fasten the annular boss to the outer ring. 2. The outer ring 102 may be secured to the outer ring 102 using any type of fastener, such as any type of means. Therefore, the inner ring is a cylindrical member between the outer ring 102 and the flexspline 104. External teeth 108 are formed on the other end of the cylinder and extend along the outer periphery. do.

[0018] The wave generator 105 is rotatably disposed within the flexspline 104 and is connected to the input shaft The input shaft is connected to the wave generator via a flexspline. The wave generator is configured to rotate the flexible cylinder relative to the The external gear 108 is configured to be deflected to partially mesh with the internal gear 106. The wave generator may be, for example, an elliptical rigid cam, an elliptical wave bearing, or a cylinder with a half section. It may be formed as any other mechanism configured to deflect radially. The number of teeth on the wheel and the external gear are different, and the meshing position of the gears changes circumferentially as the wave generator rotates. The input shaft moves in the opposite direction to rotate the inner ring relative to the outer ring. The strain wave gear can be driven by a motor, so that the strain wave gear is A transmission system is formed between the output side of the vehicle.

[0019] A portion of the inner ring extends outwardly from the outer ring and forms an outwardly projecting output flange 11. 2. The outwardly projecting output flange is outwardly relative to the inner ring and toward the outer ring. The inner ring is provided with an output flange that protrudes outward, It is now possible to directly connect the strain wave gear to the object being driven by the gear. This is Strained wave gears are used in robotics applications, where they are often used to drive parts of robot arms. Therefore, the strain wave gear according to the first aspect of the present invention is useful in the field of robotics. The output flange protruding outwards can be connected directly to the link or robot joint. , which allows the diameter of the contact surface to be increased, thereby making it possible to To obtain a better, more reliable and stable contact with the object being driven. In addition, the output flange protruding outward is provided with connecting teeth, connecting flanges, and connecting Supporting elements (e.g. mating surface structures) that ensure the correct orientation of the object being strained relative to the strain wave gear and other mechanical elements that ensure a better connection between the distortion wave gear and the object to be connected. For example, in one embodiment, an outwardly projecting output flange may be provided. The present invention relates to a method for producing a method for the production of a compound according to the present invention. The releasable joint assembly may be formed as one of the component flanges.

[0020] The outwardly projecting output flange is integral with the inner ring containing the internal gear, thus ,There are no assembly tolerances that come from separate parts being screwed together, so there is no external The geometry / shape of the protruding output flange is extremely precisely centered on the gear axis. Gears are easier to install because no screws are required to assemble separate parts. Easier and faster to assemble. No risk of screws breaking or coming loose. There is no risk of the flange slipping if not properly tightened, ensuring high gear quality and This results in a more rigid strain wave gear with a higher torque and higher reliability. The output flange is formed as a rotating gear of the gear and projects outward. It can be made as one unit, which ensures a more direct transmission of torque. This allows for a more rigid connection to be established between the various parts of the robot arm.

[0021] Furthermore, the separate parts require excessive space to form the support geometry and the centering rim. Although material is required, the integration of parts can be optimized for strength, and screws are required. The weight of the distortion strain wave gear is lighter because fewer parts are manufactured and used. The cost of the strain wave gear is lower because less material is used. The inner ring can be formed as an integral part of the inner ring, so that the strain wave gear can be Thus, the present invention can drive a higher load than that imposed on the output flange protruding from the The strain wave gear according to the first aspect of the invention is more cost-effective and requires fewer parts to construct. This allows the output section to handle higher loads and has improved rigidity. Form a gear.

[0022] FIG. 2 is a simplified cross-sectional view of another embodiment of a strain wave gear 201 according to a first aspect of the present invention. The strain wave gear 201 is similar to the strain wave gear 101 shown in FIG. In this embodiment, like elements are given the same reference numbers as in FIG. 1 and will not be described further. In an embodiment, at least a portion of the outer racer 213 of the inner bearing 207 is connected to the outer ring 2 02, and the inner racer 214 of the inner bearing has the inner ring 103 disposed therein. The outer racer is formed as a separate part placed in the outer ring. It is formed as a recess, which is configured to guide a rolling element of the internal bearing. This allows the inner and outer rings to be positioned closer together, This makes it possible to form a more compact strain wave gear.

[0023] FIG. 3 is a simplified cross-sectional view of another embodiment of a strain wave gear 301 according to a first aspect of the present invention. The distortion wave gear 301 is the same as the distortion wave gears 101 and 201 shown in FIGS. In this embodiment, similar elements are given the same reference numerals and will not be described further. In one embodiment, the inner racer 314 of the inner bearing 307 is formed as a separate part and is One end of the ring 303 is coaxially connected to the inner racer. The inner racer 303 and the inner racer 314 are arranged continuously along the rotation axis of the inner ring. The inner ring 303 and the inner racer 314 are secured by screws, rivets, nails, clicks / screws, etc. The inner ring 303 and the inner racer 31 may be secured together by a snap mechanism, adhesive, welding, pressure fitting, or the like. 4 may be connected using any type of fastener, or any other type of means to secure the four to each other. This allows the inner ring and inner racer assembly to be bonded together into one body / part. and the inner racer and the inner ring are made of different materials. This is because the outer surface of the inner ring can be aligned with the inner racer. This allows the radial dimensions of the inner ring and the inner racer to be reduced. As a result, the inner and outer rings can be positioned very close to each other, This makes it possible to form a more compact strain wave gear. The internal gear 106 and the outwardly projecting flange 112 of the side ring 303 are manufactured as a single piece. As a result, the output side of the distortion wave gear is made up of a gear and an output flange protruding outward. is formed as a single piece, making it more rigid. The force is applied directly to the internal gear of the inner ring by the flexspline, and therefore It can be directly transmitted to the output flange protruding outward.

