TW202409451A - Gearing device and robot - Google Patents

Abstract

A gearing device 10 according to the present disclosure is mounted to a mounting member, and is provided with: an internal gearing 20; an external gearing 30 that partly meshes with the internal gearing 20; a wave motion generator 40 that is in contact with the inner circumferential surface of the external gearing 30 and that rotates, about a rotation axis 10A, the meshing position of the internal gearing 20 and the external gearing 30; a bearing 50 that is provided with an inner ring 51 and an outer ring 52 and that supports the internal gearing 20 and the external gearing 30 so as to be relatively rotatable; and an oil seal 60. A first space 54 open to one end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 52. A second space 55 open to the other end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 52. A gearing-side space 70 that is in communication with the second space 55 is formed between the external gearing 30 and the bearing 50. The oil seal 60 seals the first space 54. The external gearing 30 is provided with: a cylindrical part 31 that is flexible and that is coaxially disposed inside the internal gearing 20; a diaphragm part 33 that expands outward from an end of the cylindrical part 31; and a rigid boss part 34 that is annular and that extends from the outer circumferential edge of the diaphragm part 33. The boss part 34 is mounted to the mounting member, and at least the boss part 34 has formed therein a communication hole 80 that is in communication with the first space 54 or the gearing-side space 70. The communication hole 80 is in communication with an inner space 31A of the cylindrical part 31 via a groove 2A provided in the mounting member.

Description

Gear device and robot

The invention relates to a gear device and a robot.

Previously, a hat-type wave gear device described in International Publication No. 2018/189798 (Patent Document 1 below) has been known. The top-hat type wave gear device includes: an internal gear; an external gear; and a wave generator, which causes the external teeth of the external gear to mesh with the internal teeth of the internal gear, and makes the external teeth relative to the internal teeth. The meshing position rotates; and the crossed roller bearing supports the internal gear and the external gear to rotate relative to each other. The bearing has a first gap portion opened at the first end face on one side of the bearing and a second gap portion opened at the second end face on the other side of the bearing between its inner and outer rings.

The first gap portion is connected to the outside and is sealed by an oil seal. The oil seal prevents excess lubricant that has flowed into the bearing from leaking to the outside. The second gap portion is connected to the gear side gap portion disposed on the outer peripheral side of the outer gear. A bearing seal is provided between the second gap portion and the gear side gap portion. The bearing seal seals the opening end of the second gap portion from the side of the gear side gap portion. This prevents excess lubricant from flowing from the gear side gap portion into the second gap portion, and allows excess lubricant that has flowed into the bearing to escape from the second gap portion to the gear side gap portion. [Prior art literature] [Patent literature]

[Patent Document 1] International Publication No. 2018/189798

[Problem to be solved by the invention]

In the above-mentioned top hat type wave gear device, when the bearing seal maintains the position of opening the opening end of the second gap portion for some reason, the lubricant cannot be prevented from flowing into the second gap portion from the gear side gap portion. Therefore, the lubricant may flow into the bearing excessively and leak out from the oil seal. [Technical means to solve problems]

The gear device of the present invention is installed on a mounting member and includes: an internal gear; an external gear partially meshed with the internal gear; and a wave generator that is in contact with the inner peripheral surface of the external gear to cause the above The meshing position of the internal gear and the above-mentioned external gear rotates around the rotation axis; a bearing has an inner ring and an outer ring, and supports the above-mentioned internal gear and the above-mentioned external gear so as to be relatively rotatable; and an oil seal; and in the above-mentioned inner ring A first space opening on one end face of the bearing is formed between the outer ring and the outer ring, and a second space opening on the other end face of the bearing is formed between the inner ring and the outer ring. A gear-side space communicating with the second space is formed between the bearing and the oil seal to seal the first space. The external gear has a flexible cylindrical portion coaxially disposed on the internal gear. The inner side of the gear; the diaphragm portion, which extends outward from the end of the above-mentioned cylindrical portion; and the rigid boss portion, which extends from the outer periphery of the above-mentioned diaphragm portion and is annular; and the above-mentioned boss portion is installed on the above-mentioned installation The member has a communication hole formed in at least the boss portion that communicates with the first space or the gear-side space, and the communication hole communicates with the internal space of the cylindrical portion via a groove provided in the mounting member. [Effects of the invention]

According to the present invention, it is possible to suppress the lubricant from leaking from the bearing to the outside in the gear device and the robot.

[Description of the implementation method of the present invention] First, the implementation method of the present invention is described by giving examples. (1) The gear device of the present invention is mounted on a mounting member, and comprises: an inner gear; an outer gear, a portion of which is engaged with the inner gear; a wave generator, which contacts the inner circumferential surface of the outer gear and causes the inner gear and the outer gear to rotate about a rotation axis at the engaged position; a bearing, which comprises an inner ring and an outer ring, and supports the inner gear and the outer gear so as to be relatively rotatable; and an oil seal; and a first space is formed between the inner ring and the outer ring and is open at one end surface of the bearing, and a second space is formed between the inner ring and the outer ring and is open at the other end surface of the bearing, and a second space is formed between the inner ring and the outer ring and is open at the other end surface of the bearing. A gear side space communicating with the second space is formed between the gear and the bearing, the oil seal seals the first space, and the outer gear has: a flexible cylindrical portion coaxially arranged on the inner side of the inner gear; a diaphragm portion extending outward from the end of the cylindrical portion; and a rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and the boss portion is mounted on the mounting member, and at least a connecting hole communicating with the first space or the gear side space is formed on the boss portion, and the connecting hole is connected with the inner space of the cylindrical portion via a groove provided on the mounting member.

Since the first space or the gear-side space is connected to the internal space of the cylindrical part via the communication hole and the groove of the mounting member, the lubricant flowing into the first space or the gear-side space can be prevented from returning to the internal space of the cylindrical part. . Therefore, excessive flow of lubricant into the first space can be suppressed, and lubricant leakage from the oil seal can be suppressed.

Furthermore, since the communication hole is formed in at least the rigid boss portion, it is possible to suppress a decrease in the strength of the externally toothed gear.

(2) The gear device according to (1), wherein the communication hole may be formed in the boss portion and the outer ring and communicate with the first space.

Since the communication hole is formed in the boss portion and the outer ring and communicates with the first space, the lubricant flowing into the first space can be returned to the inner space of the cylindrical portion through the communication hole and the groove of the mounting member. Therefore, the lubricant can be prevented from leaking from the oil seal.

(3) In the gear device as described in (1), the through hole may be formed in the boss portion and communicated with the gear side space.

Since the communication hole is formed in the boss portion and communicates with the gear side space, the lubricant that wants to flow into the bearing from the gear side space can be returned to the internal space of the cylindrical portion through the communication hole and the groove of the mounting member. Therefore, lubricant leakage from the oil seal can be suppressed.

(4) The gear device of the present invention comprises: an inner gear; an outer gear, a portion of which is engaged with the inner gear; a wave generator, which contacts the inner circumferential surface of the outer gear and causes the inner gear and the outer gear to rotate about the rotation axis at the engaged position; a bearing, which has an inner ring and an outer ring, and supports the inner gear and the outer gear so that they can rotate relative to each other; a first sealing member; and a second sealing member, which is separate from the first sealing member; and the inner ring and the inner gear form an inner side structure. A third space opened at one end face of the bearing is formed between the inner side member and the outer ring, a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring, a gear side space connected to the second space is formed between the outer gear and the bearing, the first sealing member is an oil seal, which seals the third space, and the second sealing member is arranged on the inner side of the third space than the first sealing member and seals the third space.

By using the first sealing member and the second sealing member as oil seals, leakage of lubricant can be suppressed doubly.

(5) In the gear device as described in (4), the second sealing member may be an oil seal.

The two oil seals can double-suppress lubricant leakage.

(6) In the gear device described in (5), the outer ring may include an outer ring body and an extension plate fixed to the outer ring body and extending to a side closer to the inner gear than the inner ring, and the first sealing member may be arranged between the extension plate and the inner gear.

By adding an extension plate to the outer ring body, the design of the gear device sometimes becomes easier.

(7) The gear device according to (6) may be mounted on a mounting member, wherein the externally toothed gear includes a flexible cylindrical portion coaxially disposed on the internally toothed gear. the inner side; the diaphragm portion, which expands from the end of the above-mentioned cylindrical portion to the outside; and the rigid convex seat portion, which extends from the outer periphery of the above-mentioned diaphragm portion and is annular; and is located between the above-mentioned outer ring and the above-mentioned convex seat portion A communication hole communicating with the third space is formed, and the communication hole communicates with the internal space of the cylindrical portion via a groove provided in the mounting member.

In addition to the double sealing structure using two oil seals, the lubricant flowing into the third space is returned to the inner space of the cylindrical portion through the communication hole and the groove of the mounting member, thereby further suppressing the leakage of the lubricant.

(8) The gear device of the present invention includes: an internal gear; an external gear partially meshed with the internal gear; and a wave generator that contacts the inner peripheral surface of the external gear so that the internal gear is in contact with the internal gear. The meshing position of the external gear rotates around the rotation axis; the bearing has an inner ring and an outer ring, and supports the internal gear and the external gear so as to be relatively rotatable; an oil seal; a first bearing seal; a second bearing seal. , which is different from the above-mentioned first bearing seal; a first plate, which is fixed to the above-mentioned inner ring; and a spacer; and a first opening on one end face of the above-mentioned bearing is formed between the above-mentioned inner ring and the above-mentioned outer ring. A space is formed between the above-mentioned inner ring and the above-mentioned outer ring, and a second space opened at the other end surface of the above-mentioned bearing is formed, and between the above-mentioned external gear and the above-mentioned bearing, a gear-side space connected to the above-mentioned second space is formed, The oil seal seals the first space, and the externally toothed gear includes: a flexible cylindrical portion coaxially disposed inside the internally toothed gear; and a diaphragm portion extending outward from the end of the cylindrical portion. expansion; and a rigid convex seat portion extending from the outer circumference of the diaphragm portion and being annular; and the first bearing seal has a first base portion and a first front end portion extending from the first base portion, and the above-mentioned first bearing seal 2. The bearing seal includes a second base portion and a second front end portion extending from the second base portion. The spacer is sandwiched between the outer ring and the boss portion to be fixed. The first base portion is sandwiched between the spacer and the boss portion. The outer rings are fixed between the outer rings, the second base portion is sandwiched between the spacer and the boss portion, and the first front end portion contacts the first plate from the second space side to connect the second space. For sealing, the second front end portion contacts the first plate from the gear side space side to partition the gear side space.

Since the first front end portion of the first bearing seal contacts the first plate from the second space side, the lubricant can be suppressed from being extruded from the second space to the gear side space. Since the second front end portion of the second bearing seal contacts the first plate from the gear side space side, the lubricant can be inhibited from flowing into the second space from the gear side space. Therefore, excessive flow of lubricant into the first space can be suppressed, and lubricant leakage from the oil seal can be suppressed.

