WO2024047743A1

WO2024047743A1 - Gearing device and robot

Info

Publication number: WO2024047743A1
Application number: PCT/JP2022/032576
Authority: WO
Inventors: 俊文馬目
Original assignee: ヤマハ発動機株式会社
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2024-03-07
Also published as: TW202409451A

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

gearing and robots

The present disclosure relates to gear devices and robots.

Conventionally, a top hat type wave gear device described in International Publication No. 2018/189798 (Patent Document 1 below) is known. This top hat type wave gear device includes an internal gear, an external gear, and a wave generator that meshes the external teeth of the external gear with the internal teeth of the internal gear and rotates the meshing position of the external teeth with respect to the internal teeth. , and a cross roller bearing that supports the internal gear and the external gear so that they can rotate relative to each other. The bearing has, between its inner and outer rings, a first gap portion that opens to one first end surface of the bearing, and a second gap portion that opens to the other second end surface of the bearing.

The first gap portion communicates with the outside and is sealed with an oil seal. The oil seal prevents excess lubricant that has entered the bearing from leaking out. The second gap portion communicates with a gear side gap portion disposed on the outer peripheral side of the external gear. A bearing seal is provided between the second gap portion and the gear side gap portion. The bearing seal seals off the open end of the second gap portion from the gear side gap portion side. This prevents excessive lubricant from flowing into the second gap from the gear side gap, and also prevents excess lubricant that has flowed into the bearing from escaping from the second gap to the gear side gap. acceptable.

International Publication No. 2018/189798

In the above-mentioned top hat type wave gear device, if the bearing seal is maintained in an open position with the open end of the second gap portion open for some reason, the lubricant is prevented from flowing from the gear side gap portion to the second gap portion. become unable to do so. Therefore, an excessive amount of lubricant may flow into the bearing and leak out from the oil seal.

A gear device of the present disclosure is a gear device that is attached to a mounting member, and includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. , a bearing that includes a wave generator that rotates the meshing position of the internal gear and the external gear around a rotation axis, and an inner ring and an outer ring, and supports the internal gear and the external gear so that they can rotate relative to each other. and an oil seal, a first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring, and a first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring. A second space that opens at the other end surface is formed, a gear side space that communicates with the second space is formed between the external gear and the bearing, and the oil seal seals the first space. The external gear includes a flexible cylindrical part disposed coaxially inside the internal gear, a diaphragm part extending outward from an end of the cylindrical part, and an outer peripheral edge of the diaphragm part. a ring-shaped rigid boss extending from the mounting member, the boss being attached to the mounting member, and at least the boss having a communication hole that communicates with the first space or the gear side space. , the communication hole is a gear device that communicates with the internal space of the cylindrical portion via a groove provided in the attachment member.

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

FIG. 1 is a perspective view of a gear device according to a first embodiment. FIG. 2 is a diagram of the gear device viewed from a direction parallel to the rotation axis. FIG. 3 is a sectional view of the gear device and the arm taken along the line AA in FIG. 2. FIG. 4 is a sectional view of the gear device according to the second embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 5 is a sectional view of the gear device according to the third embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 6 is a sectional view of the gear device according to the fourth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 7 is a sectional view of the gear device according to the fifth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 8 is a sectional view of the gear device according to the sixth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 9 is a sectional view of a gear device according to a modification of the sixth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 10 is a sectional view of the gear device according to the seventh embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 11 is a sectional view of the gear device according to the eighth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. 12 is a sectional view of the gear device according to the ninth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 13 is a sectional view of the gear device according to the tenth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 14 is a sectional view of the gear device according to the eleventh embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. 15 is a sectional view of a gear device according to Modification 1 of Embodiment 11, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 16 is a sectional view of a gear device according to Modification 2 of Embodiment 11, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 17 is a cross-sectional view of a gear device according to Modification Example 3 of Embodiment 11, and is a view showing a cross section corresponding to FIG. 3. FIG. FIG. 18 is a sectional view of the gear device according to the twelfth embodiment, and is a diagram showing a cross section corresponding to FIG. 3. FIG. FIG. 19 is a cross-sectional view of a gear device according to a thirteenth embodiment, and is a diagram showing a cross-section corresponding to FIG. 3. FIG.

[Description of embodiments of the present disclosure]
First, embodiments of the present disclosure will be listed and described.
(1) A gear device of the present disclosure is a gear device that is attached to a mounting member, and includes an internal gear, an external gear that partially meshes with the internal gear, and an inner peripheral surface of the external gear. a wave generator that contacts the internal gear and rotates the meshing position of the internal gear and the external gear around a rotation axis, and an inner ring and an outer ring, and allows the internal gear and the external gear to rotate relative to each other. A supporting bearing and an oil seal are provided, a first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring, and between the inner ring and the outer ring, A second space opening at the other end surface of the bearing is formed, a gear side space communicating with the second space is formed between the external gear and the bearing, and the oil seal is connected to the first space. The external gear includes a flexible cylindrical part disposed coaxially inside the internal gear, a diaphragm part extending outward from an end of the cylindrical part, and the diaphragm part. a rigid annular boss extending from the outer peripheral edge of the ring, the boss being attached to the mounting member, and at least the boss having a communication hole communicating with the first space or the gear side space. is formed, and the communicating hole is a gear device communicating with the internal space of the cylindrical portion via a groove provided in the mounting member.

Since the first space or the gear side space communicates with the internal space of the cylindrical part through the communication hole and the groove of the mounting member, the lubricant that has flowed into the first space or the gear side space is transferred to the inside of the cylindrical part. It can be returned to space. Therefore, it is possible to suppress excessive flow of lubricant into the first space and to suppress leakage of lubricant from the oil seal.

Furthermore, since the communication hole is formed at least in the rigid boss portion, a decrease in the strength of the external gear is suppressed.

(2) In the gear device according to (1), the communication hole may be formed in the boss portion and the outer ring, and may 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 that has flowed into the first space can be returned to the internal space of the cylindrical portion through the communication hole and the groove of the mounting member. can. Therefore, leakage of lubricant from the oil seal can be suppressed.

(3) In the gear device according to (1), the communication hole may be formed in the boss portion and communicate with the gear side space.

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

(4) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. a wave generator that rotates a meshing position with a gear around a rotation axis; a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so as to be relatively rotatable; and a first seal member; a second seal member that is separate from the first seal member, the inner ring and the internal gear constitute an inner member, and the bearing is provided between the inner member and the outer ring. A third space that opens to one end surface of the bearing is formed, and a second space that opens to the other end surface of the bearing is formed between the inner ring and the outer ring, and a third space that opens to the other end surface of the bearing. A gear side space communicating with the second space is formed therebetween, the first seal member is an oil seal and seals the third space, and the second seal member is an oil seal. The gear device is disposed inward of the third space from the member and seals the third space.

The first seal member and the second seal member, which are used as oil seals, can double suppress lubricant leakage.

(5) In the gear device according to (4), the second seal member may be an oil seal.

The two oil seals can double prevent lubricant leakage.

(6) In the gear device according to (5), the outer ring includes an outer ring main body and an extension plate that is fixed to the outer ring main body and extends closer to the internal gear than the inner ring, and the first A sealing member may be disposed between the extension plate and the internal gear.

Adding an extension plate to the outer ring body may facilitate the design of the gear system.

(7) The gear device according to (6) is a gear device that is attached to a mounting member, and the external gear has a flexible cylindrical portion coaxially disposed inside the internal gear. , a diaphragm part extending outward from an end of the cylindrical part, and a rigid annular boss part extending from an outer peripheral edge of the diaphragm part, and the outer ring and the boss part have a ring in the third space. A communicating hole may be formed, and the communicating hole may communicate with the internal space of the cylindrical portion via a groove provided in the mounting member.

In addition to the double seal structure with two oil seals, the lubricant that has flowed into the third space is returned to the internal space of the cylindrical part through the communication hole and the groove of the mounting member, which further improves the lubricant content. leakage can be suppressed.