[0024] FIG. 4 is a simplified cross-sectional view of another embodiment of a strain wave gear 401 according to a first aspect of the present invention. The distortion wave gear 401 is the same as the distortion wave gears 101 and 201 shown in FIGS. In this embodiment, similar elements are given the same reference numerals and will not be described further. In one embodiment, at least a portion of the outer racer 213 of the inner bearing 407 is connected to the outer ring 20. 2, and the inner racer 414 of the inner bearing is integrally formed in the inner ring 403. This is achieved by placing the inner and outer rings very close to each other. This makes it possible to form a more compact strain wave gear. Furthermore, this is because the outer racer 213 and the inner racer 414 of the inner bearing 407 The outer ring 202 and the inner ring 403 are formed as integral parts, respectively, so that the assembly This allows to reduce the number of elements that need to be calculated. In other words, the outer ring is The inner ring forms the outer race of the inner bearing of the strain wave gear, and the inner ring forms the inner The inner racer of the inner bearing is formed by the inner racer of the inner bearing. The tooth gear and the outwardly projecting output flange may be manufactured as a single piece.

[0025] FIG. 5 is a simplified cross-sectional view of another embodiment of a strain wave gear 501 according to a first aspect of the present invention. The strain wave gear 501 is similar to the strain wave gear 101 shown in FIG. In this embodiment, like elements are given the same reference numbers as in FIG. 1 and will not be described further. In this embodiment, the input shaft 511 passes through the flexspline 104 and into the inner ring 103. The input shaft is rotatably supported via at least one input shaft support bearing 516 by The input shaft support bearing 516 is connected to the outer race 5 disposed in the inner ring 103. 17 and an inner racer 518 in which the input shaft 511 is disposed. Although the input shaft 511 is shown as a solid input shaft, it will be understood that the input shaft The hub is used, for example, to reduce the weight of the strain wave gear or to prevent wires from passing through the strain wave gear. The input shaft may also be formed as a hollow shaft to allow for

[0026] FIG. 6 is a simplified cross-sectional view of another embodiment of a strain wave gear 601 according to a first aspect of the present invention. The strain wave gear 601 is similar to the strain wave gear shown in FIGS. Similar elements are given the same reference numbers and will not be described further. The input shaft 611 is The input shaft is formed as a hollow shaft, and the inner ring 603 is connected to the input shaft support bearing 516 The inner annular flange 620 is configured to support the input shaft 61. 1 is positioned appropriately inside the strain wave gear. The flange can be used as a guide to ensure proper alignment of the input shaft support bearing. , which is useful when assembling the strain wave gear. Similarly, the input shaft 611 is supported by an input shaft support shaft The bearing 516 may include an outer annular flange (not shown) configured to support the bearing 516. I would like to point out that...

[0027] The various internal bearings 107, 207, 307, 407 shown and described in connection with FIGS. This embodiment is combined with the embodiment shown in Figures 5-6, which includes a support bearing that supports the input shaft. You can also match them.

[0028] FIG. 7 shows a simplified cross-sectional view of a strain wave gear 701 according to a second embodiment of the present invention. The strain wave gear 701 is similar to the strain wave gear 101 shown in FIG. 1 and will not be described further. The encoder reader 722 is disposed on the outer ring 102 and reads the encoder track 72. 3 is arranged on the inner ring 103. This is to accommodate the encoder components without distortion. The already extremely high precision inner ring 103 and outer ring 102 of the strain wave gear are used. The encoder reader 722 is located on the stationary outer ring 102 and the rotating inner Placing the encoder track 723 on the ring 103 eliminates the need for extra components. This ensures that the tolerance chain between the encoder reader and the encoder track is as short as possible. For example, magnetic encoders require a short reading distance to achieve high accuracy and precision. This short read distance requires no extra manual adjustments after assembly. , is possible with the present invention.

[0029] The encoder reader 722 and the encoder track 723 are based on a special platform. The inner and outer rings are fitted without the need for arms / brackets or other supports. It can be directly mounted. This saves weight and cost. Encoder reading The reading distance between the device and the encoder track is extremely close without the need for manual adjustment. This is beneficial because it makes assembly easier and less costly. The accuracy and precision of the encoder reading depends on the accurate reading distance between the encoder parts. This allows the structure to be taller than other structures because it is controlled precisely where precision and accuracy are required. This is a major advantage in many applications such as robotics where mechanical transmission components are required. Moving the encoder track relative to the gear output increases costs and This leads to poor accuracy and precision, in addition to poor performance and quality issues. The encoder components are well protected mechanically by being placed inside the gear. This is useful in harsh environment applications where damage to delicate electronic circuits can occur. The encoder track 723 can be of large diameter which increases precision and accuracy. Cut.

[0030] The encoder reader contains electronic circuitry to control and read the signals going back and forth. The encoder includes a PCB (printed circuit board) 724 and an encoder head 725. The track 723 includes a number of indicators that can be read by the encoder head. whereby the encoder reader determines the position of the inner ring relative to the outer ring. For example, an encoder head can read a magnetic encoder track. magnetic heads (e.g. Hall sensors) that can read the optical tracks; In the illustrated embodiment, the encoder PCB 724 may be an optical sensor. An annular boss 110 is disposed on the end of the outer ring opposite the end fixed to the outer ring 102. The encoder head 725 is located on the encoder PCB and is The encoder track 723 faces the encoder head 725. The inner ring is located on the outer surface of the inner ring at a position where the inner ring is in contact with the outer surface of the inner ring.

[0031] FIG. 8 is a simplified cross-sectional view of another embodiment of a strain wave gear 801 according to a second aspect of the present invention. The strain wave gear 801 is similar to the strain wave gear 701 shown in FIG. 1, similar elements are given the same reference numbers as shown in FIG. 1 and will not be described further. A reader 822, an encoder PCB 824, an encoder head 825, and an encoder The DaTrack 823 includes the encoder reader 722 and the encoder PCB 724, the encoder head 725, and the encoder track 723 function similarly. The function is not further explained.

[0032] In this embodiment, the encoder PCB 824 is configured such that the annular boss 110 is attached to the outer ring 102. The encoder is located at the end of the outer ring 102 opposite the fixed end. The lock 824 is formed as an annulus and is disposed on an outer annular flange 827 of the inner ring 802. The outer annular flange 827 of the inner ring is adapted to support the annular boss 110 against the outer ring 802. The encoder head 8 includes a surface facing away from the end of the attached strain wave gear. 25 is disposed on the encoder PCB 824 and an annular boss 110 is attached to the outer ring. The strain is directed toward the opposite face of the outer annular flange that faces away from the end of the strain wave gear. Therefore, the encoder head faces the annular encoder track 823 and You can read the indicators on the circular encoder track. It allows the use of standard encoders, including coder tracks.

