A gear device includes a first gear, and a second gear meshing with the first gear. At least the first gear is made of a resin. The gear device further includes a connection member connected to an external member, a path member disposed in a path leading to the first gear and the connection member, and other members that are members other than the first gear, the second gear, the connection member, and the path member, and are made of a resin. The first gear, the connection member, and the path member are made of a resin having a higher thermal conductivity than a thermal conductivity of the other members.

An actuator assembly is disclosed herein. The assembly includes a motor shaft; support; harmonic drive connected to the motor shaft that includes an output connected to a drive shaft defining a first sun gear; drive mechanism; and actuator arm. The drive mechanism includes a first gear set and a second gear set. The first gear set has a first carrier including a second sun gear. The first carrier supports a first plurality of planetary gears that engage both the first sun gear and a first ring gear rotationally fixed to the support. The second gear set has a second carrier fixed to the support. The second carrier supports a second plurality of planetary gears that engage both the second sun gear and a second ring gear. The actuator arm is connected to the second ring gear such that the actuator arm is rotationally driven by the motor shaft.

An outer-ring lubrication groove pattern formed in an outer-race raceway surface and an inner-race lubrication groove pattern formed in an inner-race raceway surface of a wave generator bearing of a strain wave gearing device are patterns in which linear lubrication grooves having very small widths and depths of several micrometers or less are arranged at fine pitches of several micrometers or less. The inner-race lubrication groove pattern includes a second groove pattern formed in long-axis-side inner-race raceway surface portions to hold the lubricant, and a first groove pattern formed in short-axis-side inner-race raceway surface portions to hold the lubricant and guide the lubricant to the second groove pattern. This configuration improves the contact state between balls and the inner-race and outer-race raceway surfaces of the wave generator bearing, thus reducing the coefficient of friction therebetween.

A shaft retention mechanism of the present invention includes: a casing forming a housing space containing a lubricant; an input shaft penetrating a through-hole formed in the casing, the input shaft extending through the casing; a sealing ring encircling the input shaft in the through-hole, the sealing ring sealing between the input shaft and the casing; and a bearing disposed on an opposite side of the sealing ring to the housing space, the bearing rotatably supporting the input shaft in the through-hole.

Disclosed is a compound harmonic gearbox having: a first ground gear and a second ground gear being interconnected about a stationary shaft to form a housing, wherein only the first ground gear includes gearbox mounting features; an output flange partially encased within the housing; a flex spline within the housing that drives the output flange; a wave generator within the housing that drives the flex spline; an input shaft with an input gear that drives the wave generator, the input shaft extending through the first ground gear, wherein the output flange is configured to rotate completely around the stationary shaft by rotating the input shaft.

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)≥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 strain wave gearbox configured to provide over-torque protection. The strain wave gearbox is designed to include a clutch that is at least partially housed within or positioned inside the internal space (herein labeled a chamber or void space interchangeably with internal space) of a flex spline. In some cases, the internal space is utilized to generate the preload for the clutch, and it may be used to provide room for a clutch preload subassembly. The clutch is located outside the flex spline's internal space and is formed to use geometric friction surfaces in the form of mating rings of teeth on mating surfaces or sides of the first and second clutch plates that once preloaded by the clutch preload subassembly require a greater torque than the design torque to rotate to the next tooth.

Disclosed is a gear including an input shaft; an output shaft an outer wheel; an inner wheel positioned concentrically in relation to the outer wheel; a pressure means extending between the outer wheel and the inner wheel; and at least one revolving transmitter configured to push the pressure means away from the inner periphery of the outer wheel and push the pressure means onto the outer periphery the inner wheel.

A gear mechanism is disclosed with a ring gear, with a flexible gear wheel arranged in the ring gear and with a wave generator which is in contact with the flexible gear wheel and which deforms the flexible gear wheel so that it is in sections in engagement in the ring gear. The gear mechanism can be configured in such a way that interference in the engagement in the gear teeth and the gear backlash are reduced, the noise behavior and the power transmission are improved and the service life is increased. The flexible gear wheel can include at least two flexible gear wheel disks arranged adjacent to one another in the axial direction, and each gear wheel disk can include at least two toothed segments in the circumferential direction which are connected to one another by way of spring segments.