JP7187412B2 - Strain wave gearing - Google Patents

Description

The present invention relates to strain wave gearing.

2. Description of the Related Art Conventionally, a strain wave gearing that is mainly used for a speed reducer is known. A conventional strain wave gearing is disclosed, for example, in Japanese Unexamined Patent Publication No. 2005-69402.
JP-A-2005-69402

A strain wave gearing (1) disclosed in Japanese Unexamined Patent Application Publication No. 2005-69402 has a top hat-shaped flexible external gear (20) and a rigid internal gear (10). The end face of the boss (23) and the end face of the diaphragm (22) in the flexible external gear (20) are continuous flat faces located on the same plane, and a strain gauge (41) is placed at the boundary between these end faces. is pasted. According to such strain wave gearing (1), it is conceivable that the torque applied to the flexible external gear (20) can be detected.

However, in the strain wave gearing (1) disclosed in Japanese Patent Application Laid-Open No. 2005-69402, in the axial direction, between the large-diameter end plate (4) fixed to the boss (23) and the boss (23), There is a possibility that the grease filled in the meshing portion between the flexible external gear (20) and the rigid internal gear (10) may reach the space formed in . In that case, the grease may adhere to the strain gauge (41), and the strain gauge (41) may be adversely affected chemically or electrically.

The present invention is intended to reduce the risk of grease adhering to the wires and conductor layers when electrical components having wires and conductor layers are arranged in the space formed between the housing and the diaphragm portion in the axial direction. aim.

In view of the present application, a wave gear device is provided that includes an input member, a wave generator, a flexible external gear, an internal gear, and a housing, and further includes a sealing member. The input member rotates around a central axis. The wave generator rotates about the central axis at the same rotational speed as the input member. The flexible external gear has a body, external teeth, a diaphragm, and a fixed portion. The body is disposed radially outwardly of the wave generator and is flexed out-of-round by the wave generator. The external teeth are provided on the outer peripheral surface on one side in the axial direction of the body portion. The diaphragm portion spreads radially outward from the other axial end portion of the body portion. The fixing portion extends radially outward from the radially outer end of the diaphragm portion. The internal gear is disposed radially outward of the body and has internal teeth on its inner peripheral surface that partially mesh with the external teeth. The housing is fixed to the fixing portion from the other side in the axial direction. One of the internal gear and the flexible external gear is fixed and the other rotates about the central axis. Rotation of the wave generator displaces the length of the body in the radial direction, and the meshing position between the flexible external gear and the internal gear changes in the circumferential direction around the central axis. Change. The flexible external gear and the internal gear rotate relative to each other due to the difference in the number of teeth between the external teeth and the internal teeth. The seal member is arranged between the diaphragm portion and the housing, or between the other end of the body portion in the axial direction and the housing.

According to the aspect of the present application, when electrical components having electric wires and conductor layers are arranged in the space formed between the housing and the diaphragm portion in the axial direction, the risk of grease adhering to the electric wires and conductor layers is reduced. A strain wave gearing is provided that can

FIG. 1 is a longitudinal sectional view of a strain wave gearing according to the first embodiment. FIG. 2 is a cross-sectional view of the strain wave gearing 1 taken along the line AA in FIG. FIG. 3 is a plan view of the torque detection sensor. FIG. 4 is a circuit diagram of a Wheatstone bridge circuit. FIG. 5 is a longitudinal sectional view showing the structure of a seal member in the strain wave gearing according to the first embodiment. FIG. 6 is a longitudinal sectional view showing the structure of a seal member in a strain wave gearing according to a second embodiment. FIG. 7 is a longitudinal sectional view showing the structure of a seal member in a strain wave gearing according to the third embodiment. FIG. 8 is a longitudinal sectional view showing the structure of a seal member in a strain wave gearing according to a fourth embodiment. FIG. 9 is a longitudinal sectional view showing the structure of a seal member in a strain wave gearing according to a fifth embodiment. FIG. 10 is a longitudinal sectional view showing the structure of a sealing member in a strain wave gearing according to the sixth embodiment. FIG. 11 is a longitudinal sectional view showing the structure of a sealing member in a strain wave gearing according to a seventh embodiment. FIG. 12 is a longitudinal sectional view showing the structure of a sealing member in a strain wave gearing according to an eighth embodiment. FIG. 13 is a longitudinal sectional view showing the structure of a sealing member in a strain wave gearing according to a ninth embodiment. FIG. 14 is a longitudinal sectional view showing the structure of a sealing member in a strain wave gearing according to the tenth embodiment.

Exemplary embodiments of the present application are described below with reference to the drawings. In the present application, the direction parallel to the central axis of the strain wave gearing is defined as the "axial direction", the direction perpendicular to the center axis of the strain wave gearing is referred to as the "radial direction", and the The directions are respectively referred to as "circumferential directions". However, the above-mentioned "parallel direction" also includes substantially parallel directions. Moreover, the above-mentioned "perpendicular direction" also includes substantially perpendicular directions.

<1. First Embodiment>
<1-1. Overall configuration of strain wave gearing>
FIG. 1 is a longitudinal sectional view of a strain wave gearing 1 according to the first embodiment. FIG. 2 is a cross-sectional view of the strain wave gearing 1 taken along the line AA in FIG. The strain wave gearing 1 is a device that shifts (reduces) rotational motion at a first rotational speed obtained from a motor to rotational motion at a second rotational speed lower than the first rotational speed and transmits it to a subsequent stage. The strain wave gearing 1 is used by being incorporated in joints of a small robot together with a motor, for example. However, the strain wave gearing of the present invention may be used in other equipment such as assist suits, turntables, indexing boards of machine tools, wheelchairs, and unmanned vehicles.

As shown in FIGS. 1 and 2, the strain wave gearing 1 of this embodiment includes an input member 10, a wave generator 20, a flexible external gear 30, an internal gear 40, a first frame 45 and a second frame. 92 , housing 50 and sealing member 60 . Although not shown in FIG. 1, the strain wave gearing 1 of the present embodiment includes a torque detection sensor 70 shown in FIG. 3 as an electrical component. FIG. 3 is a plan view of the torque detection sensor 70. FIG.

The input member 10 is a part that rotates at the first rotation speed before deceleration. The input member 10 of this embodiment has a substantially cylindrical shape extending along the central axis 9 . The input member 10 may be a motor shaft, or may be a member connected directly to a motor (not shown) or via a power transmission mechanism such as a gear. When the motor is driven, the input member 10 rotates around the central axis 9 at the first rotation speed.

