SPEED INCREASE/REDUCTION GEAR FOR HARMONIC DRIVE UTILIZING TOOTH FORM OF PLANETARY GEAR

摘要

PURPOSE:To arrange gear engagement in form of rolling contact so as to reduce wear of the engagement portion in the gear in the caption, by making an external gear portion slidable and elastically deformable between the same and a wave generator and making the external gear engaged with outer pins in a harmonic drive form. CONSTITUTION:On an input rotary shaft 21, there is provided on external spline 22A to serve as a wave generator. An eccentric bearing 24 is provided along the outer periphery of an eccentric body 23A, and an external gear 28 is provided on the outer periphery of an outer race 27. The outer race 27, an annular ring portion 30 and an external gear portion 31 are elastically deformable, in addition, external teeth 31A disposed on the external gear portion 31 are shaped in the trochoid tooth form or the like. The external teeth 31A are engaged with outer ping 33, which are internal teeth disposed on an internal gear 32.