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

Claim 0:
1. A strain wave gear 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;
a flex spline within the inner ring, the flex spline comprising a flexible part comprising an externally toothed gear;
a wave generator within the flex spline, the wave generator being rotatable relative to the flex spline and being configured to flex the flexible 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;
wherein the inner ring comprises an outwardly protruding flange that extends beyond the outer ring, the outwardly protruding flange extending outside an end portion of the outer ring and above the end portion of the outer ring;
wherein the outwardly protruding flange configured to enable direct connection to an object to be driven by the strain wave gear, the outwardly protruding flange and the inner ring being a single body, and the outwardly protruding flange comprising one or more mechanical elements configured to connect to the object; and
wherein the outer ring and the outwardly protruding flange are configured so that a gap between the outer ring and the outwardly protruding flange along an axial dimension of the strain wave gear is larger towards an exterior of the strain wave gear than towards an interior of the strain wave gear.