JP6767955B2 - Strain wave gearing and robot - Google Patents

Description

The present invention relates to a strain wave gearing device and a robot that convey a lubricant to a sliding portion of a rotating mechanism.

The gear device disclosed in Patent Document 1 includes a gear and a shaft portion penetrating the shaft hole of the gear. A spiral groove is formed on the shaft. The groove is filled with a lubricant for lubricating the sliding portion between the shaft and the gear. As a result, the lubrication state between the shaft portion and the shaft hole is maintained.

Japanese Unexamined Patent Publication No. 2011-174577

However, in the conventional gear device disclosed in Patent Document 1, since the lubricant dropped on the lower side of the sliding portion does not contribute to the lubrication of the sliding portion, it is necessary to replenish the sliding portion with the lubricant in a short period of time. is there. Therefore, since the replenishment work of the lubricant is frequently performed, there is a problem that the maintainability is lowered.

The present invention has been made in view of the above, and an object of the present invention is to obtain a strain wave gearing capable of transporting a lubricant to the sliding portion even when the lubricant falls on the lower side of the sliding portion.

In order to solve the above-mentioned problems and achieve the object, the strain wave gearing device according to the present invention includes a rotating shaft and a rotating mechanism that rotates in conjunction with the rotation of the rotating shaft. The strain wave gearing includes a bottomed housing. The bottomed housing includes a bottom surface provided below the rotation mechanism and formed with an opening through which the rotation shaft penetrates, and a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism. It has a second member provided inside the first member coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism. The strain wave gearing device includes a lubricant transporting portion that transports a lubricant existing in a groove formed by being surrounded by a first member, a second member, and a bottom surface to a sliding portion of a rotating mechanism . The lubricant transporting portion is provided between the second member and the rotating mechanism, is fixed to the rotating shaft, and is provided in the disc portion extending from the rotating shaft toward the inner peripheral surface of the first member and in the groove. A wing extending from the disk portion toward the bottom surface and a cylindrical inner wall portion provided between the second member and the wing and extending from the disk portion toward the bottom surface are provided, and the disk portion has a cylindrical inner wall portion. It is characterized in that a hole portion is formed which penetrates the disk portion in the vertical direction and connects with the upper end portion of the wing .

The strain wave gearing device according to the present invention has an effect that the lubricant can be conveyed to the sliding portion even when the lubricant falls to the lower side of the sliding portion.

Perspective view of a robot provided with a strain wave gearing according to an embodiment of the present invention. Sectional drawing of the wave gear device which concerns on embodiment of this invention Section III-III cross-sectional view of the strain wave gearing shown in FIG. A perspective view of the housing 12 shown in FIG. Enlarged view of the second member shown in FIG. Perspective external view of the lubricant transporting portion shown in FIG. Top view of the lubricant transport section shown in FIG. 2 as viewed from above. VIII-VIII cross-sectional view of the lubricant transport section shown in FIG. Top view of the lubricant transport section shown in FIG. 2 as viewed from below. Cross-sectional view taken along the line XX of the lubricant transport section shown in FIG. Sectional drawing of the comparative example of the wave gear device which concerns on embodiment of this invention

Hereinafter, the wave gear device and the robot provided with the wave gear device according to the embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment.
FIG. 1 is a perspective view of a robot provided with a strain wave gearing according to an embodiment of the present invention. As shown in FIG. 1, the robot 100 according to the embodiment of the present invention is a horizontal articulated robot with three degrees of freedom. The robot 100 includes a base 1, a first arm 2, and a second arm 3.

The base 1 includes a wave gear device 200 according to an embodiment of the present invention, and a motor 300 connected to the wave gear device 200 via an input shaft 9.

The first arm 2 is provided on the upper part of the base 1. The first arm 2 extends horizontally from the upper part of the base 1. One end of the first arm 2 is connected to the strain wave gearing 200 in a state where it can swing in the rotation direction D3 of the vertical axis AX1 of the base 1. Specifically, one end of the first arm 2 is connected to the strain wave gearing device 200 via the output shaft 10. The differential rotation of the strain wave gearing 200 reduces the rotation of the motor 300 and transmits it to the first arm 2. As a result, the first arm 2 swings in the horizontal plane.

