Patent ID: 9494223
Filing Date: 2016-11-15
CPC Classification: F16H

Claim Text:
1. A harmonic drive apparatus comprising: an input shaft having a center axis, the center axis defining mutually perpendicular axial and radial directions; an output shaft that is coaxial with the input shaft; a rigid fixed spline having a plurality of radial, rigid gear teeth arranged circumferentially around the center axis; a flexible spline connected to the output shaft, the flexible spline having opposing convex and concave surfaces with a plurality of radial, flexible gear teeth on the convex surface, the plurality of flexible gear teeth being arranged circumferentially on the convex surface extending completly around the center axis and being axially opposed to the plurality of radial, rigid gear teeth; and a wave generator connected to the input shaft, the wave generator having a wave surface that extends around the center axis, the wave surface having at least one axially projecting crest and at least one axially recessed trough that extend around the center axis whereby on rotation of the input shaft the wave surface is rotated around the center axis and the at least one axially projecting crest push the flexible spline concave surface and a group of the flexible gear teeth into engagement with a group of the rigid gear teeth causing rotation of the flexible spline and rotation of the output shaft.