Plate-shaped harmonic reducer

A plate harmonic reducer comprising:

• a circular spline member of a disc shape having a certain radius with a first central axis;
• a flex spline member of a disc shape having a certain radius with a second central axis and made of an elastic material;
• and
• a wave generator member having a third central axis, wherein
• the flex spline member is positioned on the circular spline member, and
• the wave generator member is positioned on the flex spline member, and
• the first central axis, the second central axis, and the third central axis are positioned on the same line, and
• the circular spline member comprises a first toothed gear portion, and
• the first toothed gear portion is formed on a top surface of the circular spline member and is formed along an outer circumference of the circular spline member, and
• the flex spline member comprises a second toothed gear portion, and
• the second toothed gear portion is formed on a bottom surface of the flex spline member and is formed along an outer circumference of the flex spline member, and
• the first toothed gear portion and the second toothed gear portion are positioned to overlap in a vertical direction, and
• the wave generator member
• presses at least part of the flex spline member so that at least part of the first toothed gear portion and at least part of the second toothed gear portion are engaged with each other, and
• when the wave generator member rotates around the third central axis, portions where the first toothed gear portion and the second toothed gear portion are engaged with each other, vary, and
• a number of toothed gears of the first toothed gear portion is different from a number of toothed gears of the second toothed gear portion;
• wherein the circular spline member has a first inclined surface on the top surface thereof, the first inclined surface having a flat surface inclined downwardly toward an outside in a radial direction with the first central axis as a center;
• wherein the flex spline member has a (2-1)-th inclined surface on the bottom surface thereof, the (2-1)-th inclined surface having a flat surface inclined downwardly toward an outside in a radial direction with the second central axis as a center;
• and
• wherein an inclination angle of the first inclined surface is greater than an inclination angle of the (2-1)-th inclined surface.