A strain wave gearing device has a grease temperature control mechanism for controlling the grease temperature of a portion of grease, of the grease filled inside an externally toothed gear of the strain wave gearing device, the portion of the grease being disposed on the outer peripheral side portion of a wave generator. The grease temperature control mechanism has a circular heater facing the outer peripheral side portion of the wave generator over the entire circumference from a direction of a device central axis line. By controlling the grease temperature of a specified portion inside the externally toothed gear, it is possible to reliably start the strain wave gearing device even in an extremely low temperature environment where the grease solidifies.

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.

An automatic actuator system is provided. The automatic actuator system includes an input linkage that receives an input and an output linkage adapted to control a flight surface actuator. The automatic actuator system includes a first strain wave gear having a first circular spline coupled to the input linkage and a first flex spline rotatably coupled to the first circular spline. The automatic actuator system includes a second strain wave gear having a second circular spline coupled to the first flex spline. The second strain wave gear includes a second flex spline, and the second flex spline is coupled to the output linkage such that at least a portion of the input from the input linkage is transferred to the output linkage via the first strain wave gear and the second strain wave gear.

A fluid rotary joint has a stator with a generally curved stator body and a flex spline with a flexible annular band disposed about and secured to the stator body. The stator also has at least three radially extendable members disposed between the stator body and the annular band to deform the annular band away from the stator body to contact the inner surface of a rotor. The inner circumference of the rotor is greater than the outer circumference of the annular band. A driver selectively expands the extendable members and brings the annular band of the stator into frictional driving engagement with the rotor for rotating the rotor. The extendable members may also be selectively extended to allow the stator and rotor to freely move with respect to one another or to have limited contact with one another to act as a torque limiting device.

A method of making a strain wave includes the steps of a) providing a circular spline, a flexspline meshed with the circular spline, and an initial wave generator having an initial outer profile of a standard ellipse with a perimeter S.sub.0, and b) producing a modified wave generator rotatably fitted within the flexspline and having a modified outer profile with a perimeter S. A difference E.sub.S between the perimeter S of the modified outer profile and the perimeter S.sub.0 of the initial outer profile satisfies the equation E.sub.S=S−S.sub.0=0.1 m to 0.8 m, wherein m is the modulus of the flexspline. Through a special parameter design of the modified wave generator, the meshing ratio between the circular spline and the flexspline is increased, thereby improving the transmission accuracy and reducing the average load.

A coaxial gear (1), includes an axially oriented tooth system (5) with respect to a rotational axis (3) of the coaxial gear (1), a tooth carrier (7) having axially oriented guideways (9), tooth pins (11) received within the guideways (9) for engaging with the tooth system (5), wherein the tooth pins (11) are axially oriented within the guideways (9) by their respective longitudinal axes and are mounted within the guideways (9) in an axially displaceable manner, and a cam disc (15) rotatable about the rotational axis (3) for axially driving the tooth pins (11), wherein a plurality of bearing segments (17) is disposed between the cam disc (15) and the tooth pins (11) for bearing the tooth pins (11), and wherein, on a side facing the tooth pins, the bearing segments (17) have an elevation at least in sections formed as a spherical cap for bearing the respective tooth pin (11).

A boss-side fastening surface formed in a boss of a flexible externally toothed gear of a strain wave gearing and a shaft-side fastening surface of an output shaft are coaxially fastened with bolts. The boss-side fastening surface is a convex-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a ridge line on a diameter line of the surface. The shaft-side fastening surface is a concave-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a trough line on a diameter line of the surface. The inclination angle of the inclined surfaces is set in the range of 2° to 16°. Transmission torques equal to or larger than those for combined bolt and pin fastening can be secured with bolt-only fastening.

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.

An actuator capable of realizing a high output with a compact size is proposed. An actuator provided with a motor including a cylindrical rotor, and a reducer including an input shaft coaxial with a rotational shaft of the motor and nested in the rotor. The reducer has a cylindrical shape, the reducer further includes an output shaft coaxial with the rotational shaft of the motor, the motor further includes a stator, and the actuator is further provided with a casing which supports the reducer and the stator.

A magnet gear device includes a first magnet unit in which two or more magnetic poles are alternately arranged in a direction along a rotation axis and a circumferential direction with respect to the rotation axis, respectively; a second magnet unit in which two or more magnetic poles are alternately arranged in the direction along the rotation axis and the circumferential direction, respectively, wherein the second magnet unit is disposed radially outside the first magnet unit; and a pole piece unit including a plurality of pole pieces to form a magnetic flux path between the first magnet unit and the second magnet unit. Each of the plurality of pole pieces is formed to extend in a radial direction to allow each of both an inner end and an outer end thereof to overlap at least a portion of the first magnet unit and the second magnet unit.