(8) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. a wave generator that rotates a meshing position with a gear around a rotation axis; a bearing that includes 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 bearing seal, a second bearing seal that is separate from the first bearing seal, a first plate fixed to the inner ring, and a spacer, and between the inner ring and the outer ring, A first space that opens to one end surface of the bearing is formed, a second space that opens to the other end surface of the bearing is formed between the inner ring and the outer ring, and a second space that opens to the other end surface of the bearing. A gear side space communicating with the second space is formed between the gear side space, the oil seal sealing the first space, and the external gear coaxially disposed inside the internal gear. The first bearing seal includes a flexible cylindrical part, a diaphragm part extending outward from an end of the cylindrical part, and an annular rigid boss part extending from an outer peripheral edge of the diaphragm part. includes a first base and a first tip extending from the first base; the second bearing seal includes a second base and a second tip extending from the second base; The spacer is sandwiched and fixed between the outer ring and the boss portion, the first base portion is sandwiched and fixed between the spacer and the outer ring, and the second base portion is sandwiched and fixed between the spacer and the boss portion. fixed, the first tip contacts the first plate from the second space side to seal the second space, and the second tip contacts the first plate from the gear side space side. The gear device is in contact with and partitions off the gear side space.

Since the first tip of the first bearing seal contacts the first plate from the second space side, it is possible to suppress the lubricant from being pushed out from the second space to the gear side space. Since the second tip of the second bearing seal contacts the first plate from the gear side space side, it is possible to suppress lubricant from flowing into the second space from the gear side space. Therefore, it is possible to suppress excessive flow of lubricant into the first space and to suppress leakage of lubricant from the oil seal.

In addition, since the first bearing seal and the second bearing seal are separate bodies, it is easy to ensure the volume of the space between the first and second bearing seals, even if lubricant gets into this space. , the contact between the first bearing seal and the second bearing seal and the first plate is not released.

(9) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. a wave generator that rotates a meshing position with a gear around a rotation axis; a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear in a relatively rotatable manner; an oil seal; a bearing seal; and a second plate fixed to the inner ring, a first space opening to one end surface of the bearing is formed between the inner ring and the outer ring, and a first space is formed between the inner ring and the outer ring. A second space that opens to the other end surface of the bearing is formed between the external gear and the bearing, a gear side space that communicates with the second space is formed between the external gear and the bearing, and a gear side space that communicates with the second space is formed between the external gear and the bearing. An oil seal seals the first space, and the external gear includes a flexible cylindrical part coaxially disposed inside the internal gear, and a diaphragm extending outward from an end of the cylindrical part. and an annular rigid boss extending from an outer peripheral edge of the diaphragm, the third bearing seal having a base, a first lip extending from the base, and a second lip extending from the base. and, the base portion is sandwiched and fixed between the second plate and the inner ring, and the first lip and the second lip are in contact with the diaphragm portion and partition the gear side space. It is a gear device.

By providing the first lip and the second lip on the third bearing seal, extrusion of the lubricant from the second space to the gear side space and inflow of the lubricant from the gear side space to the second space are suppressed. be able to. Therefore, it is possible to suppress excessive flow of lubricant into the first space and to suppress leakage of lubricant from the oil seal.

In addition, by increasing the space between the first lip and the second lip, one of the first lip and the second lip may interfere with the other, causing contact between the first lip and the second lip and the diaphragm portion. The third bearing seal can be configured to prevent release of the third bearing seal.

(10) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. a wave generator that rotates a meshing position with a gear around a rotation axis; a bearing that includes 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 bearing seal; and a third plate fixed to the inner ring, a first space opening to one end surface of the bearing is formed between the inner ring and the outer ring, and a first space is formed between the inner ring and the outer ring. A second space that opens to the other end surface of the bearing is formed between the external gear and the bearing, a gear side space that communicates with the second space is formed between the external gear and the bearing, and a gear side space that communicates with the second space is formed between the external gear and the bearing. The oil seal seals the first space, the fourth bearing seal includes a base, a first lip extending from the base, and a second lip extending from the base, and the base is connected to the third plate. and the inner ring, and the first lip and the second lip are in contact with the outer ring and partition the second space and the gear side space.

By providing the first lip and the second lip on the fourth bearing seal, extrusion of the lubricant from the second space to the gear side space and inflow of the lubricant from the gear side space to the second space are suppressed. be able to. Therefore, it is possible to suppress excessive flow of lubricant into the first space and to suppress leakage of lubricant from the oil seal.

In addition, by increasing the space between the first lip and the second lip, one of the first lip and the second lip interferes with the other, preventing contact between the first lip and the second lip and the outer ring. The fourth bearing seal can be configured to not release.

(11) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. a wave generator that rotates a meshing position with a gear around a rotation axis; a bearing that includes 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 bearing seal; a fourth plate fixed to the outer ring and extending toward the inner ring; a first space opening to one end surface of the bearing is formed between the inner ring and the outer ring; A second space that opens to the other end surface of the bearing is formed between the inner ring and the outer ring, and a gear side space that communicates with the second space is formed between the external gear and the bearing. is formed, the oil seal seals the first space, and a fourth space is formed between the fourth plate and the inner ring, which communicates the gear side space and the second space, The fifth bearing seal includes a base, a first lip extending from the base, and a second lip extending from the base, and the base is formed on one of the fourth plate and the inner ring. A gear device is housed inside the groove, and the first lip and the second lip contact the other of the fourth plate and the inner ring to partition the fourth space.

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

In addition, by increasing the space between the first lip and the second lip, one of the first lip and the second lip may interfere with the other, and the first lip and the second lip may interact with the fourth plate or the inner ring. The fifth bearing seal may be configured such that contact with the fifth bearing seal is not released.

(12) A robot of the present disclosure includes the gear device according to any one of (1) to (11).

It is possible to suppress lubricant from leaking from the gear device to the outside.

(13) The gear device of the present disclosure includes an internal gear, an external gear that partially meshes with the internal gear, and an internal gear that is in contact with an inner circumferential surface of the external gear. A wave generator that rotates a meshing position with a gear around a rotation axis, a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear in a relatively rotatable manner, and an oil seal. A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring, and a second space that opens to the other end surface of the bearing is formed between the inner ring and the outer ring. A space is formed between the external gear and the bearing, and a gear side space communicating with the second space is formed, and the oil seal seals the first space and connects the gear side space. This is a gear device that has a connection hole connected to the atmosphere.

By connecting the gear side space to the atmosphere through the connection hole, the pumping action due to the deflection of the external gear is eliminated, so lubricant is no longer sent into the bearing from the gear side space. Therefore, leakage of lubricant from the oil seal can be suppressed.

(14) In the gear device according to (13), the connection hole may be formed in the inner ring and the internal gear.

(15) In the gear device according to (13), the external gear includes a flexible cylindrical part coaxially arranged inside the internal gear, and a flexible cylindrical part that extends outward from an end of the cylindrical part. The device may include a diaphragm portion and a rigid annular boss portion extending from an outer peripheral edge of the diaphragm portion, and the connection hole may be formed in the boss portion.

(16) A robot of the present disclosure 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, The member has a through hole that communicates with the connection hole, one end of the air tube is attached to the first member while communicating with the through hole, and the other end of the air tube is open to the atmosphere. It's a robot.

Since the air tube is provided, even if the lubricant enters the connection hole, it is possible to prevent the lubricant from leaking to the outside.

(17) In the robot according to (16), at least a portion of the air tube may have a coil shape.

Since at least a portion of the air tube is coiled, the length of the air tube can be increased. Therefore, leakage of the lubricant to the outside can be further suppressed.

[Details of embodiments of the present disclosure]
Embodiments of the present disclosure will be described below. Note that the present disclosure is not limited to these examples, but is indicated by the scope of the claims, and is intended to include all changes within the meaning and range equivalent to the scope of the claims. In the following description, with respect to a plurality of identical members, only some of the members may be labeled with reference numerals, and the reference numerals of other members may be omitted.

[Embodiment 1]
<Gear device>
Embodiment 1 of the present disclosure will be described with reference to FIGS. 1 to 3. As shown in FIGS. 1 and 2, the gear device 10 of this embodiment includes an internal gear 20, an external gear 30 disposed inside the internal gear 20, and an external gear 30 disposed inside the external gear 30. The bearing 50 supports the internal gear 20 and the external gear 30 such that they can rotate relative to each other.