Furthermore, since the first bearing seal and the second bearing seal are not formed in the same body, it is easy to ensure the volume of the space between the first bearing seal and the second bearing seal, and even if the lubricant enters the space, the contact between the first bearing seal and the second bearing seal and the first plate will not be released.

(9) The gear device of the present invention comprises: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner circumferential surface of the outer gear so as to rotate the inner gear and the outer gear about the rotation axis at the engaged position; a bearing having an inner ring and an outer ring for supporting the inner gear and the outer gear so as to be rotatable relative to each other; an oil seal; a third bearing seal; and a second plate fixed to the inner ring; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, and a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring, and a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring. A gear side space communicating with the second space is formed between the wheel and the bearing, the oil seal seals the first space, the outer gear comprises: a flexible cylindrical portion coaxially arranged on the inner side of the inner gear; a diaphragm portion extending outward from the end of the cylindrical portion; and a rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and the third bearing seal comprises a base, a first lip extending from the base, and a second lip extending from the base, the base is clamped and fixed between the second plate and the inner ring, the first lip and the second lip are in contact with the diaphragm portion to separate the gear side space.

By providing the first lip and the second lip on the third bearing seal, it is possible to suppress the lubricant from squeezing out from the second space into the gear side space and the lubricant from flowing into the second space from the gear side space. Therefore, it is possible to suppress the lubricant from flowing into the first space excessively and suppress the lubricant from leaking from the oil seal.

Furthermore, by enlarging the space between the first lip and the second lip, the third bearing seal can be configured so that the first lip and the second lip will not be in contact with the diaphragm due to interference between the first lip and the second lip.

(10) The gear device of the present invention includes: an internal gear; an external gear partially meshed with the internal gear; and a wave generator that is in contact with the inner peripheral surface of the external gear so that the internal gear is in contact with the internal gear. The meshing position of the external gear rotates around the rotation axis; the bearing has an inner ring and an outer ring, and supports the above-mentioned internal gear and the above-mentioned external gear so as to be relatively rotatable; an oil seal; a fourth bearing seal; and a third plate, It is fixed to the above-mentioned inner ring; and a first space opened on one end face of the above-mentioned bearing is formed between the above-mentioned inner ring and the above-mentioned outer ring, and another space on the above-mentioned bearing is formed between the above-mentioned inner ring and the above-mentioned outer ring. A second space with an open end face forms a gear-side space connected to the second space between the externally toothed gear and the bearing. The oil seal seals the first space. The fourth bearing seal has a base and is formed from the above-mentioned first space. The first lip extending from the base and the second lip extending from the base are sandwiched between the third plate and the inner ring and fixed, and the first lip and the second lip are in contact with the outer ring to secure the base. The above-mentioned second space and the above-mentioned gear side space are separated.

By providing the first lip and the second lip in the fourth bearing seal, it is possible to suppress the lubricant from extruding from the second space to the gear side space and the lubricant from flowing into the second space from the gear side space. Therefore, excessive flow of lubricant into the first space can be suppressed, and lubricant leakage from the oil seal can be suppressed.

Furthermore, by enlarging the space between the first lip and the second lip, the fourth bearing seal can be configured so that one of the first lip and the second lip does not interfere with the other, and the first lip is not released. And the contact between the second lip and the outer ring.

(11) The gear device of the present invention comprises: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear so that the inner gear and the outer gear rotate about the rotation axis at the engaged position; a bearing having an inner ring and an outer ring for supporting the inner gear and the outer gear so as to be rotatable relative to each other; an oil seal; a fifth bearing seal; and a fourth plate fixed to the outer ring and extending toward the inner ring; and a first space opened at one end surface of the bearing is formed between the inner ring and the outer ring, and a second space is formed between the inner ring and the outer ring. The second space is opened on the other end face, and a gear side space communicating with the second space is formed between the outer gear and the bearing. The oil seal seals the first space, and a fourth space communicating with the gear side space and the second space is formed between the fourth plate and the inner ring. The fifth bearing seal comprises a base, a first lip extending from the base, and a second lip extending from the base. The base is accommodated in a groove formed in one of the fourth plate and the inner ring, and the first lip and the second lip contact the other of the fourth plate and the inner ring to separate the fourth space.

By providing the first lip and the second lip in the fifth bearing seal, it is possible to suppress the lubricant from extruding from the second space to the gear side space and the lubricant from flowing into the second space from the gear side space. Therefore, excessive flow of lubricant into the first space can be suppressed, and lubricant leakage from the oil seal can be suppressed.

Furthermore, by enlarging the space between the first lip and the second lip, the fifth bearing seal can be configured so that the first lip and the second lip will not interfere with the other, thereby eliminating the contact between the first lip and the second lip and the fourth plate or the inner ring.

(12) The robot of the present invention is equipped with the gear device according to any one of (1) to (11).

It can prevent lubricant from leaking out from the gear unit.

(13) The gear device of the present invention comprises: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner circumferential surface of the outer gear so that the inner gear and the outer gear rotate about the rotation axis at the engaged position; a bearing having an inner ring and an outer ring for supporting the inner gear and the outer gear so that they can rotate relative to each other; and an oil seal; and a wave generator in contact with the inner circumferential surface of the outer gear so that the inner gear and the outer gear rotate relative to each other. A first space opened at one end face of the bearing is formed between the outer rings, a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring, a gear side space connected to the second space is formed between the outer gear and the bearing, the oil seal seals the first space, and the gear device forms a connecting hole connecting the gear side space to the atmosphere.

By connecting the gear side space to the atmosphere through the connecting hole, the pumping effect caused by the deflection of the external gear is eliminated, so lubricant will not be sent from the gear side space into the bearing. Therefore, lubricant leakage from the oil seal can be suppressed.

(14) In the gear device as described in (13), the connecting hole may be formed in the inner ring and the inner gear.

(15) In the gear device as described in (13), the outer gear may include: a flexible cylindrical portion coaxially arranged on the inner side of the inner gear; a diaphragm portion extending outward from the end of the cylindrical portion; and a rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and the connecting hole is formed in the boss portion.

(16) The robot of the present invention includes: the gear device according to any one of (13) to (15); a first member to which the gear device is fixed; and an air tube; and the first member The member has a through hole communicating with the connecting hole, one end of the air pipe is connected to the through hole and is mounted on the first member, and the other end of the air pipe is open to the atmosphere.

Since an air pipe is provided, even if the lubricant enters the connection hole, it can be prevented from leaking to the outside.

(17) In the robot as described in (16), at least a portion of the air tube may be in a coil shape.

Since at least part of the air tube is coil-shaped, the length of the air tube can be extended. Therefore, leakage of lubricant to the outside can be further suppressed.

[Details of the implementation of the present invention] The implementation of the present invention is described below. Furthermore, the present invention is not limited to the examples, but is intended to include all changes within the meaning and scope of the patent application and the same as the patent application. In the following description, for multiple identical components, sometimes only some of the components are marked with symbols, and the symbols of other components are omitted.

[Implementation method 1] <Gear device> Implementation method 1 of the present invention is described with reference to FIGS. 1 to 3. As shown in FIGS. 1 and 2, the gear device 10 of the present implementation method comprises: an inner gear 20; an outer gear 30 disposed on the inner side of the inner gear 20; a wave generator 40 disposed on the inner side of the outer gear 30; and a bearing 50 that supports the inner gear 20 and the outer gear 30 so as to be relatively rotatable.

＜Robot, arm＞ The gear device 10 is used, for example, in a speed reducer of a rotating part of a robot or the like. As shown in FIG. 3 , the robot 1 of this embodiment includes: a base (not shown); an arm 2 that is supported to be rotatable relative to the base; and a gear device 10 that is connected between the base and the arm 2 One transmits driving force to the other; and a motor (not shown) is the driving source of the gear device 10 . The internal gear 20 is fixed to the base. Externally toothed gear 30 is connected to arm 2 . The wave generator 40 is connected to the motor. In this embodiment, the arm 2 is an example of the mounting member.

In this form, the wave generator 40 rotates at the same rotation speed as the motor, and the rotation of the wave generator 40 is transmitted to the meshing position of the external gear 30 and the internal gear 20 . Since the number of teeth of the externally toothed gear 30 is different from the number of teeth of the internally toothed gear 20, the externally toothed gear 30 and the internally toothed gear 20 relatively rotate around the rotation axis 10A (see FIG. 1) due to the difference in the number of teeth. When the number of teeth of the internal gear 20 is greater than the number of teeth of the external gear 30 , the external gear 30 can be rotated at a lower rotation speed than the rotation speed of the motor. Therefore, it is possible to configure a speed reducer in which the wave generator 40 is on the input shaft side and the external gear 30 is on the output shaft side.

<Inner gear, outer gear> The detailed structure of the gear device 10 is described below with reference to FIG. 3. The inner gear 20 has an annular member 21 having a substantially rectangular cross-sectional shape, and an inner gear 22 formed on the inner circumference of the annular member 21. The outer gear 30 has: a cylindrical portion 31; an outer gear 32 formed on the outer circumference of one end of the cylindrical portion 31; a disc-shaped diaphragm portion 33 extending from the other end of the cylindrical portion 31 to the outside in the radial direction; and an annular boss portion 34 formed continuously with the outer circumference of the diaphragm portion 33. The outer gear 32 is configured to be engaged with the inner gear 22. The number of teeth of the outer gear 30 (the number of outer gears 32) is less than the number of teeth of the inner gear 20 (the number of inner gears 22). The cylindrical portion 31 and the diaphragm portion 33 are flexible. The boss portion 34 is rigid. The outer gear 30 and the inner gear 20 can rotate around the same rotation axis 10A.

＜Wave Generator＞ The wave generator 40 bends the cylindrical portion 31 of the externally toothed gear 30 into a non-circular shape, such as an elliptical shape, so that the external teeth 32 mesh with the internal teeth 22 . The wave generator 40 includes a cam plate and a wave bearing provided between the outer peripheral surface of the cam plate and the inner peripheral surface of the cylindrical portion 31 . The cam plate is connected to the motor and rotates around the rotation axis 10A. The rotation of the cam plate is transmitted to the external gear 30 through the wave bearing, causing the meshing position of the external gear 30 and the internal gear 20 to move in the circumferential direction.

<Bearing> The bearing 50 is coaxially arranged around the cylindrical portion 31. The bearing 50 of the present embodiment is a cross roller bearing. The bearing 50 has an inner ring 51, an outer ring 52 arranged outside the inner ring 51, and rollers 53 arranged in a track groove between the inner ring 51 and the outer ring 52. The inner ring 51 is located between the inner gear 20 and the diaphragm portion 33 in the direction along the rotation axis 10A, and is fixed to the inner gear 20. The outer ring 52 is fixed to the boss portion 34.

