Wave gear device having compound tooth profile of positive deflection meshing

A wave gear device having an annular rigid internally toothed gear, a flexible externally toothed gear disposed inside the internally toothed gear, and a wave generator set inside the externally toothed gear, wherein the flexible externally toothed gear includes a flexible cylindrical body part and an annular diaphragm extending in the radial direction from a back end of the cylindrical body part, and wherein a tooth part formed in a region of the cylindrical body part on the side near a front end opening part is deflected in an elliptic shape over a section extending from a back end part on the side near the diaphragm to a front-end part on the side near the opening, by the wave generator so that deflection occurs substantially proportionate to the distance from the diaphragm;

• the wave gear device having a positive deflection meshing compound tooth profile wherein:
• the rigid internally toothed gear is formed as a spur gear having a module m;
• the flexible externally toothed gear is formed as a spur gear having a module m;
• a number of teeth of the flexible externally toothed gear is smaller by a quantity of 2n (where n is a positive integer) than a number of teeth of the rigid internally toothed gear;
• deflection of a major axis of an elliptic rim neutral line of the flexible externally toothed gear is set to 2κmn (κ>1) in a cross section that is perpendicular to an axis (hereinafter referred to as a principal cross section) and that is selected at a given position of the teeth of the flexible externally toothed gear in a tooth trace direction;
• tooth meshing of the rigid internally toothed gear and the flexible externally toothed gear is approximated by rack meshing in the principal cross section to calculate a movement locus of the teeth of the flexible externally toothed gear in relation to the teeth of the internally toothed gear in association with rotation of the wave generator;
• a curve portion is obtained from a part of the movement locus that extends from the major axis of a deepest meshing position of the two gears to a side where tooth meshing is released, so that the curve portion starts at the deepest meshing position of the two gears, which is the position where an angle of inclination is 90°, and reaches a position at which the angle of inclination in the movement locus relative to ae radial line of the rigid internally toothed gear is α° (0°<α°<30°);
• and
• a principal part of a tooth profile of the flexible externally toothed gear is defined by a first similarity-transformation curve in which the curve portion is enlarged by a multiple of λ, and by a straight line smoothly connected to an endpoint of the first similarity-transformation curve;
• a principal part of a tooth profile of the rigid internally toothed gear is defined by a second similarity-transformation curve in which the curve portion is enlarged by a multiple of (λ+1), and by a straight line smoothly connected to an endpoint of the second similarity transformation curve;
• and
• a value of λ is smaller than a maximum value of λ, wherein the maximum value of λ is obtained when the curve portion is subjected to similarity transformation of multitude (λ+1) with the origin of similarity transformation of the curve portion being set on the deepest meshing position so that a distal end of the second similarity-transformation curve is positioned on the movement locus.