<Robot, arm>
The gear device 10 is used, for example, as a speed reducer for a rotating part of a robot or the like. As shown in FIG. 3, the robot 1 according to the present embodiment includes a base (not shown), an arm 2 rotatably supported with respect to the base, and one of the base and the arm 2. The gear device 10 includes a gear device 10 that transmits driving force from one to the other, and a motor (not shown) that is a drive source of the gear device 10. The internal gear 20 is fixed to a base. External gear 30 is connected to arm 2. Wave generator 40 is connected to the motor. In this embodiment, the arm 2 is an example of a mounting member.

In such an embodiment, the wave generator 40 rotates at the same rotational 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 external gear 30 and the number of teeth of the internal gear 20 are different, the external gear 30 and the internal gear 20 are relative to each other around the rotating shaft 10A (see FIG. 1) due to the difference in the number of teeth. rotate. 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 rotation speed lower than the rotation speed of the motor. Therefore, a reduction gear can be constructed in which the wave generator 40 is on the input shaft side and the external gear 30 is on the output shaft side.

<Internal gear, external gear>
Hereinafter, the detailed configuration of the gear device 10 will be described with reference to FIG. 3.
The internal gear 20 includes an annular member 21 having a substantially rectangular cross-sectional shape and internal teeth 22 formed on the inner peripheral surface of the annular member 21. The external gear 30 includes a cylindrical portion 31, external teeth 32 formed on the outer peripheral surface at one end of the cylindrical portion 31, and external teeth 32 extending radially outward from the other end of the cylindrical portion 31. It includes a widening disc-shaped diaphragm part 33 and an annular boss part 34 formed continuously on the outer peripheral edge of the diaphragm part 33. The external teeth 32 are configured to be able to mesh with the internal teeth 22. The number of teeth of the external gear 30 (the number of external teeth 32) is smaller than the number of teeth of the internal gear 20 (the number of internal teeth 22). The cylindrical portion 31 and the diaphragm portion 33 have flexibility. The boss portion 34 has rigidity. The external gear 30 and the internal gear 20 are rotatable around the same rotation axis 10A.

<Wave generator>
The wave generator 40 bends the cylindrical portion 31 of the external gear 30 into a non-circular shape, for example, an ellipse, 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 a motor and rotates around a rotating shaft 10A. The rotation of the cam plate is transmitted to the external gear 30 via the wave bearing, and moves the meshing position of the external gear 30 and the internal gear 20 in the circumferential direction.

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

<First space, second 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 internal gear 20 side and opens to the outside from one end surface of the bearing 50. The second space 55 is open to the other end surface of the bearing 50. The first space 54 is sealed by an 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 between 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.

<Communication hole>
A communication hole 80 communicating with the first space 54 is formed in the gear device 10 of this embodiment. Specifically, the communication hole 80 includes a first communication hole 81 and a second communication hole 82 that communicates with the first communication hole 81 . The first communication hole 81 is formed in the outer ring 52. The first communication hole 81 includes a first hole 83 that extends in the radial direction, and a second hole 84 that communicates with the first hole 83 and extends along the rotation axis 10A. The first hole 83 communicates with the first space 54 . The second hole 84 opens at the end surface of the outer ring 52 on the boss portion 34 side. The second communication hole 82 is formed in the boss portion 34 . The second communication hole 82 communicates with the second hole 84 .

<Groove>
Further, the arm 2 is formed with a groove 2A that communicates with the second communication hole 82. The groove 2A is recessed from the end surface of the arm 2 to which the boss portion 34 is attached. The groove 2A extends radially inward from the second communication hole 82 side. The groove 2A communicates with an internal space 31A formed inside the cylindrical portion 31 in the radial direction via a 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>
Each part of the gear device 10, specifically, the meshing part between the internal gear 20 and the external gear 30, the internal space 31A of the cylindrical part 31, the fitting part between the external gear 30 and the wave generator 40, etc. , a lubricant is appropriately placed in advance. The lubricant is, for example, grease.

When the gear device 10 operates, the cylindrical portion 31 is repeatedly bent in the radial direction at the meshing portion between the internal gear 20 and the external gear 30. This deflection generates a pumping action in which the lubricant is pushed out from the meshing portion of the internal gear 20 and the external gear 30 into the gear side space 70. The lubricant pushed out by the pumping action flows toward the raceway groove of the bearing 50 through the gear side space 70 . The lubricant flows into the first space 54 from the raceway 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, it is possible to prevent excess lubricant from accumulating in the first space 54 and leaking out from the oil seal 60. Further, the lubricant that has flowed into the communication hole 80 passes through the groove 2A of the arm 2 and flows back into the internal space 31A of the cylindrical portion 31.

Although not shown, a check valve is provided in the communication hole 80 to allow the lubricant to flow from the first space 54 to the groove 2A side, and to allow the lubricant to flow from the groove 2A side to the first space 54. You can regulate things. This can prevent excess lubricant from accumulating in the first space 54.

[Operations and effects of Embodiment 1]
As described above, the gear device 10 of Embodiment 1 is a gear device 10 that is attached to a mounting member (arm 2), and includes an internal gear 20 and an external gear 30 that partially meshes with the internal gear 20. and a wave generator 40 that contacts the inner peripheral surface of the external gear 30 and rotates the meshing position of the internal gear 20 and the external gear 30 around the rotation axis 10A, an inner ring 51 and an outer ring 52, A bearing 50 that supports the internal gear 20 and the external gear 30 in a relatively rotatable manner, and an oil seal 60 are provided. A space 54 is formed between the inner ring 51 and the outer ring 52, a second space 55 that opens to the other end surface of the bearing 50 is formed, and a second space 55 is formed between the external gear 30 and the bearing 50. A gear side space 70 is formed which communicates with the internal gear 55, an oil seal 60 seals the first space 54, and the external gear 30 is a flexible cylindrical part coaxially disposed inside the internal gear 20. 31, a diaphragm part 33 extending outward from the end of the cylindrical part 31, and a rigid boss part 34 extending from the outer peripheral edge of the diaphragm part 33 and forming an annular shape, the boss part 34 being attached to a mounting member, A communication hole 80 communicating with the first space 54 is formed in at least the boss portion 34, and the communication hole 80 communicates with the internal space 31A of the cylindrical portion 31 via a groove 2A provided in the mounting member. This is a gear device 10.

Since the first space 54 communicates with the internal space 31A of the cylindrical part 31 via the communication hole 80 and the groove 2A of the mounting member, the lubricant flowing into the first space 54 is transferred to the internal space of the cylindrical part 31. It can be returned to 31A. Therefore, it is possible to suppress excessive lubricant from flowing into the first space 54 and to suppress leakage of the lubricant from the oil seal 60.

Further, since the communication hole 80 is formed at least in the rigid boss portion 34, a decrease in the strength of the external gear 30 is suppressed.

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 communicates with the first space 54.

The communication hole 80 is formed in the boss portion 34 and the outer ring 52 and communicates with the first space 54, so that the lubricant flowing into the first space 54 is transferred to the cylindrical portion 31 through the communication hole 80 and the groove 2A of the mounting member. can be returned to the internal space 31A. Therefore, leakage of lubricant from the oil seal 60 can be suppressed.

The robot 1 of Embodiment 1 is a robot 1 that includes a gear device 10.

It is possible to suppress leakage of lubricant from the gear device 10 to the outside.

[Embodiment 2]
Embodiment 2 of the present disclosure will be described with reference to FIG. 4. In the gear device 110 and robot 101 of the second embodiment, the aspect of the communication hole 180 is different from that of the first embodiment. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

The communication hole 180 of the gear device 110 is composed of a first communication hole 181 and a second communication hole 182 communicating with the first communication hole 181. The first communication hole 181 includes a first hole 83 that extends in the radial direction, and a second hole 184 that communicates with the first hole 83 and extends along the rotation axis 10A. The second hole 184 is formed to penetrate the outer ring 52. The second communication hole 182 is formed in the boss portion 34. The second communication hole 182 communicates with the second hole 184.

A groove 2A communicating with the second communication hole 182 is formed in the arm 102 (an example of a mounting member) of the robot 101. Similar to 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 so as to be 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 with a bolt 102C. Specifically, the bolt 102C is inserted through the second hole 184 and the second communication hole 182, and is screwed into the female thread of the bolt fastening hole 102B. A seal washer 102D is arranged between the head of the bolt 102C and the outer ring 52. This prevents the lubricant that has flowed into the communication hole 180 from the first space 54 from leaking out from between the head of the bolt 102C and the outer ring 52.

