JP6767955B2 - Strain wave gearing and robot - Google Patents

Strain wave gearing and robot Download PDF

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JP6767955B2
JP6767955B2 JP2017181215A JP2017181215A JP6767955B2 JP 6767955 B2 JP6767955 B2 JP 6767955B2 JP 2017181215 A JP2017181215 A JP 2017181215A JP 2017181215 A JP2017181215 A JP 2017181215A JP 6767955 B2 JP6767955 B2 JP 6767955B2
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rotation
lubricant
extending
rotation shaft
disk portion
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JP2019056425A (en
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剛志 津田
剛志 津田
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Mitsubishi Electric Corp
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Description

この発明は、潤滑剤を回転機構の摺動部へ搬送する波動歯車装置及びロボットに関する。 The present invention relates to a strain wave gearing device and a robot that convey a lubricant to a sliding portion of a rotating mechanism.

特許文献１に開示される歯車装置は、歯車と、歯車の軸穴に貫通する軸部とを備える。軸部には、螺旋状の溝部が形成される。溝部には、軸部と歯車との間の摺動部を潤滑するための潤滑剤が充填される。これにより、軸部と軸穴との潤滑状態が維持される。 The gear device disclosed in Patent Document 1 includes a gear and a shaft portion penetrating the shaft hole of the gear. A spiral groove is formed on the shaft. The groove is filled with a lubricant for lubricating the sliding portion between the shaft and the gear. As a result, the lubrication state between the shaft portion and the shaft hole is maintained.

特開２０１１−１７４５７７号公報Japanese Unexamined Patent Publication No. 2011-174577

しかしながら特許文献１に開示される従来の歯車装置では、摺動部の下側に落下した潤滑剤が摺動部の潤滑に寄与しないため、短期間で摺動部へ潤滑剤を補充する必要がある。従って、潤滑剤の補充作業が頻繁に発生するため、メンテナンス性が低下するという課題があった。 However, in the conventional gear device disclosed in Patent Document 1, since the lubricant dropped on the lower side of the sliding portion does not contribute to the lubrication of the sliding portion, it is necessary to replenish the sliding portion with the lubricant in a short period of time. is there. Therefore, since the replenishment work of the lubricant is frequently performed, there is a problem that the maintainability is lowered.

本発明は、上記に鑑みてなされたものであって、摺動部の下側に潤滑剤が落下した場合でも摺動部へ潤滑剤を搬送できる波動歯車装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to obtain a strain wave gearing capable of transporting a lubricant to the sliding portion even when the lubricant falls on the lower side of the sliding portion.

上述した課題を解決し、目的を達成するために、本発明に係る波動歯車装置は、回転軸と、回転軸の回転に連動して回転する回転機構とを備える。波動歯車装置は、有底の筐体を備える。有底の筐体は、回転機構の下側に設けられ回転軸が貫通する開口部が形成される底面と、回転軸と同軸に設けられ底面から回転機構に向けて伸びる第１の部材と、第１の部材の内側に回転軸と同軸に設けられ底面から回転機構に向けて伸びる第２の部材とを有する。波動歯車装置は、第１の部材、第２の部材及び底面によって囲まれて形成される溝に存在する潤滑剤を、回転機構の摺動部へ搬送する潤滑剤搬送部を備える。潤滑剤搬送部は、第２の部材と回転機構との間に設けられ、回転軸に固定され、回転軸から第１の部材の内周面に向けて伸びる円板部と、溝に設けられ、円板部から底面に向けて伸びる羽と、第２の部材と羽との間に設けられ、円板部から底面に向けて伸びる円筒状の内壁部とを備え、円板部には、円板部を上下方向に貫通し、羽の上側の端部と繋がる穴部が形成されることを特徴とする。 In order to solve the above-mentioned problems and achieve the object, the strain wave gearing device according to the present invention includes a rotating shaft and a rotating mechanism that rotates in conjunction with the rotation of the rotating shaft. The strain wave gearing includes a bottomed housing. The bottomed housing includes a bottom surface provided below the rotation mechanism and formed with an opening through which the rotation shaft penetrates, and a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism. It has a second member provided inside the first member coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism. The strain wave gearing device includes a lubricant transporting portion that transports a lubricant existing in a groove formed by being surrounded by a first member, a second member, and a bottom surface to a sliding portion of a rotating mechanism . The lubricant transporting portion is provided between the second member and the rotating mechanism, is fixed to the rotating shaft, and is provided in the disc portion extending from the rotating shaft toward the inner peripheral surface of the first member and in the groove. A wing extending from the disk portion toward the bottom surface and a cylindrical inner wall portion provided between the second member and the wing and extending from the disk portion toward the bottom surface are provided, and the disk portion has a cylindrical inner wall portion. It is characterized in that a hole portion is formed which penetrates the disk portion in the vertical direction and connects with the upper end portion of the wing .

本発明に係る波動歯車装置は、摺動部の下側に潤滑剤が落下した場合でも摺動部へ潤滑剤を搬送できる、という効果を奏する。 The strain wave gearing device according to the present invention has an effect that the lubricant can be conveyed to the sliding portion even when the lubricant falls to the lower side of the sliding portion.

本発明の実施の形態に係る波動歯車装置を備えたロボットの斜視図Perspective view of a robot provided with a strain wave gearing according to an embodiment of the present invention. 本発明の実施の形態に係る波動歯車装置の断面図Sectional drawing of the wave gear device which concerns on embodiment of this invention 図２に示す波動歯車装置のＩＩＩ−ＩＩＩ矢視断面図Section III-III cross-sectional view of the strain wave gearing shown in FIG. 図２に示す筐体１２の斜視図A perspective view of the housing 12 shown in FIG. 図４に示す第２の部材の拡大図Enlarged view of the second member shown in FIG. 図２に示す潤滑剤搬送部の斜視外観図Perspective external view of the lubricant transporting portion shown in FIG. 図２に示す潤滑剤搬送部を上側から見た平面図Top view of the lubricant transport section shown in FIG. 2 as viewed from above. 図７に示す潤滑剤搬送部のＶＩＩＩ−ＶＩＩＩ矢視断面図VIII-VIII cross-sectional view of the lubricant transport section shown in FIG. 図２に示す潤滑剤搬送部を下側から見た平面図Top view of the lubricant transport section shown in FIG. 2 as viewed from below. 図９に示す潤滑剤搬送部のＸ−Ｘ矢視断面図Cross-sectional view taken along the line XX of the lubricant transport section shown in FIG. 本発明の実施の形態に係る波動歯車装置の比較例の断面図Sectional drawing of the comparative example of the wave gear device which concerns on embodiment of this invention

以下に、本発明の実施の形態に係る波動歯車装置及び波動歯車装置を備えたロボットを図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, the wave gear device and the robot provided with the wave gear device according to the embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

実施の形態．
図１は本発明の実施の形態に係る波動歯車装置を備えたロボットの斜視図である。図１に示すように本発明の実施の形態に係るロボット１００は、３自由度の水平多関節型のロボットである。ロボット１００は、ベース１と、第１アーム２と、第２アーム３とを備える。 Embodiment.
FIG. 1 is a perspective view of a robot provided with a strain wave gearing according to an embodiment of the present invention. As shown in FIG. 1, the robot 100 according to the embodiment of the present invention is a horizontal articulated robot with three degrees of freedom. The robot 100 includes a base 1, a first arm 2, and a second arm 3.

