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.

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

A motor-incorporating reducer includes a main body, a rotational actuating member, a flex spline, and an circular spline. The rotational actuating member has a rotating shaft, a wave generator, and a motor. The rotating shaft passes through the main body, and the elliptic wheel is integratedly formed around the rotating shaft. The motor has a magnetic motor rotator that is integratedly formed on the rotating shaft. With the integrated structure, the rotating shaft, the elliptic wheel, and the motor rotator can stably perform rotation, thereby eliminating the risk that the three, when formed separated and assembled, would become non-coaxial due to the resultant tolerance after assembly and have eccentric rotation, and in turn preventing adverse effects on the drive's output torque due to non-coaxial rotation and extending the drive's service life.

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 joint actuator of a robot includes a casing, a driving device, a driving shaft, a reducer, and a sensor. The driving device is disposed in the casing. The driving shaft is disposed in the casing and connected to the driving device, and the driving device is adapted to drive the driving shaft to rotate. The reducer is disposed in the casing and includes a power input component and a power output component. The power input component and the power output component are sleeved around the driving shaft, and the power input component is connected between the driving shaft and the power output component. The sensor is disposed on the power input component or the casing.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

An accelerated life test method for a speed reducer of an industrial robot is provided. The accelerated life test method includes: setting first load stress higher than rated load stress and second load stress lower than the rated load stress; performing an accelerated life test by loading the first load stress to first speed reducer samples; calculating a service life of each of the first speed samples in the accelerated life test; performing a contrast test by loading the second load stress to second speed reducer samples; calculating a service life of each of the second speed samples in the contrast test; and calculating an acceleration coefficient, and the acceleration coefficient is equal to a ratio of the service life in the accelerated life test to the service life in the contrast test.

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 robot includes a base, a first arm that is provided to be rotatable with respect to the base, and a gear device that transmits a driving force from the base to the first arm. The gear device has a flexible gear. The flexible gear has a cylindrical body portion and a bottom portion that is connected to one end portion of the body portion. The bottom portion has a metal flow radially extending from a center side to an outer peripheral side of the bottom portion.

A gear device includes an internal gear, an external gear having flexibility, a wave generator, a cross roller bearing, and a first seal and a second seal. The external gear includes a cylindrical body section including a first end portion, with which the wave generator is in contact, and a second end portion on the opposite side of the first end portion, external teeth provided on the outer circumferential surface of the first end portion, an annular diaphragm section provided on the outer side of the second end portion, and a boss section provided on the outer side of the diaphragm section. The first seal is sandwiched between the boss section and an outer ring of the cross roller bearing. The second seal includes a proximal end fixed to the outer ring and a distal end in contact with the outer circumferential surface of an inner ring.