The wave generator 20 is a mechanism that causes a body portion 31 of a flexible external gear 30, which will be described later, to undergo periodic bending deformation. When the motor described above is driven, the input member 10 and the wave generator 20 also rotate about the central axis 9 at the first rotation speed. A wave generator 20 of this embodiment has an elliptical cam 21 and a flexible bearing 22 . The input member 10 and the cam 21 may be formed as a single member as shown in FIG. 1, or may be separate members. A flexible bearing 22 is arranged between the cam 21 and the flexible external gear 30 . The flexible bearing 22 supports the flexible external gear 30 and the cam 21 so as to be relatively rotatable. Flexible bearing 22 is radially displaceable in response to rotation of cam 21 .

The flexible external gear 30 is a thin, substantially annular gear that is flexible and deformable. The flexible external gear 30 is rotatably supported around the central axis 9 . The flexible external gear 30 of this embodiment has a body portion 31 , a plurality of external teeth 32 , a diaphragm portion 33 and a fixed portion 34 . The trunk portion 31 extends cylindrically in the axial direction around the central axis 9 . One axial end of the body portion 31 is positioned radially outward of the wave generator 20 and radially inward of an internal gear 40 to be described later. The diaphragm portion 33 is an annular portion that spreads radially outward from the other axial end of the body portion 31 . The fixed portion 34 is an annular portion that spreads further radially outward from the radially outer end of the diaphragm portion 33 . The axial thickness of the fixed portion 34 is greater than the axial thickness of the diaphragm portion 33 .

Since the trunk portion 31 has flexibility, it can be deformed in the radial direction. In particular, the distal end portion of the body portion 31 located radially inwardly of the internal gear 40 is a free end, and thus can be displaced in the radial direction to a greater extent than the other portions. On the other hand, since the end portion on the other axial side of the body portion 31 is a fixed end connected to the fixed portion 34, it is less likely to deform in the radial direction than the end portion on the one axial direction side. As the body portion 31 is deformed, the diaphragm portion 33 is slightly flexurally deformed in the axial direction, but the fixing portion 34 is hardly deformed.

As shown in FIG. 2, the flexible external gear 30 has multiple external teeth 32 . The plurality of external teeth 32 protrude radially outward from the outer peripheral surface of the trunk portion 31 in the vicinity of the end portion on the one axial side. Moreover, the plurality of external teeth 32 are arranged at a constant pitch in the circumferential direction. The body portion 31 is pressed radially outward by the outer ring of the flexible bearing 22 of the wave generator 20 at two locations in the circumferential direction corresponding to the positions of the major axes of the elliptical cam 21 . As a result, the end portion on one side in the axial direction of the trunk portion 31 is flexurally deformed into an elliptical shape. As a result, the external teeth 32 of the body portion 31 mesh with the internal teeth 41 of the internal gear 40 described later at two locations corresponding to the major axis of the ellipse in the circumferential direction. Hereinafter, the position in the circumferential direction where the external teeth 32 and the internal teeth 41 are meshed is referred to as "engagement position".

The internal gear 40 has an annular shape centered on the central axis 9 . The internal gear 40 is fixed by screwing, for example, to an output member 91 for extracting power that rotates at the second rotational speed after deceleration. The stiffness of the internal gear 40 is much higher than the stiffness of the body 31 of the flexible external gear 30 . Therefore, the internal gear 40 can be regarded as a substantially rigid body. The internal gear 40 has a plurality of internal teeth 41 . The plurality of internal teeth 41 protrude radially inward from the inner peripheral surface of the internal gear 40 . Moreover, the plurality of internal teeth 41 are arranged at a constant pitch in the circumferential direction. The number of external teeth 32 that the flexible external gear 30 has and the number of internal teeth 41 that the internal gear 40 has are slightly different.

The first frame 45 is an annular portion extending in the direction along the central axis 9 . The first frame 45 is positioned radially outward of the body portion 31 , one axial side of the diaphragm portion 33 , and the other axial side of the internal gear 40 . The first frame 45 is fixed with respect to the internal gear 40 together with the output member 91 .

The second frame 92 is positioned radially outward of the first frame 45 . The second frame 92 is rotatable with respect to the first frame 45 . The outer periphery of the second frame 92 is provided with threaded holes into which fastening members such as screws can be inserted. The threaded hole extends axially.

The housing 50 is a generally annular member. The housing 50 is fixed to the fixed portion 34 of the flexible external gear 30 from the other side in the axial direction. Here, the fixed portion 34 is provided with a through hole that overlaps with the screw hole of the second frame 92 . This through hole extends in the axial direction. Further, the outer peripheral portion of the housing 50 is provided with through holes that overlap the through holes of the fixing portion 34 and the screw holes of the second frame 92 . This through hole extends in the axial direction. With the through hole of the housing 50, the through hole of the fixing portion 34, and the threaded hole of the second frame 92 being superimposed, a fastening member such as a screw is inserted and fastened, thereby fixing the housing 50. It is fixed to the part 34 . The housing 50 is fixed to a frame of a device in which the strain wave gearing 1 is mounted, for example, by screwing.

The housing 50 has a cylindrical portion 51 extending along the central axis 9 on the radially inner side. The input member 10 is arranged radially inward of the cylindrical portion 51 . A rolling ball bearing 59 is arranged between the input member 10 and the cylindrical portion 51 . This allows the input member 10 to rotate with respect to the housing 50 . That is, the input member 10 rotates relative to the housing 50 , the flexible external gear 30 and the second frame 92 .

When the cam 21 rotates at the first rotation speed, the major axis of the ellipse of the flexible external gear 30 also rotates at the first rotation speed. Then, the meshing position between the external teeth 32 and the internal teeth 41 also changes in the circumferential direction at the first rotation speed. Also, as described above, the number of external teeth 32 of the flexible external gear 30 and the number of internal teeth 41 of the internal gear 40 are slightly different. Due to this difference in the number of teeth, the meshing position between the external teeth 32 and the internal teeth 41 slightly changes in the circumferential direction for each rotation of the cam 21 . As a result, the internal gear 40 rotates about the central axis 9 with respect to the flexible external gear 30 at a second rotation speed lower than the first rotation speed. Therefore, it is possible to take out rotational motion at the second reduced rotational speed from the output member 91 that rotates at the same rotational speed as the internal gear 40 .

<1-2. Torque detection sensor>
The torque detection sensor 70 is a sensor that detects circumferential torque applied to the flexible external gear 30 . Although not shown in FIG. 1, in the present embodiment, the rear surface of a later-described body portion 711 of the torque detection sensor 70 shown in FIG. 3 is fixed to the surface of the diaphragm portion 33 on the other side in the axial direction.