<1st space, 2nd space, oil seal> A first space 54 and a second space 55 are formed between the inner ring 51 and the outer ring 52 . The first space 54 is located on the side of the internal gear 20 and opens to the outside from one end of the bearing 50 . The second space 55 is opened at the other end surface of the bearing 50 . The first space 54 is sealed by the oil seal 60 .

＜Gear side space＞ A gear side space 70 is formed between the external gear 30 and the bearing 50 . The gear side space 70 extends from the meshing portion of the internal teeth 22 and the external teeth 32 along the cylindrical portion 31 and the diaphragm portion 33 . The gear side space 70 communicates with the second space 55 .

<Connecting hole> In the gear device 10 of the present embodiment, a connecting hole 80 connected to the first space 54 is formed. Specifically, the connecting hole 80 includes a first connecting hole 81 and a second connecting hole 82 connected to the first connecting hole 81. The first connecting hole 81 is formed in the outer ring 52. The first connecting hole 81 includes: a first hole 83 extending in the radial direction; and a second hole 84 connected to the first hole 83 and extending along the rotation axis 10A. The first hole 83 is connected to the first space 54. The second hole 84 opens on the end surface of the boss portion 34 side of the outer ring 52. The second connecting hole 82 is formed in the boss portion 34. The second connecting hole 82 is connected to the second hole 84.

＜Slot＞ Furthermore, the arm 2 is formed with a groove 2A communicating with the second communication hole 82 . The groove 2A is recessed from the end surface of the arm 2 on which the protruding seat 34 is mounted. The groove 2A extends laterally inward in the radial direction from the second communication hole 82 . The groove 2A communicates with an internal space 31A formed on the inside of the cylindrical portion 31 in the radial direction via the space between the end surface of the arm 2 and the diaphragm portion 33 . Therefore, the first space 54 communicates with the internal space 31A of the cylindrical portion 31 via the first communication hole 81, the second communication hole 82, and the groove 2A.

＜Lubricant＞ In each part of the gear device 10, specifically, in the meshing part of the internal gear 20 and the external gear 30, the internal space 31A of the cylindrical part 31, the fitting part of the external gear 30 and the wave generator 40, etc. Properly prepared with lubricant. The lubricant is, for example, lubricating oil.

When the gear device 10 is operating, the cylindrical portion 31 is repeatedly deflected in the radial direction at the meshing portion of the internal gear 20 and the external gear 30 . This deflection generates a pumping action for extruding lubricant from the meshing portion of the internal gear 20 and the external gear 30 into the gear side space 70 . The lubricant squeezed out by the pump flows through the gear side space 70 to the track groove of the bearing 50 . The lubricant flows into the first space 54 from the track groove of the bearing 50 .

In this embodiment, since the communication hole 80 communicating with the first space 54 is formed, even if the lubricant flows into the first space 54 as described above, the lubricant can flow into the communication hole 80 . Therefore, excessive lubricant can be prevented from being accumulated in the first space 54 and leaking from the oil seal 60 to the outside. Furthermore, the lubricant that has flowed into the communication hole 80 flows back to the internal space 31A of the cylindrical portion 31 through the groove 2A of the arm 2 .

Moreover, although not shown in the figure, a check valve may be provided in the communication hole 80 to allow the lubricant to flow from the first space 54 to the groove 2A side, and to restrict the flow of the lubricant from the groove 2A side to the first space 54 . This can prevent excess lubricant from accumulating in the first space 54 .

[Effects of Implementation Method 1] As described above, the gear device 10 of Implementation Method 1 is mounted on the mounting member (arm 2), and comprises: an inner gear 20; an outer gear 30, a portion of which is engaged with the inner gear 20; and a wave generator 40, which is in contact with the inner peripheral surface of the outer gear 30, so that the engagement position of the inner gear 20 and the outer gear 30 rotates around the rotation axis 10A. The bearing 50 includes an inner ring 51 and an outer ring 52, which support the inner gear 20 and the outer gear 30 so that they can rotate relative to each other; and an oil seal 60; and a first space 54 is formed between the inner ring 51 and the outer ring 52, which is open at one end surface of the bearing 50, and a second space 54 is formed between the inner ring 51 and the outer ring 52, which is open at the other end surface of the bearing 50. The outer gear 30 and the bearing 50 form a second space 55, and a gear side space 70 connected to the second space 55 is formed between the outer gear 30 and the bearing 50. The oil seal 60 seals the first space 54. The outer gear 30 has: a flexible cylindrical portion 31, which is coaxially arranged on the inner side of the inner gear 20; a diaphragm portion 33, which extends from the end of the cylindrical portion 31 to the inner side of the inner gear 20; The outer side of the diaphragm portion 33 is expanded; and the rigid boss portion 34 extends from the outer periphery of the diaphragm portion 33 and is annular; and the boss portion 34 is mounted on the mounting member, and at least the boss portion 34 is formed with a connecting hole 80 connected to the first space 54, and the connecting hole 80 is connected to the inner space 31A of the cylindrical portion 31 through the groove 2A provided in the mounting member.

Since the first space 54 is connected to the inner space 31A of the cylindrical portion 31 via the connecting hole 80 and the groove 2A of the mounting member, the lubricant flowing into the first space 54 can be returned to the inner space 31A of the cylindrical portion 31. Therefore, it is possible to suppress the lubricant from flowing into the first space 54 excessively, and suppress the lubricant from leaking from the oil seal 60.

In addition, since the communication hole 80 is formed in at least the rigid boss portion 34, the strength of the externally toothed gear 30 can be suppressed from decreasing.

In the gear device 10 of the first embodiment, the communication hole 80 is formed in the boss portion 34 and the outer ring 52 , and is communicated with the first space 54 .

Since the communication hole 80 is formed in the boss portion 34 and the outer ring 52 and communicates with the first space 54, the lubricant flowing into the first space 54 can be returned to the inner space 31A of the cylindrical portion 31 through the communication hole 80 and the groove 2A of the mounting member. Therefore, the lubricant can be prevented from leaking from the oil seal 60.

The robot 1 of embodiment 1 is equipped with a gear device 10.

The lubricant can be prevented from leaking out from the gear device 10.

[Embodiment 2] Embodiment 2 of the present invention will be described with reference to FIG. 4 . In the gear device 110 and the robot 101 of the second embodiment, the shape of the communication hole 180 is different from that of the first embodiment. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1, the same components as those in Embodiment 1 are denoted by the same reference numerals as in Embodiment 1, and detailed descriptions are omitted.

The connecting hole 180 of the gear device 110 includes a first connecting hole 181 and a second connecting hole 182 connected to the first connecting hole 181. The first connecting hole 181 includes a first hole 83 extending along the radial direction and a second hole 184 connected to the first hole 83 and extending along the rotation axis 10A. The second hole 184 is formed to pass through the outer ring 52. The second connecting hole 182 is formed in the boss portion 34. The second connecting hole 182 is connected to the second hole 184.

The arm 102 (an example of the mounting member) of the robot 101 is formed with a groove 2A communicating with the second communication hole 182 . Like Embodiment 1, the first space 54 communicates with the internal space 31A of the cylindrical portion 31 via the first communication hole 181, the second communication hole 182, and the groove 2A. Furthermore, a bolt fastening hole 102B is formed in the arm 102 by being recessed from the bottom surface of the groove 2A. A female thread is provided on the inner surface of the bolt fastening hole 102B.

The outer ring 52 is fixed to the arm 102 by the bolt 102C. Specifically, the bolt 102C is inserted through the second hole 184 and the second connecting hole 182, and is screwed into the female thread of the bolt tightening hole 102B. A sealing gasket 102D is arranged between the head of the bolt 102C and the outer ring 52. Thus, the lubricant flowing from the first space 54 into the connecting hole 180 will not leak to the outside from between the head of the bolt 102C and the outer ring 52.

Although not shown, a check valve may be provided in the first hole 83 of the communication hole 180 to allow the lubricant to flow from the first space 54 to the groove 2A side and to restrict the lubricant from flowing from the groove 2A side to the first space 54. In this way, the accumulation of excessive lubricant in the first space 54 can be suppressed.

[Implementation method 3] Implementation method 3 of the present invention is described with reference to FIG. 5. In the gear device 210 and the robot 201 of implementation method 3, the shape of the through hole 280 is different from that of implementation method 1. As for other structures and effects, they are the same as those of implementation method 1, so the same symbols as those of implementation method 1 are marked for the components equivalent to those of implementation method 1, and detailed descriptions are omitted.

A communication hole 280 communicating with the gear side space 70 is formed in the boss portion 234 of the gear device 210 .

A groove 2A connected to the communication hole 280 is formed in the arm 2 of the robot 201. The groove 2A is recessed from the end surface of the arm 2 where the boss portion 234 is mounted. The groove 2A is connected to the inner space 31A of the cylindrical portion 31 through the space between the end surface of the arm 2 and the diaphragm portion 33. Therefore, the gear side space 70 is connected to the inner space 31A of the cylindrical portion 31 through the communication hole 280 and the groove 2A.

In the present embodiment, since the communication hole 280 communicating with the gear side space 70 is formed, a part of the lubricant that is intended to flow from the gear side space 70 into the second space 55 due to the pump action can flow into the communication hole 280. Therefore, it is possible to suppress the lubricant from excessively flowing from the gear side space 70 into the first space 54 through the second space 55 and leaking out from the oil seal 60. In addition, the lubricant that has flowed into the communication hole 280 flows back to the internal space 31A of the cylindrical portion 31 through the groove 2A of the arm 2.

The communication hole 280 is preferably arranged to be spaced apart from the second space 55 in the radial direction. According to this structure, it is easy to suppress the lubricant that has already flowed into the communication hole 280 from flowing back into the second space 55.

Although not shown, a check valve may be provided in the communication hole 280 to allow the lubricant to flow from the gear side space 70 to the groove 2A side and to restrict the lubricant from flowing from the groove 2A side to the gear side space 70. In this way, the lubricant can be prevented from flowing from the gear side space 70 to the inside of the bearing 50, thereby preventing excessive lubricant from accumulating in the first space 54.