ベース１は、本発明の実施の形態に係る波動歯車装置２００と、入力軸９を介して波動歯車装置２００に接続されるモータ３００とを備える。 The base 1 includes a wave gear device 200 according to an embodiment of the present invention, and a motor 300 connected to the wave gear device 200 via an input shaft 9.

第１アーム２は、ベース１の上部に設けられる。第１アーム２は、ベース１の上部から水平に伸びる。第１アーム２の一端は、ベース１の鉛直軸線ＡＸ１の回転方向Ｄ３に揺動可能な状態で、波動歯車装置２００へ連結される。具体的には、第１アーム２の一端は、出力軸１０を介して波動歯車装置２００に接続される。波動歯車装置２００が差動回転することにより、モータ３００の回転が減速されて第１アーム２に伝達される。これにより第１アーム２が水平面内で揺動する。 The first arm 2 is provided on the upper part of the base 1. The first arm 2 extends horizontally from the upper part of the base 1. One end of the first arm 2 is connected to the strain wave gearing 200 in a state where it can swing in the rotation direction D3 of the vertical axis AX1 of the base 1. Specifically, one end of the first arm 2 is connected to the strain wave gearing device 200 via the output shaft 10. The differential rotation of the strain wave gearing 200 reduces the rotation of the motor 300 and transmits it to the first arm 2. As a result, the first arm 2 swings in the horizontal plane.

第２アーム３は、第１アーム２の上部に設けられる。第２アーム３は、第１アーム２の他端の鉛直軸線ＡＸ２の回転方向に揺動可能な状態で、第１アーム２へ連結される。図１では図示を省略しているが、第２アーム３は、ベース１が備える波動歯車装置２００及びモータ３００と同様の構造の、波動歯車装置及びモータを備える。また第２アーム３は、回転方向及び軸方向に移動可能な自在関節へ連結されたスプライン４を備える。 The second arm 3 is provided above the first arm 2. The second arm 3 is connected to the first arm 2 in a state where it can swing in the rotation direction of the vertical axis AX2 at the other end of the first arm 2. Although not shown in FIG. 1, the second arm 3 includes a strain wave gearing device 200 and a motor having the same structure as the strain wave gearing device 200 and the motor 300 included in the base 1. Further, the second arm 3 includes a spline 4 connected to a universal joint that can move in the rotational direction and the axial direction.

第１アーム２の他端は、第２アーム３が備える波動歯車装置の出力軸を介して第２アーム３に接続される。第２アーム３が備える波動歯車装置が差動回転することにより、第２アーム３が備えるモータの回転が減速されて第１アーム２に伝達される。これにより第２アーム３が水平面内で揺動する。 The other end of the first arm 2 is connected to the second arm 3 via the output shaft of the strain wave gearing included in the second arm 3. The differential rotation of the strain wave gearing included in the second arm 3 causes the rotation of the motor included in the second arm 3 to be decelerated and transmitted to the first arm 2. As a result, the second arm 3 swings in the horizontal plane.

このように構成されたロボット１００は、ベース１と第１アーム２との接続箇所と、第１アーム２と第２アーム３との接続箇所を動作させることにより、ベース１に対するスプライン４の先端の位置及び姿勢を制御できる。これにより、不図示の部材の高速高精度な搬送及び組立を実現できる。 The robot 100 configured in this way operates the connection points between the base 1 and the first arm 2 and the connection points between the first arm 2 and the second arm 3, so that the tip of the spline 4 with respect to the base 1 can be operated. The position and posture can be controlled. As a result, high-speed and high-precision transportation and assembly of members (not shown) can be realized.

次に、図２から図５を参照して波動歯車装置２００の構成を説明する。図２は本発明の実施の形態に係る波動歯車装置の断面図である。図３は図２に示す波動歯車装置のＩＩＩ−ＩＩＩ矢視断面図である。図４は図２に示す筐体１２の斜視図である。図５は図４に示す第２の部材の拡大図である。 Next, the configuration of the strain wave gearing 200 will be described with reference to FIGS. 2 to 5. FIG. 2 is a cross-sectional view of a strain wave gearing according to an embodiment of the present invention. FIG. 3 is a cross-sectional view taken along the line III-III of the strain wave gearing shown in FIG. FIG. 4 is a perspective view of the housing 12 shown in FIG. FIG. 5 is an enlarged view of the second member shown in FIG.

図２に示すように波動歯車装置２００は、入力軸９と、有底円筒状の筐体１２と、有底円筒状の筐体１１と、減速機構である回転機構２０と、オイルシール１３と、ウェーブジェネレータ５と、サーキュラスプライン７と、フレクスプライン６と、出力軸１０と、潤滑剤搬送部１６とを備える。 As shown in FIG. 2, the wave gear device 200 includes an input shaft 9, a bottomed cylindrical housing 12, a bottomed cylindrical housing 11, a rotating mechanism 20 as a speed reduction mechanism, and an oil seal 13. , A wave generator 5, a circular spline 7, a flex spline 6, an output shaft 10, and a lubricant transport unit 16.

図２に示すように入力軸９は、筐体１２の底面１２ｂの径方向Ｄ１中心を貫通し、上下方向Ｄ２に伸びる回転軸である。 As shown in FIG. 2, the input shaft 9 is a rotation shaft that penetrates the center of the bottom surface 12b of the housing 12 in the radial direction D1 and extends in the vertical direction D2.