FIG. 3 is a plan view of the torque detection sensor 70 viewed from the other side in the axial direction. As shown in FIG. 3 , the torque detection sensor 70 has a substrate 71 . The substrate 71 of this embodiment is a flexible substrate that can be flexibly deformed. The substrate 71 has an annular main body portion 711 centered on the central axis 9 and a flap portion 712 projecting radially outward from the main body portion 711 . The substrate 71 has a conductor layer L1. The conductor layer L<b>1 of the present embodiment is located on the end surface (surface) of the substrate 71 on the other side in the axial direction.

As shown in FIG. 3, the conductor layer L1 includes a first resistance line pattern R1 and a second resistance line pattern R2. As will be described later, the first resistance line pattern R1 and the second resistance line pattern R2 are incorporated into the Wheatstone bridge circuit 72 . In other words, the Wheatstone bridge circuit 72 is mounted on the surface of the body portion 711 . A signal processing circuit 73 is mounted on the flap portion 712 .

The first resistance line pattern R1 is an arc-shaped or annular pattern as a whole, in which one conductor extends in the circumferential direction while being bent. In this embodiment, the first resistance line pattern R1 is provided in a range of about 360° around the central axis 9. As shown in FIG. For example, copper or an alloy containing copper is used as the material of the first resistance line pattern R1. The first resistance line pattern R1 includes a plurality of linear first resistance lines r1 and a plurality of folded portions r11. The plurality of first resistance lines r1 are arranged substantially parallel to each other at regular intervals in the circumferential direction. In the first resistance line pattern R1, the circumferentially adjacent first resistance lines r1 are alternately connected by the folded portions r11 on one side and the other side in the radial direction, and are connected in series as a whole. . Each first resistance line r1 is inclined to one side in the circumferential direction with respect to the radial direction of the flexible external gear 30 when viewed from the other side in the axial direction of the substrate 71 . The inclination angle of the first resistance line r1 with respect to the radial direction is, for example, 45°.

The second resistance line pattern R2 is an arcuate or annular pattern as a whole, in which one conductor extends in the circumferential direction while being bent. In this embodiment, the second resistance line pattern R2 is provided in a range of approximately 360° around the central axis 9. As shown in FIG. For example, copper or an alloy containing copper is used as the material of the second resistance line pattern R2. The second resistance line pattern R2 is located radially inward of the first resistance line pattern R1. That is, the first resistance line pattern R1 and the second resistance line pattern R2 are arranged at positions that do not overlap each other. The second resistance line pattern R2 includes a plurality of linear second resistance lines r2 and a plurality of folded portions r12. The plurality of second resistance lines r2 are arranged substantially parallel to each other at equal intervals in the circumferential direction. In the second resistance line pattern R2, the second resistance lines r2 adjacent in the circumferential direction are alternately connected by the folded portions r12 on one side and the other side in the radial direction, and are connected in series as a whole. . Each second resistance line r2 is inclined toward the other side in the circumferential direction with respect to the radial direction of the flexible external gear 30 when viewed from the other side in the axial direction of the substrate 71 . The inclination angle of the second resistance line r2 with respect to the radial direction is, for example, −45°.

FIG. 4 is a circuit diagram of a Wheatstone bridge circuit 72 including a first resistance line pattern R1 and a second resistance line pattern R2. As shown in FIG. 4, the Wheatstone bridge circuit 72 of this embodiment includes a first resistance line pattern R1, a second resistance line pattern R2, a first fixed resistor Ra, and a second fixed resistor Rb. The first resistance line pattern R1 and the second resistance line pattern R2 are connected in series. The first fixed resistor Ra and the second fixed resistor Rb are connected in series. Between the + and - poles of the power supply voltage, the two strings of resistance line patterns R1 and R2 and the two strings of fixed resistors Ra and Rb are connected in parallel. A midpoint M1 between the first resistance line pattern R1 and the second resistance line pattern R2 and a midpoint M2 between the first fixed resistor Ra and the second fixed resistor Rb are connected to the voltmeter V. FIG.

Each resistance value of the first resistance line pattern R<b>1 and the second resistance line pattern R<b>2 changes according to the torque applied to the flexible externally toothed gear 30 . For example, when the flexible external gear 30 is viewed from one side in the axial direction and a torque directed toward one side in the circumferential direction about the central axis 9 is applied, the resistance value of the first resistance line pattern R1 decreases. Then, the resistance value of the second resistance line pattern R2 increases. On the other hand, when torque is applied to the flexible external gear 30 toward the other side in the circumferential direction around the central axis 9 when viewed from the one side in the axial direction, the resistance value of the first resistance line pattern R1 increases. , the resistance value of the second resistance line pattern R2 decreases. In this manner, the first resistance line pattern R1 and the second resistance line pattern R2 show resistance value changes in opposite directions to torque.

Then, when the resistance values of the first resistance line pattern R1 and the second resistance line pattern R2 change, the midpoint M1 of the first resistance line pattern R1 and the second resistance line pattern R2, the first fixed resistance Ra and the second resistance line pattern R2 Since the potential difference between the fixed resistor Rb and the midpoint M2 changes, the measured value of the voltmeter V changes. Therefore, based on the measured value of this voltmeter V, the direction and magnitude of the torque applied to the flexible external gear 30 can be detected.

The signal processing circuit 73 is a circuit for detecting the torque applied to the flexible external gear 30 based on the potential difference signal between the midpoints M1 and M2 measured by the voltmeter V. FIG. That is, the signal processing circuit 73 detects torque applied to the flexible external gear 30 based on the output signal of the Wheatstone bridge circuit 72 . A Wheatstone bridge circuit 72 including the first resistance line pattern R1 and the second resistance line pattern R2 is electrically connected to the signal processing circuit 73 . The signal processing circuit 73 includes, for example, an amplifier for amplifying the potential difference between the midpoints M1 and M2, and a circuit for calculating the direction and magnitude of torque based on the amplified electrical signal. The detected torque is output to an external device connected to the signal processing circuit 73 by wire or wirelessly.

The strain wave gearing 1 of the present embodiment can detect the torque applied to the entire circumference of the flexible external gear 30 by including the torque detection sensor 70 configured as described above.

In a strain wave gearing known in the art, and particularly in a strain wave gearing that does not include an electrical component between the housing and the diaphragm, Between them, a ring-shaped sealing member is generally provided around the central axis and arranged all around in the circumferential direction. This is to prevent the grease filled in the meshing portion between the flexible external gear and the internal gear from leaking out of the wave gear device.