[Effects of Embodiment 3] The gear device 210 of Embodiment 3 is installed on the mounting member (arm 2) and includes: an internal gear 20; an external gear 30, which is partially meshed with the internal gear 20; and a wave generator 40, which is connected to the external gear 20. The inner circumferential surface of 30 is in contact, so that the meshing position of the internal gear 20 and the external gear 30 rotates around the rotation axis 10A; the bearing 50 has an inner ring 51 and an outer ring 52, supporting the internal gear 20 and the external gear 30 It is relatively rotatable; and an oil seal 60; and a first space 54 open on one end face of the bearing 50 is formed between the inner ring 51 and the outer ring 52, and a first space 54 is formed between the inner ring 51 and the outer ring 52. The second space 55 that is open on the other end surface forms a gear side space 70 connected with the second space 55 between the external gear 30 and the bearing 50. The oil seal 60 seals the first space 54. The external gear 30 has: The flexible cylindrical portion 31 is coaxially arranged inside the internal gear 20; the diaphragm portion 33 expands outward from the end of the cylindrical portion 31; and the rigid boss portion 234 extends from the diaphragm. The outer periphery of the portion 33 extends and is annular; and the boss portion 234 is installed on the mounting member. At least the boss portion 234 is formed with a communication hole 280 that communicates with the gear side space 70. The communication hole 280 passes through a groove provided in the mounting member. 2A and communicates with the internal space 31A of the cylindrical part 31.

Since the gear side space 70 communicates with the internal space 31A of the cylindrical part 31 via the communication hole 280 and the groove 2A of the mounting member, the lubricant flowing into the gear side space 70 can be returned to the internal space 31A of the cylindrical part 31 . Therefore, excessive flow of lubricant into the first space 54 can be suppressed, and lubricant leakage from the oil seal 60 can be suppressed.

Furthermore, since the through hole 280 is formed at least in the rigid boss portion 234, the strength reduction of the outer gear 30 can be suppressed.

In the gear device 210 of the third embodiment, the through hole 280 is formed in the boss portion 234 and communicates with the gear side space 70 .

Since the communication hole 280 is formed in the boss portion 234 and communicates with the gear side space 70 , the lubricant that wants to flow into the inside of the bearing 50 from the gear side space 70 can be directed to the cylindrical portion 31 through the communication hole 280 and the groove 2A of the mounting member. The internal space 31A returns. Therefore, lubricant leakage from the oil seal 60 can be suppressed.

[Implementation method 4] Implementation method 4 of the present invention is described with reference to FIG. 6 . In the gear device 310 and the robot 301 of implementation method 4, a first sealing member 361 and a second sealing member 362 are provided, and the connecting hole 80 of implementation method 1 is not formed. As other structures and effects are the same as those of implementation method 1, the same symbols as those of implementation method 1 are marked for the components equivalent to those of implementation method 1, and detailed descriptions are omitted.

<First sealing member, second sealing member> The first sealing member 361 is the same oil seal as in the first embodiment. The second sealing member 362 is a different body from the first sealing member 361 and is disposed on the inner side of the bearing 50 than the first sealing member 361. The second sealing member 362 of this embodiment is the same oil seal as the first sealing member 361.

<Third Space> In the present embodiment, the outer ring 352 has an extension portion 352A extending to the inner gear 20 side relative to the inner ring 51. When the member formed by the inner ring 51 and the inner gear 20 is set as the inner member 320A, a third space 354A is formed between the inner member 320A and the outer ring 352. The third space 354A opens on the end face of the bearing 50 opposite to the gear side space 70. In the first embodiment, the first space 54 is provided between the inner ring 51 and the outer ring 52, but the third space 354A of the present embodiment includes the first space 54 and expands further to the outside of the bearing 50 than the first space 54.

In this embodiment, since the third space 354A leading to the outside from the bearing 50 is double-sealed by the first sealing member 361 and the second sealing member 362, leakage of lubricant to the outside can be suppressed.

Furthermore, although not shown, both the first sealing member 361 and the second sealing member 362 may be disposed in the first space 54 , that is, between the inner ring 51 and the outer ring 52 .

[Effects of Implementation Method 4] The gear device 310 of Implementation Method 4 comprises: an inner gear 20; an outer gear 30, which is partially engaged with the inner gear 20; a wave generator 40, which contacts the inner peripheral surface of the outer gear 30, so that the engaged position of the inner gear 20 and the outer gear 30 rotates around the rotation axis 10A; a bearing 50, which has an inner ring 51 and an outer ring 352, and supports the inner gear 20 and the outer gear 30 to rotate relative to each other; a first sealing member 361; and a second sealing member 362, which is different from the first sealing member 361; and the inner ring 51 and the inner gear 20 constitute an inner member. 320A, a third space 354A opened at one end face of the bearing 50 is formed between the inner member 320A and the outer ring 352, a second space 55 opened at the other end face of the bearing 50 is formed between the inner ring 51 and the outer ring 352, a gear side space 70 connected to the second space 55 is formed between the outer gear 30 and the bearing 50, the first sealing member 361 is an oil seal, sealing the third space 354A, and the second sealing member 362 is arranged on the inner side of the third space 354A closer to the first sealing member 361 and seals the third space 354A.

By using the first sealing member 361 and the second sealing member 362 as oil seals, leakage of lubricant can be suppressed doubly.

In the gear device 310 of Embodiment 4, the second sealing member 362 is an oil seal.

The two oil seals can double-suppress lubricant leakage.

[Implementation method 5] Implementation method 5 of the present invention is described with reference to FIG. 7. In the gear device 410 and the robot 401 of implementation method 5, the configuration of the first sealing member 461 and the configuration of the second sealing member 462 are different from those of implementation method 4. As for other configurations and effects, since they are the same as those of implementation methods 1 and 4, the same symbols as those of implementation method 1 are marked for the components equivalent to those of implementation method 1, and detailed descriptions are omitted.

The gear device 410 of Embodiment 5 includes a first sealing member 461 and a second sealing member 462. The first sealing member 461 is the same oil seal as in Embodiment 1. The first sealing member 461 is disposed between the inner ring 451 and the outer ring 52 to seal the first space 54 . The second sealing member 462 is arranged inside the first space 54 relative to the first sealing member 461 . The second sealing member 462 of this embodiment has an annular shape and includes a base portion 462A and a front end portion 462B extending from the base portion 462A.

The base portion 462A is fixed between the inner wall of the outer ring 52 constituting the first space 54 and the spacer 463. The spacer 463 is pressed by the first sealing member 461. The front end portion 462B abuts against the abutment portion 451A formed on the inner ring 451. The abutment portion 451A is formed by extending to the outside in the radial direction in the first space 54. The front end portion 462B extends from the inner side of the first space 54 closer to the abutment portion 451A toward the abutment portion 451A side and contacts the abutment portion 451A. The first space 54 is sealed by the second sealing member 462.

According to the structure of this embodiment, the outer ring 52 does not extend further to the internal gear 20 side than the inner ring 451. Therefore, the first space 54 substantially corresponds to the third space 354A of the fourth embodiment and functions the same as the fourth embodiment. its effect. According to this embodiment, compared with Embodiment 4, a double seal structure can be provided in the gear device 410 without enlarging the outer ring 52 .

[Embodiment 6] Embodiment 6 of the present invention will be described with reference to FIGS. 8 and 9 . In the gear device 510 and the robot 501 of the sixth embodiment, the structure of the outer ring 552 is different from that of the fourth embodiment. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1 and Embodiment 4, the same components as those in Embodiment 4 are denoted by the same reference numerals as in Embodiment 4, and detailed descriptions are omitted.

<Outer ring body, extension plate> In this embodiment, as shown in FIG. 8 , the outer ring 552 has an outer ring body 552A and an extension plate 552B fixed to the outer ring body 552A. The outer ring body 552A is substantially the same as the outer ring 52 of Embodiment 1 in which the first connecting hole 81 is omitted. The extension plate 552B extends to the inner gear 20 side closer to the inner ring 51. The first sealing member 361 is arranged between the extension plate 552B and the inner gear 20 to seal the third space 354A. The second sealing member 362 is arranged between the outer ring body 552A and the inner ring 51 to seal the third space 354A.

The outer ring body 552A and the extension plate 552B are fixed by bolt fastening. Specifically, the extension plate 552B is provided with a bolt insertion hole 552C, and the outer ring body 552A is provided with a bolt fastening hole 552D. The bolt 552E is inserted through the bolt insertion hole 552C and screwed into the female thread of the bolt fastening hole 552D.

In addition, as a modification of Embodiment 6, as shown in FIG. 9 , the outer ring body 552A, the extension plate 552B, the boss portion 534 and the arm 502 of the robot 501 can be fixed by bolt tightening. Specifically, the extension plate 552B, the outer ring body 552A, and the boss portion 534 may be provided with bolt insertion holes 552C, 552F, and 534A respectively, and the arm 502 may be provided with a bolt fastening hole 502A. The bolt 552G can be inserted into the bolt insertion holes 552C, 552F, and 534A, and screwed into the female thread of the bolt fastening hole 502A.

[Effects of Embodiment 6] In the gear device 510 of Embodiment 6, the outer ring 552 includes an outer ring body 552A, and an extension plate 552B fixed to the outer ring body 552A and extending closer to the internal gear 20 side than the inner ring 51, and the first sealing member 361 is arranged between the extension plate 552B and the internal gear 20 .

By adding an extension plate 552B to the outer ring body 552A, the design of the gear device 510 may be facilitated.

[Embodiment 7] Embodiment 7 of the present invention will be described with reference to FIG. 10 . The gear device 610 and the robot 601 of the seventh embodiment are substantially the same as the gear device 510 and the robot 501 of the sixth embodiment shown in FIG. 9 except that the communication hole 680 and the groove 602A are provided. Regarding the common configurations and functions and effects as those in Embodiment 6, the same reference numerals as those in Embodiment 6 are assigned to the same components as in Embodiment 6, and detailed descriptions will be omitted.

<Connecting hole> In Embodiment 7, a third hole 680A is formed to connect the bolt insertion holes 552C, 552F and the third space 354A. The third hole 680A is formed between the outer ring body 552A and the extension plate 552B. The bolt insertion holes 552C, 552F, 534A and the third hole 680A constitute a connecting hole 680.

The arm 602 of the robot 601 is provided with a groove 602A similar to the arm 102 of the first embodiment. The groove 602A is connected to the bolt insertion hole 534A. The groove 602A is connected to the inner space 31A of the cylindrical portion 31. Therefore, the third space 354A is connected to the inner space 31A of the cylindrical portion 31 via the communication hole 680 and the groove 602A.

The arm 602 is formed with a bolt fastening hole 502A recessed from the bottom surface of the groove 602A. The bolt 552G is inserted through the bolt insertion holes 552C, 552F, and 534A, and is screwed into the female thread of the bolt fastening hole 502A. The arm 602 is an example of a mounting member.

Although not shown, a check valve may be provided in the third hole 680A of the communication hole 680 to allow the lubricant to flow from the third space 354A to the groove 602A side and to restrict the lubricant from flowing from the groove 602A side to the third space 354A. In this way, it is possible to suppress the accumulation of excessive lubricant in the third space 354A.