図２に示すように筐体１２は、筐体１１の下側に設けられ、筐体１１に固定される。筐体１１は、筐体１２の上側に筐体１２と対向して設けられる。筐体１１の内側には、サーキュラスプライン７の径方向外側の部分が固定される。サーキュラスプライン７の構成の詳細は後述する。筐体１２は、図４に示すように、環状の底面１２ｂと、第１の部材１２ｃと、第２の部材１２ｄとを備える。底面１２ｂは、図２に示す回転機構２０の下側に設けられる。回転機構２０は、筐体１２の上側に設けられ、入力軸９の回転に連動して回転する。回転機構２０の一部は、図２及び図３に示すウェーブジェネレータ５、フレクスプライン６及びサーキュラスプライン７によって構成される。図４に示す底面１２ｂの径方向中心には開口部１２ｂ１が形成される。開口部１２ｂ１には、図２に示す入力軸９が挿入される。底面１２ｂの径方向Ｄ１中心側には、開口部１２ｂ１を取り囲むように第２の部材１２ｄが設けられる。底面１２ｂの径方向Ｄ１外側には、第１の部材１２ｃが設けられる。第１の部材１２ｃは、図２に示す入力軸９と同軸に設けられる環状の部材である。第１の部材１２ｃは、底面１２ｂから図２に示す回転機構２０に向けて伸びる。第１の部材１２ｃが伸びる方向は上下方向Ｄ２に等しい。第２の部材１２ｄは、第１の部材１２ｃの内側において、図２に示す入力軸９と同軸に設けられる環状の部材である。第２の部材１２ｄは、底面１２ｂから図２に示す回転機構２０に向けて伸びる。第２の部材１２ｄが伸びる方向は上下方向Ｄ２に等しい。第１の部材１２ｃの内周面と第２の部材１２ｄの外周面とは互いに離間している。 As shown in FIG. 2, the housing 12 is provided on the lower side of the housing 11 and is fixed to the housing 11. The housing 11 is provided on the upper side of the housing 12 so as to face the housing 12. A radial outer portion of the circular spline 7 is fixed to the inside of the housing 11. Details of the configuration of the circular spline 7 will be described later. As shown in FIG. 4, the housing 12 includes an annular bottom surface 12b, a first member 12c, and a second member 12d. The bottom surface 12b is provided below the rotation mechanism 20 shown in FIG. The rotation mechanism 20 is provided on the upper side of the housing 12 and rotates in conjunction with the rotation of the input shaft 9. A part of the rotation mechanism 20 is composed of the wave generator 5, the flexspline 6, and the circular spline 7 shown in FIGS. 2 and 3. An opening 12b1 is formed at the radial center of the bottom surface 12b shown in FIG. The input shaft 9 shown in FIG. 2 is inserted into the opening 12b1. A second member 12d is provided on the radial direction D1 center side of the bottom surface 12b so as to surround the opening 12b1. A first member 12c is provided on the outer side of the bottom surface 12b in the radial direction D1. The first member 12c is an annular member provided coaxially with the input shaft 9 shown in FIG. The first member 12c extends from the bottom surface 12b toward the rotation mechanism 20 shown in FIG. The direction in which the first member 12c extends is equal to the vertical direction D2. The second member 12d is an annular member provided inside the first member 12c coaxially with the input shaft 9 shown in FIG. The second member 12d extends from the bottom surface 12b toward the rotation mechanism 20 shown in FIG. The direction in which the second member 12d extends is equal to the vertical direction D2. The inner peripheral surface of the first member 12c and the outer peripheral surface of the second member 12d are separated from each other.

第１の部材１２ｃと第２の部材１２ｄと底面１２ｂとで囲まれる領域は、環状の溝１２ａを構成する。 The region surrounded by the first member 12c, the second member 12d, and the bottom surface 12b constitutes an annular groove 12a.

第１の部材１２ｃの上下方向Ｄ２の高さは、第２の部材１２ｄの上下方向Ｄ２の高さよりも大きい。第１の部材１２ｃの内径は、図２に示す円板部１６ｂの外径よりも大きい。円板部１６ｂの構成の詳細は後述する。第２の部材１２ｄの外径は、図６に示される内壁部１６ｄの内径よりも小さい。内壁部１６ｄの構成の詳細は後述する。第１の部材１２ｃと第２の部材１２ｄとの上下方向Ｄ２の段差部には、図２に示す円板部１６ｂが配置される。当該段差部は、上下方向Ｄ２において、第１の部材１２ｃの上下方向Ｄ２の端部から、第２の部材１２ｄの上下方向Ｄ２の端部に至るまでの、上下方向Ｄ２の空間に等しい。 The height of the first member 12c in the vertical direction D2 is larger than the height of the second member 12d in the vertical direction D2. The inner diameter of the first member 12c is larger than the outer diameter of the disk portion 16b shown in FIG. Details of the configuration of the disk portion 16b will be described later. The outer diameter of the second member 12d is smaller than the inner diameter of the inner wall portion 16d shown in FIG. Details of the configuration of the inner wall portion 16d will be described later. A disk portion 16b shown in FIG. 2 is arranged at a step portion in the vertical direction D2 between the first member 12c and the second member 12d. The step portion is equal to the space in the vertical direction D2 from the end portion of the first member 12c in the vertical direction D2 to the end portion of the second member 12d in the vertical direction D2 in the vertical direction D2.

図５に示すように第２の部材１２ｄには、図４に示す底面１２ｂに接する第１の端面１２ｄ２と、第２の端面１２ｄ３とが形成される。第２の端面１２ｄ３は、第２の部材１２ｄの第１の端面１２ｄ２側とは逆側に設けられ、図２に示す円板部１６ｂに対向する。また第２の部材１２ｄには、第１の端面１２ｄ２寄りに設けられる第１の内周面１２ｄ４と、第２の端面１２ｄ３寄りに設けられる第２の内周面１２ｄ５と、段差部１２ｄ６とが形成される。 As shown in FIG. 5, the second member 12d is formed with a first end surface 12d2 in contact with the bottom surface 12b shown in FIG. 4 and a second end surface 12d3. The second end surface 12d3 is provided on the side opposite to the first end surface 12d2 side of the second member 12d, and faces the disk portion 16b shown in FIG. Further, the second member 12d includes a first inner peripheral surface 12d4 provided near the first end surface 12d2, a second inner peripheral surface 12d5 provided near the second end surface 12d3, and a step portion 12d6. It is formed.

第１の内周面１２ｄ４の内径は、第２の内周面１２ｄ５の内径よりも狭い。段差部１２ｄ６は、第１の内周面１２ｄ４と第２の内周面１２ｄ５との境界部に相当する。段差部１２ｄ６には、図２に示すオイルシール１３が設けられる。 The inner diameter of the first inner peripheral surface 12d4 is narrower than the inner diameter of the second inner peripheral surface 12d5. The stepped portion 12d6 corresponds to a boundary portion between the first inner peripheral surface 12d4 and the second inner peripheral surface 12d5. The step portion 12d6 is provided with the oil seal 13 shown in FIG.