However, when an electrical component (substrate 71) having an electric wire and a conductor layer is mounted between the housing 50 and the diaphragm portion 33 as in the present embodiment, it is necessary to prevent grease from adhering to the electric wire and the conductor layer. In addition, it is necessary to block the intrusion of grease more radially inward than in the conventional case. Furthermore, when an electrical component is mounted between the housing 50 and the diaphragm portion 33 as in the present embodiment, it is necessary to pull out the wiring extending from the electrical component radially outward (outside the wave gear device 1). There is Therefore, it is necessary to remove at least a portion of the ring-shaped sealing member that has been conventionally provided in the circumferential direction.

In this regard, the strain wave gearing 1 of the present embodiment has a configuration unique to the present application, thereby making it possible to stop the intrusion of grease more radially inward than in the prior art. In addition, it is possible to eliminate at least a portion of the ring-shaped sealing member that has been conventionally provided in the circumferential direction.

A configuration specific to the present application will be described below for each embodiment.

<1-3. Regarding the sealing material>
The strain wave gearing 1 according to the first embodiment includes a seal member 60 as a unique configuration of the present application. FIG. 5 is a longitudinal sectional view showing the structure of the seal member 60 in the strain wave gearing 1 according to the first embodiment. The sealing member 60 is made of an elastically deformable material such as rubber. The seal member 60 includes a body portion 61 and a lip portion 62 .

The main body portion 61 is a portion having an annular shape centered on the central axis 9 and having a thickness in the axial direction. In addition, the lip portion 62 of the present embodiment extends from the outer edge portion on the other axial side of the main body portion 61 toward the other axial side and radially inward. The lip portion 62 has a substantially annular shape that is inclined with respect to the radial direction. The surface of the body portion 61 on one side in the axial direction is in contact with the surface of the substrate 71 on the other side in the axial direction. The end (tip) of the lip portion 62 on the other side in the axial direction is in contact with the surface on the one side in the axial direction of the housing 50 .

Seal member 60 is positioned between housing 50 and substrate 71 in an axially compressed state. More specifically, the seal member 60 is pressurized in a direction in which the tip of the lip portion 62 approaches the surface of the main body portion 61 on the other side in the axial direction, and the surface of the substrate 71 on the other side in the axial direction and the housing. 50 on one side in the axial direction.

The strain wave gearing 1 of this embodiment prevents grease from diffusing with the seal member 60 as described above. Therefore, it is possible to prevent the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 from reaching the surface of the substrate 71 .

In particular, in the strain wave gearing 1 of the present embodiment, the lip portion 62 is pressed against the surface of the housing 50 on one side in the axial direction, which is less flexed in the axial direction. It is easy to deform following bending deformation in the direction. Therefore, in the present embodiment, the sealing performance of the sealing member 60 is more fully exhibited.

As described above, the strain wave gearing 1 according to this embodiment includes the input member 10, the wave generator 20, the flexible external gear 30, the internal gear 40, the housing 50, and the sealing member. 60. The seal member 60 is arranged between the diaphragm portion 33 and the housing 50 and radially inward of the flexible external gear 30 . This makes it difficult for the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 to reach the space formed between the housing 50 and the diaphragm portion 33 in the axial direction. Therefore, when an electrical component having an electric wire or a conductor layer such as the torque detection sensor 70 is arranged in the space formed between the housing 50 and the diaphragm portion 33 in the axial direction, the grease adheres to the electric wire and the conductor layer. Fear can be reduced.

Further, in the strain wave gearing 1 according to the present embodiment, the substrate 71 having the conductor layer L1 is mounted on the surface of the diaphragm portion 33 on the other side in the axial direction. As a result, the risk of grease adhering to the surface of the substrate 71 can be reduced.

Further, in the strain wave gearing 1 according to the present embodiment, the seal member 60 is positioned between the surface of the substrate 71 on the other side in the axial direction and the surface of the housing 50 on the one side in the axial direction. As a result, the seal member 60 can be elastically deformed following the bending deformation of the substrate 71 in the axial direction.

Further, the sealing member 60 according to this embodiment includes a body portion 61 and a lip portion 62 . A tip portion of the lip portion 62 contacts the surface of the housing 50 on one side in the axial direction. As a result, the distal end portion of the lip portion 62 can be brought into contact with the surface of the housing 50 on one side in the axial direction, which is less deformed in the axial direction than the surface on the other side in the axial direction of the substrate 71 . Therefore, when the diaphragm portion 33 and the substrate 71 are flexurally deformed, the seal member 60 is easily deformed to follow the deformation, thereby improving the sealing performance.

Further, in the strain wave gearing 1 according to the present embodiment, the output signal from the Wheatstone bridge circuit 72 including the first resistance wire pattern R1 and the second resistance wire pattern R2 causes the diaphragm portion of the flexible external gear 30 to 33 can be detected. In addition, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 is less likely to reach the first resistance line pattern R1 and the second resistance line pattern R2.

In particular, in the strain wave gearing 1 according to this embodiment, there is no relative circumferential movement between the housing 50 and the substrate 71 (diaphragm portion 33). Therefore, no circumferential slip occurs between the housing 50 and the seal member 60 and between the substrate 71 and the seal member 60 . Therefore, deterioration of the seal member 60 due to wear or the like is suppressed.

In particular, in the strain wave gearing 1 according to this embodiment, the seal member 60 is arranged radially inward of the diaphragm portion 33 . Therefore, at least a part of the seal member such as an O-ring on the radially outer side of the diaphragm portion 33 can be omitted in the circumferential direction. As a result, the wiring extending from the board 71 as an electrical component can be pulled out to the outside of the strain wave gearing 1 .

<2. Second Embodiment>
A configuration unique to the present application in the strain wave gearing 200 according to the second embodiment will be described below. In the following description, members having the same configurations and functions as those shown in the above-described embodiment are denoted by the same reference numerals, thereby omitting redundant description. The same applies to subsequent embodiments.

A strain wave gearing 200 according to the second embodiment differs from the strain wave gearing 1 according to the first embodiment in that instead of the seal member 60, a seal member 260 having only a lip portion 262 is provided. FIG. 6 is a longitudinal sectional view showing the structure of the lip portion 262 in the strain wave gearing 200 according to the second embodiment.

The lip portion 262 is made of an elastically deformable material such as rubber. The lip portion 262 is fixed to the substrate 71 by a method such as adhesion.