Although not shown, a check valve is 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. Flow into the space 54 may be restricted. This can prevent excess lubricant from accumulating in the first space 54.

[Embodiment 3]
Embodiment 3 of the present disclosure will be described with reference to FIG. 5. In the gear device 210 and robot 201 of the third embodiment, the aspect of the communication hole 280 is different from that of the first embodiment. Other configurations and effects are the same as those in the first embodiment, so members that are equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed description thereof will be 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 communicating with 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 to which the boss portion 234 is attached. The groove 2A communicates with the internal space 31A of the cylindrical portion 31 via the space between the end surface of the arm 2 and the diaphragm portion 33. Therefore, the gear side space 70 communicates with the internal space 31A of the cylindrical portion 31 via the communication hole 280 and the groove 2A.

In this embodiment, since the communication hole 280 that communicates with the gear side space 70 is formed, a part of the lubricant that is about to flow from the gear side space 70 into the second space 55 by the pump action is directed into the communication hole 280. It can be made to flow in. Therefore, it is possible to suppress excessive lubricant from flowing into the first space 54 from the gear side space 70 through the second space 55 and leaking out from the oil seal 60. Further, the lubricant that has flowed into the communication hole 280 passes through the groove 2A of the arm 2 and flows back into the internal space 31A of the cylindrical portion 31.

It is preferable that the communication hole 280 is spaced apart from the second space 55 in the radial direction. According to such a configuration, it becomes easier to prevent the lubricant once flowing into the communication hole 280 from flowing backward into the second space 55.

Although not shown, a check valve is 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 allow the lubricant to flow from the groove 2A side to the gear side space 70. You can regulate things. Thereby, it is possible to suppress the lubricant from flowing into the bearing 50 from the gear side space 70, and therefore, it is possible to suppress the accumulation of excessive lubricant in the first space 54.

[Operations and effects of Embodiment 3]
A gear device 210 of Embodiment 3 is a gear device 210 that is attached to a mounting member (arm 2), and includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an external gear 210 that is attached to a mounting member (arm 2). The internal gear 20 includes a wave generator 40 that contacts the inner peripheral surface of the gear 30 and rotates the meshing position of the internal gear 20 and the external gear 30 around the rotation axis 10A, an inner ring 51 and an outer ring 52, and an inner ring 51 and an outer ring 52. and a bearing 50 that relatively rotatably supports the external gear 30, and an oil seal 60, and a first space 54 that opens at one end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 52. A second space 55 that opens to the other end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 52, and a second space 55 that communicates with the second space 55 is formed between the external gear 30 and the bearing 50. A gear side space 70 is formed, an oil seal 60 seals the first space 54, and the external gear 30 has a flexible cylindrical portion 31 disposed coaxially inside the internal gear 20, and a cylindrical side space 70. The diaphragm part 33 extends outward from the end of the shaped part 31 and the rigid boss part 234 extends from the outer periphery of the diaphragm part 33 and has an annular shape. A communication hole 280 communicating with the gear side space 70 is formed in the gear device 210, and the communication hole 280 communicates with the internal space 31A of the cylindrical portion 31 via the groove 2A provided in the mounting member. be.

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

Moreover, since the communication hole 280 is formed at least in the rigid boss portion 234, a decrease in the strength of the external gear 30 is suppressed.

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

The communication hole 280 is formed in the boss portion 234 and communicates with the gear side space 70, so that the lubricant that is about to flow into the bearing 50 from the gear side space 70 is transferred to the cylinder through the communication hole 280 and the groove 2A of the mounting member. It can be returned to the internal space 31A of the shaped portion 31. Therefore, leakage of lubricant from the oil seal 60 can be suppressed.

[Embodiment 4]
Embodiment 4 of the present disclosure will be described with reference to FIG. 6. In the gear device 310 and the robot 301 of the fourth embodiment, the first seal member 361 and the second seal member 362 are provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

<First seal member, second seal member>
The first seal member 361 is an oil seal similar to that in the first embodiment. The second seal member 362 is separate from the first seal member 361 and is disposed further inward of the bearing 50 than the first seal member 361 is. The second seal member 362 of this embodiment is an oil seal like the first seal member 361.

<Third space>
In this embodiment, the outer ring 352 includes an extending portion 352A that extends closer to the internal gear 20 than the inner ring 51. When the member constituted by the inner ring 51 and the internal gear 20 is 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 at the end surface of the bearing 50 on the opposite side to the gear side space 70. In the first embodiment, the first space 54 was provided between the inner ring 51 and the outer ring 52, but the third space 354A of this embodiment includes the first space 54, and the bearing 50 is further spaced from the first space 54. It's expanding outward.

In this embodiment, since the third space 354A communicating from the bearing 50 to the outside is doubly sealed by the first seal member 361 and the second seal member 362, leakage of lubricant to the outside is suppressed. can do.

Although not shown, both the first seal member 361 and the second seal member 362 may be arranged in the first space 54, that is, between the inner ring 51 and the outer ring 52.

[Operations and effects of Embodiment 4]
The gear device 310 of Embodiment 4 includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an internal gear 30 that contacts the inner circumferential surface of the external gear 30. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 51 and an outer ring 352, and supports the internal gear 20 and the external gear 30 so as to be relatively rotatable. It includes a first seal member 361 and a second seal member 362 that is separate from the first seal member 361, the inner ring 51 and the internal gear 20 constitute an inner member 320A, and the inner ring 51 and the outer ring 352, a third space 354A that opens to one end surface of the bearing 50 is formed, and a second space 55 that opens to the other end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 352. A gear side space 70 communicating with the second space 55 is formed between the external gear 30 and the bearing 50, and the first seal member 361 is an oil seal and seals the third space 354A. , the second seal member 362 is a gear device 310 that is disposed inward of the third space 354A than the first seal member 361 and seals the third space 354A.

The first seal member 361 and the second seal member 362, which serve as oil seals, can double suppress lubricant leakage.

In the gear device 310 of the fourth embodiment, the second seal member 362 is an oil seal.

The two oil seals can double prevent lubricant leakage.

[Embodiment 5]
Embodiment 5 of the present disclosure will be described with reference to FIG. 7. In the gear device 410 and robot 401 of the fifth embodiment, the arrangement of the first seal member 461 and the configuration of the second seal member 462 are different from those of the fourth embodiment. Other configurations and effects are the same as those in Embodiment 1 and Embodiment 4, so members equivalent to Embodiment 1 are given the same reference numerals as in Embodiment 1, and detailed description thereof will be omitted.

The gear device 410 of the fifth embodiment includes a first seal member 461 and a second seal member 462. The first seal member 461 is an oil seal similar to that in the first embodiment. The first seal member 461 is disposed between the inner ring 451 and the outer ring 52 and seals the first space 54. The second seal member 462 is disposed further inside the first space 54 than the first seal member 461 is. The second seal member 462 of this embodiment has an annular shape and includes a base 462A and a tip 462B extending from the base 462A.

The base 462A is sandwiched and fixed between the inner wall of the outer ring 52 constituting the first space 54 and the spacer 463. The spacer 463 is held down by the first seal member 461. The tip portion 462B is in contact with a contact portion 451A formed on the inner ring 451. The contact portion 451A is formed to extend radially outward in the first space 54. The tip portion 462B extends from the inside of the first space 54 toward the contact portion 451A than the contact portion 451A, and is in contact with the contact portion 451A. The first space 54 is sealed by the second seal member 462.

According to the configuration of this embodiment, since the outer ring 52 does not extend further toward the internal gear 20 than the inner ring 451, the first space 54 substantially corresponds to the third space 354A of the fourth embodiment. Therefore, the same effects as in the fourth embodiment are achieved. According to this embodiment, compared to Embodiment 4, the gear device 410 can be provided with a double seal structure without increasing the size of the outer ring 52.

[Embodiment 6]
Embodiment 6 of the present disclosure will be described with reference to FIGS. 8 and 9. In the gear device 510 and robot 501 of the sixth embodiment, the configuration of the outer ring 552 is different from that of the fourth embodiment. Other configurations and effects are the same as those in Embodiment 1 and Embodiment 4, so the same reference numerals as in Embodiment 4 are given to the same members as in Embodiment 4, and detailed description thereof will be omitted.

