Wave gear device having internal gear integrally formed with inner ring of bearing

摘要

A wave gear device has a rigid internal gear, a flexible external gear, a wave generator, and a cross roller bearing for supporting the gears in a relatively rotatable manner. A toroidal composite member that functions as the rigid internal gear and an inner ring of the cross roller bearing has an inner ring-forming member that functions as the inner ring, and an internal teeth-forming member that functions as the rigid internal gear, and the internal teeth-forming member composed of a ductile casting is integrated by diffusion bonding with the inner ring-forming member composed of bearing steel.