The lip portion 262 extends from the radially inner edge (inner edge) of the substrate 71 toward one axial side and radially inward. The shape of the lip portion 262 is a substantially annular shape that is inclined with respect to the radial direction. In other words, the lip portion 262 has a tapered shape in which the radius of the outer peripheral surface narrows toward one side in the axial direction. One end (tip) of the lip portion 62 in the axial direction is in contact with the outer peripheral surface of the cylindrical portion 51 of the housing 50 .

The lip portion 262 is located between the back surface of the substrate 71 and the outer peripheral surface of the cylindrical portion 51 in a radially and axially compressed state. The strain wave gearing 200 according to the second embodiment is provided with the lip portion 262 as described above, so that the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 and the like reaches the surface of the substrate 71. You can prevent it from falling apart.

<3. Third Embodiment>
A configuration unique to the present application in the strain wave gearing 300 according to the third embodiment will be described below.

The strain wave gearing 300 according to the third embodiment differs from the strain wave gearing 1 according to the first embodiment in that it includes a seal member 360 instead of the seal member 60 and that the housing 50 includes a step portion 52. differ. FIG. 7 is a longitudinal sectional view showing the structures of the seal member 360 and the step portion 52 in the strain wave gearing 300 according to the third embodiment.

The stepped portion 52 is provided on one surface of the housing 50 in the axial direction. The stepped portion 52 has a stepped shape in which the radially inner surface of the one axial side surface of the housing 50 protrudes further to the one axial side than the radially outer surface. . The stepped surface of the stepped portion 52 is continuously formed over the entire circumference in the circumferential direction. That is, the stepped surface of the stepped portion 52 has a cylindrical shape centered on the central axis 9 .

The seal member 360 includes a body portion 361 and a lip portion 362 . The main body portion 361 is a portion having an annular shape centered on the central axis 9 and having a thickness in the axial direction. The axial thickness of the body portion 361 substantially matches the height of the stepped portion 52 . In addition, the inner diameter of the main body portion 361 substantially matches the outer diameter of the stepped surface of the stepped portion 52 .

In addition, the lip portion 362 of the present embodiment extends from the outer edge portion on the one axial side of the main body portion 361 toward the one axial side and radially inward. The shape of the lip portion 362 is a substantially annular shape inclined with respect to the radial direction. The body portion 361 is attached to the stepped portion 52 . That is, the inner edge portion on the other side in the axial direction of the main body portion 361 is positioned in contact with the stepped portion 52 . The surface of the body portion 361 on the other side in the axial direction is in contact with the surface on the one side in the axial direction of the housing 50 . An end (tip) of the lip portion 362 on one side in the axial direction is in contact with the surface of the substrate 71 on the other side in the axial direction.

Seal member 360 is positioned between housing 50 and substrate 71 in an axially compressed state. More specifically, the seal member 360 is pressurized in a direction in which the tip end of the lip portion 362 approaches the surface of the main body portion 361 on the one axial side, and the surface on the other axial side of the substrate 71 and the housing. 50 on one side in the axial direction and on the radially inner side of the flexible external gear 30 .

As described above, the sealing member 360 according to this embodiment includes the body portion 361 and the lip portion 362 . A tip portion of the lip portion 362 contacts the surface of the substrate 71 on the other side in the axial direction. Accordingly, when the diaphragm portion 33 and the substrate 71 are flexurally deformed in the axial direction, the seal member 360 is easily deformed to follow the deformation, thereby improving the sealing performance.

Further, in the strain wave gearing 300 according to this embodiment, the housing 50 has a step portion 52 that holds the seal member 360 . This allows the sealing member 360 to be positioned axially and radially. As a result, sealing performance is improved.

<4. Fourth Embodiment>
A configuration unique to the present application in the strain wave gearing 400 according to the fourth embodiment will be described below.

The strain wave gearing 400 according to the fourth embodiment includes a seal member 460 instead of the seal member 60, and the seal member 460 is arranged on the radially inner edge (inner edge) of the substrate 71. It differs from the strain wave gearing 1 according to the first embodiment in that it does not reach the position. FIG. 8 is a longitudinal sectional view showing the structure of a seal member 460 in a strain wave gearing 400 according to the fourth embodiment.

The sealing member 460 is made of an elastically deformable material such as rubber. The seal member 460 includes a body portion 461 and a lip portion 462 .

The main body portion 461 is a portion having an annular shape centered on the central axis 9 and having a thickness in the axial direction. In addition, the lip portion 462 of the present embodiment extends from the outer edge portion on the other axial side of the main body portion 461 toward the other axial side and radially inward. The shape of the lip portion 462 is a substantially annular shape that is inclined with respect to the radial direction. The surface of the body portion 461 on one side in the axial direction is in contact with the surface of the diaphragm portion 33 on the other side in the axial direction. An end (tip) of the lip portion 462 on the other side in the axial direction is in contact with a surface on the one side in the axial direction of the housing 50 .

Seal member 460 is positioned between housing 50 and diaphragm portion 33 in an axially compressed state. More specifically, the seal member 460 is pressurized in a direction in which the tip of the lip portion 462 approaches the surface of the main body portion 461 on the other axial side, and the diaphragm and the one axial side surface of the housing 50 It is arranged between the surface of the portion 33 on the other side in the axial direction and on the radially inner side of the flexible external gear 30 .

Since the strain wave gearing 400 of the present embodiment is provided with the sealing member 460 as described above, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41, etc., reaches the surface of the substrate 71. can be prevented.

In particular, in the strain wave gearing 400 of the present embodiment, the one axial end surface of the body portion 461 of the seal member 460 contacts the diaphragm portion 33 instead of the substrate 71 . Therefore, in the present embodiment, the radially inner edge of the substrate 71 does not protrude radially inward beyond the diaphragm portion 33 . As a result, the risk of grease adhering to the rear surface of the substrate 71 is reduced. Therefore, there is little possibility that the grease adhering to the back surface of the substrate 71 will run along the outer surface of the substrate 71 and adhere to the conductor layer L1.

As described above, in the strain wave gearing 400 according to the present embodiment, the seal member 460 is provided between the other axial side surface of the diaphragm portion 33 and the one axial side surface of the housing 50 . To position. As a result, the sealing member 460 can be arranged between the diaphragm portion 33 having a deformation amount smaller than that of the body portion 31 and the housing 50, so that expansion and contraction of the sealing member 460 can be suppressed. Therefore, deterioration of the seal member 460 can be suppressed.

<5. Fifth Embodiment>
A configuration unique to the present application in the strain wave gearing 500 according to the fifth embodiment will be described below.

