In a strain wave gearing device, fine first and second lubricant-holding grooves for holding lubricant are formed at fine pitches in an outer-race external peripheral surface of a wave generator bearing and an outer-race-contacting internal peripheral surface portion of an externally toothed gear in contact therewith. Fine lubricant-guiding grooves for guiding the lubricant to the outer-race-contacting internal peripheral surface portion are formed at fine pitches in a second internal peripheral surface portion, which adjoins the outer-race-contacting internal peripheral surface portion, of an internal peripheral surface of the externally toothed gear. This configuration improves the contact state between the outer-race-contacting internal peripheral surface portion of the externally toothed gear and the outer-race external peripheral surface, thus suppressing fretting wear occurring in these surfaces.

A rotary bearing (50), especially for harmonic gearing, comprising an outer bearing ring (1b) and an inner bearing ring (1a) arranged therein; whereby the inner bearing ring (1a) and the outer bearing ring (1b) are each provided with at least one receptacle (10, 11) through which, when the two receptacles (10, 11) are in a corresponding position with respect to one another, rolling elements (8) can be inserted through a receptacle opening (22) formed by the two receptacles (10, 11) into an anti-friction bearing between the bearing surface (7) of the inner bearing ring (1a) and the bearing surface (9) of the outer bearing ring (1b), wherein a guide ring (20) for the rolling elements (8) is arranged in at least one of the two receptacles (10, 11) between the receptacle opening (22) and the rolling elements (8).

Coaxial gear mechanism (1), with a toothing (5) oriented axially relative to a rotational axis (3) of the coaxial gear mechanism (1), a tooth carrier (7) with axially oriented guides (9), teeth (11) which are received in the guides (9) for engagement with the toothing (5), wherein the teeth are oriented with their respective longitudinal axes (13) axially in the guides (9) and are mounted so as to be axially movable in the guides (9), and a cam disk (15) which is rotatable about the rotational axis (3) for axially driving the teeth (11), wherein a plurality of bearing segments (17) is arranged between the cam disk (15) and the teeth (11) for supporting the teeth (11).

A gear includes a tubular portion and a diaphragm portion. The diaphragm portion extends in a direction including a radial component from one axial end portion of the tubular portion. The portion includes a first portion and a second portion. The first portion is on one axial side of the portion. The second portion is on another axial side relative to the first portion. The second portion includes teeth protruding radially outward. A maximum value of a thickness of the diaphragm portion is equal to or less than twice a distance from radially outer ends of the teeth to a radially inner surface of the second portion, and a minimum value of a thickness of the first portion is equal to or less than half the maximum value of the thickness of the diaphragm portion.

A strain wave gearing has a wave generator provided with a plurality of rollers mounted between an ellipsoidal outer peripheral surface of a plug and an inner peripheral surface of an externally toothed gear. The plug is formed with recesses along the ellipsoidal outer peripheral surface. The recesses open in a first end surface of the plug facing toward a diaphragm of the externally toothed gear. The radial rigidity of the plug is relatively low in the side having the first end surface in the direction of a plug axis. When viewed along the direction of the plug axis, the respective rollers can be brought into linear contact with the inner peripheral surface of the externally toothed gear at positions on the long axis (Lmax) of the elliptically-flexed externally toothed gear, so as not to occur one-sided contact state.

An externally toothed gear of a cup-type strain wave gearing has external teeth, the tooth profile of which gradually changes in the tooth-trace direction. The external teeth are formed with an external teeth portion capable of meshing with internal teeth of an internally toothed gear, a first external teeth extension portion and a second external teeth extension portion, in which the first and second external teeth extension portions do not mesh with the internal teeth. The second external teeth extension portion has a narrowing tapered tooth profile so that the second external teeth extension portion serves as a guide when the external teeth is inserted into the internal teeth. The work of assembling the externally toothed gear in the internally toothed gear is made easier.

The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

A speed reducer and a robot are disclosed. The speed reducer includes a rigid wheel, a flexible wheel and a flexible bearing; the rigid wheel is provided with a first fitting position and an inner wheel tooth set; the outer peripheral surface of a peripheral wall of the flexible wheel is provided with an outer wheel tooth set; in the axial direction of the rigid wheel, the tooth top of the outer wheel tooth set is provided with a first length, and the tooth root of the outer wheel tooth set is provided with a second length; the tooth top of the inner wheel tooth set is provided with a third length; the flexible bearing is provided with a fourth length; the second length and the third length are both greater than the first length, and the fourth length is greater than the second length.

A speed reducer comprises a transmission shaft, an eccentric wheel, a first wheel assembly, a rotating wheel and a second wheel assembly. The first wheel assembly comprises a first wheel disc and at least one first roller. The at least one first roller is disposed on the inner wall of first wheel disc. The rotating wheel comprises a main body comprising an outer ring structure and a concave structure. The outer ring structure comprises at least one first tooth. The at least one first tooth is in contact with the corresponding first roller. At least one second roller is disposed within the concave structure. The second wheel assembly comprises a second wheel disc and at least one second tooth. The at least one second tooth is disposed on an outer periphery of the second wheel assembly. The at least one second tooth is in contact with the corresponding second roller.

A gear device includes an external gear, and an internal gear that meshes with the external gear. The external gear is formed of metal. The internal gear is formed of a carbon fiber reinforced resin.