Abstract: An actuator has a motor and a wave gear reduction drive in which a wave generator is coaxially connected to an output shaft protruding forward from a front surface thereof. A shaft portion of the output shaft coaxially extends through inside a cylindrical trunk in the flexible internal gear of the wave gear reduction drive, and a magnetic encoder for detecting the rotation of the output shaft is mounted on the shaft portion. Since the dead space inside the cylindrical trunk is used as the space for disposing the magnetic encoder, an entire length can be reduced in comparison with an actuator in which the motor, the wave gear reduction drive, and the encoder are arranged in the axial direction.

Abstract: An actuator has a motor and a wave gear reduction drive in which a wave generator is coaxially connected to an output shaft protruding forward from a front surface thereof. A shaft portion of the output shaft coaxially extends through inside a cylindrical trunk in the flexible internal gear of the wave gear reduction drive, and a magnetic encoder for detecting the rotation of the output shaft is mounted on the shaft portion. Since the dead space inside the cylindrical trunk is used as the space for disposing the magnetic encoder, an entire length can be reduced in comparison with an actuator in which the motor, the wave gear reduction drive, and the encoder are arranged in the axial direction.

Abstract: A rigid internal gear 2 of the wave gear device is composed by integrating a tooth-forming ring 12 formed with internal teeth, and a main gear ring 11 into a single body. The tooth-forming ring 12 is manufactured from a ferrous or copper material that has superior strength and abrasion resistance, while the main gear ring 11 is manufactured from a lightweight material, such as an aluminum alloy. The outer circumferential surface of the tooth-forming ring 12 is aluminized to form a dispersed aluminum coating 15, before the tooth-forming ring 12 is cast within the main gear ring 11 so as to integrate the main gear ring 11 and the tooth-forming ring 12. Both parts are reliably integrated so that a large amount of torque can be transmitted, whereby realizing a rigid internal gear that is lighter than conventional models.

Abstract: A flexible external gear of a silk hat shaped wave gear device has an annular body, external teeth formed on an outer circumferential portion of a first opening of the body, a circular diaphragm connected to a second opening portion of the body, and a circular boss connected to an outer circumferential end of the diaphragm. The shape of a connected portion of the diaphragm and the body is defined by a curved portion whose diameter decreases gradually from the diaphragm toward the body when viewed along a device axis. Since the body is wider on the diaphragm side, the wave generator 7 can be easily fitted into the flexible external gear from the diaphragm side.

Abstract: A rigid internal gear 2 of the wave gear device is composed by integrating a tooth-forming ring 12 formed with internal teeth, and a main gear ring 11 into a single body. The tooth-forming ring 12 is manufactured from a ferrous or copper material that has superior strength and abrasion resistance, while the main gear ring 11 is manufactured from a lightweight material, such as an aluminum alloy. The outer circumferential surface of the tooth-forming ring 12 is aluminized to form a dispersed aluminum coating 15, before the tooth-forming ring 12 is cast within the main gear ring 11 so as to integrate the main gear ring 11 and the tooth-forming ring 12. Both parts are reliably integrated so that a large amount of torque can be transmitted, whereby realizing a rigid internal gear that is lighter than conventional models.

Abstract: A rigid internal gear 2 of the wave gear device is composed by integrating a tooth-forming ring 12 formed with internal teeth, and a main gear ring 11 into a single body. The tooth-forming ring 12 is manufactured from a ferrous or copper material that has superior strength and abrasion resistance, while the main gear ring 11 is manufactured from a lightweight material, such as an aluminum alloy. The outer circumferential surface of the tooth-forming ring 12 is aluminized to form a dispersed aluminum coating 15, before the tooth-forming ring 12 is cast within the main gear ring 11 so as to integrate the main gear ring 11 and the tooth-forming ring 12. Both parts are reliably integrated so that a large amount of torque can be transmitted, whereby realizing a rigid internal gear that is lighter than conventional models.