The second arm 3 is provided above the first arm 2. The second arm 3 is connected to the first arm 2 in a state where it can swing in the rotation direction of the vertical axis AX2 at the other end of the first arm 2. Although not shown in FIG. 1, the second arm 3 includes a strain wave gearing device 200 and a motor having the same structure as the strain wave gearing device 200 and the motor 300 included in the base 1. Further, the second arm 3 includes a spline 4 connected to a universal joint that can move in the rotational direction and the axial direction.

The other end of the first arm 2 is connected to the second arm 3 via the output shaft of the strain wave gearing included in the second arm 3. The differential rotation of the strain wave gearing included in the second arm 3 causes the rotation of the motor included in the second arm 3 to be decelerated and transmitted to the first arm 2. As a result, the second arm 3 swings in the horizontal plane.

The robot 100 configured in this way operates the connection points between the base 1 and the first arm 2 and the connection points between the first arm 2 and the second arm 3, so that the tip of the spline 4 with respect to the base 1 can be operated. The position and posture can be controlled. As a result, high-speed and high-precision transportation and assembly of members (not shown) can be realized.

Next, the configuration of the strain wave gearing 200 will be described with reference to FIGS. 2 to 5. FIG. 2 is a cross-sectional view of a strain wave gearing according to an embodiment of the present invention. FIG. 3 is a cross-sectional view taken along the line III-III of the strain wave gearing shown in FIG. FIG. 4 is a perspective view of the housing 12 shown in FIG. FIG. 5 is an enlarged view of the second member shown in FIG.

As shown in FIG. 2, the wave gear device 200 includes an input shaft 9, a bottomed cylindrical housing 12, a bottomed cylindrical housing 11, a rotating mechanism 20 as a speed reduction mechanism, and an oil seal 13. , A wave generator 5, a circular spline 7, a flex spline 6, an output shaft 10, and a lubricant transport unit 16.

As shown in FIG. 2, the input shaft 9 is a rotation shaft that penetrates the center of the bottom surface 12b of the housing 12 in the radial direction D1 and extends in the vertical direction D2.

As shown in FIG. 2, the housing 12 is provided on the lower side of the housing 11 and is fixed to the housing 11. The housing 11 is provided on the upper side of the housing 12 so as to face the housing 12. A radial outer portion of the circular spline 7 is fixed to the inside of the housing 11. Details of the configuration of the circular spline 7 will be described later. As shown in FIG. 4, the housing 12 includes an annular bottom surface 12b, a first member 12c, and a second member 12d. The bottom surface 12b is provided below the rotation mechanism 20 shown in FIG. The rotation mechanism 20 is provided on the upper side of the housing 12 and rotates in conjunction with the rotation of the input shaft 9. A part of the rotation mechanism 20 is composed of the wave generator 5, the flexspline 6, and the circular spline 7 shown in FIGS. 2 and 3. An opening 12b1 is formed at the radial center of the bottom surface 12b shown in FIG. The input shaft 9 shown in FIG. 2 is inserted into the opening 12b1. A second member 12d is provided on the radial direction D1 center side of the bottom surface 12b so as to surround the opening 12b1. A first member 12c is provided on the outer side of the bottom surface 12b in the radial direction D1. The first member 12c is an annular member provided coaxially with the input shaft 9 shown in FIG. The first member 12c extends from the bottom surface 12b toward the rotation mechanism 20 shown in FIG. The direction in which the first member 12c extends is equal to the vertical direction D2. The second member 12d is an annular member provided inside the first member 12c coaxially with the input shaft 9 shown in FIG. The second member 12d extends from the bottom surface 12b toward the rotation mechanism 20 shown in FIG. The direction in which the second member 12d extends is equal to the vertical direction D2. The inner peripheral surface of the first member 12c and the outer peripheral surface of the second member 12d are separated from each other.

The region surrounded by the first member 12c, the second member 12d, and the bottom surface 12b constitutes an annular groove 12a.

The height of the first member 12c in the vertical direction D2 is larger than the height of the second member 12d in the vertical direction D2. The inner diameter of the first member 12c is larger than the outer diameter of the disk portion 16b shown in FIG. Details of the configuration of the disk portion 16b will be described later. The outer diameter of the second member 12d is smaller than the inner diameter of the inner wall portion 16d shown in FIG. Details of the configuration of the inner wall portion 16d will be described later. A disk portion 16b shown in FIG. 2 is arranged at a step portion in the vertical direction D2 between the first member 12c and the second member 12d. The step portion is equal to the space in the vertical direction D2 from the end portion of the first member 12c in the vertical direction D2 to the end portion of the second member 12d in the vertical direction D2 in the vertical direction D2.

