| 摘要 |
PROBLEM TO BE SOLVED: To provide a strain gear device further increased in output torque.SOLUTION: A strain gear device 10 includes an inner gear 13, an outer gear 18 disposed inside the inner gear and annularly formed, and a wave generator 19 disposed inside the outer gear 18, making a part of the inner gear 13 engaged with a part of the outer gear 18 by warping the outer gear 18, and moving an engagement part of the inner gear 13 and the outer gear 18 by being rotated and driven in a circumferential direction of the inner gear 13 and the outer gear 18. The teeth of the outer gear 18 each have a tooth thickness reducing portion where the tooth thickness is gradually decreased from an inner side toward an outer side in a radial direction of the outer gear 18, and a reduction rate thereof is further gradually decreased from the inner side toward the outer side in the radial direction. The tooth of the inner gear 13 is brought into contact with a tooth surface of the tooth thickness reducing portion. |