<Outer ring body, extension plate>
In this embodiment, as shown in FIG. 8, the outer ring 552 includes an outer ring main body 552A and an extension plate 552B fixed to the outer ring main body 552A. The outer ring main body 552A is configured in substantially the same manner as the outer ring 52 of the first embodiment except that the first communication hole 81 is omitted. The extension plate 552B extends closer to the internal gear 20 than the inner ring 51. The first seal member 361 is disposed between the extension plate 552B and the internal gear 20, and seals the third space 354A. The second seal member 362 is disposed between the outer ring main body 552A and the inner ring 51, and seals the third space 354A.

The outer ring main body 552A and the extension plate 552B are fixed by bolts. 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 into the bolt insertion hole 552C and is screwed into the female thread of the bolt fastening hole 552D.

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

[Operations and effects of Embodiment 6]
In the gear device 510 of the sixth embodiment, the outer ring 552 includes an outer ring main body 552A and an extension plate 552B that is fixed to the outer ring main body 552A and extends closer to the internal gear 20 than the inner ring 51, and the first seal member 361 is arranged between the extension plate 552B and the internal gear 20.

The design of the gear device 510 may be facilitated by adding the extension plate 552B to the outer ring main body 552A.

[Embodiment 7]
Embodiment 7 of the present disclosure will be described with reference to FIG. 10. A gear device 610 and a robot 601 according to the seventh embodiment have substantially the same configuration as the gear device 510 and the robot 501 according to the sixth embodiment shown in FIG. 9, except that a communication hole 680 and a groove 602A are provided. Regarding configurations and effects common to those of the sixth embodiment, the same reference numerals as those of the sixth embodiment are given to members equivalent to those of the sixth embodiment, and detailed explanations thereof will be omitted.

<Communication hole>
In the seventh embodiment, a third hole 680A is formed that communicates the bolt insertion holes 552C, 552F with the third space 354A. The third hole 680A is formed between the outer ring main body 552A and the extension plate 552B. The bolt insertion holes 552C, 552F, 534A and the third hole 680A constitute a communication hole 680.

Similarly to the arm 102 of the first embodiment, a groove 602A is formed in the arm 602 of the robot 601. The groove 602A communicates with the bolt insertion hole 534A. The groove 602A communicates with the internal space 31A of the cylindrical portion 31. Therefore, the third space 354A communicates with the internal space 31A of the cylindrical portion 31 via the communication hole 680 and the groove 602A.

A bolt fastening hole 502A is formed in the arm 602 by being recessed from the bottom surface of the groove 602A. Bolts 552G are inserted through bolt insertion holes 552C, 552F, and 534A, and are screwed into female threads of bolt fastening hole 502A. Note that the arm 602 is an example of a mounting member.

Although not shown, a check valve is 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. Flow to space 354A may be restricted. This can prevent excessive lubricant from accumulating in the third space 354A.

[Operations and effects of Embodiment 7]
The gear device 610 of Embodiment 7 is a gear device 610 that is attached to a mounting member (arm 602), and the external gear 30 is a flexible cylindrical portion coaxially disposed inside the internal gear 20. 31, a diaphragm part 33 that spreads outward from the end of the cylindrical part 31, and a rigid annular boss part 534 extending from the outer peripheral edge of the diaphragm part 33. A communication hole 680 communicating with the third space 354A is formed, and the communication hole 680 communicates with the internal space 31A of the cylindrical portion 31 via a groove 602A provided in the mounting member.

In addition to the double seal structure with two oil seals, the lubricant that has flowed into the third space 354A is returned to the internal space 31A of the cylindrical part 31 via the communication hole 680 and the groove 602A of the mounting member. Leakage of lubricant can be further suppressed.

[Embodiment 8]
Embodiment 8 of the present disclosure will be described with reference to FIG. 11. In the gear device 710 and robot 701 of the eighth embodiment, a first bearing seal 790 and a second bearing seal 791 are provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

The gear device 710 includes a first bearing seal 790, a second bearing seal 791 that is separate 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. , is equipped with.

<First plate>
The first plate 756 includes a contact portion 756A disposed near the boundary between the gear side space 70 and the second space 55. The contact portion 756A extends radially outward from the inner ring 51 side.

<Spacer>
The spacer 757 is sandwiched and fixed between the outer ring 752 and the boss portion 734. Specifically, the spacer 757 and the boss portion 734 are provided with

bolt insertion holes

757A, 734A, and the outer ring 752 is provided with a bolt fastening hole 752A. Bolts 752B are inserted through

bolt insertion holes

757A and 734A, and are screwed into female threads of bolt fastening hole 752A.

<1st bearing seal>
The first bearing seal 790 includes a first base 790A and a first tip 790B extending from the first base 790A. The first base 790A is disposed within a fixing groove provided in the outer ring 752, and is fixed between the inner wall of the fixing groove and the spacer 757. The first tip portion 790B is disposed in the second space 55 and is in contact with the contact portion 756A from the second space 55 side. The second space 55 is sealed by the first tip 790B. This suppresses extrusion of lubricant from the bearing 50 side to the gear side space 70.

<Second bearing seal>
The second bearing seal 791 includes a second base 791A and a second tip 791B extending from the second base 791A. The second base portion 791A is disposed within a fixing groove provided in the spacer 757, and is sandwiched and fixed between the inner wall of the fixing groove and the boss portion 734. The second tip portion 791B is disposed in the gear side space 70 and is in contact with the contact portion 756A from the gear side space 70 side. The second tip 791B partitions off the gear side space 70. This suppresses the 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 predetermined space between them. This makes it difficult for the first bearing seal 790 and the second bearing seal 791 to come out of contact with the contact portion 756A even if the lubricant is placed in the space.

[Operations and effects of Embodiment 8]
The gear device 710 of Embodiment 8 includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an internal gear 30 that contacts the inner circumferential surface of the external gear 30. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 51 and an outer ring 752, and supports the internal gear 20 and the external gear 30 so as to be relatively rotatable. It includes an oil seal 60, a first bearing seal 790, a second bearing seal 791 that is separate from the first bearing seal 790, a first plate 756 fixed to the inner ring 51, and a spacer 757, A first space 54 that opens to one end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 752, and a second space 54 that opens to the other end surface of the bearing 50 is formed between the inner ring 51 and the outer ring 752. A space 55 is formed, a gear side space 70 communicating with the second space 55 is formed between the external gear 30 and the bearing 50, an oil seal 60 seals the first space 54, and a gear side space 70 is formed between the external gear 30 and the bearing 50. 30 includes a flexible cylindrical portion 31 disposed coaxially inside the internal gear 20, a diaphragm portion 33 extending outward from the end of the cylindrical portion 31, and an annular portion extending from the outer peripheral edge of the diaphragm portion 33. The first bearing seal 790 includes a first base 790A and a first tip 790B extending from the first base 790A, and the second bearing seal 791 includes a second base 790A. The spacer 757 is sandwiched and fixed between the outer ring 752 and the boss 734, and the first base 790A is sandwiched between the spacer 757 and the outer ring 752. The second base portion 791A is sandwiched and fixed between the spacer 757 and the boss portion 734, and the first tip portion 790B contacts the first plate 756 from the second space 55 side to open the second space 55. The second tip 791B is a gear device 710 that is sealed and partitions off the gear side space 70 by contacting the first plate 756 from the gear side space 70 side.

Since the first tip 790B of the first bearing seal 790 contacts the first plate 756 from the second space 55 side, it is possible to suppress lubricant from being pushed out from the second space 55 to the gear side space 70. . Since the second tip 791B of the second bearing seal 791 contacts the first plate 756 from the gear side space 70 side, it is possible to suppress the lubricant from flowing into the second space 55 from the gear side space 70. . Therefore, it is possible to suppress excessive lubricant from flowing into the first space 54 and to suppress leakage of the lubricant from the oil seal 60.

Furthermore, since the first bearing seal 790 and the second bearing seal 791 are separate bodies, it is easy to ensure the volume of the space between the first bearing seal 790 and the second bearing seal 791, and the lubricant is kept in this space. Even if the first bearing seal 790 and the second bearing seal 791 are inserted, the contact between the first plate 756 and the first bearing seal 790 and the second bearing seal 791 is not released.

[Embodiment 9]
Embodiment 9 of the present disclosure will be described with reference to FIG. 12. In the gear device 810 and robot 801 of the ninth embodiment, a third bearing seal 890 is provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be 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 is formed in the second plate 856 to which a third bearing seal 890 is mounted.