オイルシール１３は、入力軸９と同軸に、図４及び図５に示す第２の部材１２ｄに設けられる。オイルシール１３の形状は、入力軸９の外周部を取り囲む環状である。オイルシール１３の内側にはリップ部１３ａが設けられ、リップ部１３ａは、入力軸９に摺動する。オイルシール１３の外周部は、第２の内周面１２ｄ５の内周面に接する。 The oil seal 13 is provided on the second member 12d shown in FIGS. 4 and 5 coaxially with the input shaft 9. The shape of the oil seal 13 is an annular shape that surrounds the outer peripheral portion of the input shaft 9. A lip portion 13a is provided inside the oil seal 13, and the lip portion 13a slides on the input shaft 9. The outer peripheral portion of the oil seal 13 is in contact with the inner peripheral surface of the second inner peripheral surface 12d5.

図３に示すようにウェーブジェネレータ５は、カム５１と、カム５１の外周部に設けられる環状のベアリング５２とを備える。カム５１の径方向中心には、入力軸９が貫通する。カム５１は、入力軸９の外周部に固定され、入力軸９の回転に連動して回転する。ベアリング５２は、カム５１の外周部に設けられる環状の内輪５２ａと、内輪５２ａの径方向外側に設けられる外輪５２ｂと、複数の球体５２ｃとを備える。内輪５２ａはカム５１の外周部に固定され、カム５１の回転に連動して回転する環状の部材である。外輪５２ｂは、複数の球体５２ｃを介して、内輪５２ａの外周部を取り囲む環状の部材である。複数の球体５２ｃのそれぞれは、内輪５２ａと外輪５２ｂとの間に設けられる転動体である。複数の球体５２ｃは、入力軸９の回転方向に離間して配列される。 As shown in FIG. 3, the wave generator 5 includes a cam 51 and an annular bearing 52 provided on the outer peripheral portion of the cam 51. The input shaft 9 penetrates the radial center of the cam 51. The cam 51 is fixed to the outer peripheral portion of the input shaft 9 and rotates in conjunction with the rotation of the input shaft 9. The bearing 52 includes an annular inner ring 52a provided on the outer peripheral portion of the cam 51, an outer ring 52b provided on the radial outer side of the inner ring 52a, and a plurality of spheres 52c. The inner ring 52a is an annular member fixed to the outer peripheral portion of the cam 51 and rotating in conjunction with the rotation of the cam 51. The outer ring 52b is an annular member that surrounds the outer peripheral portion of the inner ring 52a via a plurality of spheres 52c. Each of the plurality of spheres 52c is a rolling element provided between the inner ring 52a and the outer ring 52b. The plurality of spheres 52c are arranged apart from each other in the rotation direction of the input shaft 9.

図３に示すようにサーキュラスプライン７は、内周部に複数の歯７ａが形成される環状の部材である。サーキュラスプライン７の歯７ａは、フレクスプライン６の歯６ａに噛み合う。歯６ａはフレクスプライン６の外周部に設けられる。フレクスプライン６は、ベアリング５２の外輪５２ｂの外周部を取り囲む円筒形状の部材である。フレクスプライン６の内周部は、ベアリング５２の外輪５２ｂの外周部に嵌め合わされている。符号１７で示される嵌合部は、フレクスプライン６の内周部とベアリング５２の外輪５２ｂの外周部との嵌め合い部分である。 As shown in FIG. 3, the circular spline 7 is an annular member in which a plurality of teeth 7a are formed on the inner peripheral portion. The teeth 7a of the circular spline 7 mesh with the teeth 6a of the flexspline 6. The teeth 6a are provided on the outer peripheral portion of the flexspline 6. The flexspline 6 is a cylindrical member that surrounds the outer peripheral portion of the outer ring 52b of the bearing 52. The inner peripheral portion of the flexspline 6 is fitted to the outer peripheral portion of the outer ring 52b of the bearing 52. The fitting portion indicated by reference numeral 17 is a fitting portion between the inner peripheral portion of the flexspline 6 and the outer peripheral portion of the outer ring 52b of the bearing 52.

図２に示すように出力軸１０は、筐体１１の上面１１ａの径方向Ｄ１中心を貫通し、上下方向Ｄ２に伸びる回転軸である。なお、入力軸９と出力軸１０は、不図示のボールベアリング、アンギュラベアリング又はクロスローラベアリングにより、筐体１２及び筐体１１にそれぞれ回転自在に固定される。 As shown in FIG. 2, the output shaft 10 is a rotation shaft that penetrates the center of the upper surface 11a of the housing 11 in the radial direction D1 and extends in the vertical direction D2. The input shaft 9 and the output shaft 10 are rotatably fixed to the housing 12 and the housing 11 by ball bearings, angular bearings, or cross roller bearings (not shown).

図２に示すように潤滑剤搬送部１６は、筐体１２の溝１２ａに存在する潤滑剤８を、回転機構２０の摺動部４０へ搬送する部材である。回転機構２０の摺動部４０には、図３に示すように、内輪５２ａへの球体５２ｃの接触面２１と、外輪５２ｂへの球体５２ｃの接触面２２と、嵌合部１７と、歯６ａへの歯７ａの接触面２３とが含まれる。なお図２及び図３において、隙間１８は、歯６ａと歯７ａとの間の空間である。また図２において、フレクスプライン６の内周部へウェーブジェネレータ５を組み入れる前に、フレクスプライン６の内周部へ塗布される潤滑剤８を破線３０で示す。 As shown in FIG. 2, the lubricant transporting portion 16 is a member that transports the lubricant 8 existing in the groove 12a of the housing 12 to the sliding portion 40 of the rotating mechanism 20. As shown in FIG. 3, the sliding portion 40 of the rotating mechanism 20 has a contact surface 21 of the sphere 52c to the inner ring 52a, a contact surface 22 of the sphere 52c to the outer ring 52b, a fitting portion 17, and teeth 6a. The contact surface 23 of the tooth 7a with respect to the tooth 7a is included. In FIGS. 2 and 3, the gap 18 is a space between the teeth 6a and the teeth 7a. Further, in FIG. 2, a broken line 30 shows the lubricant 8 applied to the inner peripheral portion of the flexspline 6 before incorporating the wave generator 5 into the inner peripheral portion of the flexspline 6.