As shown in FIG. 5, the second member 12d is formed with a first end surface 12d2 in contact with the bottom surface 12b shown in FIG. 4 and a second end surface 12d3. The second end surface 12d3 is provided on the side opposite to the first end surface 12d2 side of the second member 12d, and faces the disk portion 16b shown in FIG. Further, the second member 12d includes a first inner peripheral surface 12d4 provided near the first end surface 12d2, a second inner peripheral surface 12d5 provided near the second end surface 12d3, and a step portion 12d6. It is formed.

The inner diameter of the first inner peripheral surface 12d4 is narrower than the inner diameter of the second inner peripheral surface 12d5. The stepped portion 12d6 corresponds to a boundary portion between the first inner peripheral surface 12d4 and the second inner peripheral surface 12d5. The step portion 12d6 is provided with the oil seal 13 shown in FIG.

The oil seal 13 is provided on the second member 12d shown in FIGS. 4 and 5 coaxially with the input shaft 9. The shape of the oil seal 13 is an annular shape that surrounds the outer peripheral portion of the input shaft 9. A lip portion 13a is provided inside the oil seal 13, and the lip portion 13a slides on the input shaft 9. The outer peripheral portion of the oil seal 13 is in contact with the inner peripheral surface of the second inner peripheral surface 12d5.

As shown in FIG. 3, the wave generator 5 includes a cam 51 and an annular bearing 52 provided on the outer peripheral portion of the cam 51. The input shaft 9 penetrates the radial center of the cam 51. The cam 51 is fixed to the outer peripheral portion of the input shaft 9 and rotates in conjunction with the rotation of the input shaft 9. The bearing 52 includes an annular inner ring 52a provided on the outer peripheral portion of the cam 51, an outer ring 52b provided on the radial outer side of the inner ring 52a, and a plurality of spheres 52c. The inner ring 52a is an annular member fixed to the outer peripheral portion of the cam 51 and rotating in conjunction with the rotation of the cam 51. The outer ring 52b is an annular member that surrounds the outer peripheral portion of the inner ring 52a via a plurality of spheres 52c. Each of the plurality of spheres 52c is a rolling element provided between the inner ring 52a and the outer ring 52b. The plurality of spheres 52c are arranged apart from each other in the rotation direction of the input shaft 9.

As shown in FIG. 3, the circular spline 7 is an annular member in which a plurality of teeth 7a are formed on the inner peripheral portion. The teeth 7a of the circular spline 7 mesh with the teeth 6a of the flexspline 6. The teeth 6a are provided on the outer peripheral portion of the flexspline 6. The flexspline 6 is a cylindrical member that surrounds the outer peripheral portion of the outer ring 52b of the bearing 52. The inner peripheral portion of the flexspline 6 is fitted to the outer peripheral portion of the outer ring 52b of the bearing 52. The fitting portion indicated by reference numeral 17 is a fitting portion between the inner peripheral portion of the flexspline 6 and the outer peripheral portion of the outer ring 52b of the bearing 52.

As shown in FIG. 2, the output shaft 10 is a rotation shaft that penetrates the center of the upper surface 11a of the housing 11 in the radial direction D1 and extends in the vertical direction D2. The input shaft 9 and the output shaft 10 are rotatably fixed to the housing 12 and the housing 11 by ball bearings, angular bearings, or cross roller bearings (not shown).

As shown in FIG. 2, the lubricant transporting portion 16 is a member that transports the lubricant 8 existing in the groove 12a of the housing 12 to the sliding portion 40 of the rotating mechanism 20. As shown in FIG. 3, the sliding portion 40 of the rotating mechanism 20 has a contact surface 21 of the sphere 52c to the inner ring 52a, a contact surface 22 of the sphere 52c to the outer ring 52b, a fitting portion 17, and teeth 6a. The contact surface 23 of the tooth 7a with respect to the tooth 7a is included. In FIGS. 2 and 3, the gap 18 is a space between the teeth 6a and the teeth 7a. Further, in FIG. 2, a broken line 30 shows the lubricant 8 applied to the inner peripheral portion of the flexspline 6 before incorporating the wave generator 5 into the inner peripheral portion of the flexspline 6.

