| 摘要 |
A harmonic decelerator is provided to improve the contact ratio between the flexibility gear of band-like and the external gear. A plurality of external gears(121,131) has the different pitch diameter. A plurality of rotators are arranged to be spaced from each external gear. A connection sprocket(140) connects the external gear and the rotator. A flexibility gear(150) is wound around the external gear and the rotator. A connecting bar(141) is installed at the central axis of the external gear. A connection shaft(142) is fixed to the connecting bar through the center of each rotator. The first and second wave gears(122,132) are supported to the connection shaft by the bearing.
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