<3rd bearing seal>
The third bearing seal 890 includes 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 accommodated in the mounting groove 856A of the second plate 856. The base portion 891 is fixed between the inner wall of the mounting groove 856A and the end surface of the inner ring 51 facing the diaphragm portion 33.

The first lip 892A extends from the radially outer end of the base portion 891 toward the radially outer side and the diaphragm portion 33 side. The second lip 892B extends from the radially outer end of the base portion 891 inwardly in the radial direction and toward the diaphragm portion 33 side. The first lip 892A and the second lip 892B are arranged with a predetermined space apart in the radial direction. The first lip 892A is arranged 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 contact the diaphragm portion 33 and partition the gear side space 70. Note that even if the diaphragm portion 33 is deflected and deformed as the gear device 810 operates, the first lip 892A and the second lip 892B maintain contact with the diaphragm portion 33. The contact between the first lip 892A and the diaphragm portion 33 suppresses the extrusion of the lubricant from the bearing 50 side to the gear side space 70 in the radial direction. The contact between the second lip 892B and the diaphragm portion 33 suppresses the lubricant from flowing into the bearing 50 from the gear side space 70 arranged on the radially inner side.

[Operations and effects of Embodiment 9]
The gear device 810 of Embodiment 9 includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an internal gear 30 that contacts the inner circumferential surface of the external gear 30. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 51 and an outer ring 52, and supports the internal gear 20 and the external gear 30 so as to be relatively rotatable. The oil seal 60, the third bearing seal 890, and the second plate 856 fixed to the inner ring 51 are provided, and between the inner ring 51 and the outer ring 52 there is a first space that opens on one end surface of the bearing 50. A second space 55 is formed between the inner ring 51 and the outer ring 52 and opens to the other end surface of the bearing 50. A second space 55 is formed between the external gear 30 and the bearing 50. A gear side space 70 is formed which communicates with the first space 54 , an oil seal 60 seals the first space 54 , and the external gear 30 has a flexible cylindrical part 31 coaxially disposed inside the internal gear 20 . The third bearing seal 890 includes a diaphragm portion 33 extending outward from the end of the cylindrical portion 31, and a rigid annular boss portion 34 extending from the outer peripheral edge of the diaphragm portion 33. The third bearing seal 890 includes a base portion 891; A first lip 892A extending from the base 891 and a second lip 892B extending from the base 891, the base 891 is fixed between the second plate 856 and the inner ring 51, and the first lip 892A and the second lip 892B is a gear device 810 that is in contact with the diaphragm portion 33 and partitions off the gear side space 70.

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

Furthermore, by increasing the space between the first lip 892A and the second lip 892B, one of the first lip 892A and the second lip 892B may interfere with the other, and the first lip 892A and the second lip 892B The third bearing seal 890 can be configured so that the contact between the diaphragm portion 33 and the diaphragm portion 33 is not released.

[Embodiment 10]
Embodiment 10 of the present disclosure will be described with reference to FIG. 13. In the gear device 910 and robot 901 of the tenth embodiment, a fourth bearing seal 990 is provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

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

<3rd plate>
A mounting groove 956A is formed in the third plate 956 to which a fourth bearing seal 990 is mounted.

<4th bearing seal>
The fourth bearing seal 990 includes 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 accommodated in the mounting groove 956A of the third plate 956. The base portion 991 is fixed between the inner wall of the mounting groove 956A and the end surface of the inner ring 51 facing the diaphragm portion 33.

The first lip 992A extends radially outward from the radially outer end of the base portion 991 and to the side opposite to the diaphragm portion 33. The second lip 992B extends from the radially outer end of the base portion 991 toward the radially outer side and the diaphragm portion 33 side. The first lip 992A and the second lip 992B are arranged with a predetermined space apart in the direction along the rotation axis 10A. The second lip 992B is arranged closer to the gear side space 70 than the first lip 992A.

The first lip 992A and the second lip 992B contact the inner circumferential surface of the outer ring 52 and partition the second space 55 and the gear side space 70. The contact between the first lip 992A and the inner circumferential surface of the outer ring 52 suppresses extrusion of lubricant from the bearing 50 side to the gear side space 70. The contact between the second lip 992B and the inner peripheral surface of the outer ring 52 suppresses the lubricant from flowing into the bearing 50 from the gear side space 70.

[Operations and effects of Embodiment 10]
The gear device 910 of Embodiment 10 includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an internal gear 30 that contacts the inner circumferential surface of the external gear 30. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 51 and an outer ring 52, and supports the internal gear 20 and the external gear 30 so as to be relatively rotatable. It includes an oil seal 60, a fourth bearing seal 990, and a third plate 956 fixed to the inner ring 51, and between the inner ring 51 and the outer ring 52 there is a first space that opens on one end surface of the bearing 50. A second space 55 is formed between the inner ring 51 and the outer ring 52 and opens to the other end surface of the bearing 50. A second space 55 is formed between the external gear 30 and the bearing 50. A gear side space 70 is formed which communicates with the oil seal 60, the first space 54 is sealed, and the fourth bearing seal 990 has a base 991, a first lip 992A extending from the base 991, and a first lip 992A extending from the base 991. 2 lips 992B, the base 991 is sandwiched and fixed between the third plate 956 and the inner ring 51, and the first lip 992A and the second lip 992B are in contact with the outer ring 52 and are connected to the second space 55 and the gear side. A gear device 910 partitions off the space 70.

By providing the first lip 992A and the second lip 992B on the fourth bearing seal 990, the lubricant can be pushed out from the second space 55 to the gear side space 70 and from the gear side space 70 to the second space 55. The inflow of lubricant can be suppressed. Therefore, it is possible to suppress excessive lubricant from flowing into the first space 54 and to suppress leakage of the lubricant from the oil seal 60.

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

[Embodiment 11]
Embodiment 11 of the present disclosure will be described with reference to FIGS. 14 to 17. In the gear device 1010 and robot 1001 of the eleventh embodiment, a fifth bearing seal 1090 is provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be 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 fourth plate 1056 includes a fixing portion 1057 and an extending portion 1058 extending from the fixing portion 1057. The fixed portion 1057 is fixed 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 fastening hole 1052A is formed in the outer ring 1052. Bolts 1052B inserted through

bolt insertion holes

1057A and 1034A are screwed into female threads of bolt fastening hole 1052A.

The extending portion 1058 extends radially inward from the radially inner end of the fixed portion 1057. Specifically, the extending portion 1058 includes a first extending portion 1058A extending radially inward from the fixed portion 1057, and a first extending portion 1058A extending from the radially inner end of the first extending portion 1058A to the inner circumferential surface of the inner ring 1051. A second extending portion 1058B extending along the second extending portion 1058B is provided. The first extending portion 1058A has a disk shape. The second extending portion 1058B has a cylindrical shape.

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

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

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

<5th 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 accommodated in the mounting groove 1056A of the fourth plate 1056.

The first lip 1092A extends radially outward from the end of the base 1091 on the opposite side to the diaphragm part 33 and to the opposite side to the diaphragm part 33. The second lip 1092B extends from the end of the base portion 1091 on the opposite side to the diaphragm portion 33 inward in the radial direction and on the opposite side to the diaphragm portion 33. The first lip 1092A and the second lip 1092B are arranged with a predetermined space apart in the radial direction. The first lip 1092A is arranged further into the fourth space 1070A than the second lip 1092B.

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

In addition, as a modification example 1 of the present embodiment, as shown in FIG. Alternatively, the first lip 1092A and the second lip 1092B may be in contact with the inner circumferential surface of the inner ring 1051.

Furthermore, as another aspect of this embodiment, as shown in FIGS. 16 and 17, a mounting groove 1051B (an example of a groove) in which the base 1091 is accommodated is formed in the inner ring 1051, and a first lip is formed in the fourth plate 1056. 1092A and second lip 1092B may be in contact.

In FIG. 16 showing a second modification 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 are in contact with the outer circumferential surface of the second extending portion 1058B that faces the inner circumferential surface of the inner ring 1051.

In FIG. 17 showing a third modification 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 extending portion 1058A on the inner ring 1051 side. In addition, in FIG. 17, if the extension part 1058 is provided with only the part (first extension part 1058A shown in FIGS. 14 to 16) that extends in the radial direction where the first lip 1092A and the second lip 1092B are in contact with each other, good. According to the configuration shown in FIG. 17, although the fourth space 1070A provided between the gear side space 70 and the second space 55 becomes smaller, the configuration of the extension portion 1058 can be simplified.