[Effects of Embodiment 7] The gear device 610 of Embodiment 7 is mounted on a mounting member (arm 602), in which the externally toothed gear 30 includes: a flexible cylindrical portion 31 coaxially disposed inside the internally toothed gear 20; and a diaphragm portion 33 , which expands outward from the end of the cylindrical portion 31; and a rigid convex seat portion 534, which extends from the outer periphery of the diaphragm portion 33 and is annular; and is formed on the outer ring 552 and the convex seat portion 534 with the third The communication hole 680 communicates with the space 354A, and the communication hole 680 communicates with the internal space 31A of the cylindrical portion 31 through the groove 602A provided in the mounting member.

In addition to utilizing the double sealing structure of two oil seals, the lubricant flowing into the third space 354A is returned to the internal space 31A of the cylindrical portion 31 through the connecting hole 680 and the groove 602A of the mounting member, thereby further suppressing the leakage of the lubricant.

[Embodiment 8] Embodiment 8 of the present invention is described with reference to FIG. 11. In the gear device 710 and the robot 701 of Embodiment 8, the first bearing seal 790 and the second bearing seal 791 are provided, and the connecting hole 80 of Embodiment 1 is not formed. As other structures and effects are the same as those of Embodiment 1, the same symbols as those of Embodiment 1 are marked for the components equivalent to those of Embodiment 1, and detailed descriptions are omitted.

The gear device 710 includes a first bearing seal 790 , a second bearing seal 791 that is a different body from the first bearing seal 790 , a first plate 756 fixed to the inner ring 51 , and a spacer 757 fixed to the outer ring 752 .

<First plate> The first plate 756 has a contact portion 756A disposed near the boundary between the gear side space 70 and the second space 55. The contact portion 756A extends from the inner ring 51 side to the outside in the radial direction.

<Spacer> Spacer 757 is fixed between outer ring 752 and boss portion 734. Specifically, bolt insertion holes 757A and 734A are provided in spacer 757 and boss portion 734, and bolt tightening hole 752A is provided in outer ring 752. Bolt 752B is inserted through bolt insertion holes 757A and 734A, and is screwed into the female thread of bolt tightening hole 752A.

<First bearing seal> The first bearing seal 790 has a first base portion 790A and a first front end portion 790B extending from the first base portion 790A. The first base portion 790A is disposed in a fixing groove provided in the outer ring 752 and is fixed by being clamped between the inner wall of the fixing groove and the spacer 757. The first front end portion 790B is disposed in the second space 55 and contacts the abutment portion 756A from the second space 55 side. The second space 55 is sealed by the first front end portion 790B. In this way, the extrusion of the lubricant from the bearing 50 side to the gear side space 70 can be suppressed.

<Second Bearing Seal> The second bearing seal 791 includes a second base portion 791A and a second front end portion 791B extending from the second base portion 791A. The second base portion 791A is disposed in the fixing groove provided in the spacer 757, and is fixed by being sandwiched between the inner wall of the fixing groove and the boss portion 734. The second front end portion 791B is disposed in the gear side space 70 and contacts the contact portion 756A from the gear side space 70 side. The second front end portion 791B partitions the gear side space 70 . This can prevent lubricant from flowing into the bearing 50 from the gear side space 70 .

The first bearing seal 790 and the second bearing seal 791 are arranged with a specific space therebetween. Thus, even if a lubricant is arranged in the space, it is difficult to release the contact between the first bearing seal 790 and the second bearing seal 791 and the abutment portion 756A.

[Effects of Embodiment 8] The gear device 710 of Embodiment 8 includes: an internal gear 20; an external gear 30, which is partially meshed with the internal gear 20; and a wave generator 40, which is in contact with the inner peripheral surface of the external gear 30 to cause the internal gear 20 to rotate. The meshing position with the external gear 30 rotates around the rotation axis 10A; the bearing 50 has an inner ring 51 and an outer ring 752, and supports the internal gear 20 and the external gear 30 in relative rotation; an oil seal 60; the first bearing seal component 790; the second bearing seal 791, which is different from the first bearing seal 790; the first plate 756, which is fixed to the inner ring 51; and the spacer 757; and is formed between the inner ring 51 and the outer ring 752 There is a first space 54 open on one end face of the bearing 50, a second space 55 open on the other end face of the bearing 50 formed between the inner ring 51 and the outer ring 752, and between the external gear 30 and the bearing 50. A gear side space 70 communicating with the second space 55 is formed, and an oil seal 60 seals the first space 54. The external gear 30 has a flexible cylindrical portion 31 coaxially disposed inside the internal gear 20. ; Diaphragm portion 33, which expands outward from the end of the cylindrical portion 31; and a rigid boss portion 734, which extends from the outer periphery of the diaphragm portion 33 and is annular; and the first bearing seal 790 has a first The base portion 790A and the first front end portion 790B extending from the first base portion 790A. The second bearing seal 791 includes a second base portion 791A and a second front end portion 791B extending from the second base portion 791A. The spacer 757 is sandwiched between the outer ring 752 and the boss portion 734, the first base portion 790A is sandwiched between the spacer 757 and the outer ring 752 and fixed, the second base portion 791A is sandwiched between the spacer 757 and the boss portion 734, and the first front end The portion 790B contacts the first plate 756 from the second space 55 side to seal the second space 55 , and the second front end portion 791B contacts the first plate 756 from the gear side space 70 side to partition the gear side space 70 .

Since the first front end portion 790B of the first bearing seal 790 contacts the first plate 756 from the second space 55 side, the lubricant can be suppressed from being squeezed out from the second space 55 to the gear side space 70. Since the second front end portion 791B of the second bearing seal 791 contacts the first plate 756 from the gear side space 70 side, the lubricant can be suppressed from flowing from the gear side space 70 into the second space 55. Therefore, the lubricant can be suppressed from flowing into the first space 54 excessively, and the lubricant can be suppressed from leaking from the oil seal 60.

In addition, since the first bearing seal 790 and the second bearing seal 791 are not in the same body, it is easy to ensure the volume of the space between the first bearing seal 790 and the second bearing seal 791. Even if the lubricant enters the space, The contact between the first bearing seal 790 and the second bearing seal 791 and the first plate 756 will not be released.

[Embodiment 9] Embodiment 9 of the present invention will be described with reference to FIG. 12 . In the gear device 810 and the robot 801 of the ninth embodiment, the third bearing seal 890 is provided, and the communication hole 80 of the first embodiment is not formed. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1, the same components as those in Embodiment 1 are denoted by the same reference numerals as in Embodiment 1, and detailed descriptions are omitted.

The gear device 810 includes a third bearing seal 890 and a second plate 856 fixed to the inner ring 51 .

<Second plate> A mounting groove 856A for mounting the third bearing seal 890 is formed on the second plate 856.

<Third bearing seal> The third bearing seal 890 has a base 891, a first lip 892A extending from the base 891, and a second lip 892B extending from the base 891. The base 891 is received in the mounting groove 856A of the second plate 856. The base 891 is fixed by being sandwiched between the inner wall of the mounting groove 856A and the end face of the inner ring 51 facing the diaphragm portion 33.

The first lip 892A extends from the radially outer end of the base 891 toward the radially outer side and toward the diaphragm portion 33 side. The second lip 892B extends from the radially outer end of the base 891 toward the radially inner side and toward the diaphragm portion 33 side. The first lip 892A and the second lip 892B are arranged with a specific space separated in the radial direction. The first lip 892A is disposed in the gear side space 70 closer to the second space 55 than the second lip 892B.

The first lip 892A and the second lip 892B come into contact with the diaphragm portion 33 to partition the gear-side space 70 . Furthermore, even when the diaphragm portion 33 is deflected and deformed due to the operation of the gear device 810, the first lip 892A and the second lip 892B are maintained in contact with the diaphragm portion 33. The contact between the first lip 892A and the diaphragm portion 33 can prevent the lubricant from extruding from the bearing 50 side toward the inside of the gear side space 70 in the radial direction. The contact between the second lip 892B and the diaphragm portion 33 can prevent the lubricant from flowing into the bearing 50 from the gear side space 70 arranged on the inside in the radial direction.

[Effects of Embodiment 9] The gear device 810 of Embodiment 9 includes: an internal gear 20; an external gear 30, which is partially meshed with the internal gear 20; and a wave generator 40, which is in contact with the inner peripheral surface of the external gear 30 to cause the internal gear 20 to rotate. The meshing position with the external gear 30 rotates around the rotation axis 10A; the bearing 50 has an inner ring 51 and an outer ring 52, and supports the internal gear 20 and the external gear 30 to be relatively rotatable; an oil seal 60; a third bearing seal Part 890; and a second plate 856, which is fixed to the inner ring 51; and a first space 54 opened on one end face of the bearing 50 is formed between the inner ring 51 and the outer ring 52. A second space 55 opening at the other end face of the bearing 50 is formed therebetween. A gear-side space 70 connected to the second space 55 is formed between the external gear 30 and the bearing 50. The oil seal 60 seals the first space 54. , the externally toothed gear 30 has: a flexible cylindrical portion 31, which is coaxially arranged inside the internally toothed gear 20; a diaphragm portion 33, which expands outward from the end of the cylindrical portion 31; and a rigid convex portion. The seat part 34 extends from the outer periphery of the diaphragm part 33 and is annular; and the third bearing seal 890 has a base part 891, a first lip 892A extending from the base part 891, and a second lip 892B extending from the base part 891, The base portion 891 is sandwiched between the second plate 856 and the inner ring 51 and is fixed. The first lip 892A and the second lip 892B contact the diaphragm portion 33 to partition the gear side space 70 .

By providing the first lip 892A and the second lip 892B in the third bearing seal 890, it is possible to suppress the lubricant from extruding from the second space 55 to the gear side space 70 and the lubricant from the gear side space 70 to the second space 55. inflow. Therefore, excessive flow of lubricant into the first space 54 can be suppressed, and lubricant leakage from the oil seal 60 can be suppressed.

Furthermore, by enlarging the space between the first lip 892A and the second lip 892B, the third bearing seal 890 can be configured so that the contact between the first lip 892A and the second lip 892B and the diaphragm portion 33 is not released due to interference between the first lip 892A and the second lip 892B and the other.

[Embodiment 10] Embodiment 10 of the present invention will be described with reference to FIG. 13 . In the gear device 910 and the robot 901 of the tenth embodiment, the fourth bearing seal 990 is provided, and the communication hole 80 of the first embodiment is not formed. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1, the same components as those in Embodiment 1 are denoted by the same reference numerals as in Embodiment 1, and detailed descriptions are omitted.

The gear device 910 includes a fourth bearing seal 990 and a third plate 956 fixed to the inner ring 51 .

＜Plate 3＞ The third plate 956 is formed with a mounting groove 956A for mounting the fourth bearing seal 990 .

