| 摘要 |
PURPOSE: A harmonic reducer is provided to improve engagement rate of teeth, and to reduce teeth interference, thereby reducing contact stress and improving durability. CONSTITUTION: A harmonic reducer includes a wave generator(10) connected with an input side and having an elliptical cam(11); a flexible flex spline(20) connected with an output side with being inserted into the outer peripheral of the cam of the wave generator, and having teeth in the outer peripheral surface; and a rigid circular spline(30) having inner spline teeth engageable with the outer teeth of the flex spline, wherein a pitch circle of the flex spline is formed as an ellipse by compounding circles having the different center and curvature, the section except the section where the teeth of the flex spline and the circular spline are engaged, forms a curvature smaller than the original curvature to smoothly engage the teeth.
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