[Operations and effects of Embodiment 11]
A gear device 1010 of Embodiment 11 includes an internal gear 20, an external gear 30 that partially meshes with the internal gear 20, and an internal gear 30 that is in contact with the inner circumferential surface of the external gear 30. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 1051 and an outer ring 1052, and supports the internal gear 20 and the external gear 30 so as to be relatively rotatable. It includes an oil seal 60, a fifth bearing seal 1090, and a fourth plate 1056 fixed to the outer ring 1052 and extending toward the inner ring 1051. A first space 54 that opens is formed, a second space 55 that opens to the other end surface of the bearing 50 is formed between the inner ring 1051 and the outer ring 1052, and a second space 55 that opens to the other end surface of the bearing 50 is formed between the external gear 30 and the bearing 50. , a gear side space 70 communicating with the second space 55 is formed, the oil seal 60 seals the first space 54, and the gear side space 70 and the second space are formed between the fourth plate 1056 and the inner ring 1051. 55 is formed, and 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 first lip 1092A and the second lip 1092B are accommodated in a groove (mounting groove 1056A or mounting groove 1051B) formed in one of the fourth plate 1056 and the inner ring 1051. A gear device 1010 is in contact with the other of the four spaces and partitions off the fourth space 1070A.

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

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

[Embodiment 12]
Embodiment 12 of the present disclosure will be described with reference to FIG. 18. In the gear device 1110 and robot 1101 of the twelfth embodiment, a connection hole 1171 and an air tube 1104 are provided, and the communication hole 80 of the first embodiment is not formed. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

<Base, through hole>
The robot 1101 according to the present embodiment includes a base 1103, an arm (not shown) that is rotatably supported with respect to the base 1103, and a driving force that is applied from one of the base 1103 and the arm to the other. A gear device 1110 that transmits the information, and a motor (not shown) that is a driving source of the gear device 1110. Internal gear 1120 is fixed to base 1103. External gear 30 is connected to the arm. Wave generator 40 is connected to the motor. In this embodiment, the base 1103 is an example of the first member. A through hole 1103A communicating with a connection hole 1171 provided in the gear device 1110 is formed in the base 1103.

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

<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 communicated with the first connection hole 1171A and provided in the internal gear 1120. The first connection hole 1171A includes a fourth hole 1151A that extends in the radial direction, and a fifth hole 1151B that communicates with the fourth hole 1151A and extends 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 via the connection hole 1171, the through hole 1103A of the base 1103, and the air tube 1104. Thereby, the pressure within the gear side space 70 is equal to atmospheric pressure. Therefore, even if the external gear 30 is repeatedly bent and deformed due to the operation of the gear device 1110, the pump action of pushing the lubricant out from the meshing portion between the internal gear 1120 and the external gear 30 into the gear side space 70 is maintained. This prevents the lubricant from flowing into the gear side space 70. As a result, it becomes difficult for the lubricant to flow into the bearing 50 from the gear side space 70, so that leakage of the lubricant from the oil seal 60 to the outside can be suppressed.

Furthermore, it is preferable that the connection hole 1171, the through hole 1103A, and the air tube 1104 are arranged above the gear side space 70. According to such a configuration, it becomes difficult for the lubricant to flow from the gear side space 70 into the connection hole 1171, the through hole 1103A, and the air tube 1104 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, it is possible to suppress lubricant from flowing into the first connection hole 1171A from the meshing portion between the internal gear 1120 and the external gear 30, etc.

[Operations and effects of Embodiment 12]
The gear device 1110 of the twelfth embodiment includes an internal gear 1120, an external gear 30 that partially meshes with the internal gear 1120, and an internal gear 30 that is in contact with the inner peripheral surface of the external gear 30, and that is in contact with the internal gear 1120 and the external gear. A wave generator 40 that rotates the meshing position with the gear 30 around the rotation axis 10A, a bearing 50 that includes an inner ring 1151 and an outer ring 52, and supports the internal gear 1120 and the external gear 30 so as to be relatively rotatable. A first space 54 that opens to one end surface of the bearing 50 is formed between the inner ring 1151 and the outer ring 52, and a first space 54 is formed between the inner ring 1151 and the outer ring 52. A second space 55 that opens on the other end surface is formed, a gear side space 70 that communicates with the second space 55 is formed between the external gear 30 and the bearing 50, and the oil seal 60 is connected to the first space 54. This is a gear device 1110 in which a connection hole 1171 is formed to seal the gear side space 70 and connect the gear side space 70 to the atmosphere.

Since the gear side space 70 is connected to the atmosphere through the connection hole 1171, the pumping action due to the deflection of the external gear 30 is eliminated, so lubricant is no longer sent into the bearing 50 from the gear side space 70. Therefore, leakage of lubricant from the oil seal 60 can be suppressed.

In the gear device 1110 of the twelfth embodiment, the connection hole 1171 is formed in the inner ring 1151 and the internal gear 1120.

The robot 1101 of the twelfth embodiment includes a gear device 1110, a first member (base 1103) to which the gear device 1110 is fixed, and an air tube 1104, and the first member has a through hole communicating with a connecting hole 1171. The robot 1101 has a hole 1103A, one end of an air tube 1104 is connected to the through hole 1103A and attached to the first member, and the other end of the air tube 1104 is open to the atmosphere.

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

In the robot 1101 of the twelfth embodiment, at least a portion of the air tube 1104 has a coil shape.

Since at least a portion of the air tube 1104 is coiled, the length of the air tube 1104 can be increased. Therefore, leakage of the lubricant to the outside can be further suppressed.

[Embodiment 13]
A thirteenth embodiment of the present disclosure will be described with reference to FIG. 19. In the gear device 1210 and robot 1201 of the thirteenth embodiment, the members in which the connection hole 1271 is provided are different from those in the twelfth embodiment. Since the other configurations and effects are the same as those in the first embodiment, members equivalent to those in the first embodiment are given the same reference numerals as those in the first embodiment, and detailed explanations thereof will be omitted.

The gear device 1210 of the thirteenth embodiment is attached to the robot 1201 in a vertically opposite orientation compared to the gear device 1110 of the twelfth embodiment. In order to arrange the connection hole 1271, the through hole 1205A, and the air tube 1204 above the gear side space 70, in the gear device 1210, the connection hole 1271 is formed in the boss portion 1234 of the external gear 30.

<1st arm>
The robot 1201 according to the present embodiment includes a first arm 1205, a second arm 1206 that is rotatably supported with respect to the first arm 1205, and one of the first arm 1205 and the second arm 1206. A gear device 1210 that transmits driving force to the gear device 1210 and a motor (not shown) that is a driving source of the gear device 1210 are provided. The internal gear 20 is fixed to the second arm 1206. External gear 30 is connected to first arm 1205. Wave generator 40 is connected to the motor. In this embodiment, the first arm 1205 is an example of a first member. The first arm 1205 is formed with a through hole 1205A that communicates with a connection hole 1271 provided in the gear device 1210.

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

A connection hole 1271 is formed in the boss portion 1234 of the external gear 30 of this embodiment. The connecting hole 1271 communicates with the gear side space 70. The effects regarding the connection hole 1271 are the same as those in the twelfth embodiment, so their explanation will be omitted.

[Other embodiments]
(1) The configurations of the above embodiments may be combined as long as they do not contradict each other.

(2) In the above embodiment, the

gear devices

10, 110, 210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, and 1210 are in a posture in which the rotating shaft 10A extends in the vertical direction. However, the gear device may be in a position where the rotation axis extends in a direction intersecting the vertical direction. However, in the

gear devices

1110 and 1210, the through

holes

1103A and 1205A are preferably arranged above the

gear devices

1110 and 1210, respectively.

(3) The member to which the gear device is attached in the robot is not limited to the one in the above embodiment.

