| 摘要 |
PROBLEM TO BE SOLVED: To improve torsion rigidity with a simple structure.SOLUTION: A wave gear device 10 comprises: a rigid internal gear 20; a flexible external gear 30; and wave generator 40. The rigid internal gear 20 has a first internal gear 210, a second internal gear 220 and a third internal gear 230 sequentially arranged toward a mounting part 32 of the flexible external gear 30. Each of the internal gears 210, 220, 230 has plural internal teeth 211, 221, 231 of the same number. The second internal gear 220 and the third internal gear 230 are phase-shifted to the first internal gear 210 in opposite directions around a rotation shaft X-X. |
