Wave gear drive with continuous meshing, high ratcheting torque tooth profile

1. A wave gear drive, comprising:

a circular rigid internal gear;

a flexible external gear disposed within the rigid internal gear;

a wave generator disposed within the flexible external gear;

the flexible external gear having a flexible cylindrical body and an annular diaphragm that extends in a radial direction from a back end of the cylindrical body, a toothed portion formed on a front end opening portion of the cylindrical body that is flexed into an elliptical shape by a flexing amount generated by the wave generator from a back end portion on the diaphragm side to a front end portion on the opening side thereof that is approximately proportional to distance from the diaphragm;

wherein a cross-section of the flexible external gear perpendicular to the axis at a prescribed location in a tooth trace direction of the flexible external gear is set to be a main cross-section;

the rigid internal gear and flexible external gear are gears with a module m;

the flexible external gear has a number of teeth that is set to be smaller by 2 n, wherein n is a positive integer, than a number of teeth of the rigid internal gear;

a radial flexing amount of a major axis of an elliptical rim neutral line of the flexible external gear is set at κmn, wherein κ>1;

wherein a tooth of the flexible external gear follows a moving route (M) with respect to a tooth of the rigid internal gear that accompanies rotation of the wave generator when meshing of the teeth in the main cross-section is approximated by rack meshing;

on an entering side of the meshing of the teeth to the major axis of the moving route (M), a first similar curve (AC) is obtained by similarity transformation of a pressure angle α defined as an angle of inclination in a direction orthogonal to the direction of the moving route (M) in a range that is from 90° at a first point (A) in an initial meshing phase to a minimum of 0° at a second point (B), or a range that is midway from the first point (A) to the second point (B), using a first ratio of similitude λ, wherein λ<1, with the first point (A) as center of similarity,

the first similar curve (AC) is employed as a basic addendum tooth profile of the rigid internal gear,

a second similar curve (CB) is obtained by rotating the first similar curve (AC) through an angle of 180° with an endpoint (C) thereof as center of similarity, and by similarity transformation in which the first similar curve (AC) is multiplied by a second ratio of similitude (1−λ)/λ, and

the second similar curve (CB) is employed as a basic addendum tooth profile of the flexible external gear.

2. The wave gear drive according to claim 1 , wherein

a generation curve is obtained that is generated by moving the basic tooth profile defined by the second similar curve (CB) of the flexible external gear along the moving route (M), from a deepest point (D) on the major axis of the moving route (M) to a third point (E) on a tooth departing side on the moving route (M) at which the pressure angle is .α e , wherein 0°<α e <20°, the generation curve is employed as a basic dedendum tooth profile of the rigid internal gear, and

at a fourth point (F) on the generation curve corresponding to the endpoint (C) on the second similar curve (CB), a dedendum tooth profile defined by the generation curve and the basic addendum profile defined by the first similar curve (AC) are connected by a straight line representing a line tangent to the generation curve, and employed to form a full tooth profile of the rigid internal gear.

3. The wave gear drive according to claim 2 , wherein at the fourth point (F) which occurs when the second similar curve (CB) has reached a point at which the pressure angle is α e when the second point (B) of the second similar curve (CB) that defines the basic addendum tooth profile of the flexible external gear reaches the third point (E) on the moving route (M), the straight line (FG) of a prescribed length representing a line tangent to the generation curve is connected to the fourth point (F) of a first curve (EF), and a fifth point (G) of line (FG) is smoothly connected to a fillet curve (GH) that defines a dedendum tooth profile of the flexible external gear so as not to interfere with the basic addendum tooth profile of the rigid internal gear, whereby obtaining a full tooth profile of the flexible external gear.

4. The wave gear drive according to claim 3 , wherein

relieving is applied that extends from the main cross-section of the flexible external gear to the opening portion and the diaphragm.

5. The wave gear drive according to claim 3 , wherein

the main cross-section of the flexible external gear takes in the opening portion, relieving is applied that extends to the diaphragm, and a position of the shallowest apex of the moving route obtained in each cross-section perpendicular to the tooth trace of the flexible external gear matches the opening portion.