潤滑剤搬送部１６は、入力軸９に固定される円板部１６ｂと、円板部１６ｂから筐体１２の底面１２ｂに向けて伸びる複数の羽１６ａとを備える。羽１６ａの一部は、筐体１２の溝１２ａに設けられる。潤滑剤搬送部１６の構成の詳細は後述する。 The lubricant transporting portion 16 includes a disc portion 16b fixed to the input shaft 9 and a plurality of blades 16a extending from the disc portion 16b toward the bottom surface 12b of the housing 12. A part of the wings 16a is provided in the groove 12a of the housing 12. Details of the configuration of the lubricant transport unit 16 will be described later.

このように構成された波動歯車装置２００の入力軸９にトルクが付与され、入力軸９が回転することにより、出力軸１０は入力軸９の回転方向とは反対方向に回転する。また入力軸９が回転することにより、出力軸１０には、減速比分増幅されたトルクが発生する。 Torque is applied to the input shaft 9 of the wave gear device 200 configured in this way, and the rotation of the input shaft 9 causes the output shaft 10 to rotate in a direction opposite to the rotation direction of the input shaft 9. Further, as the input shaft 9 rotates, torque amplified by the reduction ratio is generated in the output shaft 10.

次に、図６から図１０を参照して、潤滑剤搬送部１６の構成を詳細に説明する。図６は図２に示す潤滑剤搬送部の斜視外観図である。図７は図２に示す潤滑剤搬送部を上側から見た平面図である。図８は図７に示す潤滑剤搬送部のＶＩＩＩ−ＶＩＩＩ矢視断面図である。図９は図２に示す潤滑剤搬送部を下側から見た平面図である。図１０は図９に示す潤滑剤搬送部のＸ−Ｘ矢視断面図である。 Next, the configuration of the lubricant transport unit 16 will be described in detail with reference to FIGS. 6 to 10. FIG. 6 is a perspective external view of the lubricant transporting portion shown in FIG. FIG. 7 is a plan view of the lubricant transport portion shown in FIG. 2 as viewed from above. FIG. 8 is a cross-sectional view taken along the line VIII-VIII of the lubricant transporting portion shown in FIG. FIG. 9 is a plan view of the lubricant transporting portion shown in FIG. 2 as viewed from below. FIG. 10 is a cross-sectional view taken along the line XX of the lubricant transporting portion shown in FIG.

潤滑剤搬送部１６は、円板部１６ｂと、複数の羽１６ａと、内壁部１６ｄと、外壁部１６ｅとを備える。 The lubricant transporting portion 16 includes a disc portion 16b, a plurality of blades 16a, an inner wall portion 16d, and an outer wall portion 16e.

円板部１６ｂは、図２に示す入力軸９に固定される。円板部１６ｂは、入力軸９から、図４に示す第１の部材１２ｃの内周面に向けて伸びる円板形状の部材である。円板部１６ｂは、図４に示す第１の部材１２ｃの内側に、入力軸９と同軸に配置される。円板部１６ｂは、図４及び図５に示す第２の部材１２ｄと図２に示す回転機構２０との間に設けられる。円板部１６ｂには、円板部１６ｂを上下方向に貫通する穴部１６ｃが形成される。穴部１６ｃは、羽１６ａの上側の端部に繋がる。穴部１６ｃは、複数の羽１６ａのそれぞれに対応して設けられる。 The disk portion 16b is fixed to the input shaft 9 shown in FIG. The disk portion 16b is a disk-shaped member extending from the input shaft 9 toward the inner peripheral surface of the first member 12c shown in FIG. The disk portion 16b is arranged coaxially with the input shaft 9 inside the first member 12c shown in FIG. The disk portion 16b is provided between the second member 12d shown in FIGS. 4 and 5 and the rotating mechanism 20 shown in FIG. The disk portion 16b is formed with a hole portion 16c that penetrates the disk portion 16b in the vertical direction. The hole 16c is connected to the upper end of the wing 16a. The hole portion 16c is provided corresponding to each of the plurality of wings 16a.

図６及び図９に示すように、複数の羽１６ａは、鉛直軸線ＡＸ１の回転方向Ｄ３に互いに離間して、円板部１６ｂに固定される。図９に示すように、羽１６ａは、垂直面ＶＦ１に対して、面対称な位置に設けられている。垂直面ＶＦ１は、鉛直軸線ＡＸ１の軸線方向に平行であり、かつ、鉛直軸線ＡＸ１を含む平面である。また、羽１６ａは、垂直面ＶＦ２に対して、面対称な位置に設けられている。垂直面ＶＦ２は、鉛直軸線ＡＸ１の軸線方向に平行であり、鉛直軸線ＡＸ１を含み、さらに垂直面ＶＦ１と直交する平面である。 As shown in FIGS. 6 and 9, the plurality of wings 16a are fixed to the disk portion 16b so as to be separated from each other in the rotation direction D3 of the vertical axis AX1. As shown in FIG. 9, the wings 16a are provided at positions symmetrical with respect to the vertical plane VF1. The vertical plane VF1 is a plane that is parallel to the axial direction of the vertical axis AX1 and includes the vertical axis AX1. Further, the wings 16a are provided at positions symmetrical with respect to the vertical surface VF2. The vertical plane VF2 is a plane parallel to the axial direction of the vertical axis AX1, including the vertical axis AX1, and further orthogonal to the vertical plane VF1.

図８には、垂直面ＶＦ２に対して、面対称な位置に設けられる２つの羽１６ａが示される。２つの羽１６ａのそれぞれは、入力軸９の延伸方向、すなわち鉛直軸線ＡＸ１の軸線方向に対して傾斜している。具体的には、２つの羽１６ａは、円板部１６ｂから、図２に示す筐体１２の底面１２ｂに向かうに従い、互いの離間距離が広がるよう傾斜している。羽１６ａの形状は、潤滑剤搬送部１６の側面から平面視で湾曲している。 FIG. 8 shows two wings 16a provided at positions symmetrical with respect to the vertical plane VF2. Each of the two wings 16a is inclined with respect to the extending direction of the input shaft 9, that is, the axial direction of the vertical axis AX1. Specifically, the two wings 16a are inclined so that the distance between the two wings 16a increases from the disk portion 16b toward the bottom surface 12b of the housing 12 shown in FIG. The shape of the wing 16a is curved in a plan view from the side surface of the lubricant transporting portion 16.