[0033] FIG. 9 is a simplified cross-sectional view of another embodiment of a strain wave gear 901 according to a second aspect of the present invention. The distortion wave gear 901 is the same as the distortion wave gears 701 and 8 shown in FIGS. 01, and similar elements are given the same reference numbers and will not be described further.

[0034] In this embodiment, the encoder reader 822 is The inner annular flange 928 of the outer ring is disposed on the annular boss 11. 0 includes a surface facing away from the end attached to the outer ring 902, and the encoder The PCB 824 is configured such that the annular boss 110 is spaced away from the end attached to the outer ring 802. 928. The inner annular flange 928 is disposed on the face of the inner annular flange 928 facing inward.

[0035] FIG. 10 is a simplified diagram of another embodiment of a strain wave gear 1001 according to a second aspect of the present invention. The distortion wave gear 1001 is similar to the distortion wave gear 701 shown in FIG. 7, where like elements are given the same reference numerals as shown in FIG. 7 and will not be described further. Encoder reader 1022, encoder PCB 1024, encoder head 102 5. The encoder track 1023 is connected to the encoder reading device 722, which has already been described. The Encoder PCB 724, Encoder Head 725, and Encoder Track 723 function similarly. These functions are not described further.

[0036] In this embodiment, the encoder reader 1022 is The inner annular flange 1028 of the outer ring is disposed on an annular The boss 110 includes a surface facing the end attached to the outer ring 1002 and includes an encoder. The PCB 1024 is oriented such that the annular boss 110 faces the end attached to the outer ring 802. The encoder track 1025 is disposed on the surface of an inner annular flange 1028. and is disposed on the outer annular flange 1027 of the inner ring 1002. The outer annular flange 1027 of the side ring is adapted to mount the annular boss 110 to the outer ring 1002. The encoder head 1025 includes a surface facing the end of the strain wave gear. A distorted wave rectifier is disposed on the coder PCB 1024 and has an annular boss 110 attached to the outer ring. The outer annular flange faces the opposite surface of the outer annular flange that faces the end of the gear. The shaped encoder track 1023 is a distorted wave tooth with bosses 110 attached to the outer ring. It should be noted that the inner ring may be disposed on the end face of the inner ring facing the end of the car.

[0037] 11A and 11B show a strain wave gear 1101 according to the present invention. FIG. 11B is a perspective view of a distorted wave gear with half of the distorted wave gear cut away. A cross-sectional view of a half of a car. The distortion wave gear is made up of an outer ring 1102, an inner ring 1103, flexspline 1104, and wave generator 1105.

[0038] As previously described, the outer ring 1102 and the outer ring 1103 are formed as annular moldings. R The flexspline 1103 is rotatably disposed in the central opening of the outer ring 1102, and the flexspline 1104 is connected to the inner ring 110. 3The inner ring 1103 includes an internal gear 1106 disposed on an inner wall of the inner ring and facing the central opening of the inner ring. The inner ring is rotatably disposed within the outer ring via an internal bearing 1107. The internal bearing 1107 is embodied as a cross roller bearing with an outer racer 1113 integrally formed with the outer ring 1102 and an inner racer integrally formed with the inner ring 1103. The flexspline 1104 is formed as a flexible cylindrical body disposed within the inner ring and includes an external gear 1108. The external gear is configured to at least partially mesh with the internal gear 1106. The flexspline includes an annular diaphragm 1109 formed integrally with the cylindrical body and extending outwardly relative to the cylindrical body. The annular diaphragm 1109 includes an annular boss 1110 integrally formed on an outer circumferential edge of the diaphragm. The annular boss 1110 is secured to the outer ring 1102 using any type of fastener, such as screws, rivets, nails, click / snap mechanisms, adhesives, welding, or any other type of means for fastening the annular boss to the outer ring. The inner ring is thus disposed between the outer ring 1102 and the cylindrical body of the flexspline 1104. External teeth 1108 are formed on the other end of the cylindrical body and extend along the outer circumferential surface of the cylindrical body. A wave generator 1105 is rotatably disposed within the flexspline 1104 and can be rotated by a hollow input shaft 1111. The input shaft is configured to rotate the wave generator relative to the flexspline, and the wave generator is configured to radially deflect the flexible cylindrical body upon rotation to bring the external gear 1108 into partial mesh with the internal gear 1106. In the illustrated embodiment, the wave generator is formed as an elliptical wave generator, as is known in the art of strain wave gears. The internal and external gears have different numbers of teeth, and rotation of the wave generator moves the meshing position of the gears circumferentially, causing the inner ring to rotate relative to the outer ring. The input shaft can be driven, for example, by a motor, so that the strain wave gear forms a transmission system between the motor and the output side of the strain wave gear.

[0039] A portion of the inner ring extends outwardly from the outer ring and forms an outwardly projecting output flange 11. 12. The outwardly projecting output flange is outwardly relative to the inner ring and outwardly relative to the outer ring. The inner ring has an output flange that protrudes outward, It is now possible to directly connect a distortion wave gear to an object driven by a moving gear, In this embodiment, the advantages and benefits already described can be achieved. The output flange protruding toward the engine is as described in International Publication No. 2018 / 13, which is incorporated herein by reference. One of the component flanges of the releasable joint assembly disclosed in the 0447 brochure It is formed as one.

[0040] The input shaft 1111 passes through the flexspline 1104 and is rotatably supported by the inner ring 1103 via an input shaft support bearing 1116. The input shaft support bearing 1116 includes an outer racer 1117 disposed on the inner ring 1103 and an inner racer 1118 with the input shaft 111 disposed therein. The inner ring 1103 includes an inner annular flange 1120 configured to support the input shaft support bearing 1116, and the input shaft 1111 may include an outer annular flange 1121 configured to support the input shaft support bearing 1116. This ensures that the input shaft 1111 is positioned in the proper position within the strain wave gear. A seal 1119 is attached to the inner ring 1103. 3 and outer ring 110 2 to prevent leakage of the lubricant located within the inner bearing 1107. The seal can be formed as any type of seal known in strain wave gears.