Abstract: A flexible external gear of a silk hat shaped wave gear device has an annular body, external teeth formed on an outer circumferential portion of a first opening of the body, a circular diaphragm connected to a second opening portion of the body, and a circular boss connected to an outer circumferential end of the diaphragm. The shape of a connected portion of the diaphragm and the body is defined by a curved portion whose diameter decreases gradually from the diaphragm toward the body when viewed along a device axis. Since the body is wider on the diaphragm side, the wave generator 7 can be easily fitted into the flexible external gear from the diaphragm side.

Abstract: A lightweight wave gear device has a similar engagement rigidity, tooth surface hardness, and abrasion resistance as when a ferrous material is used. A cup-shaped wave gear device 1 has a rigid internal gear 2 that is formed of a lightweight alloy, such as an aluminum alloy, and internal teeth 21 are formed with a height that is 1.1 to 1.3 times the height used for internal gears that are made of a ferrous material. A hard, electrolessly plated coating is also formed on the tooth surface 21a of the internal teeth 21. By doing so, a lightweight wave gear device can be obtained with a similar engagement rigidity, tooth surface strength, and abrasion resistance to a wave gear device that has a rigid internal gear formed of a ferrous material.

Abstract: A lightweight wave gear device has a similar engagement rigidity, tooth surface hardness, and abrasion resistance as when a ferrous material is used. A cup-shaped wave gear device 1 has a rigid internal gear 2 that is formed of a lightweight alloy, such as an aluminum alloy, and internal teeth 21 are formed with a height that is 1.1 to 1.3 times the height used for internal gears that are made of a ferrous material. A hard, electrolessly plated coating is also formed on the tooth surface 21a of the internal teeth 21. By doing so, a lightweight wave gear device can be obtained with a similar engagement rigidity, tooth surface strength, and abrasion resistance to a wave gear device that has a rigid internal gear formed of a ferrous material.

Abstract: A rigid internal gear 2 of the wave gear device is composed by integrating a tooth-forming ring 12 formed with internal teeth, and a main gear ring 11 into a single body. The tooth-forming ring 12 is manufactured from a ferrous or copper material that has superior strength and abrasion resistance, while the main gear ring 11 is manufactured from a lightweight material, such as an aluminum alloy. The outer circumferential surface of the tooth-forming ring 12 is aluminized to form a dispersed aluminum coating 15, before the tooth-forming ring 12 is cast within the main gear ring 11 so as to integrate the main gear ring 11 and the tooth-forming ring 12. Both parts are reliably integrated so that a large amount of torque can be transmitted, whereby realizing a rigid internal gear that is lighter than conventional models.

Abstract: A cup-type wave gear device 1 comprises a cup-shaped flexible external gear 4 which has a boss 43 formed at its outer circumferential surface with an external thread 43b. An output shaft 6 is formed on its end surface with an annular recess whose inner circumferential surface is formed with an internal thread 61. The external thread 43b of the boss 43 is screwed into the internal thread 61 of the output shaft 6. The boss 43 is formed with a center through hole 43a having a regular hexagonal section, into which a commercially available wrench can be inserted. Making use of this through hole 43a, a commercially available wrench can be used to fasten the boss 43 to the output shaft 6 easily with a large fastening torque.

Abstract: A planetary gear device (20) comprises a front-stage side planetary gear mechanism (21) and a rear-stage side planetary gear mechanism (23). The rear-stage side planetary gear mechanism (23) comprises an internal gear (25), a carrier (29) rotatably supported by a pair of main guide bearings (26,27) disposed on both sides of the internal gear (25), a plurality of planetary gears (31) rotatably supported on a plurality of planetary shafts (30) extending between a pair of carrier parts (28A,28B) of the carrier (29), a sun gear (33) formed on an outer circumferential surface of a pinion shaft extending in a direction of a device axial line (20a) to pass through the carrier (29), and an output shaft (34) connected to the carrier (29) and extending in the direction of the device axial line (20a).