Abstract: A strain wave gear device includes: an internal gear; a wave generator; a flex gear including an outer gear and a first annular portion integrally formed with the outer gear of the same material; and an outputter that rotates together with the flex gear and includes a second annular portion facing against the first annular portion in a radial direction centered on an axis. The second annular portion is provided with a transmission tooth protruding radially while the first annular portion is provided with a recess to receive the transmission tooth. The recess is circumferentially wider than the transmission tooth and tolerates relative circumferential displacement of the flex gear with respect to the outputter. Transmission pairs, each including the transmission tooth and the recess, are circumferentially arranged.

Abstract: A strain wave gear device includes: an internal gear; a wave generator; a flex gear including an outer gear and a first annular portion integrally formed with the outer gear of the same material; and an outputter that rotates together with the flex gear and includes a second annular portion facing against the first annular portion in a radial direction centered on an axis. The second annular portion is provided with a transmission tooth protruding radially while the first annular portion is provided with a recess to receive the transmission tooth. The recess is circumferentially wider than the transmission tooth and tolerates relative circumferential displacement of the flex gear with respect to the outputter. Transmission pairs, each including the transmission tooth and the recess, are circumferentially arranged.

Abstract: An oval shaft that includes a cam body integrated with a rotation input section and rolling elements that are sandwiched between an inner ring provided at the outer periphery of the cam body and a flexible outer ring; an internal gear having an inner gear formed at the inner periphery; a flex gear having outer gears that have a reduced teeth number relative to the inner gears so that, when the outer gears are provided at the outer periphery of the oval shaft, the outer gears are engaged with the inner gears at a plurality of engagement positions, the flex gear has a plurality of transmission pins; and a rotation output mechanism having an output plate having an engagement section including an engagement hole that is engaged with each transmission pin and that is provided along the circumferential direction with a predetermined interval to allow the displacement of the transmission pin in the circumferential direction and/or the radiation direction during the rotation transmission.

Abstract: An oval shaft that includes a cam body integrated with a rotation input section and rolling elements that are sandwiched between an inner ring provided at the outer periphery of the cam body and a flexible outer ring; an internal gear having an inner gear formed at the inner periphery; a flex gear having outer gears that have a reduced teeth number relative to the inner gears so that, when the outer gears are provided at the outer periphery of the oval shaft, the outer gears are engaged with the inner gears at a plurality of engagement positions, the flex gear has a plurality of transmission pins; and a rotation output mechanism having an output plate having an engagement section including an engagement hole that is engaged with each transmission pin and that is provided along the circumferential direction with a predetermined interval to allow the displacement of the transmission pin in the circumferential direction and/or the radiation direction during the rotation transmission.