The strain wave gearing 500 according to the fifth embodiment includes a seal member 560 instead of the seal member 60, a stepped portion 52 in the housing 50, and an inner edge portion (inner edge portion) of the substrate 71 in the radial direction. ) does not reach the position where the seal member 560 is arranged, which is different from the wave gear device 1 according to the first embodiment. FIG. 9 is a longitudinal sectional view showing the structures of the seal member 560 and the step portion 52 in the strain wave gearing 500 according to the fifth embodiment.

The seal member 560 includes a body portion 561 and a lip portion 562 . The main body portion 561 is a portion having an annular shape centered on the central axis 9 and having a thickness in the axial direction. The axial thickness of the body portion 561 substantially matches the height of the stepped portion 52 . Also, the inner diameter of the main body portion 561 substantially matches the outer diameter of the stepped surface of the stepped portion 52 .

In addition, the lip portion 562 of the present embodiment extends from the outer edge portion on the one axial side of the body portion 561 toward the one axial side and radially inward. The shape of the lip portion 562 is a substantially annular shape that is inclined with respect to the radial direction. The body portion 561 is attached to the stepped portion 52 . That is, the inner edge portion on the other side in the axial direction of the main body portion 561 is positioned in contact with the stepped portion 52 . The surface of the body portion 561 on the other side in the axial direction is in contact with the surface on the one side in the axial direction of the housing 50 . An end portion (tip portion) of the lip portion 562 on one side in the axial direction is in contact with a surface on the other side in the axial direction of the diaphragm portion 33 .

Seal member 560 is positioned between housing 50 and diaphragm portion 33 in an axially compressed state. More specifically, the sealing member 560 is pressurized in a direction in which the tip of the lip portion 562 approaches the surface on the one axial side of the main body portion 561, and the one axial surface of the housing 50 and the diaphragm It is arranged between the surface of the portion 33 on the other side in the axial direction and on the radially inner side of the flexible external gear 30 .

Since the strain wave gearing 500 of the present embodiment is provided with the sealing member 560 as described above, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41, etc., reaches the surface of the substrate 71. can be prevented.

In particular, in the strain wave gearing 500 of this embodiment, the tip of the lip portion 562 of the seal member 560 contacts the diaphragm portion 33 instead of the substrate 71 . This reduces the risk of grease adhering to the rear surface of the substrate 71 . Therefore, there is little possibility that the grease adhering to the back surface of the substrate 71 will run along the outer surface of the substrate 71 and adhere to the conductor layer L1.

<6. Sixth Embodiment>
In the following, a configuration unique to the present application in the strain wave gearing 600 according to the sixth embodiment will be described.

The strain wave gearing 600 according to the sixth embodiment differs from the strain wave gearing 1 according to the first embodiment in that a seal member 660 is provided instead of the seal member 60 and that the housing 50 includes a step portion 53. differ. FIG. 10 is a longitudinal sectional view showing the structure of the seal member 660 and the step portion 53 in the strain wave gearing 600 according to the sixth embodiment.

The stepped portion 53 is provided on the outer peripheral surface of the cylindrical portion 51 of the housing 50 . The stepped portion 53 has a stepped shape in which the outer peripheral surface on one side in the axial direction of the outer peripheral surface of the cylindrical portion 51 is arranged closer to the central axis 9 than the outer peripheral surface on the other side in the axial direction. The stepped surface of the stepped portion 53 is continuously formed over the entire circumference of the cylindrical portion 51 in the circumferential direction. That is, the stepped surface of the stepped portion 53 has an annular shape centering on the central axis 9 .

The seal member 660 includes a body portion 661 and a lip portion 662 . The body portion 661 is a cylindrical portion extending in the axial direction around the central axis 9 . The radial thickness of the body portion 661 substantially matches the height of the stepped portion 53 . Also, the inner diameter of the main body portion 661 substantially matches the outer diameter of the lower region of the stepped portion 53 of the cylindrical portion 51 .

In addition, the lip portion 662 of the present embodiment extends from the outer edge portion on the other axial side of the main body portion 661 toward the one axial side and radially outward side. The shape of the lip portion 662 is a substantially annular shape that is inclined with respect to the radial direction. The body portion 661 is attached to the stepped portion 53 . That is, the inner edge portion on the other side in the axial direction of the main body portion 661 is positioned in contact with the stepped portion 53 . The inner peripheral surface of the body portion 661 is in contact with the outer peripheral surface of the lower region of the stepped portion 53 . The radially outer end (tip) of the lip portion 662 is in contact with the outer peripheral surface of the body portion 31 of the flexible external gear 30 .

The sealing member 660 is located between the cylindrical portion 51 of the housing 50 and the body portion 31 of the flexible external gear 30 in a radially compressed state. More specifically, the seal member 660 is pressurized in a direction in which the tip of the lip portion 662 approaches the outer peripheral surface of the main body portion 661, and the cylindrical portion 51 and the end portion of the body portion 31 on the other side in the axial direction. and is placed between

As described above, in the strain wave gearing 600 according to this embodiment, the housing 50 has the cylindrical portion 51 . The seal member 660 is arranged between the inner peripheral surface of the body portion 31 and the outer peripheral surface of the cylindrical portion 51 and on the other axial side of the flexible external gear 30 . This allows the radial dimension of the seal member 660 to be reduced.

In particular, the sealing member 660 of this embodiment is arranged at a position axially away from the one axial end, which is the free end of the flexible external gear 30 . Therefore, the elastic deformation of the seal member 660 does not follow the flexural deformation of the body portion 31, and the sealing property is hardly damaged.

<7. Seventh Embodiment>
A configuration unique to the present application in the strain wave gearing 700 according to the seventh embodiment will be described below.

A strain wave gearing 700 according to the seventh embodiment differs from the strain wave gearing 1 according to the first embodiment in that a seal member 760 is provided instead of the seal member 60 . FIG. 11 is a longitudinal sectional view showing the structure of a seal member 760 in a strain wave gearing 700 according to the seventh embodiment.

The seal member 760 includes a body portion 761 and a lip portion 762 . The body portion 761 is a cylindrical portion extending in the axial direction around the central axis 9 . The outer diameter of the main body portion 761 substantially matches the inner diameter of the body portion 31 of the flexible external gear 30 at the other end in the axial direction.

In addition, the lip portion 762 of the present embodiment extends from the inner edge portion on the other axial side of the main body portion 761 toward the one axial side and radially inward. The lip portion 762 has a substantially annular shape that is inclined with respect to the radial direction. The outer peripheral surface of the body portion 761 is in contact with the inner peripheral surface of the body portion 31 of the flexible external gear 30 . A radially inner end (tip) of the lip portion 762 is in contact with the outer peripheral surface of the cylindrical portion 51 of the housing 50 .

