HARMONIC REDUCTION GEAR AND AN INDUSTRIAL ROBOT WITH THE HARMONIC REDUCTION GEAR

摘要

A harmonic reduction gear (10) comprising a circular spline (13), a flexible spline (12) inserted into and meshing with the circular spline (13), a wave generator (11) inserted in the flex spline (12), a first outer case (17a) secured to the flexible spline (12), and a second outer case (17b) secured to the circular spline (13), wherein the wave generator (11) is supported by the first outer case (17a) through a bearing (16). With the wave generator (11) assembled into the harmonic reduction gear (10), an input shaft (7) can be inserted into and coupled to the wave generator (11).