The lubricant transporting portion 16 includes a disc portion 16b fixed to the input shaft 9 and a plurality of blades 16a extending from the disc portion 16b toward the bottom surface 12b of the housing 12. A part of the wings 16a is provided in the groove 12a of the housing 12. Details of the configuration of the lubricant transport unit 16 will be described later.

Torque is applied to the input shaft 9 of the wave gear device 200 configured in this way, and the rotation of the input shaft 9 causes the output shaft 10 to rotate in a direction opposite to the rotation direction of the input shaft 9. Further, as the input shaft 9 rotates, torque amplified by the reduction ratio is generated in the output shaft 10.

Next, the configuration of the lubricant transport unit 16 will be described in detail with reference to FIGS. 6 to 10. FIG. 6 is a perspective external view of the lubricant transporting portion shown in FIG. FIG. 7 is a plan view of the lubricant transport portion shown in FIG. 2 as viewed from above. FIG. 8 is a cross-sectional view taken along the line VIII-VIII of the lubricant transporting portion shown in FIG. FIG. 9 is a plan view of the lubricant transporting portion shown in FIG. 2 as viewed from below. FIG. 10 is a cross-sectional view taken along the line XX of the lubricant transporting portion shown in FIG.

The lubricant transporting portion 16 includes a disc portion 16b, a plurality of blades 16a, an inner wall portion 16d, and an outer wall portion 16e.

The disk portion 16b is fixed to the input shaft 9 shown in FIG. The disk portion 16b is a disk-shaped member extending from the input shaft 9 toward the inner peripheral surface of the first member 12c shown in FIG. The disk portion 16b is arranged coaxially with the input shaft 9 inside the first member 12c shown in FIG. The disk portion 16b is provided between the second member 12d shown in FIGS. 4 and 5 and the rotating mechanism 20 shown in FIG. The disk portion 16b is formed with a hole portion 16c that penetrates the disk portion 16b in the vertical direction. The hole 16c is connected to the upper end of the wing 16a. The hole portion 16c is provided corresponding to each of the plurality of wings 16a.

As shown in FIGS. 6 and 9, the plurality of wings 16a are fixed to the disk portion 16b so as to be separated from each other in the rotation direction D3 of the vertical axis AX1. As shown in FIG. 9, the wings 16a are provided at positions symmetrical with respect to the vertical plane VF1. The vertical plane VF1 is a plane that is parallel to the axial direction of the vertical axis AX1 and includes the vertical axis AX1. Further, the wings 16a are provided at positions symmetrical with respect to the vertical surface VF2. The vertical plane VF2 is a plane parallel to the axial direction of the vertical axis AX1, including the vertical axis AX1, and further orthogonal to the vertical plane VF1.

FIG. 8 shows two wings 16a provided at positions symmetrical with respect to the vertical plane VF2. Each of the two wings 16a is inclined with respect to the extending direction of the input shaft 9, that is, the axial direction of the vertical axis AX1. Specifically, the two wings 16a are inclined so that the distance between the two wings 16a increases from the disk portion 16b toward the bottom surface 12b of the housing 12 shown in FIG. The shape of the wing 16a is curved in a plan view from the side surface of the lubricant transporting portion 16.

The shape of the wing 16a is not limited to the illustrated example as long as the wing is inclined with respect to the stretching direction of the input shaft 9. That is, the shape of the wing 16a may be any shape as long as the lubricant 8 existing in the groove 12a shown in FIG. 1 can be conveyed to the sliding portion 40 of the rotation mechanism 20. Further, the number of blades 16a is not limited to four as long as the lubricant 8 existing in the groove 12a can be conveyed to the sliding portion 40 of the rotation mechanism 20.

As shown in FIGS. 6, 8 and 9, the inner wall portion 16d is a cylindrical member fixed to the disc portion 16b and extending from the disc portion 16b toward the bottom surface 12b of the housing 12. The inner wall portion 16d is a cylindrical member that surrounds the outer peripheral surface of the second member 12d shown in FIG. The inner wall portion 16d is provided inside the wing 16a in the radial direction. As shown in FIG. 2, the inner wall portion 16d is interposed between the oil seal 13 and the wings 16a.