The sealing member 760 is located between the cylindrical portion 51 of the housing 50 and the body portion 31 of the flexible external gear 30 in a radially compressed state. More specifically, the seal member 760 is pressurized in a direction in which the tip of the lip portion 762 approaches the inner peripheral surface of the main body portion 761, and the cylindrical portion 51 and the other end of the body portion 31 in the axial direction. , and on the other side of the flexible external gear 30 in the axial direction.

Since the strain wave gearing 700 of the present embodiment is provided with the sealing member 760 as described above, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41, etc., reaches the surface of the substrate 71. can be prevented.

In particular, in the strain wave gearing 700 of this embodiment, the tip of the lip portion 762 of the seal member 760 contacts the cylindrical portion 51 of the housing 50 instead of the body portion 31 of the flexible external gear 30 . Here, the body portion 31 is flexurally deformed in the radial direction, but the housing 50 is hardly deformed. Since the tip of the lip portion 762 is in contact with the cylindrical portion 51 of the housing 50, which is substantially a rigid body, the sealing member 760 follows the bending deformation of the body portion 31 in the radial direction. and easily deformed.

<8. Eighth Embodiment>
A configuration unique to the present application in the strain wave gearing 800 according to the eighth embodiment will be described below.

The strain wave gearing 800 according to the eighth embodiment differs from the first embodiment in that the seal member 60 is not provided, the housing 50 is provided with the stepped portion 54, and the substrate 871 is provided instead of the substrate 71. It is different from the strain wave gearing 1 concerned. FIG. 12 is a longitudinal sectional view showing the structures of the stepped portion 54 and the substrate 871 in the strain wave gearing 800 according to the eighth embodiment.

The stepped portion 54 is provided on the outer peripheral surface of the cylindrical portion 51 of the housing 50 . The stepped portion 54 has a stepped shape in which the outer peripheral surface on one axial side of the outer peripheral surface of the cylindrical portion 51 is arranged closer to the central axis 9 than the outer peripheral surface on the other axial side. The stepped surface of the stepped portion 54 is formed continuously over the entire circumference of the cylindrical portion 51 in the circumferential direction.

The substrate 871 has a radially inner edge portion (inner edge portion) extending further radially inward than the substrate 71 . Specifically, the substrate 871 extends to the radially inner end of the stepped surface of the stepped portion 54 . The substrate 871 is in contact with the stepped surface of the stepped portion 54 . The substrate 871 is positioned by the stepped surface of the stepped portion 54 . The substrate 871 partitions the space formed between the body portion 31 and the cylindrical portion 51 in the radial direction and the space formed between the housing 50 and the diaphragm portion 33 in the axial direction. As a result, at the radially inner end of the substrate 871, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 reaches the surface of the substrate 871 (surface on the other side in the axial direction). It functions as a sealing member to prevent it from being put away.

As described above, in the strain wave gearing 800 of the present embodiment, the substrate 871 extends radially inward from the body portion 31 when viewed in the axial direction. As a result, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 is blocked by the radially inner end portion of the substrate 871 , and is formed between the housing 50 and the diaphragm portion 33 . It becomes difficult to reach the space where the

<9. Ninth Embodiment>
A configuration unique to the present application in the strain wave gearing 900 according to the ninth embodiment will be described below.

A strain wave gearing 900 according to the ninth embodiment differs from the first embodiment in that it does not include the sealing member 60, that the housing 50 includes the stepped portion 55, and that it includes a substrate 971 instead of the substrate 71. It is different from the strain wave gearing 1 concerned. FIG. 13 is a longitudinal sectional view showing the structures of the stepped portion 55 and the substrate 971 in the strain wave gearing 900 according to the ninth embodiment.

The stepped portion 55 is provided on the outer peripheral surface of the cylindrical portion 51 of the housing 50 . The stepped portion 55 has a stepped shape in which the outer peripheral surface on one side in the axial direction of the outer peripheral surface of the cylindrical portion 51 is arranged farther from the central axis 9 than the outer peripheral surface on the other side in the axial direction. The stepped surface of the stepped portion 55 is formed continuously over the entire circumference of the cylindrical portion 51 in the circumferential direction.

The substrate 971 has a radially inner edge portion (inner edge portion) extending further radially inward than the substrate 71 . Specifically, the substrate 971 extends to the radially inner end of the stepped surface of the stepped portion 55 . The substrate 971 is in contact with the stepped surface of the stepped portion 55 . The substrate 971 is positioned by the stepped surface of the stepped portion 55 . The substrate 971 partitions the space formed between the body portion 31 and the cylindrical portion 51 in the radial direction and the space formed between the housing 50 and the diaphragm portion 33 in the axial direction. As a result, at the radially inner end of the substrate 971, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 reaches the surface of the substrate 971 (surface on the other side in the axial direction). It functions as a sealing member to prevent it from being put away.

As described above, in the strain wave gearing 900 of the present embodiment, the substrate 971 extends radially inward from the body portion 31 when viewed in the axial direction. As a result, the grease filled in the meshing portion between the outer teeth 32 and the inner teeth 41 is blocked by the radially inner end portion of the substrate 971 , and is formed between the housing 50 and the diaphragm portion 33 . It becomes difficult to reach the space where the

<10. Tenth Embodiment>
A configuration unique to the present application in the strain wave gearing 100 according to the tenth embodiment will be described below.

The strain wave gearing 100 according to the tenth embodiment differs from the strain wave gearing 1 according to the first embodiment in that it does not include the seal member 60 and includes a substrate 171 instead of the substrate 71 . FIG. 14 is a longitudinal sectional view showing the structure of the substrate 171 in the strain wave gearing 100 according to the tenth embodiment.

The substrate 171 has a radially inner edge portion (inner edge portion) extending further radially inward than the substrate 71 . Specifically, the substrate 171 extends to the outer peripheral surface of the cylindrical portion 51 . That is, the inner edge of substrate 171 is in contact with the outer peripheral surface of cylindrical portion 51 . The substrate 171 partitions the space formed between the body portion 31 and the cylindrical portion 51 in the radial direction and the space formed between the housing 50 and the diaphragm portion 33 in the axial direction. As a result, at the radially inner end of the substrate 171, the grease filled in the meshing portion between the external teeth 32 and the internal teeth 41 reaches the surface of the substrate 171 (surface on the other side in the axial direction). It functions as a sealing member to prevent it from being put away.

