Strain wave gearing

1. A strain wave gearing, comprising:

an internal gear including an inner gear formed along an inner circumferential surface;

a wave generator including a cam that rotates around an axis in accordance with a rotation input;

a flex gear including (i) a ring-shaped outer gear that is formed along an outer peripheral surface with a smaller number of teeth than the inner gear and that has an inner circumferential side fitted to the wave generator and (ii) an adjacent member adjacent to the outer gear in a direction along the axis;

an outputter that includes an opposing portion facing the adjacent member in a radial direction centered on the axis and that rotates together with the flex gear with respect to the internal gear; and

a transmitter that extends along the radial direction and that transmits motive power of the flex gear to the outputter, wherein

the cam has N poles positioned at equal intervals in a circumferential direction centered on the axis, and causes the outer gear to engage with the inner gear at N locations, N being an integer of 2 or greater,

the transmitter is fixed to one of the opposing portion and the adjacent member, and an insertion portion into which the transmitter is inserted is provided in another of the opposing portion and the adjacent member,

the insertion portion has a width along the circumferential direction that is wider than the transmitter, and allows relative displacement in the circumferential direction of the flex gear and the outputter, and

a plurality of transmission pairs is arranged in the circumferential direction, the transmission pairs being pairs of the transmitter and the insertion portion.

2. The strain wave gearing according to claim 1 , wherein the plurality of transmission pairs is arranged at equal intervals in the circumferential direction.

3. The strain wave gearing according to claim 1 , wherein 2×N or more of the transmission pairs is provided.

4. The strain wave gearing according to claim 1 , wherein

the plurality of transmission pairs includes

a first pair in which the transmitter is positioned at one end in the circumferential direction of the insertion portion when the cam is rotating around the axis, and

a second pair in which the transmitter is positioned at another end in the circumferential direction of the insertion portion when the cam is rotating around the axis.

5. The strain wave gearing according to claim 4 , wherein N of the first pair and N of the second pair are provided.

6. The strain wave gearing according to claim 5 , wherein the first pair and the second pair alternately exist every 360°/(2×N) at angles centered on the axis.

7. The strain wave gearing according to claim 1 , wherein the insertion portion allows relative displacement in the radial direction of the flex gear and the outputter.

8. The strain wave gearing according to claim 1 , further comprising:

a supporter that rotatably supports the outputter with respect to the internal gear, wherein

the adjacent member and the opposing portion are positioned between the supporter and the cam.

9. The strain wave gearing according to claim 1 , wherein

the transmitter includes a column-shaped pin, and

the insertion portion includes an elongated hole having an opening diameter in the circumferential direction that is longer than an outer diameter of the pin.

10. The strain wave gearing according to claim 1 , wherein the opposing portion is positioned on an inner circumferential side of the adjacent member.

11. The strain wave gearing according to claim 1 , wherein the opposing portion is positioned on an outer peripheral side of the adjacent member.

12. The strain wave gearing according to claim 1 , wherein

the transmitter includes a column-shaped pin fixed to the opposing portion, and

the insertion portion is provided in the adjacent member, includes an elongated hole having an opening diameter in the circumferential direction that is longer than an outer diameter of the pin, and allows relative displacement in the radial direction of the flex gear and the outputter.

13. The strain wave gearing according to claim 12 , further comprising:

a supporter that rotatably supports the outputter with respect to the internal gear, wherein

the adjacent member and the opposing portion are positioned between the supporter and the cam.

14. The strain wave gearing according to claim 13 , wherein

the plurality of transmission pairs includes

a first pair in which the transmitter is positioned at one end in the circumferential direction of the insertion portion when the cam is rotating around the axis, and

a second pair in which the transmitter is positioned at another end in the circumferential direction of the insertion portion when the cam is rotating around the axis.

15. The strain wave gearing according to claim 14 , wherein N of the first pair and N of the second pair are provided.

16. The strain wave gearing according to claim 15 , wherein the first pair and the second pair alternately exist every 360°/(2×N) at angles centered on the axis.

17. The strain wave gearing according to claim 14 , wherein the opposing portion is positioned on an inner circumferential side of the adjacent member.

18. The strain wave gearing according to claim 16 , wherein the opposing portion is positioned on an inner circumferential side of the adjacent member.

19. The strain wave gearing according to claim 14 , wherein 2×N or more of the transmission pairs is provided, and the transmission pairs are arranged at equal intervals in the circumferential direction.

20. The strain wave gearing according to claim 16 , wherein 2×N or more of the transmission pairs is provided, and the transmission pairs are arranged at equal intervals in the circumferential direction.