公开(公告)号：US10236747B2

公开(公告)日：2019-03-19

申请号：US15484357

申请日：2017-04-11

Applicant: Harmonic Drive Systems Inc.

Inventor： Tomoki Terashima ,  Kiyoto Kobayashi ,  Sachio Oshima

IPC: F16H49/00 ,  H02K7/116 ,  F16H57/04 ,  H02K9/00 ,  H02K5/20 ,  H02K9/22 ,  H02K5/08 ,  H02K9/10 ,  H02K9/19

Abstract: A strain wave gearing with a built-in motor is provided with a motor, a wave gear mechanism enclosing the motor coaxially, and a heat-insulation spacing formed therebetween. The wave gear mechanism has a wave generator attached to the motor rotor so as to rotate integrally with the motor rotor. A wave generator plug of the wave generator is fixed to a rotor magnet back yoke of the motor rotor so as to enclose the rotor magnet back yoke. The spacing is formed in a contact surface portion between the rotor magnet back yoke and the wave generator back yoke, whereby heat transfer from the motor to the wave gear mechanism is suppressed.

公开(公告)号：US09882450B2

公开(公告)日：2018-01-30

申请号：US15315629

申请日：2014-06-02

Applicant: Harmonic Drive Systems Inc.

Inventor： Daisuke Yaguchi ,  Kiyoto Kobayashi

IPC: F16H1/28 ,  H02K7/116 ,  H02K1/27 ,  H02K7/08

CPC classification number: H02K7/116 ,  F16H1/28 ,  F16H1/32 ,  H02K1/2706 ,  H02K7/08 ,  H02K7/088

Abstract: A rotation actuator is equipped with a motor and a reduction gear disposed adjacent to each other. Both shaft end portions of a rotating shaft, which passes through the center of the motor and reducer, are rotatably supported through first and second rolling bearings by first and second fixed discs that are mutually fastened and fixed. A rotation output plate is supported through a third rolling bearing in the outer peripheral surface of the second fixed disc. A sliding ring is mounted between the rotation output plate and the first fixed disc. The sliding ring functions as a thrust bearing for the rotation output plate and also functions as a sealing mechanism for preventing grease from flowing from the reducer gear to the outside. A flat rotation actuator can be achieved.