<Fourth bearing seal> The fourth bearing seal 990 has a base 991, a first lip 992A extending from the base 991, and a second lip 992B extending from the base 991. The base 991 is received in the mounting groove 956A of the third plate 956. The base 991 is fixed by being sandwiched between the inner wall of the mounting groove 956A and the end face of the inner ring 51 facing the diaphragm portion 33.

The first lip 992A extends from the end portion of the base 991 on the outer side in the radial direction to the outer side in the radial direction and to the side opposite to the diaphragm portion 33. The second lip 992B extends from the end portion of the base 991 on the outer side in the radial direction to the outer side in the radial direction and to the diaphragm portion 33 side. The first lip 992A and the second lip 992B are arranged with a specific space between them in the direction along the rotation axis 10A. The second lip 992B is arranged on the gear side space 70 side relative to the first lip 992A.

The first lip 992A and the second lip 992B contact the inner circumferential surface of the outer ring 52 to partition the second space 55 from the gear side space 70. The first lip 992A contacts the inner circumferential surface of the outer ring 52 to suppress the lubricant from squeezing out from the bearing 50 side to the gear side space 70. The second lip 992B contacts the inner circumferential surface of the outer ring 52 to suppress the lubricant from flowing into the bearing 50 from the gear side space 70.

[Effects of Implementation Method 10] The gear device 910 of the embodiment 10 comprises: an inner gear 20; an outer gear 30, a part of which is engaged with the inner gear 20; a wave generator 40, which contacts the inner circumference of the outer gear 30 and makes the engaged position of the inner gear 20 and the outer gear 30 rotate around the rotation axis 10A; a bearing 50, which has an inner ring 51 and an outer ring 52, and supports the inner gear 20 and the outer gear 30 to rotate relative to each other; an oil seal 60; a fourth bearing seal 990; and a third plate 956, which is fixed to the inner ring 51; and a first space 54 is formed between the inner ring 51 and the outer ring 52, which is open at one end surface of the bearing 50. A second space 55 is formed between the inner ring 51 and the outer ring 52 and is opened on the other end face of the bearing 50. A gear side space 70 connected to the second space 55 is formed between the outer gear 30 and the bearing 50. The oil seal 60 seals the first space 54. The fourth bearing seal 990 has a base 991, a first lip 992A extending from the base 991, and a second lip 992B extending from the base 991. The base 991 is fixed between the third plate 956 and the inner ring 51. The first lip 992A and the second lip 992B contact the outer ring 52 to separate the second space 55 from the gear side space 70.

By providing the first lip 992A and the second lip 992B in the fourth bearing seal 990, it is possible to suppress the lubricant from squeezing out from the second space 55 into the gear side space 70 and the lubricant from flowing into the second space 55 from the gear side space 70. Therefore, it is possible to suppress the lubricant from flowing excessively into the first space 54 and suppress the lubricant from leaking from the oil seal 60.

Furthermore, by enlarging the space between the first lip 992A and the second lip 992B, the fourth bearing seal 990 can be configured so that one of the first lip 992A and the second lip 992B does not interfere with the other. The contact between the first lip 992A and the second lip 992B and the outer ring 52 is released.

[Implementation 11] Implementation 11 of the present invention is described with reference to FIGS. 14 to 17 . In the gear device 1010 and the robot 1001 of implementation 11, a fifth bearing seal 1090 is provided, and the connecting hole 80 of implementation 1 is not formed. As other configurations and effects are the same as those of implementation 1, the same symbols as those of implementation 1 are used for components equivalent to those of implementation 1, and detailed descriptions are omitted.

As shown in FIG. 14 , the gear device 1010 includes a fifth bearing seal 1090 and a fourth plate 1056 fixed to the outer ring 1052 .

<4th plate> The 4th plate 1056 has a fixing portion 1057 and an extension portion 1058 extending from the fixing portion 1057. The fixing portion 1057 is fixed by being sandwiched between the outer ring 1052 and the boss portion 1034. Bolt insertion holes 1057A and 1034A are formed in the fixing portion 1057 and the boss portion 1034. A bolt tightening hole 1052A is formed in the outer ring 1052. Bolts 1052B inserted through the bolt insertion holes 1057A and 1034A are screwed into the female thread of the bolt tightening hole 1052A.

The extension portion 1058 extends from the end portion of the inner side of the fixed portion 1057 in the radial direction to the inner side of the radial direction. Specifically, the extension portion 1058 includes: a first extension portion 1058A extending from the fixed portion 1057 in the radial direction to the inner side; and a second extension portion 1058B extending from the end portion of the inner side of the first extension portion 1058A in the radial direction along the inner circumferential surface of the inner ring 1051. The first extension portion 1058A is in the shape of a disk. The second extension portion 1058B is in the shape of a cylinder.

＜4th Space＞ A fourth space 1070A is formed between the extension portion 1058 and the inner ring 1051 . The fourth space 1070A communicates the gear side space 70 and the second space 55 .

<Mounting groove> The fourth plate 1056 has a mounting groove 1056A (an example of a groove). The mounting groove 1056A is recessed from the end surface of the second extension portion 1058B on the side opposite to the diaphragm portion 33.

The inner ring 1051 is provided with a contact portion 1051A for the fifth bearing seal 1090 to contact. The contact portion 1051A extends inward in the radial direction and is arranged to face the second extension portion 1058B in the direction along the rotation axis 10A.

<Fifth bearing seal> The fifth bearing seal 1090 includes a base 1091, a first lip 1092A extending from the base 1091, and a second lip 1092B extending from the base 1091. The base 1091 is received in the mounting groove 1056A of the fourth plate 1056.

The first lip 1092A extends outward in the radial direction and toward the side opposite to the diaphragm 33 from the end of the base 1091 opposite to the diaphragm 33 . The second lip 1092B extends radially inward and toward the side opposite to the diaphragm 33 from the end of the base 1091 opposite to the diaphragm 33 . The first lip 1092A and the second lip 1092B are arranged with a specific space separated in the radial direction. The first lip 1092A is arranged deeper than the second lip 1092B toward the fourth space 1070A.

The first lip 1092A and the second lip 1092B contact the end surface of the contact portion 1051A on the diaphragm portion 33 side to partition the fourth space 1070A. The contact between the first lip 1092A and the end surface of the contact portion 1051A can suppress the lubricant from squeezing out from the bearing 50 side to the gear side space 70. The contact between the second lip 1092B and the end surface of the contact portion 1051A can suppress the lubricant from flowing into the bearing 50 from the gear side space 70.

Furthermore, as Modification 1 of this embodiment, as shown in FIG. 15 , the mounting groove 1056A of the accommodation base 1091 may be recessed from the inner circumferential surface of the second extension part 1058B and the inner ring 1051 toward the outer circumferential surface. , the first lip 1092A and the second lip 1092B are in contact with the inner peripheral surface of the inner ring 1051.

Furthermore, as another form of the present embodiment, as shown in Figures 16 and 17, a mounting groove 1051B (an example of a groove) for accommodating the base 1091 may be formed in the inner ring 1051, and the first lip 1092A and the second lip 1092B are in contact with the fourth plate 1056.

In FIG. 16 showing the second variation of the present embodiment, the mounting groove 1051B is recessed from the inner peripheral surface of the inner ring 1051. The first lip 1092A and the second lip 1092B contact the outer peripheral surface of the second extension portion 1058B that faces the inner peripheral surface of the inner ring 1051.

In FIG. 17 showing Modification 3 of the present embodiment, the mounting groove 1051B is recessed from the end surface of the inner ring 1051 facing the diaphragm portion 33 . The first lip 1092A and the second lip 1092B are in contact with the end surface of the first extension portion 1058A on the inner ring 1051 side. Furthermore, in FIG. 17 , the extension part 1058 only needs to have a portion extending in the radial direction that contacts the first lip 1092A and the second lip 1092B (the first extension part 1058A shown in FIGS. 14 to 16 ). Can. According to the structure shown in FIG. 17 , although the fourth space 1070A provided between the gear side space 70 and the second space 55 becomes smaller, the structure of the extension portion 1058 can be simplified.

[Effects of Embodiment 11] The gear device 1010 of Embodiment 11 includes: an internal gear 20; an external gear 30, which is partially meshed with the internal gear 20; and a wave generator 40, which is in contact with the inner peripheral surface of the external gear 30 to cause the internal gear 20 to The meshing position with the external gear 30 rotates around the rotation axis 10A; the bearing 50 has an inner ring 1051 and an outer ring 1052, and supports the internal gear 20 and the external gear 30 in relative rotation; an oil seal 60; a fifth bearing seal Component 1090; and a fourth plate 1056, which is fixed to the outer ring 1052 and extends toward the inner ring 1051 side; and a first space 54 open on one end face of the bearing 50 is formed between the inner ring 1051 and the outer ring 1052. A second space 55 opened at the other end face of the bearing 50 is formed between the inner ring 1051 and the outer ring 1052. A gear side space 70 connected to the second space 55 is formed between the external gear 30 and the bearing 50. The oil seal 60 The first space 54 is sealed, and a fourth space 1070A connecting the gear side space 70 and the second space 55 is formed between the fourth plate 1056 and the inner ring 1051. The fifth bearing seal 1090 has a base 1091 and a base 1091. The first lip 1092A extending from the base 1091 and the second lip 1092B extending from the base 1091 are accommodated in a groove (installation groove 1056A or installation groove 1051B) formed in one of the fourth plate 1056 and the inner ring 1051 , the first lip 1092A and the second lip 1092B contact the other one of the fourth plate 1056 and the inner ring 1051 to separate the fourth space 1070A.

By providing the first lip 1092A and the second lip 1092B in the fifth bearing seal 1090, it is possible to suppress the extrusion of lubricant from the second space 55 to the gear side space 70 and the lubricant from the gear side space 70 to the second space 55. inflow. Therefore, excessive flow of lubricant into the first space 54 can be suppressed, and lubricant leakage from the oil seal 60 can be suppressed.

Furthermore, by enlarging the space between the first lip 1092A and the second lip 1092B, the fifth bearing seal 1090 can be configured so that one of the first lip 1092A and the second lip 1092B does not interfere with the other. The contact between the first lip 1092A and the second lip 1092B and the fourth plate 1056 or the inner ring 1051 is released.

[Embodiment 12] Embodiment 12 of the present invention will be described with reference to FIG. 18 . In the gear device 1110 and the robot 1101 of the twelfth embodiment, the connection hole 1171 and the air pipe 1104 are provided, and the communication hole 80 of the first embodiment is not formed. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1, the same components as those in Embodiment 1 are denoted by the same reference numerals as in Embodiment 1, and detailed descriptions are omitted.

