Proposed is a strain wave generator for a harmonic reducer, the strain wave generator including: a cam formed with a plurality of segmented cams on a long-diameter side and the same number of segmented cams on a short-diameter side alternately abutted along a circumferential direction, wherein each of the segmented cams on a long-diameter side has an outer circumference surface of a certain cylindrical surface of a small radius, each of the segmented cams on a short-diameter side has an outer circumference surface of a certain cylindrical surface of a large radius, and the cylindrical surface of each of the segmented cams on a long-diameter side and the cylindrical surface of each of the segmented cams on a short-diameter side, abutted each other, have a common tangent line at a meeting point thereof.

A clutch assembly includes a first member for mechanically coupling to an output shaft. A first material is frictionally coupled to a first side surface of the first member. A second material is frictionally coupled to a second side surface of the first member. A compliant member is configured to apply an axial force on at least one of the first material and the second material. A radial spring least partially surrounds an exterior surface of the first member.

Provided is a double-flexspline harmonic reducer, comprising a strong flexspline (3), a weak flexspline (2) and a wave generator (1). The strong flexspline (3) and the weak flexspline (2) are coaxially fixed in an axial direction and a radial direction, and teeth which can be engaged with each other and are different in the number thereof are provided on the strong flexspline (3) and the weak flexspline (2) respectively. The wave generator (1) causes the weak flexspline (2) to undergo non-circular elastic deformation and then to partially engage with the strong flexspline (3), and a contact portion of the strong flexspline (3) and the weak flexspline (2) undergoes non-circular elastic deformation under a radial pressure from the weak flexspline (2). A wall thickness of the strong flexspline (3) is greater than or equal to 2 times and less than 5 times that of the weak flexspline (2).

A gear motor includes a motor and a speed reducer and drives a joint portion of a cooperating robot which performs a work in collaboration with a person. In addition, in the gear motor, an operation ratio is 20% ED or less, a reduction ratio of the speed reducer is 30 or less, and an output rotating speed of the motor is 1000 rpm or less.

A bending meshing type gear device includes a wave generator, an external gear that is bent and deformed by the wave generator, an internal gear that meshes with the external gear, and a wave generator bearing disposed between the wave generator and the external gear, in which an inner ring rolling surface on which a rolling element of the wave generator bearing rolls includes a hardened layer, and the hardened layer has a characteristic that a surface hardness after operating for a predetermined time is increased compared to a surface hardness before operation.

Proposed is a strain wave generator for a harmonic reducer, the strain wave generator including: a cam formed with a plurality of segmented cams on a long-diameter side and the same number of segmented cams on a short-diameter side alternately abutted along a circumferential direction, wherein each of the segmented cams on a long-diameter side has an outer circumference surface of a certain cylindrical surface of a small radius, each of the segmented cams on a short-diameter side has an outer circumference surface of a certain cylindrical surface of a large radius, and the cylindrical surface of each of the segmented cams on a long-diameter side and the cylindrical surface of each of the segmented cams on a short-diameter side, abutted each other, have a common tangent line at a meeting point thereof.

A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally toothed gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.

A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally tooted gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.

An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

A strain wave gear includes gear elements including a circular element having an internally-toothed gear and a flex element having a flexible externally-toothed gear arranged in the circular element. A wave generator is rotatably arranged in the flex element and configured to flex the externally-toothed gear in a radial direction to partly mesh the internally-toothed gear and the externally-toothed gear. Support elements include a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element. Elements of the support elements are fixed respectively to elements of the gear elements. An encoder arrangement includes an encoder track and an encoder reader. A part of the encoder arrangement is between an element of the support elements and an element of the gear elements.