As shown in FIGS. 6, 9 and 10, the outer wall portion 16e is a plate-shaped member fixed to the disc portion 16b and extending from the disc portion 16b toward the bottom surface 12b of the housing 12. The outer wall portion 16e is provided on the radial outer side of the wing 16a. The outer wall portion 16e has a shape extending from the wings 16a in the rotation direction D3. The outer wall portion 16e is interposed between the wings 16a and the inner peripheral surface of the first member 12c shown in FIG.

FIG. 11 is a cross-sectional view of a comparative example of the wave gearing device according to the embodiment of the present invention. The strain wave gearing device 200A shown in FIG. 11 includes a lubricant guide 15 and an umbrella component 14 instead of the lubricant transport unit 16.

The lubricant guide 15 is a disk-shaped member fixed inside the housing 12. The lubricant guide 15 is provided below the circular spline 7 at a distance from the circular spline 7. The umbrella component 14 is a disk-shaped member fixed to the input shaft 9. The umbrella component 14 is provided between the lubricant guide 15 and the oil seal 13. The outer diameter of the umbrella component 14 is larger than the outer diameter of the oil seal 13.

In the strain wave gearing device 200A, as the input shaft 9 rotates, the lubricant 8 existing in the region shown by the broken line 30 in FIG. 2, that is, the lubricant 8 applied to the inner peripheral portion of the flexspline 6 is the lubricant guide 15. It falls on the top surface. A part of the lubricant 8 that has fallen on the upper surface of the lubricant guide 15 passes between the lubricant guide 15 and the wave generator 5 and falls to the lower side of the lubricant guide 15. The lubricant 8 that has fallen to the lower side of the lubricant guide 15 is transmitted to the upper surface of the umbrella component 14 and falls into the groove 12a of the housing 12. As a result, leakage of the lubricant 8 to the outside of the strain wave gearing device 200A is suppressed.

However, in the strain wave gearing device 200A, the lubricant 8 that has fallen into the groove 12a of the housing 12 does not contribute to the lubrication of the sliding portion 40 of the rotating mechanism 20. Therefore, it is necessary to replenish the lubricant 8 in a short period of time, that is, the replenishment work of the lubricant 8 frequently occurs, so that the maintainability is lowered.

On the other hand, since the strain wave gearing device 200 according to the embodiment includes the lubricant transporting unit 16, when the input shaft 9 rotates, the lubricant 8 that has fallen into the groove 12a of the housing 12 is scooped up by the wings 16a. Be done. The scooped-up lubricant 8 is conveyed to the sliding portion 40 of the rotating mechanism 20 via the wings 16a and the hole portion 16c. That is, in the strain wave gearing device 200, even if the lubricant 8 falls below the sliding portion 40, the lubricant 8 is conveyed to the sliding portion 40 of the rotating mechanism 20. As a result, the period for replenishing the sliding portion 40 of the rotating mechanism 20 with the lubricant 8 can be extended, and the maintainability of the wave gearing device 200 can be improved.

Further, the lubricant transporting portion 16 of the wave gearing device 200 according to the embodiment includes an inner wall portion 16d provided between the oil seal 13 and the blades 16a. Therefore, the lubricant 8 scooped up by the wings 16a when the input shaft 9 rotates hits the outer peripheral surface of the inner wall portion 16d and is not conveyed to the oil seal 13. As a result, leakage of the lubricant 8 to the outside of the strain wave gearing 200 is further suppressed.

Further, the lubricant transport portion 16 of the wave gear device 200 according to the embodiment includes an outer wall portion 16e provided on the radial outer side of the blade 16a. Therefore, the lubricant 8 scooped up by the blades 16a when the input shaft 9 rotates moves to the outer wall portion 16e side by the centrifugal force acting on the lubricant transport portion 16, hits the inner side surface of the outer wall portion 16e, and hits the outer wall portion. It is conveyed to the hole 16c along the inner surface of the 16e. In this way, the lubricant 8 can be supplied to the sliding portion 40 of the rotating mechanism 20 even when the centrifugal force acts on the lubricant conveying portion 16. Therefore, as compared with the case where the outer wall portion 16e is not provided, the amount of the lubricant 8 supplied to the sliding portion 40 of the rotating mechanism 20 is increased, and the wear of the sliding portion 40 is further reduced.