なお、羽１６ａの形状は、入力軸９の延伸方向に対して傾斜する羽であれば、図示例に限定されるものではない。すなわち、羽１６ａの形状は、図１に示す溝１２ａに存在する潤滑剤８を回転機構２０の摺動部４０へ搬送できる形状であれば、如何なる形状でもよい。また、羽１６ａの数は、溝１２ａに存在する潤滑剤８を回転機構２０の摺動部４０へ搬送できればよく、４つに限定されない。 The shape of the wing 16a is not limited to the illustrated example as long as the wing is inclined with respect to the stretching direction of the input shaft 9. That is, the shape of the wing 16a may be any shape as long as the lubricant 8 existing in the groove 12a shown in FIG. 1 can be conveyed to the sliding portion 40 of the rotation mechanism 20. Further, the number of blades 16a is not limited to four as long as the lubricant 8 existing in the groove 12a can be conveyed to the sliding portion 40 of the rotation mechanism 20.

図６、図８及び図９に示すように、内壁部１６ｄは、円板部１６ｂに固定され、円板部１６ｂから筐体１２の底面１２ｂに向けて伸びる円筒状の部材である。内壁部１６ｄは、図４に示す第２の部材１２ｄの外周面を取り囲む円筒状の部材である。内壁部１６ｄは、羽１６ａの径方向内側に設けられる。内壁部１６ｄは、図２に示すように、オイルシール１３と羽１６ａとの間に介在する。 As shown in FIGS. 6, 8 and 9, the inner wall portion 16d is a cylindrical member fixed to the disc portion 16b and extending from the disc portion 16b toward the bottom surface 12b of the housing 12. The inner wall portion 16d is a cylindrical member that surrounds the outer peripheral surface of the second member 12d shown in FIG. The inner wall portion 16d is provided inside the wing 16a in the radial direction. As shown in FIG. 2, the inner wall portion 16d is interposed between the oil seal 13 and the wings 16a.

図６、図９及び図１０に示すように、外壁部１６ｅは、円板部１６ｂに固定され、円板部１６ｂから筐体１２の底面１２ｂに向けて伸びる板状の部材である。外壁部１６ｅは、羽１６ａの径方向外側に設けられる。外壁部１６ｅは、羽１６ａから回転方向Ｄ３に伸びる形状である。外壁部１６ｅは、羽１６ａと、図４に示す第１の部材１２ｃの内周面との間に介在する。 As shown in FIGS. 6, 9 and 10, the outer wall portion 16e is a plate-shaped member fixed to the disc portion 16b and extending from the disc portion 16b toward the bottom surface 12b of the housing 12. The outer wall portion 16e is provided on the radial outer side of the wing 16a. The outer wall portion 16e has a shape extending from the wings 16a in the rotation direction D3. The outer wall portion 16e is interposed between the wings 16a and the inner peripheral surface of the first member 12c shown in FIG.

図１１は本発明の実施の形態に係る波動歯車装置の比較例の断面図である。図１１に示す波動歯車装置２００Ａは、潤滑剤搬送部１６の代わりに、潤滑剤ガイド１５及び傘部品１４を備える。 FIG. 11 is a cross-sectional view of a comparative example of the wave gearing device according to the embodiment of the present invention. The strain wave gearing device 200A shown in FIG. 11 includes a lubricant guide 15 and an umbrella component 14 instead of the lubricant transport unit 16.

潤滑剤ガイド１５は、筐体１２の内側に固定される円板状の部材である。潤滑剤ガイド１５は、サーキュラスプライン７から離間して、サーキュラスプライン７の下側に設けられる。傘部品１４は、入力軸９に固定される円板状の部材である。傘部品１４は、潤滑剤ガイド１５とオイルシール１３の間に設けられる。傘部品１４の外径は、オイルシール１３の外径よりも大きい。 The lubricant guide 15 is a disk-shaped member fixed inside the housing 12. The lubricant guide 15 is provided below the circular spline 7 at a distance from the circular spline 7. The umbrella component 14 is a disk-shaped member fixed to the input shaft 9. The umbrella component 14 is provided between the lubricant guide 15 and the oil seal 13. The outer diameter of the umbrella component 14 is larger than the outer diameter of the oil seal 13.

波動歯車装置２００Ａでは、入力軸９の回転に伴い、図２の破線３０で示す領域に存在する潤滑剤８、すなわちフレクスプライン６の内周部に塗布された潤滑剤８が潤滑剤ガイド１５の上面に落下する。潤滑剤ガイド１５の上面に落下した潤滑剤８の一部は、潤滑剤ガイド１５とウェーブジェネレータ５の間を通り、潤滑剤ガイド１５の下側に落下する。潤滑剤ガイド１５の下側に落下した潤滑剤８は、傘部品１４の上面に伝わり、筐体１２の溝１２ａに落下する。これにより、波動歯車装置２００Ａの外部への潤滑剤８の漏れが抑制される。 In the strain wave gearing device 200A, as the input shaft 9 rotates, the lubricant 8 existing in the region shown by the broken line 30 in FIG. 2, that is, the lubricant 8 applied to the inner peripheral portion of the flexspline 6 is the lubricant guide 15. It falls on the top surface. A part of the lubricant 8 that has fallen on the upper surface of the lubricant guide 15 passes between the lubricant guide 15 and the wave generator 5 and falls to the lower side of the lubricant guide 15. The lubricant 8 that has fallen to the lower side of the lubricant guide 15 is transmitted to the upper surface of the umbrella component 14 and falls into the groove 12a of the housing 12. As a result, leakage of the lubricant 8 to the outside of the strain wave gearing device 200A is suppressed.

しかしながら、波動歯車装置２００Ａでは、筐体１２の溝１２ａに落下した潤滑剤８が、回転機構２０の摺動部４０の潤滑に寄与しない。そのため、短期間で潤滑剤８を補充する必要があり、すなわち潤滑剤８の補充作業が頻繁に発生するため、メンテナンス性が低下する。 However, in the strain wave gearing device 200A, the lubricant 8 that has fallen into the groove 12a of the housing 12 does not contribute to the lubrication of the sliding portion 40 of the rotating mechanism 20. Therefore, it is necessary to replenish the lubricant 8 in a short period of time, that is, the replenishment work of the lubricant 8 frequently occurs, so that the maintainability is lowered.

