Sliding contact type wave generator, wave gear device, and wave generating method

摘要

The wave generator (4) of the wave gear device (1) includes a wave generator plug (21) having an elliptical contour and a wave generator bearing (23). The wave generator bearing (23) includes an annular body (26) mounted in a sliding contact state between the inner and outer rings (24, 25). The annular body (26) is made of an endless coil spring and has rigidity capable of maintaining a constant distance between the inner and outer rings (24, 25). The annular body (26) has a predetermined flexibility in the radial direction as a whole so that it can be bent elliptically by the wave generator plug (11). When the wave generator plug (21) rotates, slip occurs between the annular body (26) and the inner ring (24), so that a wave can be generated in the external gear (3) with a small rotational torque.