<Base, through hole> The robot 1101 of this embodiment has: a base 1103; an arm (not shown) supported to be rotatable relative to the base 1103; a gear device 1110 that transmits a driving force from one of the base 1103 and the arm to the other; and a motor (not shown) that is a driving source of the gear device 1110. The inner gear 1120 is fixed to the base 1103. The outer gear 30 is connected to the arm. The wave generator 40 is connected to the motor. In this embodiment, the base 1103 is an example of the first component. A through hole 1103A is formed on the base 1103 and communicates with the connection hole 1171 provided in the gear device 1110.

<Air pipe> The robot 1101 is provided with an air pipe 1104. One end of the air pipe 1104 is connected to the base 1103, and the other end of the air pipe 1104 is open to the atmosphere. The inner space of the air pipe 1104 is connected to the through hole 1103A. At least a portion of the air pipe 1104 from one end to the other end is in a coil shape.

＜Connection hole＞ The connection hole 1171 of this embodiment includes a first connection hole 1171A provided in the inner ring 1151 and a second connection hole 1171B connected to the first connection hole 1171A and provided in the internal gear 1120 . The first connection hole 1171A includes a fourth hole 1151A extending in the radial direction, and a fifth hole 1151B communicating with the fourth hole 1151A and extending in the direction along the rotation axis 10A. The fourth hole 1151A communicates with the gear side space 70 .

The gear side space 70 is connected to the atmosphere through the connection hole 1171, the through hole 1103A of the base 1103, and the air pipe 1104. Thereby, the pressure in the gear side space 70 is equal to the atmospheric pressure. Therefore, even if the external gear 30 is repeatedly deflected and deformed due to the operation of the gear device 1110, there will not be a pump that squeezes the lubricant out from the meshing portion of the internal gear 1120 and the external gear 30 into the gear side space 70. The lubricant can be prevented from flowing into the gear side space 70 . As a result, the lubricant is less likely to flow into the bearing 50 from the gear side space 70 , and therefore the lubricant can be suppressed from leaking from the oil seal 60 to the outside.

Furthermore, the connecting hole 1171, the through hole 1103A and the air pipe 1104 are preferably arranged above the gear side space 70. According to this structure, the lubricant is not easy to flow into the connecting hole 1171, the through hole 1103A and the air pipe 1104 from the gear side space 70 due to gravity.

The internal gear 1120 includes a cover portion 1123 extending from the annular member 21 toward the diaphragm portion 33 side. The cover portion 1123 is arranged to face the opening of the first connection hole 1171A on the gear side space 70 side. By providing the cover portion 1123, the lubricant can be prevented from flowing into the first connection hole 1171A from the meshing portion of the internal gear 1120 and the external gear 30.

[Effects of Implementation Method 12] The gear device 1110 of Implementation Method 12 comprises: an inner gear 1120; an outer gear 30, which is partially engaged with the inner gear 1120; a wave generator 40, which contacts the inner peripheral surface of the outer gear 30, so that the engaged position of the inner gear 1120 and the outer gear 30 rotates around the rotation axis 10A; a bearing 50, which has an inner ring 1151 and an outer ring 52, which supports the inner gear 1120 and the outer gear 30 so that they can rotate relative to each other; and an oil seal 60; and A first space 54 opening at one end face of the bearing 50 is formed between the inner ring 1151 and the outer ring 52, a second space 55 opening at the other end face of the bearing 50 is formed between the inner ring 1151 and the outer ring 52, a gear side space 70 connected to the second space 55 is formed between the outer gear 30 and the bearing 50, an oil seal 60 seals the first space 54, and the gear device 1110 is formed with a connection hole 1171 connecting the gear side space 70 to the atmosphere.

By connecting the gear side space 70 to the atmosphere through the connecting hole 1171 , the pumping effect caused by the deflection of the external gear 30 is eliminated, so lubricant will not be sent into the bearing 50 from the gear side space 70 . Therefore, lubricant leakage from the oil seal 60 can be suppressed.

In the gear device 1110 of Embodiment 12, the connecting hole 1171 is formed in the inner ring 1151 and the internal gear 1120 .

The robot 1101 of embodiment 12 has a gear device 1110, a first component (base 1103) for fixing the gear device 1110, and an air pipe 1104, and the first component has a through hole 1103A connected to the connecting hole 1171, one end of the air pipe 1104 is connected to the through hole 1103A and installed on the first component, and the other end of the air pipe 1104 is open to the atmosphere.

Since the air pipe 1104 is provided, even when lubricant enters the connection hole 1171, leakage of lubricant to the outside can be suppressed.

In the robot 1101 of Embodiment 12, at least a part of the air tube 1104 is coil-shaped.

Since at least part of the air tube 1104 is coil-shaped, the length of the air tube 1104 can be extended. Therefore, leakage of lubricant to the outside can be further suppressed.

[Embodiment 13] Embodiment 13 of the present invention will be described with reference to FIG. 19 . In the gear device 1210 and the robot 1201 of the thirteenth embodiment, the components for providing the connection holes 1271 are different from those of the twelve embodiment. Regarding other configurations and functions and effects, since they are the same as those in Embodiment 1, the same components as those in Embodiment 1 are denoted by the same reference numerals as in Embodiment 1, and detailed descriptions are omitted.

The gear device 1210 of the embodiment 13 is installed on the robot 1201 in a reverse position in the vertical direction compared to the gear device 1110 of the embodiment 12. The connection hole 1271, the through hole 1205A and the air pipe 1204 are arranged above the gear side space 70, so that in the gear device 1210, the connection hole 1271 is formed on the boss portion 1234 of the outer gear 30.

<First arm> The robot 1201 of the present embodiment includes: a first arm 1205; a second arm 1206 supported to be rotatable relative to the first arm 1205; a gear device 1210 that transmits a driving force from one of the first arm 1205 and the second arm 1206 to the other; and a motor (not shown) that is a driving source of the gear device 1210. The inner gear 20 is fixed to the second arm 1206. The outer gear 30 is connected to the first arm 1205. The wave generator 40 is connected to the motor. In the present embodiment, the first arm 1205 is an example of the first component. A through hole 1205A is formed in the first arm 1205 and communicates with the connecting hole 1271 provided in the gear device 1210.

The robot 1201 is provided with an air pipe 1204. One end of the air pipe 1204 is connected to the first arm 1205, and the other end of the air pipe 1204 is open to the atmosphere. The inner space of the air pipe 1204 is connected to the through hole 1205A.

A connecting hole 1271 is formed in the boss portion 1234 of the externally toothed gear 30 in this embodiment. The connection hole 1271 communicates with the gear side space 70 . Since the functions and effects related to the connection hole 1271 are the same as those in Embodiment 12, description thereof will be omitted.

[Other embodiments] (1) The components of the above embodiments can be combined within the scope that does not cause contradiction.

(2) In the above embodiment, the gear devices 10, 110, 210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, and 1210 are configured such that the rotation axis 10A extends in the up-down direction. However, The gear device may have a position in which the rotation axis extends in a direction crossing the up-down direction. However, in the gear devices 1110 and 1210, it is preferable that the through holes 1103A and 1205A are arranged opposite to the upper side of the gear devices 1110 and 1210 respectively.

(3) The components for mounting the gear device in the robot are not limited to those in the above embodiment.

1:Robot 2: Arm (installation component) 2A:Slot 10:Gear device 10A:Rotation axis 20: Internal gear 21: Ring-shaped component 22:Internal teeth 30:External gear 31: Cylindrical part 31A:Internal space 32:External teeth 33: Diaphragm part 34:Protruding seat part 40: Wave generator 50:Bearing 51:Inner circle 52:Outer ring 53:Roller 54: 1st space 55:Second space 60:Oil seal 70: Gear side space 80: Connecting hole 81: 1st communication hole 82: 2nd communication hole 83: Hole 1 84: Hole 2 101:Robot 102: Arm (installation component) 102B: Bolt fastening hole 102C: Bolt 102D:Sealing gasket 110:Gear device 180:Connecting hole 181: 1st communication hole 182: 2nd communication hole 184: Hole 2 201:Robot 210:Gear device 234:Protruding seat part 280:Connecting hole 301:Robot 310:Gear device 320A:Inside member 352:Outer ring 352A:Extension Department 354A: 3rd space 361: 1st sealing member 362: Second sealing member 401:Robot 410:Gear device 451:Inner circle 451A: Contact part 461: 1st sealing member 462: Second sealing member 462A:Base 462B: Front end 463: Spacer 501:Robot 502:Arm 502A: Bolt fastening hole 510:Gear device 534:Protruding seat part 534A: Bolt insertion hole 552:Outer ring 552A: Outer ring body 552B: Extension board 552C, 552F: Bolt insertion hole 552D: Bolt fastening hole 552E: Bolt 552G: Bolt 601:Robot 602: Arm (installation component) 602A: Slot 610:Gear device 680: Connecting hole 680A: Hole 3 701:Robot 710:Gear device 734:Protruding seat part 734A: Bolt insertion hole 752: Outer ring 752A: Bolt fastening hole 752B: Bolt 756:Plate 1 756A: Contact part 757: Spacer 757A: Bolt insertion hole 790: 1st bearing seal 790A: 1st base 790B: 1st front end part 791: 2nd bearing seal 791A: 2nd base 791B: 2nd front end part 801:Robot 810:Gear device 856:Plate 2 856A: Installation slot 890: 3rd bearing seal 891:Base 892A: 1st lip 892B: 2nd lip 901:Robot 910:Gear device 956:Plate 3 956A: Installation slot 990: 4th bearing seal 991:Base 992A: 1st lip 992B: 2nd lip 1001:Robot 1010:Gear device 1034:Protruding seat part 1034A: Bolt insertion hole 1051:Inner circle 1051A: Contact part 1051B: Installation slot (slot) 1052: Outer ring 1052A: Bolt fastening hole 1052B: Bolt 1056:Plate 4 1056A: Installation slot (slot) 1057: Fixed part 1057A: Bolt insertion hole 1058:Extension Department 1058A: 1st Extension Department 1058B: 2nd Extension Department 1070A: 4th space 1090: 5th bearing seal 1091:Base 1092A: 1st lip 1092B: 2nd lip 1101:Robot 1103:Abutment (first component) 1103A:Through hole 1104:Air tube 1110:Gear device 1120: Internal gear 1123:Cover part 1151:Inner circle 1151A: Hole 4 1151B: Hole 5 1171:Connection hole 1171A: 1st connection hole 1171B: 2nd connection hole 1201:Robot 1204:Air tube 1205: 1st arm (1st member) 1205A:Through hole 1206: 2nd arm 1210:Gear device 1234:Protruding seat part 1271:Connection hole