As described above, in the strain wave gearing 100 of the present embodiment, the radially inner end of the substrate 171 contacts the outer peripheral surface of the cylindrical portion 51, and the substrate 171 functions as a sealing member. As a result, the substrate 171 can be extended radially inward and the radially inward end of the substrate 171 can function as a sealing member without providing a separate sealing member. Therefore, the number of parts can be reduced.

<11. Variation>
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.

The direction in which the lip portion extends from the body portion may differ from that shown in the above embodiments. For example, in the first embodiment, instead of the lip portion 62 extending from the outer edge portion on the other axial side of the main body portion 61 to the other axial side and radially inward side, the lip portion extends to the axial direction of the main body portion. It may extend from the inner edge portion on the other side in the other direction to the other side in the axial direction and radially outward. Alternatively, in the fourth embodiment, instead of the lip portion 462 extending from the outer edge portion on the other axial side of the main body portion 461 toward the other axial side and radially inward, the lip portion may extend radially outward from the inner edge portion on the other axial side.

In the first and third embodiments, the seal member may be held by the substrate by contact pressure, or may be fixed to the substrate by an adhesive or the like.

In addition to or instead of the torque detection sensor 70, other electrical equipment such as a temperature sensor may be mounted in the space formed between the housing 50 and the diaphragm portion 33 in the axial direction. However, electrical equipment may be omitted.

A labyrinth structure may be provided between the inner edge of the substrate and the cylindrical portion of the housing instead of positioning the substrate by the stepped portion as in the eighth and ninth embodiments. That is, the movement of the grease may be prevented by axially sandwiching the inner edge of the substrate with a labyrinth structure.

Approximately annular sealing members between the fixed portion 34 and the housing 50 and between the fixed portion 34 and the second frame 92 shown in each figure may be omitted.

In the eighth to tenth embodiments, for example, an annular reinforcing plate may be attached to the radially inner end of the substrate from one axial side or the other axial side.

The sealing structure by the sealing member and the sealing structure by the radially inner end portion of the substrate may be combined.

In the above embodiment, the flexible external gear 30 is fixed via the housing 50 to the frame of the device on which the wave gear device 1 is mounted, and the internal gear 40 rotates around the central axis 9. . Alternatively, however, the internal gear may be fixed to the frame of the device on which the strain wave gearing is mounted, and the flexible external gear may rotate around the central axis.

In addition, the configuration of the details of the strain wave gearing may be changed as appropriate without departing from the spirit of the present invention. Moreover, the elements appearing in each of the above-described embodiments and modifications may be appropriately combined within a range that does not cause contradiction.

INDUSTRIAL APPLICABILITY The present application can be used for strain wave gearing.

Reference Signs List 1 Strain wave gearing 9 Central shaft 10 Input member 20 Wave generator 30 Flexible external gear 31 Body 32 External tooth 33 Diaphragm 34 Fixed part 40 Internal gear 41 Internal tooth 50 Housing 51 Cylindrical part 52 Stepped part 60 Seal Member 61 Body 62 Lip 70 Torque detection sensor 71 Substrate 72 Wheatstone bridge circuit

Claims (10)

an input member rotating about a central axis;
a wave generator that rotates about the central axis at the same number of revolutions as the input member;
a trunk portion disposed radially outward of the wave generator and flexed in a non-perfect circle by the wave generator;
external teeth provided on the outer peripheral surface on one side in the axial direction of the body;
a diaphragm portion extending radially outward from the other axial end of the body;
a fixing portion extending radially outward from the radially outer end of the diaphragm portion;
a flexible external gear comprising
an internal gear that is arranged radially outward of the body and has internal teeth on an inner peripheral surface that partially mesh with the external teeth;
a housing fixed to the fixing portion from the other side in the axial direction;
with
one of the internal gear and the flexible external gear is fixed and the other rotates about the central axis;
Rotation of the wave generator displaces the length of the body in the radial direction, and the meshing position between the flexible external gear and the internal gear changes in the circumferential direction around the central axis. change,
The flexible external gear and the internal gear rotate relative to each other due to a difference in the number of teeth between the external teeth and the internal teeth,
further comprising a seal member disposed between the diaphragm portion and the housing or between the other end of the body portion in the axial direction and the housing ;
A strain wave gearing device in which a substrate having a conductor layer is mounted on the surface of the diaphragm portion on the other side in the axial direction . A strain wave gearing according to claim 1 ,
The strain wave gear device, wherein the seal member is positioned between a surface on the other axial side of the diaphragm portion and a surface on the one axial side of the housing. A strain wave gearing according to claim 1 ,
The housing has a cylindrical portion extending from a radially inner end toward one axial side,
The strain wave gear device, wherein the seal member is positioned between the inner peripheral surface of the body portion and the outer peripheral surface of the cylindrical portion. A strain wave gearing according to claim 1 ,
The strain wave gear device, wherein the sealing member is positioned between the surface of the substrate on the other side in the axial direction and the surface of the housing on the one side in the axial direction. A strain wave gearing according to claim 2 ,
The sealing member is
an annular main body;
an annular lip portion extending from the main body portion toward the other axial side and radially inwardly or radially outwardly;
with
A wave gear device, wherein an axial end of the lip portion contacts a surface on one axial side of the housing. A strain wave gearing according to claim 4 ,
The sealing member is
an annular main body;
an annular lip portion extending radially inwardly or radially outwardly from the main body portion;
with
A strain wave gear device, wherein an axial end portion of the lip portion contacts a surface on the other axial side of the substrate or a surface on the other axial side of the diaphragm portion. A wave gear device according to any one of claims 1 to 6 ,
A wave gear device, wherein the housing has a stepped portion that holds the sealing member. A strain wave gearing according to claim 1 ,
A strain wave gearing device, wherein the substrate extends radially inward from the body portion when viewed in the axial direction. A strain wave gearing according to claim 8 ,
The housing has a cylindrical portion extending from a radially inner end toward one axial side,
a radially inner end portion of the substrate is in contact with an outer peripheral surface of the cylindrical portion;
A wave gear device, wherein the substrate functions as the sealing member. A strain wave gearing according to any one of claims 1 , 4 , 6 , 8 , and 9 ,
The conductor layer has a first resistance line pattern and a second resistance line pattern,
The first resistance line pattern is an arc-shaped or annular pattern in which a plurality of resistance lines inclined to one side in the circumferential direction with respect to the radial direction of the diaphragm are arranged in the circumferential direction,
The strain wave gear device, wherein the second resistance line pattern is an arcuate or annular pattern in which a plurality of resistance lines inclined to the other side in the circumferential direction with respect to the radial direction of the diaphragm are arranged in the circumferential direction.

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