[0041] The strain wave gear 1101 includes an encoder reader 1 disposed on an outer ring 1102. 122 and an encoder track 1123 disposed on the inner ring 1103, The coder reader controls the signals going to and from the encoder head 1125 and reads The outer ring 110 includes an encoder PCB (printed circuit board) that includes electronic circuitry for reading the signal. An encoder reader 1122 is disposed on the fixed portion of the inner ring 1103. The placement of the encoder track 1132 eliminates the need for extra components and The tolerance chain between the driver components is as short as possible. In particular, magnetic encoders offer high accuracy and The accuracy of the sensor depends on a short read distance, which is This is possible with the present invention without the need for extra manual adjustments. Electronic encoder components (encoder reader 1122 and encoder track 1123) ) is placed inside the strain wave gear, which is unusual because the encoder components are This is because the cavity is usually filled with oil or grease. It is not prohibited if gaskets or greases are used and electronic circuits are adequately protected. The encoder PCB 1124 may include one or more The wires can exit the gear cavity through dedicated holes. The wires are usually This is required to receive the coder signal from the encoder reader. The distance between the encoder head 1125 and the encoder track 1123 is 1 / 120. The reading distance is extremely accurate without the need for manual adjustments. This is beneficial because it is easier and less costly to read the encoder. The accuracy and precision are superior to other designs because the reading distance between the encoder components is precisely controlled. This is useful in many applications where precision and accuracy are required. This is a major advantage. The mechanical transmission components rotate the encoder track relative to the output from the gears. The mechanical transmission parts are not necessary to operate the motor. In addition to this, it also reduces precision and accuracy. The encoder components are placed inside the strain wave gear. This provides sufficient mechanical protection to prevent damage to the delicate electronic circuitry. The Encoder Track 1123 is useful in applications where harsh environments require high precision and It can be made with a larger diameter for better accuracy.

[0042] In one embodiment, the encoder PCB 1124 and electronic circuitry can detect any chemicals in the gears. Coat with a suitable coating to ensure no release into grease / oil The encoder reading principle can be, for example, magnetic vs. optical, in particular The read track can be selected for applications where gas / oil may be present. To eliminate extra parts inside the vehicle, the physical pattern (machining, edging, etc.) on the surface of the output bearing material The wires from the encoder PCB can be To make it easier to place the gasket around B, the possible gaps extending beyond the edge of the PCB are It may be a flexible wire.

[0043] In this embodiment, the three parts of a typical strain wave gear are assembled into a single part. This is because the inner racer 1114 of the inner bearing 1107, the internal gear 1108 (circular spring) This means that the axial length of the axial extension 1112 and the output flange portion 1112 are manufactured as a single piece. There are some clear advantages to this: higher load capacity, lighter weight. quantity, easier assembly, better quality, tighter tolerances, less space required, lower Cost: internal bearings are usually supplied as separate components from specialist manufacturers. In general, this type of integration is not considered. In addition, the internal gear (circular spline part) It is a highly specialized product from a manufacturer, and the distortion strain wave gear is used for other parts of the application equipment. It may be necessary to add a separate output flange to connect to the

[0044] The strain wave gear may also include first and second end plates (not shown). The first end plate is attached to the inlet of the strain wave gear on the annular boss 1110 of the flexspline. It can be located on the force side, with the input shaft 1111 passing through the first end plate. The input shaft may include an opening for allowing the input shaft to pass through the first and second end plates. The second end plate can be rotatably supported via a bearing. The end face of the distortion strain wave gear can be located on the output side of the input shaft and the outwardly protruding The second end plate includes an opening that allows an output flange to pass through the second end plate.

[0045] 12A and 12B show a strain wave gear 1201 according to the present invention. FIG. 12B is a perspective view of a distorted wave gear with half of the distorted wave gear cut away. The distortion wave gear is made up of an outer ring 1202, an inner ring 1203, and a flex The spline 1204 and the wave generator 1205 .

[0046] As previously described, the outer ring 1202 and Inside The ring 1203 is formed as an annular molding. RThe flexspline 1203 is rotatably disposed in the central opening of the outer ring 1202, and the flexspline 1204 is connected to the inner ring 120. 3 The inner ring 1203 includes an internal gear 1206 disposed on the inner wall of the inner ring and facing the central opening of the inner ring. The inner ring is rotatably disposed within the outer ring via an internal bearing 1207.

[0047] The inner bearing 1207 has an outer racer 1213 integrally formed with the outer ring 1202. The inner racer 1 of the cross roller bearing 1207 is embodied as a cross roller bearing. 214 is formed as a separate part, and one end of the inner ring 1203 is connected to the inner racer 2 014. Therefore, the inner ring 1203 and the inner racer 1 214 are arranged consecutively along the rotation axis of the inner ring. and Inner Racer 1214 can be used with screws, rivets, nails, click / snap mechanisms, adhesives, Weld, press fit, or otherwise secure the inner ring 1203 and the inner racer 1214 to each other. The connectors may be connected using any type of fastener, such as a fastener for fastening the connector to the connector, or any other type of fastener for fastening the connector to the connector. .

[0048] The flexspline 1204 is formed as a flexible cylinder disposed within the inner ring. , an external gear 1208. The external gear at least partially meshes with the internal gear 1206. The flexspline is formed integrally with the cylindrical body and is configured to be fixed to the cylindrical body. The annular diaphragm 1209 includes a diaphragm 1209 extending outwardly from the diaphragm 1209. The fram includes an annular boss 1210 integrally formed on the circumferential outer edge thereof. The annular boss 1210 includes: Screws, rivets, nails, click / snap mechanisms, adhesives, welding, or annular bosses can be attached to the outer ring. 2. The outer ring 12 may be fastened to the outer ring 12 using any type of fastener, such as a fastener for fastening to ... 02. Thus, the inner ring is connected to the outer ring 1202 and the flexspline The external teeth 1208 are formed on the other end of the cylindrical body. The wave generator 1205 extends along the outer circumferential surface of the cylinder. The input shaft 1211 is rotatably disposed within the rotor 1210 and can be rotated by a hollow input shaft 1211 . The input shaft is configured to rotate the wave generator relative to the flexspline, The dynamic generator deflects the flexible cylinder in the radial direction when rotating, and causes the external gear 1208 to rotate toward the internal gear 1206. In the illustrated embodiment, the wave generating The machine is configured as an elliptical wave generator, as is known in the art of strain wave gears. The internal and external gears have different numbers of teeth, and the rotation of the wave generator causes the gears to mesh. The mating location moves circumferentially to rotate the inner ring relative to the outer ring. Input shaft can be driven by a motor, for example, so that the strain wave gear is and the output side of the strain wave gear form a transmission system.