FIG. 1 is a perspective view of the gear device of Embodiment 1. FIG. 2 is a view of the gear device when viewed from a direction parallel to the rotation axis. FIG. 3 is a cross-sectional view of the gear device and the arm at the A-A section of FIG. 2. FIG. 4 is a cross-sectional view of the gear device of Embodiment 2, and is a view showing a cross section corresponding to FIG. 3. FIG. 5 is a cross-sectional view of the gear device of Embodiment 3, and is a view showing a cross section corresponding to FIG. 3. FIG. 6 is a cross-sectional view of the gear device of Embodiment 4, and is a view showing a cross section corresponding to FIG. 3. FIG. 7 is a cross-sectional view of the gear device of Embodiment 5, and is a view showing a cross section corresponding to FIG. 3. FIG. 8 is a cross-sectional view of the gear device of Embodiment 6, and is a view showing a cross section corresponding to FIG. 3. FIG. 9 is a cross-sectional view of a gear device of a variation of Embodiment 6, and is a view showing a cross section corresponding to FIG. 3 . FIG. 10 is a cross-sectional view of a gear device of Embodiment 7, and is a view showing a cross section corresponding to FIG. 3 . FIG. 11 is a cross-sectional view of a gear device of Embodiment 8, and is a view showing a cross section corresponding to FIG. 3 . FIG. 12 is a cross-sectional view of a gear device of Embodiment 9, and is a view showing a cross section corresponding to FIG. 3 . FIG. 13 is a cross-sectional view of a gear device of Embodiment 10, and is a view showing a cross section corresponding to FIG. 3 . FIG. 14 is a cross-sectional view of a gear device of Embodiment 11, and is a view showing a cross section corresponding to FIG. 3 . FIG. 15 is a cross-sectional view of the gear device of the variation 1 of the embodiment 11, and is a view showing a cross section corresponding to FIG. 3. FIG. 16 is a cross-sectional view of the gear device of the variation 2 of the embodiment 11, and is a view showing a cross section corresponding to FIG. 3. FIG. 17 is a cross-sectional view of the gear device of the variation 3 of the embodiment 11, and is a view showing a cross section corresponding to FIG. 3. FIG. 18 is a cross-sectional view of the gear device of the embodiment 12, and is a view showing a cross section corresponding to FIG. 3. FIG. 19 is a cross-sectional view of the gear device of the embodiment 13, and is a view showing a cross section corresponding to FIG. 3.

1:Robot

2: Arm (installation component)

2A:Slot

10: Gear device

20: Inner gear

21: Ring-shaped component

22: Inner teeth

30: External gear

31: Cylindrical part

31A: Inner space

32:External teeth

33: Diaphragm

34: convex seat

40: Wave generator

50:Bearing

51: Inner circle

52: Outer ring

53:Roller

54: 1st space

55: Second Space

60: Oil seal

70: Gear side space

80: Connecting hole

81: 1st connecting hole

82: Second connecting hole

83: Hole 1

84: Hole 2

Claims (17)

A gear device is mounted on a mounting member and comprises: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear to rotate the inner gear and the outer gear about a rotation axis at the engaged position; a bearing having an inner ring and an outer ring to support the inner gear and the outer gear so as to be relatively rotatable; and an oil seal; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring, A gear side space communicating with the second space is formed between the outer gear and the bearing. The oil seal seals the first space. The outer gear comprises: a flexible cylindrical portion coaxially arranged on the inner side of the inner gear; a diaphragm portion extending outward from the end of the cylindrical portion; and a rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and the boss portion is mounted on the mounting member. A through hole communicating with the first space or the gear side space is formed at least in the boss portion. The through hole communicates with the inner space of the cylindrical portion via a groove provided in the mounting member. The gear device according to claim 1, wherein the communication hole is formed in the boss portion and the outer ring and communicates with the first space. The gear device according to claim 1, wherein the communication hole is formed in the boss portion and communicates with the gear side space. A gear device, comprising: an inner gear; an outer gear, part of which is engaged with the inner gear; a wave generator, which contacts the inner peripheral surface of the outer gear and causes the engagement position of the inner gear and the outer gear to rotate around a rotation axis; a bearing, which has an inner ring and an outer ring, and supports the inner gear and the outer gear so as to be relatively rotatable; a first sealing member; and a second sealing member, which is different from the first sealing member; and the inner ring and the inner gear constitute an inner member, a third space is formed between the inner member and the outer ring, and is opened on one end face of the bearing, A second space is formed between the inner ring and the outer ring and is open at the other end face of the bearing. A gear side space connected to the second space is formed between the outer gear and the bearing. The first sealing member is an oil seal that seals the third space. The second sealing member is arranged on the inner side of the third space relative to the first sealing member and seals the third space. The gear device of claim 4, wherein the second sealing member is an oil seal. A gear device as claimed in claim 5, wherein the outer ring has an outer ring body and an extension plate fixed to the outer ring body and extending to a side closer to the inner gear than the inner ring; and the first sealing member is arranged between the extension plate and the inner gear. For example, the gear device of claim 6 is installed on the mounting member, wherein The above-mentioned external gears have: A flexible cylindrical portion coaxially arranged inside the internal gear; a diaphragm portion that expands outward from the end of the above-mentioned cylindrical portion; and A rigid convex seat portion extends from the outer periphery of the diaphragm portion and is annular; and A communication hole communicating with the above-mentioned third space is formed in the above-mentioned outer ring and the above-mentioned boss portion, The communication hole communicates with the internal space of the cylindrical portion via a groove provided in the mounting member. A gear device having: internal gears; An externally toothed gear, part of which meshes with the above-mentioned internally toothed gear; A wave generator that contacts the inner peripheral surface of the above-mentioned external gear to rotate the meshing position of the above-mentioned internal gear and the above-mentioned external gear around the rotation axis; A bearing has an inner ring and an outer ring, and supports the above-mentioned internal gear and the above-mentioned external gear so as to be relatively rotatable; oil seal; 1st bearing seal; a second bearing seal, which is different from the above-mentioned first bearing seal; Plate 1, which is fixed to the above-mentioned inner ring; and spacer; and A first space opened on one end face of the bearing is formed between the inner ring and the outer ring, A second space opened on the other end face of the bearing is formed between the inner ring and the outer ring, A gear-side space connected to the second space is formed between the external gear and the bearing, The above-mentioned oil seal seals the above-mentioned first space, The above-mentioned external gears have: A flexible cylindrical portion coaxially arranged inside the internal gear; a diaphragm portion that expands outward from the end of the above-mentioned cylindrical portion; and A rigid convex seat portion extends from the outer periphery of the diaphragm portion and is annular; and The first bearing seal includes a first base portion and a first front end portion extending from the first base portion, The second bearing seal includes a second base portion and a second front end portion extending from the second base portion, The above-mentioned spacer is sandwiched between the above-mentioned outer ring and the above-mentioned boss part and is fixed, The above-mentioned first base part is sandwiched between the above-mentioned spacer and the above-mentioned outer ring and is fixed, The above-mentioned second base part is sandwiched between the above-mentioned spacer and the above-mentioned boss part and is fixed, The first front end portion contacts the first plate from the second space side to seal the second space, The second front end portion contacts the first plate from the gear side space side to partition the gear side space. A gear device, comprising: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear to rotate the inner gear and the outer gear about a rotation axis at the engaged position; a bearing having an inner ring and an outer ring to support the inner gear and the outer gear so as to be relatively rotatable; an oil seal; a third bearing seal; and a second plate fixed to the inner ring; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, A second space is formed between the inner ring and the outer ring, which is open at the other end face of the bearing. A gear side space communicating with the second space is formed between the outer gear and the bearing. The oil seal seals the first space. The outer gear has: A flexible cylindrical portion coaxially arranged on the inner side of the inner gear; A diaphragm portion extending outward from the end of the cylindrical portion; and A rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and The third bearing seal has a base, a first lip extending from the base, and a second lip extending from the base. The base is fixed between the second plate and the inner ring. The first lip and the second lip are in contact with the diaphragm to separate the gear side space. A gear device, comprising: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear to rotate the inner gear and the outer gear about a rotation axis at the engaged position; a bearing having an inner ring and an outer ring to support the inner gear and the outer gear so as to be relatively rotatable; an oil seal; a fourth bearing seal; and a third plate fixed to the inner ring; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, A second space is formed between the inner ring and the outer ring and is open on the other end face of the bearing. A gear side space connected to the second space is formed between the outer gear and the bearing. The oil seal seals the first space. The fourth bearing seal has a base, a first lip extending from the base, and a second lip extending from the base. The base is fixed between the third plate and the inner ring. The first lip and the second lip contact the outer ring to separate the second space from the gear side space. A gear device, comprising: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear to rotate the inner gear and the outer gear about a rotation axis at the engaged position; a bearing having an inner ring and an outer ring to support the inner gear and the outer gear so as to be relatively rotatable; an oil seal; a fifth bearing seal; and a fourth plate fixed to the outer ring and extending toward the inner ring; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, A second space is formed between the inner ring and the outer ring, which opens at the other end face of the bearing. A gear side space communicating with the second space is formed between the outer gear and the bearing. The oil seal seals the first space. A fourth space communicating with the gear side space and the second space is formed between the fourth plate and the inner ring. The fifth bearing seal has a base, a first lip extending from the base, and a second lip extending from the base. The base is accommodated in a groove formed in one of the fourth plate and the inner ring. The first lip and the second lip contact the other of the fourth plate and the inner ring to separate the fourth space. A robot having a gear device as described in any one of claims 1 to 11. A gear device, comprising: an inner gear; an outer gear partially engaged with the inner gear; a wave generator in contact with the inner peripheral surface of the outer gear to rotate the inner gear and the outer gear about a rotation axis at the engaged position; a bearing having an inner ring and an outer ring to support the inner gear and the outer gear so as to be relatively rotatable; and an oil seal; and a first space opened at one end face of the bearing is formed between the inner ring and the outer ring, a second space opened at the other end face of the bearing is formed between the inner ring and the outer ring, A gear side space communicating with the second space is formed between the outer gear and the bearing. The oil seal seals the first space. The gear device has a connection hole connecting the gear side space to the atmosphere. The gear device of claim 13, wherein the connecting hole is formed in the inner ring and the internal gear. A gear device as claimed in claim 13, wherein the outer gear comprises: a flexible cylindrical portion coaxially disposed on the inner side of the inner gear; a diaphragm portion extending outward from the end of the cylindrical portion; and a rigid boss portion extending from the outer periphery of the diaphragm portion and in a ring shape; and the connection hole is formed in the boss portion. A robot that has: Such as the gear device of any one of claims 13 to 15; a first member for fixing the above-mentioned gear device; and air pipe; and The first member has a through hole communicating with the connection hole, One end of the air pipe is connected to the through hole and is installed on the first member, The other end of the above-mentioned air pipe is open to the atmosphere. Such as the robot of claim 16, wherein At least part of the above-mentioned air tube is coil-shaped.