これに対して実施の形態に係る波動歯車装置２００は、潤滑剤搬送部１６を備えるため、入力軸９が回転した際、筐体１２の溝１２ａに落下した潤滑剤８が羽１６ａにより掬い上げられる。掬い上げられた潤滑剤８は、羽１６ａ及び穴部１６ｃを経由して、回転機構２０の摺動部４０へ搬送される。すなわち、波動歯車装置２００では、摺動部４０の下側に潤滑剤８が落下した場合でも、潤滑剤８が回転機構２０の摺動部４０へ搬送される。これにより、回転機構２０の摺動部４０へ潤滑剤８を補充する期間を延ばすことができ、波動歯車装置２００のメンテナンス性を向上させることができる。 On the other hand, since the strain wave gearing device 200 according to the embodiment includes the lubricant transporting unit 16, when the input shaft 9 rotates, the lubricant 8 that has fallen into the groove 12a of the housing 12 is scooped up by the wings 16a. Be done. The scooped-up lubricant 8 is conveyed to the sliding portion 40 of the rotating mechanism 20 via the wings 16a and the hole portion 16c. That is, in the strain wave gearing device 200, even if the lubricant 8 falls below the sliding portion 40, the lubricant 8 is conveyed to the sliding portion 40 of the rotating mechanism 20. As a result, the period for replenishing the sliding portion 40 of the rotating mechanism 20 with the lubricant 8 can be extended, and the maintainability of the wave gearing device 200 can be improved.

また実施の形態に係る波動歯車装置２００の潤滑剤搬送部１６は、オイルシール１３と羽１６ａとの間に設けられる内壁部１６ｄを備える。そのため、入力軸９の回転時に羽１６ａにより掬い上げられた潤滑剤８は、内壁部１６ｄの外周面に当たり、オイルシール１３へ搬送されることがない。これにより、波動歯車装置２００の外部への潤滑剤８の漏れがより一層抑制される。 Further, the lubricant transporting portion 16 of the wave gearing device 200 according to the embodiment includes an inner wall portion 16d provided between the oil seal 13 and the blades 16a. Therefore, the lubricant 8 scooped up by the wings 16a when the input shaft 9 rotates hits the outer peripheral surface of the inner wall portion 16d and is not conveyed to the oil seal 13. As a result, leakage of the lubricant 8 to the outside of the strain wave gearing 200 is further suppressed.

また実施の形態に係る波動歯車装置２００の潤滑剤搬送部１６は、羽１６ａの径方向外側に設けられる外壁部１６ｅを備える。そのため、入力軸９の回転時に羽１６ａにより掬い上げられた潤滑剤８は、潤滑剤搬送部１６に作用する遠心力により、外壁部１６ｅ側へ移動し、外壁部１６ｅの内側面に当たり、外壁部１６ｅの内側面に沿って、穴部１６ｃへ搬送される。このように、潤滑剤搬送部１６に遠心力が作用した状態でも、潤滑剤８を回転機構２０の摺動部４０へ供給可能である。従って、外壁部１６ｅがない場合に比べて、回転機構２０の摺動部４０へ潤滑剤８の供給量が増加し、摺動部４０の摩耗がより一層低減される。 Further, the lubricant transport portion 16 of the wave gear device 200 according to the embodiment includes an outer wall portion 16e provided on the radial outer side of the blade 16a. Therefore, the lubricant 8 scooped up by the blades 16a when the input shaft 9 rotates moves to the outer wall portion 16e side by the centrifugal force acting on the lubricant transport portion 16, hits the inner side surface of the outer wall portion 16e, and hits the outer wall portion. It is conveyed to the hole 16c along the inner surface of the 16e. In this way, the lubricant 8 can be supplied to the sliding portion 40 of the rotating mechanism 20 even when the centrifugal force acts on the lubricant conveying portion 16. Therefore, as compared with the case where the outer wall portion 16e is not provided, the amount of the lubricant 8 supplied to the sliding portion 40 of the rotating mechanism 20 is increased, and the wear of the sliding portion 40 is further reduced.

また回転方向に隣接する２つの羽１６ａは、穴部１６ｃから遠ざかるにつれて、互いの離間距離が広がるよう傾斜している。これにより、羽１６ａが、円板部１６ｂの延伸方向と直交する方向に伸びる形状である場合に比べて、入力軸９の回転時に羽１６ａが掬い上げる潤滑剤８の量が向上し、回転機構２０の摺動部４０へ潤滑剤８の供給量が増加し、摺動部４０の摩耗がより一層低減される。 Further, the two wings 16a adjacent to each other in the rotation direction are inclined so that the distance between them increases as the distance from the hole 16c increases. As a result, the amount of the lubricant 8 scooped up by the wing 16a when the input shaft 9 is rotated is improved as compared with the case where the wing 16a extends in the direction orthogonal to the stretching direction of the disk portion 16b, and the rotation mechanism The amount of the lubricant 8 supplied to the sliding portion 40 of 20 is increased, and the wear of the sliding portion 40 is further reduced.

以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

１ ベース、２ 第１アーム、３ 第２アーム、４ スプライン、５ ウェーブジェネレータ、６ フレクスプライン、６ａ，７ａ 歯、７ サーキュラスプライン、８ 潤滑剤、９ 入力軸、１０ 出力軸、１１，１２ 筐体、１１ａ 上面、１２ａ 溝、１２ｂ 底面、１２ｂ１ 開口部、１２ｃ 第１の部材、１２ｄ 第２の部材、１２ｄ２ 第１の端面、１２ｄ３ 第２の端面、１２ｄ４ 第１の内周面、１２ｄ５ 第２の内周面、１２ｄ６ 段差部、１３ オイルシール、１３ａ リップ部、１４ 傘部品、１５ 潤滑剤ガイド、１６ 潤滑剤搬送部、１６ａ 羽、１６ｂ 円板部、１６ｃ 穴部、１６ｄ 内壁部、１６ｅ 外壁部、１７ 嵌合部、１８ 隙間、２０ 回転機構、２１，２２，２３ 接触面、４０ 摺動部、５１ カム、５２ ベアリング、５２ａ 内輪、５２ｂ 外輪、５２ｃ 球体、１００ ロボット、２００，２００Ａ 波動歯車装置、３００ モータ。 1 base, 2 1st arm, 3rd arm, 4 spline, 5 wave generator, 6 flex spline, 6a, 7a teeth, 7 circular spline, 8 lubricant, 9 input shaft, 10 output shaft, 11, 12 housings , 11a top surface, 12a groove, 12b bottom surface, 12b1 opening, 12c first member, 12d second member, 12d2 first end face, 12d3 second end face, 12d4 first inner peripheral surface, 12d5 second Inner circumference, 12d6 stepped part, 13 oil seal, 13a lip part, 14 umbrella part, 15 lubricant guide, 16 lubricant transport part, 16a blade, 16b disk part, 16c hole part, 16d inner wall part, 16e outer wall part , 17 Fitting part, 18 Gap, 20 Rotating mechanism, 21,22,23 Contact surface, 40 Sliding part, 51 Cam, 52 Bearing, 52a Inner ring, 52b Outer ring, 52c Sphere, 100 Robot, 200, 200A Strain wave gearing , 300 motors.