[0049] A portion of the inner ring extends outwardly from the outer ring and defines an outwardly projecting output flange 12. 12. The outwardly projecting output flange is outwardly relative to the inner ring and outwardly relative to the outer ring. The inner ring has an output flange that protrudes outward, It is now possible to directly connect a distortion wave gear to an object driven by a moving gear, This provides the advantages and benefits already described. The output flange is in accordance with International Publication No. WO 2018 / 1304, which is incorporated herein by reference. One of the component flanges of the releasable joint assembly disclosed in Brochure No. 47 It is formed as follows.

[0050] The input shaft 1211 passes through the flexspline 1204 and into the inner ring 1203. Therefore, the input shaft is rotatably supported via the input shaft support bearing 1216. The support bearing 1216 is made of an outer racer 1217 disposed on the inner ring 1203 and an inner racer 1218 disposed on the inner ring 1203. The input shaft 1211 includes an inner racer 1218 disposed therein. 211 is an outer annular flange configured to support the input shaft support bearing 1216 The seal (not shown) is made of an inner ring 1202 and an outer ring 1203. The seal can be disposed in a cavity 1231 between the inner bearing 1207 and the lubricant in the inner bearing 1207. The seal can be any type of seal known in strain wave gears. The gyro can be formed as a ball.

[0051] The strain wave gear is attached to the input side of the strain wave gear on the annular boss 1210 of the flexspline. The first end plate 1232 includes an input The input shaft 1211 includes an opening that allows the shaft 1211 to pass through the first end plate. The foot 1211 is rotatably supported by the end plate via a support bearing 1233. The support bearing 1233 is an outer race disposed on the first end plate 1232. 1234 and an inner racer 1235 in which the input shaft 1211 is disposed. The outer racer 1234 is supported by an inner annular flange 1236 of the first end plate. It is held.

[0052] The strain wave gear 1201 includes an encoder reader 1 disposed on an outer ring 1202. 222 and an encoder track 1223 disposed on the inner ring 1203, The coder reader is an encoder that contains the electronic circuitry to control and read the signals going through it. The encoder P includes a PCB (printed circuit board) 1224 and an encoder head 1225. CB 1224 is located on the opposite end of annular boss 1210 to the end where outer ring 1202 is fixed. The encoder track 1223 is shaped as a ring and is disposed at the end of the outer ring 1202. The inner ring 1202 is formed of a tubular member 1206 and is disposed on the outer annular flange 1227 of the inner ring 1202. The outer annular flange 1227 is attached to the outer ring 1202 by the annular boss 1210. The encoder head 1225 includes a surface facing away from the end of the strain wave gear. The encoder PCB 1224 is mounted on the outer ring of the strain gauge 1210. The outer annular flange faces away from the end of the strain wave gear. .

[0053] FIG. 13 is a simplified cross-sectional view of a robot joint 1340 including a strain wave gear in accordance with the present invention. The robot joint 1340 is one of the robot arms that includes multiple robot joints. 112, and at least another robot joint 13 can be formed via the output flange 112. The other robot joint 1340′ can be connected to the first robot joint 134 0, and like features are designated with the same reference numerals followed by a prime sign. In the illustrated embodiment, the two robot joints are directly connected to each other. However, it is possible to insert a robot link between the robot joints. The robot joint includes a joint motor 1342 disposed in a robot joint housing 1342. The joint motor includes a motor axle 1343 that can rotate around a motor axis. The motor axle rotates the wave generator 105 of the strain wave gear to generate strain waves. Rotating the output flange 112 relative to the robot housing 1342 via the movable gear 901 In the illustrated embodiment, the strain wave gear is configured to have the strain shown in FIG. The wave gear 901 is formed as a wave gear having the distorted wave teeth as already described. Either one of the wheels or a combination of them is formed as a strain wave gear of the robot joint. To simplify the drawing, the elements of the strain wave gear 901 are shown in the reference diagram in FIG. Not all of the symbols are attached. The motor axle is the input to the strain wave gear. The wave generator 105 is rotated by the wires, which connect the robot joints and the robot It is hollow to allow it to be threaded through the arm.

[0054] The robot housing is connected to the output flange of another robot joint or robot link. The output flange 112 of the robot joint includes an input flange 1344 configured to , and is connected to an input flange 1344' of the other robot 1340'. 1344, 1344' are formed as outwardly protruding input flanges, and annular clamp 1 345 can be used to clamp to the output flange. Thus, the robot joint 1 The output flange 112 of the robot 1340 is connected to an input flange 1344' of the robot 1340'. However, it is natural that the output and input flanges of the two robot joints are There are other mechanisms for connecting the connectors, such as click / snap mechanisms, screws, etc. Providing a robot joint with a strain wave gear according to the present invention has the above-mentioned advantages and To provide a more reliable and less costly robotic joint that provides benefits This makes it possible.

[0055] Paragraphs 0055-0080 below, in conjunction with Figures 14A and 14B, describe an alternative embodiment of the present invention. FIG. 14A shows a cross-sectional view of an example of a strain wave gear drive according to the present invention; 14B shows a cross-sectional view of the section shown in FIG. 14A, the strain wave gear drive. Note that the system of references to figures is different from that of the previous paragraphs and figures.

[0056] To achieve the above and other objects according to the present invention, in a first aspect, The outer ring of the output bearing in the strain wave gear (1), The inner ring of the output bearing in the strain wave gear (2), Output flange (5), A flexible spline section (3) having an external gear disposed within an internal gear; A circular spline portion (4) having an internal gear; The front gear is provided with a portion (3) which is radially deflected to partially engage the external gear with the internal gear. a wave generator disposed within the flexible spline portion; A strain wave gear including: The inner ring (2) and the circular spline portion (4) are the output of the strain wave gear arranged coaxially. Together with the force flange (5), it forms a single unit.