1: Robot 2: Arm (mounting member) 2A: Groove 10: Gear device 10A: Rotating shaft 20: Internal gear 21: Annular member 22: Internal tooth 30: External gear 31: Cylindrical part 31A: Internal space 32 : External tooth 33: Diaphragm part 34: Boss part 40: Wave generator 50: Bearing 51: Inner ring 52: Outer ring 53: Roller 54: First space 55: Second space 60: Oil seal 70: Gear side space 80: Communication Hole 81: First communication hole 82: Second communication hole 83: First hole 84: Second hole 101: Robot 102: Arm (mounting member) 102B: Bolt fastening hole 102C: Bolt 102D: Seal washer 110: Gear device 180 : Communication hole 181: First communication hole 182: Second communication hole 184: Second hole 201: Robot 210: Gear device 234: Boss portion 280: Communication hole 301: Robot 310: Gear device 320A: Inner member 352: Outer ring 352A : Extension part 354A: Third space 361: First seal member 362: Second seal member 401: Robot 410: Gear device 451: Inner ring 451A: Contact part 461: First seal member 462: Second seal member 462A: Base 462B: Tip 463: Spacer 501: Robot 502: Arm 502A: Bolt fastening hole 510: Gear device 534: Boss 534A: Bolt insertion hole 552: Outer ring 552A: Outer ring main body 552B: Extension plate 552C, 552F: Bolt insertion Hole 552D: Bolt fastening hole
552E, 552G: Bolt 601: Robot 602: Arm (mounting member) 602A: Groove 610: Gear device 680: Communication hole 680A: Third hole 701: Robot 710: Gear device 734: Boss portion 734A: Bolt insertion hole 752: Outer ring 752A: Bolt fastening hole 752B: Bolt 756: First plate 756A: Contact portion 757: Spacer 757A: Bolt insertion hole 790: First bearing seal 790A: First base 790B: First tip 791: Second bearing seal 791A : Second base 791B: Second tip 801: Robot 810: Gear device 856: Second plate 856A: Mounting groove 890: Third bearing seal 891: Base 892A: First lip 892B: Second lip 901: Robot 910: Gear device 956: Third plate 956A: Mounting groove 990: Fourth bearing seal 991: Base 992A: First lip 992B: Second lip 1001: Robot 1010: Gear device 1034: Boss portion 1034A: Bolt insertion hole 1051: Inner ring 1051A : Contact part 1051B: Mounting groove (groove)
1052: Outer ring 1052A: Bolt fastening hole 1052B: Bolt 1056: Fourth plate 1056A: Mounting groove (groove) 1057: Fixed part 1057A: Bolt insertion hole 1058: Extension part 1058A: First extension part 1058B: Second extension part Part 1070A: Fourth space 1090: Fifth bearing seal 1091: Base 1092A: First lip 1092B: Second lip 1101: Robot 1103: Base (first member) 1103A: Through hole 1104: Air tube 1110: Gear device 1120 : Internal gear 1123: Cover part 1151: Inner ring 1151A: Fourth hole 1151B: Fifth hole 1171: Connection hole 1171A: First connection hole 1171B: Second connection hole 1201: Robot 1204: Air tube 1205: First arm ( (first member) 1205A: Through hole 1206: Second arm 1210: Gear device 1234: Boss portion 1271: Connection hole

Claims

A gear device attached to a mounting member,
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner circumferential surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
Equipped with an oil seal,
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
The external gear is
a flexible cylindrical part coaxially disposed inside the internal gear;
a diaphragm portion extending outward from the end of the cylindrical portion;
a rigid boss portion extending from the outer peripheral edge of the diaphragm portion and forming an annular shape;
The boss portion is attached to the mounting member,
A communication hole communicating with the first space or the gear side space is formed in at least the boss portion,
In the gear device, the communicating hole communicates with an internal 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.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner circumferential surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
a first seal member;
a second seal member that is separate from the first seal member,
The inner ring and the internal gear constitute an inner member,
A third space that opens to one end surface of the bearing is formed between the inner member and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
The first seal member is an oil seal and seals the third space,
In the gear device, the second seal member is disposed further inward of the third space than the first seal member to seal the third space.
The gear device according to claim 4, wherein the second seal member is an oil seal.
The outer ring includes an outer ring main body and an extension plate that is fixed to the outer ring main body and extends closer to the internal gear than the inner ring,
The gear device according to claim 5, wherein the first sealing member is disposed between the extending plate and the internal gear.
A gear device attached to a mounting member,
The external gear is
a flexible cylindrical part coaxially disposed inside the internal gear;
a diaphragm portion extending outward from the end of the cylindrical portion;
a rigid boss portion extending from the outer peripheral edge of the diaphragm portion and forming an annular shape;
A communication hole communicating with the third space is formed in the outer ring and the boss portion,
The gear device according to claim 6, wherein the communication hole communicates with the internal space of the cylindrical portion via a groove provided in the mounting member.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner circumferential surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
oil seal and
a first bearing seal;
a second bearing seal that is separate from the first bearing seal;
a first plate fixed to the inner ring;
comprising a spacer;
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
The external gear is
a flexible cylindrical part coaxially disposed inside the internal gear;
a diaphragm portion extending outward from the end of the cylindrical portion;
a rigid boss portion extending from the outer peripheral edge of the diaphragm portion and forming an annular shape;
The first bearing seal includes a first base and a first tip extending from the first base,
The second bearing seal includes a second base and a second tip extending from the second base,
the spacer is sandwiched and fixed between the outer ring and the boss portion;
the first base is sandwiched and fixed between the spacer and the outer ring;
the second base portion is sandwiched and fixed between the spacer and the boss portion;
The first tip contacts the first plate from the second space side to seal the second space,
In the gear device, the second tip portion contacts the first plate from the gear side space side and partitions the gear side space.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner circumferential surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
oil seal and
a third bearing seal;
a second plate fixed to the inner ring;
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
The external gear is
a flexible cylindrical part coaxially disposed inside the internal gear;
a diaphragm portion extending outward from the end of the cylindrical portion;
a rigid boss portion extending from the outer peripheral edge of the diaphragm portion and forming an annular shape;
The third bearing seal includes a base, a first lip extending from the base, and a second lip extending from the base,
the base portion is sandwiched and fixed between the second plate and the inner ring;
The gear device, wherein the first lip and the second lip contact the diaphragm portion and partition the gear side space.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner circumferential surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
oil seal and
a fourth bearing seal;
a third plate fixed to the inner ring;
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
The fourth bearing seal includes a base, a first lip extending from the base, and a second lip extending from the base,
The base portion is sandwiched and fixed between the third plate and the inner ring,
The gear device, wherein the first lip and the second lip contact the outer ring and partition the second space and the gear side space.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner peripheral surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
oil seal and
a fifth bearing seal;
a fourth plate fixed to the outer ring and extending toward the inner ring,
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
A fourth space is formed between the fourth plate and the inner ring, and the fourth space communicates the gear side space with the second space.
The fifth bearing seal includes a base, a first lip extending from the base, and a second lip extending from the base,
The base is housed inside a groove formed in one of the fourth plate and the inner ring,
The gear device, wherein the first lip and the second lip contact the other of the fourth plate and the inner ring to partition the fourth space.
A robot comprising the gear device according to any one of claims 1 to 11.
internal gear,
an external gear partially meshing with the internal gear;
a wave generator that contacts the inner peripheral surface of the external gear and rotates the meshing position of the internal gear and the external gear around a rotation axis;
a bearing that includes an inner ring and an outer ring and supports the internal gear and the external gear so that they can rotate relative to each other;
Equipped with an oil seal,
A first space that opens to one end surface of the bearing is formed between the inner ring and the outer ring,
A second space that opens to the other end surface 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 external gear and the bearing,
the oil seal seals the first space;
A gear device, wherein a connection hole is formed to connect the gear side space to the atmosphere.
The gear device according to claim 13, wherein the connection hole is formed in the inner ring and the internal gear.
The external gear is
a flexible cylindrical part coaxially disposed inside the internal gear;
a diaphragm portion extending outward from the end of the cylindrical portion;
a rigid boss portion extending from the outer peripheral edge of the diaphragm portion and forming an annular shape;
The gear device according to claim 13, wherein the connection hole is formed in the boss portion.
The gear device according to any one of claims 13 to 15,
a first member to which the gear device is fixed;
Equipped with an air tube,
The first member has a through hole that communicates with the connection hole,
one end of the air tube is connected to the through hole and attached to the first member,
The other end of the air tube is open to the atmosphere.
The robot according to claim 16, wherein at least a portion of the air tube has a coil shape.