Patent ID: 11964389
Assignee: UNIVERSAL ROBOTS A/S
Field: Handling (Mechanical engineering)
Classification: CPC B  F  G | IPC B  F  G

Claim 15:
16. A strain wave gear system comprising:
an outer ring;
an inner ring within the outer ring and rotatable within the outer ring, the inner ring comprising an internally toothed gear, the inner ring comprising an outer flange having a surface that does not face the outer ring;
a flex spline within the inner ring, the flex spline comprising:
a cylindrical part comprising an externally toothed gear, and
an annular diaphragm formed integrally with the cylindrical part and extending outwardly in relation to the cylindrical part, the annular diaphragm comprising an annular boss formed integrally on a circumferential outer peripheral edge of the annular diaphragm, the annular boss being attached to the outer ring;

a wave generator within the flex spline, the wave generator being rotatable relative to the flex spline and being configured to flex the cylindrical part in a radial direction to partly mesh the externally toothed gear with the internally toothed gear;
wherein the wave generator is configured to rotate to move meshing positions of the internally toothed gear and the externally toothed gear to cause the inner ring to rotate relative to the outer ring;
an encoder reader comprising an encoder PCB (printed circuit board) comprising electronics for reading signals from an encoder track, wherein the encoder PCB is adjacent to the encoder track; and
the encoder track comprising an annulus and being on the surface of the outer flange of the inner ring, wherein the encoder PCB is at a part of the outer ring opposite to an end of the outer ring where the annular boss is attached to the outer ring.