[0057] The outer ring (1) and / or the inner ring (2) are made of a lightweight material. In addition, the internal gear and the external gear can be toothed gears. The flexible spline portion (3) is , a cylindrical portion, and a cylindrical portion in a state close to one end opening of the cylindrical portion, An annular diaphragm integrally formed with the diaphragm and a diaphragm A boss is disposed at the center of the cylinder, and a boss is formed at the other end opening of the cylinder and extends along the outer circumferential surface. The cross roller bearing may have external teeth extending from the flexible spline portion (3). The outer ring (1) can be attached to the outer periphery of the cylindrical portion via an annular boss. The inner ring (2) is fixed to the outer plate at the other end via a circular spline section (4). The plate is fixed to the bottom plate.

[0058] As mentioned above, the present invention also embodies an encoder disposed within a strain wave gear. In this regard, the following two exemplary alternative configurations are: i) the encoder read head (6) is located on the outer ring (1) of the output bearing; the read track (7) is arranged on the inner ring (2) of the output bearing; ii) The encoder is arranged so that the read head (6) of the encoder is aligned with the inner ring ( 2) and a read track (7) is arranged on the outer ring (1) of the output bearing. and the distortion is arranged inside the strain wave gear. applies.

[0059] In a second aspect, the present invention provides a strain wave gear drive having an encoder therein. The driving body is The outer ring of the output bearing in the strain wave gear (1), The inner ring of the output bearing in the strain wave gear (2), A circular spline portion (4) having an internal gear and rotatable around a rotation axis; A flexible spline section (3) having an external gear arranged within an internal gear, a flexible spline portion (3) concentrically disposed within the circular spline portion (4); The front gear is provided with a portion (3) which is radially deflected to partially engage the external gear with the internal gear. a wave generator disposed within the flexible spline portion; A radially flexible ball bearing disposed between the wave generator and the flexible spline section (3). With Including, The encoder is mounted with the read head (6) attached to the outer ring (1) of the output bearing. and a read track (7) is arranged on the inner ring (2) of the output bearing. , is placed in a strain wave gear.

[0060] In an alternative to the second aspect of the present invention, a strain wave gear drive having an encoder therein wherein the driver comprises: The outer ring of the output bearing in the strain wave gear (1), The inner ring of the output bearing in the strain wave gear (2), A circular spline portion (4) having an internal gear and rotatable around a rotation axis; A flexible spline section (3) having an external gear arranged within an internal gear, a flexible spline portion (3) concentrically disposed within the circular spline portion (4); The front gear is provided with a portion (3) which is radially deflected to partially engage the external gear with the internal gear. a wave generator disposed within the flexible spline portion; A radially flexible ball (3) disposed between the wave generator and the flexible spline (2). A bearing, Including, The encoder is mounted with the read head (6) attached to the inner ring (2) of the output bearing. and a read track (7) is arranged on the outer ring (1) of the output bearing. It is placed in a strain wave gear.

[0061] 14A and 14B show cross-sectional views of a strain wave gear drive according to the present invention. The wheel drive has first and second end plates and is axially disposed between the first and second end plates. Cross roller bearings (or standard ball bearings) are placed along the first The input rotating shaft is disposed radially outwardly between the first end plate and the second end plate. The input rotating shaft is disposed through the first and second end plates along the direction of the rotor. The end plates are supported rotatably through ball bearings. The cross roller bearings are attached to the inner circumferential surface of each bearing. More specifically, the internal teeth of the rigid internal gear are A flexible external gear having external teeth is provided on the inner circumferential surface of the gear. The elliptical wave generator can be inserted into a flexible external gear. The external gear is a cylindrical a cylindrical body, a circular diaphragm extending radially outward from one open end of the cylindrical body, and a diaphragm The external teeth are formed on the other open end of the cylindrical body. The wave generator is formed on the outer surface of the elliptical rigid cam plate and the cam plate. and a fixed wave bearing.

[0062] The encoder components (6 and 7) are mounted on a specific platform / bracket or other support. This allows the motor to be mounted directly to the output bearing without the need for a Encoder read head (6) and encoder read track (7) The reading distance between is extremely accurate without the need for manual adjustment. This is beneficial because it is easier to assemble and costs less. The precision and accuracy of the encoder is superior to other constructions because the reading distance between the encoder components is precisely controlled. This is useful in many applications where precision and accuracy are required. This is a major advantage in that the mechanical transmission transfers the encoder track to the gear output. There is no need for relative motion. Driving by this mechanical transmission increases costs and has quality issues. In addition to this, it also results in a loss of precision and accuracy. The encoder components are placed inside the gears. This is to prevent overheating which could damage sensitive electronic circuits. This is advantageous in harsh environment applications. The encoder read track (7) provides high accuracy and It can be made with a large diameter which increases accuracy.

[0063] The encoder PCB and electronic circuitry are designed to prevent any chemicals from reaching the grease / oil inside the gears. To ensure that the substance is not released during storage, it can be coated with a suitable coating material. The reader reading principle, e.g. magnetic vs. optical, is particularly sensitive to the presence of grease / oil. The read track can be selected for use in a variety of applications. To reduce the surface roughness, a physical pattern (machined, etched, laser engraved, etc.) is added to the surface of the output bearing material. The wires from the encoder PCB are routed through a gasket around the PCB. Flexible wires coming out the edge of the PCB to make it easier to place the can be done.

[0064] Since the output is an integral part of the output bearing and the circular spline, the gear is It can drive high loads, which is beneficial for most applications. Since there are no assembly tolerances resulting from parts being screwed together, the output flange The geometry can be very precisely centered on the gear axis. No screws are required to assemble the parts, making assembly easier and faster. There is no risk of the screw breaking or coming loose if the screw is not properly tightened. The quality and reliability of the gears is higher as there is no risk of flange slipping. The product requires excess material to form the support geometry and centering rims, The integration of parts can be optimized for strength and no screws are required, making the gears The weight of the gears is reduced. Fewer parts are manufactured and less material is used, The cost of the car will be lower.

[0065] The distortion wave gear drive shown in FIG. 14A and FIG. 14B is implemented as follows: It can also be specified by

[0066] Statement I: A distortion wave gear drive, An outer ring (1) of an output bearing in a strain wave gear; An inner ring (2) of an output bearing in a strain wave gear; An output flange (5); A cup-type flexspline or silk-hitch having an external gear disposed within an internal gear a flexible spline portion (3) such as a flat flexspline; A circular spline portion (4) having an internal gear; Including, The inner ring (2) and the circular spline section (4) are coaxially arranged on the output flange (5 ) forms a single unit, a distortion wave gear drive body.

