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.

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 compact harmonic drive system with a motor residing within the flexspline cup. The motor may reside further into the flexspline cup than the wave generator, and the air gap of the motor may be further out radially than the interior of the wave generator bearing. The motor may use an outrunner configuration with an outboard rotor made up of magnets, allowing for a large radial distance to the air gap and resulting in higher torque. The interior stator windings are thermally well coupled to the drive system structure. The harmonic drive may be coupled to a deployment system adapted to support moment loads perpendicular to the rotation axis such that those loads are not supported by the harmonic drive.

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.

A flexible transmission element is disclosed which can be used, in particular in a harmonic drive and which includes a sleeve-shaped, outer toothed section and a flange connected to this section, the outer toothing of the sleeve-shaped section is sheet metal toothing formed in a die.

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 involved 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.