Further, the two wings 16a adjacent to each other in the rotation direction are inclined so that the distance between them increases as the distance from the hole 16c increases. As a result, the amount of the lubricant 8 scooped up by the wing 16a when the input shaft 9 is rotated is improved as compared with the case where the wing 16a extends in the direction orthogonal to the stretching direction of the disk portion 16b, and the rotation mechanism The amount of the lubricant 8 supplied to the sliding portion 40 of 20 is increased, and the wear of the sliding portion 40 is further reduced.

The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

1 base, 2 1st arm, 3rd arm, 4 spline, 5 wave generator, 6 flex spline, 6a, 7a teeth, 7 circular spline, 8 lubricant, 9 input shaft, 10 output shaft, 11, 12 housings , 11a top surface, 12a groove, 12b bottom surface, 12b1 opening, 12c first member, 12d second member, 12d2 first end face, 12d3 second end face, 12d4 first inner peripheral surface, 12d5 second Inner circumference, 12d6 stepped part, 13 oil seal, 13a lip part, 14 umbrella part, 15 lubricant guide, 16 lubricant transport part, 16a blade, 16b disk part, 16c hole part, 16d inner wall part, 16e outer wall part , 17 Fitting part, 18 Gap, 20 Rotating mechanism, 21,22,23 Contact surface, 40 Sliding part, 51 Cam, 52 Bearing, 52a Inner ring, 52b Outer ring, 52c Sphere, 100 Robot, 200, 200A Strain wave gearing , 300 motors.

Claims (6)

The axis of rotation and
A rotation mechanism that rotates in conjunction with the rotation of the rotation shaft,
A bottom surface provided on the lower side of the rotation mechanism and formed with an opening through which the rotation shaft penetrates, a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism, and the first member. A bottomed housing having a second member provided inside the member 1 coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism.
Said first member, said second member and a lubricant present in the grooves formed by being surrounded by the bottom surface, the lubricant transport unit that transports the sliding portion of the rotating mechanism,
Equipped with a,
The lubricant transport unit is
A disk portion provided between the second member and the rotation mechanism, fixed to the rotation shaft, and extending from the rotation shaft toward the inner peripheral surface of the first member.
Feathers provided in the groove and extending from the disk portion toward the bottom surface,
A cylindrical inner wall portion provided between the second member and the wing and extending from the disk portion toward the bottom surface, and a cylindrical inner wall portion.
With
A strain wave gearing device characterized in that a hole portion is formed in the disk portion so as to penetrate the disk portion in the vertical direction and connect to the upper end portion of the wing . Further provided with an outer wall portion provided on the radial outer side of the wing,
The wave gear device according to claim 1, wherein the outer wall portion has a shape extending from the blade in the rotation direction of the rotation shaft and extending from the disk portion toward the bottom surface of the housing. .. The lubricant transport unit is
An annular oil seal provided on the second member coaxially with the rotating shaft and surrounding the outer peripheral portion of the rotating shaft is further provided.
The wave gear device according to claim 1 or 2, wherein the inner wall portion is provided between the oil seal and the wing. The axis of rotation and
A rotation mechanism that rotates in conjunction with the rotation of the rotation shaft,
A bottom surface provided on the lower side of the rotation mechanism and formed with an opening through which the rotation shaft penetrates, a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism, and the first member. A bottomed housing having a second member provided inside the member 1 coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism.
A lubricant transporting portion that transports the lubricant existing in the groove formed by the first member, the second member, and the bottom surface to the sliding portion of the rotating mechanism, and
With
The lubricant transport unit is
A disk portion provided between the second member and the rotation mechanism, fixed to the rotation shaft, and extending from the rotation shaft toward the inner peripheral surface of the first member.
Feathers provided in the groove and extending from the disk portion toward the bottom surface,
It is provided with an outer wall portion provided on the radial outer side of the wing.
A hole portion is formed in the disk portion so as to penetrate the disk portion in the vertical direction and connect to the upper end portion of the wing.
The outer wall portion extends in the rotational direction of the rotary shaft from the blade, and a wave motion gear device you characterized in that from said disk portion is shaped to extend toward the bottom surface of the housing. Two of the blades adjacent to the rotation direction of the rotation axis toward the said bottom surface from said disc portion, claim 1, characterized in that it is inclined so as to spread apart the mutual distance of claims 4 The strain wave gearing according to any one item . A robot provided with the strain wave gearing according to any one of claims 1 to 5 .

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