[0067] Statement II: The part (3) is deflected radially to partially engage the external gear with the internal gear. A wave generator is disposed within the flexible spline portion to allow the flexible spline portion to engage with the flexible spline portion. The distortion wave gear described in I.

[0068] Statement III: The flexible spline portion (3) is a cylindrical portion and the cylindrical portion a ring-shaped diaphragm formed integrally with the cylindrical portion in a state close to one end opening of the a boss formed integrally with the diaphragm and disposed at the center of the diaphragm; and external teeth formed at the other end opening of the cylindrical body and extending along the outer circumferential surface. A strain wave gear according to any one of claims I and II.

[0069] Statement IV: The cross roller bearing is attached to the outside of the cylindrical part of the flexible spline section (3). The outer ring (1) is fixed to one end plate via an annular boss; The inner ring (2) is fixed to the other end plate via a circular spline. A strain wave gear as described in METHOD III.

[0070] Statement V: The encoder is configured such that the read head (6) of the encoder is The read track (7) is located on the outer ring (1) of the output bearing, the inner ring (2) of the output bearing. Any of statements I to IV is placed in the strain wave gear so as to be placed in 13. The distortion wave gear according to claim 1 .

[0071] Statement VI: The encoder is configured such that the read head (6) of the encoder is The read track (7) is located on the inner ring (2) of the output bearing and the read track (8) is located on the outer ring (1 ) is placed inside the strain wave gear, any one of Statements I to IV 13. The distortion wave gear according to claim 12 .

[0072] Statement VII: A strain wave gear drive having an encoder therein, An outer ring (1) of an output bearing in a strain wave gear; An inner ring (2) of an output bearing in a strain wave gear; A circular spline portion (4) having an internal gear and rotatable around a rotation axis; A flexible spline section (3) having an external gear disposed within an internal gear, the internal gear being a circular a flexible spline portion (3) concentrically disposed within the axial spline portion (4); A radially flexible ball bearing disposed between the wave generator and the flexible spline section (3). With Including, The encoder is mounted with the read head (6) attached to the outer ring (1) of the output bearing. and a read track (7) is arranged on the inner ring (2) of the output bearing. A strain wave gear driver disposed within the strain wave gear.

[0073] Statement VIII: The part (3) is deflected radially to partially separate the external gear from the internal gear. a wave generator disposed within the flexible spline portion for engaging the 7. The strain wave gear driver according to claim 6,

[0074] Statement IX: The inner ring (2) and the circular spline section (4) are arranged coaxially. A strain wave gear according to Statement VII or VIII, which constitutes a single body.

[0075] Statement X: Further comprising an output flange (5), an inner ring (2) and a circular spring The line section (4) is connected to a stay that forms a single unit together with the coaxially arranged output flange (5). A strain wave gear according to any one of the preceding claims, wherein the strain wave gear is

[0076] Statement XI: A strain wave gear drive having an encoder therein, An outer ring (1) of an output bearing in a strain wave gear; An inner ring (2) of an output bearing in a strain wave gear; A circular spline portion (4) having an internal gear and rotatable around a rotation axis; A flexible spline section (3) having an external gear disposed within an internal gear, the internal gear comprising: A flexible spline portion (3) concentrically disposed within the circular spline portion (4); A radially flexible ball bearing disposed between the wave generator and the flexible spline section (3). With Including, The encoder is mounted with the read head (6) attached to the inner ring (2) of the output bearing. and a read track (7) is arranged on the outer ring (1) of the output bearing. A strain wave gear driver disposed within the strain wave gear.

[0077] Statement XII: The part (3) is radially deflected to separate the external gear from the internal gear partially. A wave generator is disposed within the flexible spline portion for engagement. The distortion wave gear driver described in Item VI.

[0078] Statement XIII: The inner ring (2) and the circular spline section (4) are arranged coaxially. A strain wave gear according to Statement XI or XII, which constitutes a single unit placed on the

[0079] Statement XIV: The invention further comprises an output flange (5), an inner ring (2) and a circular The spline portion (4) is arranged coaxially with the output flange (5) to form a single unit. A strain wave gear as described in Item XI or XII.

[0080] Statement XV: A distortion wave gear drive, An outer ring (1) of an output bearing in a strain wave gear; An inner ring (2) of an output bearing in a strain wave gear; An output flange (5) having an internal gear; A cup-type flexspline or silk-hitch having an external gear disposed within an internal gear a flexible spline portion (3) such as a flat flexspline; A circular spline portion (4); Including, The inner ring (2) and the circular spline section (4) are coaxially arranged on the output flange (5 ) forms a single unit, a distortion wave gear drive body. [Explanation of symbols]