Claims (6)

回転軸と、
前記回転軸の回転に連動して回転する回転機構と、
前記回転機構の下側に設けられ前記回転軸が貫通する開口部が形成される底面と、前記回転軸と同軸に設けられ前記底面から前記回転機構に向けて伸びる第１の部材と、前記第１の部材の内側に前記回転軸と同軸に設けられ前記底面から前記回転機構に向けて伸びる第２の部材とを有する、有底の筐体と、
前記第１の部材、前記第２の部材及び前記底面によって囲まれて形成される溝に存在する潤滑剤を、前記回転機構の摺動部へ搬送する潤滑剤搬送部と、
を備え、
前記潤滑剤搬送部は、
前記第２の部材と前記回転機構との間に設けられ、前記回転軸に固定され、前記回転軸から前記第１の部材の内周面に向けて伸びる円板部と、
前記溝に設けられ、前記円板部から前記底面に向けて伸びる羽と、
前記第２の部材と前記羽との間に設けられ、前記円板部から前記底面に向けて伸びる円筒状の内壁部と、
を備え、
前記円板部には、前記円板部を上下方向に貫通し、前記羽の上側の端部と繋がる穴部が形成されることを特徴とする波動歯車装置。 The axis of rotation and
A rotation mechanism that rotates in conjunction with the rotation of the rotation shaft,
A bottom surface provided on the lower side of the rotation mechanism and formed with an opening through which the rotation shaft penetrates, a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism, and the first member. A bottomed housing having a second member provided inside the member 1 coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism.
Said first member, said second member and a lubricant present in the grooves formed by being surrounded by the bottom surface, the lubricant transport unit that transports the sliding portion of the rotating mechanism,
Equipped with a,
The lubricant transport unit is
A disk portion provided between the second member and the rotation mechanism, fixed to the rotation shaft, and extending from the rotation shaft toward the inner peripheral surface of the first member.
Feathers provided in the groove and extending from the disk portion toward the bottom surface,
A cylindrical inner wall portion provided between the second member and the wing and extending from the disk portion toward the bottom surface, and a cylindrical inner wall portion.
With
A strain wave gearing device characterized in that a hole portion is formed in the disk portion so as to penetrate the disk portion in the vertical direction and connect to the upper end portion of the wing . 前記羽の径方向外側に設けられる外壁部をさらに備え、Further provided with an outer wall portion provided on the radial outer side of the wing,
前記外壁部は、前記羽から前記回転軸の回転方向に伸び、かつ、前記円板部から前記筐体の底面に向けて伸びる形状であることを特徴とする請求項１に記載の波動歯車装置。The wave gear device according to claim 1, wherein the outer wall portion has a shape extending from the blade in the rotation direction of the rotation shaft and extending from the disk portion toward the bottom surface of the housing. .. 前記潤滑剤搬送部は、The lubricant transport unit is
前記回転軸と同軸に前記第２の部材に設けられ、前記回転軸の外周部を取り囲む環状のオイルシールをさらに備え、An annular oil seal provided on the second member coaxially with the rotating shaft and surrounding the outer peripheral portion of the rotating shaft is further provided.
前記内壁部は、前記オイルシールと前記羽との間に設けられることを特徴とする請求項１または請求項２に記載の波動歯車装置。The wave gear device according to claim 1 or 2, wherein the inner wall portion is provided between the oil seal and the wing. 回転軸と、
前記回転軸の回転に連動して回転する回転機構と、
前記回転機構の下側に設けられ前記回転軸が貫通する開口部が形成される底面と、前記回転軸と同軸に設けられ前記底面から前記回転機構に向けて伸びる第１の部材と、前記第１の部材の内側に前記回転軸と同軸に設けられ前記底面から前記回転機構に向けて伸びる第２の部材とを有する、有底の筐体と、
前記第１の部材、前記第２の部材及び前記底面によって囲まれて形成される溝に存在する潤滑剤を、前記回転機構の摺動部へ搬送する潤滑剤搬送部と、
を備え、
前記潤滑剤搬送部は、
前記第２の部材と前記回転機構との間に設けられ、前記回転軸に固定され、前記回転軸から前記第１の部材の内周面に向けて伸びる円板部と、
前記溝に設けられ、前記円板部から前記底面に向けて伸びる羽と、
前記羽の径方向外側に設けられる外壁部と
を備え、
前記円板部には、前記円板部を上下方向に貫通し、前記羽の上側の端部と繋がる穴部が形成され、
前記外壁部は、前記羽から前記回転軸の回転方向に伸び、かつ、前記円板部から前記筐体の底面に向けて伸びる形状であることを特徴とする波動歯車装置。 The axis of rotation and
A rotation mechanism that rotates in conjunction with the rotation of the rotation shaft,
A bottom surface provided on the lower side of the rotation mechanism and formed with an opening through which the rotation shaft penetrates, a first member provided coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism, and the first member. A bottomed housing having a second member provided inside the member 1 coaxially with the rotation shaft and extending from the bottom surface toward the rotation mechanism.
A lubricant transporting portion that transports the lubricant existing in the groove formed by the first member, the second member, and the bottom surface to the sliding portion of the rotating mechanism, and
With
The lubricant transport unit is
A disk portion provided between the second member and the rotation mechanism, fixed to the rotation shaft, and extending from the rotation shaft toward the inner peripheral surface of the first member.
Feathers provided in the groove and extending from the disk portion toward the bottom surface,
It is provided with an outer wall portion provided on the radial outer side of the wing.
A hole portion is formed in the disk portion so as to penetrate the disk portion in the vertical direction and connect to the upper end portion of the wing.
The outer wall portion extends in the rotational direction of the rotary shaft from the blade, and a wave motion gear device you characterized in that from said disk portion is shaped to extend toward the bottom surface of the housing. 前記回転軸の回転方向に隣接する２つの前記羽は、前記円板部から前記底面に向かうに従い、互いの離間距離が広がるよう傾斜していることを特徴とする請求項１から請求項４の何れか一項に記載の波動歯車装置。 Two of the blades adjacent to the rotation direction of the rotation axis toward the said bottom surface from said disc portion, claim 1, characterized in that it is inclined so as to spread apart the mutual distance of claims 4 The strain wave gearing according to any one item . 請求項１から請求項５の何れか一項に記載の波動歯車装置を備えたことを特徴とするロボット。 A robot provided with the strain wave gearing according to any one of claims 1 to 5 .
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