[0081] 101 Distortion Wave Gear 201 Distortion Wave Gear 301 Distortion Wave Gear 401 Distortion Wave Gear 501 Distortion Wave Gear 601 Distortion Wave Gear 701 Distortion Wave Gear 801 Distortion Wave Gear 901 Distortion Wave Gear 1001 Distortion Wave Gear 1101 Distortion Wave Gear 1201 Distortion Wave Gear 901' Distortion Wave Gear 102 Outer Ring 202 Outer Ring 902 Outer Ring 1002 Outer Ring 1102 Outer Ring 1201 Outer Ring 103 Inner Ring 303 Inner Ring 403 Inner Ring 603 Inner Ring 1003 Inner Ring 1103 Inner Ring 1203 Inner Ring 104 Flexspline 1104 Flexspline 1204 Flexspline 105 Wave Generator 1105 Wave Generator 1205 Wave Generator 105' Wave Generator 106 Internal gear 1106 Internal gear 1206 Internal gear 107 Internal Bearing 207 Internal Bearing 307 Internal Bearing 407 Internal Bearing 1107 Internal Bearing 1207 Internal Bearing 108 External gear 1108 External gear 1208 External gear 109 Annular diaphragm 1109 Annular diaphragm 1209 Annular diaphragm 110 Circular boss 1110 Circular boss 1210 Circular boss 111 Input shaft 511 Input shaft 611 Input shaft 1111 Input shaft 1211 Input shaft 112 Outwardly protruding output flange 1112 Outward protruding output flange 1212 Outward protruding output flange 112' Outward projecting output flange 113 Outer race of inner bearing 213 Outer race of inner bearing 1113 Outer race of inner bearing 1213 Outer race of inner bearing 114 Interlacer Internal Bearing 214 Interlacer Internal Bearing 314 Interlacer Internal Bearing 414 Interlacer Internal Bearing 1114 Interlacer Internal Bearing 1214 Interlacer Internal Bearing 516 Input shaft support bearing 1116 Input shaft support bearing 1216 Input shaft support bearing 517 Outer race of input shaft support bearing 1117 Outer race of input shaft support bearing 1217 Outer race of input shaft support bearing 518 Input shaft support bearing inner racer 1118 Input shaft support bearing inner racer 1218 Input shaft support bearing inner racer 1119 Seal 620 Inner annular flange of inner ring 1120 Inner annular flange of inner ring 1121 Outer annular flange of input shaft 1221 Outer annular flange of input shaft 722 Encoder reading device 822 Encoder reading device 1022 Encoder reader 1122 Encoder reader 1222 Encoder reader 723 Encoder Track 823 Encoder Track 1023 Encoder Track 1123 Encoder Track 1223 Encoder Track 724 Encoder reader PCB 824 Encoder reader PCB 1024 Encoder reader PCB 1124 Encoder reader PCB 1224 Encoder reader PCB 725 Encoder Read Head 825 Encoder Read Head 1025 Encoder Read Head 1125 Encoder Read Head 1225 Encoder Read Head 827 Outer annular flange of inner ring 1027 Outer annular flange of inner ring 1227 Outer annular flange of inner ring 928 Inner annular flange of outer ring 1028 Inner annular flange of outer ring 1128 Inner annular flange of outer ring 1228 Inner annular flange of outer ring 1130 Gasket 1230 Gasket 1231 Cavity 1232 First End Plate 1233 Input shaft support bearing 1234 Outer race of support bearing 1235 Inner race of support bearing 1236 Inner annular flange of end plate 1340 Robot Joint 1340' Robot joint 1341 Joint Motor 1341' Joint motor 1342 Joint Housing 1342' Joint Housing 1343 Joint Motor 1343' Joint motor 1344 Input Flange 1344' Input flange 1. Outer ring of the output bearing of the strain wave gear 2. Inner ring of output bearing of strain wave gear 3. Flexspline section of strain wave gear 4. Circular spline section of strain wave gear 5. Output flange of strain wave gear 6 Encoder Read Head 7 Encoder reading track 8 Encoder PCB Gasket

Claims

1. A distortion wave gear, An outer ring; an inner ring within said outer ring and rotatable therein, said inner ring including an internally toothed gear; a flexspline within the inner ring, the flexspline including a flexible section including an external gear; a wave generator within the flexspline and rotatable relative to the flexspline, the wave generator configured to radially deflect the flexible section to partially mesh the external gear with the internal gear; and Including, the wave generator is configured to rotate to move an engagement position between the internal gear and the external gear to cause rotation of the inner ring relative to the outer ring; the inner ring includes an output flange that protrudes outward from an inner circumferential surface of the outer ring, the output flange extends outwardly relative to the inner ring; the output flange is configured to be directly connectable to an object driven by the strain wave gear; The output flange and the inner ring are integral, the output flange includes one or more mechanical elements configured to couple to the object; 1. A strain wave gear, wherein the outer ring and the output flange are configured such that a gap between the outer ring and the output flange is larger toward an exterior of the strain wave gear than toward an interior of the strain wave gear.

2. The strain wave gear of claim 1 , further comprising at least one internal bearing at least partially between said inner ring and said outer ring.

3. The strain wave gear of claim 2 , wherein the at least one inner bearing includes an outer racer on the outer ring.

4. the at least one internal bearing includes an inner racer; the inner racer includes separate components; The strain wave gear of claim 2 , wherein the inner ring is coaxially connected to the inner racer.

5. The strain wave gear of claim 3 , wherein at least a portion of the outer racer is integrally formed with the outer ring.

6. The strain wave gear of claim 1 , wherein at least the internal gear and the output flange comprise a single piece.

7. an input shaft configured to rotate the wave generator within the flexspline; The strain wave gear of claim 1 , wherein the input shaft is supported by the inner ring via at least one support bearing.

8. The strain wave gear of claim 7 , wherein the input shaft includes an outer annular flange configured to support the at least one support bearing.

9. a second outwardly projecting flange on the inner ring, the second outwardly projecting flange having a surface facing away from the outer ring; an encoder track on the surface of the second outwardly projecting flange of the inner ring; an encoder reader on the outer ring, the encoder reader including electronic circuitry for reading the encoder track to obtain a position of the inner ring relative to the outer ring; The strain wave gear of claim 1 , further comprising:

10. 1. A strain wave gear system comprising: An outer ring; an inner ring within said outer ring and rotatable therein, said inner ring including an internally toothed gear; a flexspline within the inner ring, the flexspline including a cylindrical portion including an externally toothed gear; a wave generator within the flexspline and rotatable relative to the flexspline, the wave generator configured to radially deflect the cylindrical portion to cause the external gear to partially mesh with the internal gear; an encoder reader including an encoder PCB (printed circuit board) including electronic circuitry for reading signals from the encoder track, the encoder PCB being adjacent to the encoder track; Including, the inner ring includes an outer flange having a surface facing away from the outer ring; the flexspline further includes an annular diaphragm integrally formed with and extending outwardly relative to the cylindrical portion, the annular diaphragm including an annular boss integrally formed on an outer circumferential edge of the annular diaphragm, the annular boss being attached to the outer ring; the wave generator is configured to rotate to move an engagement position between the internal gear and the external gear to cause rotation of the inner ring relative to the outer ring; the encoder track is on the surface of the outer flange of the inner ring, the encoder track including an annulus; the encoder PCB is in a portion of the outer ring facing the surface of the inner ring at one end of the outer ring; The inner ring further includes an output flange protruding outwardly from an inner circumferential surface of the outer ring.

11. The strain wave gear system of claim 10 , wherein the outer flange is configured to support the encoder track.

12. The strain wave gear system of claim 10 , wherein the outer ring includes at least one inner annular flange configured to support the encoder reading device.

13. The strain wave gear system of claim 10 , wherein the encoder reader and the encoder track are present within the strain wave gear system.

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