公开(公告)号：US09746065B2

公开(公告)日：2017-08-29

申请号：US14767220

申请日：2013-11-29

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Shoichi Ishikawa

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: The addendum tooth profile of the inner teeth and outer teeth of a strain wave gearing is stipulated by a first and second similar curve obtained from the curve segment from an inflection point to a low point in a movement trajectory when the meshing of both teeth is approximated by rack meshing. The addendum tooth profile of the inner teeth is stipulated by a curve generated at the inner teeth in the process of the addendum profile of the outer teeth moving from the inflection point to the apex of the movement trajectory. The addendum tooth profile of the outer teeth is stipulated by a curve generated at the outer teeth when the addendum profile of the inner teeth moves from the inflection point to the apex. The addendum profile of the outer teeth makes double contact with the addendum profile and dedendum profile of the inner teeth.

公开(公告)号：US20170227091A1

公开(公告)日：2017-08-10

申请号：US15424090

申请日：2017-02-03

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Norio SHIROKOSHI

IPC: F16H1/28 ,  F16H57/08

CPC classification number: F16H1/28 ,  F16H1/46 ,  F16H57/08 ,  F16H57/082

Abstract: A planetary reduction gear device has first and second planetary gears meshed with a sun gear and an internal at different locations in a direction of an axis line; and a carrier assembly for supporting the first and second planetary gears. The carrier assembly has a first planetary carrier for supporting the first planetary gears and a second planetary carrier for supporting the second planetary gears. The first and second planetary carriers are fixed coaxially with each other in the direction of the axis line so as to rotate integrally. A planetary reduction gear device having a large torque capacity can be obtained.

公开(公告)号：US09709151B2

公开(公告)日：2017-07-18

申请号：US14437213

申请日：2013-09-11

Applicant: Harmonic Drive Systems Inc.

Inventor： Junichi Kurogi ,  Yoshihide Kiyosawa

IPC: F16H49/00

CPC classification number: F16H49/001 ,  Y10T74/19

Abstract: A wave generator of a strain wave gearing has a plug, a wave generator bearing mounted to an outer peripheral surface of the plug, an input shaft protruding from the center of the plug to a first side running along a center axis, and a bearing arrangement on which a support bearing supporting the input shaft is arranged. Relative to an outer ring end surface of the wave generator bearing that faces the first side, a center-side plug end surface of a plug end surface facing the same direction is in a position withdrawn from the first side toward the opposite direction. The bearing arrangement is provided between the center-side plug end surface and the outer ring end surface encircling the input shaft. The input shaft can be fitted within the width dimension of the wave generator, and a strain wave gearing having a short axial length can be achieved.

公开(公告)号：US09605749B2

公开(公告)日：2017-03-28

申请号：US14797305

申请日：2015-07-13

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Norio Shirokoshi

IPC: F16H57/08 ,  F16H1/28

CPC classification number: F16H57/082 ,  F16C19/163 ,  F16C19/36 ,  F16C19/54 ,  F16C19/548 ,  F16H1/28

Abstract: A planetary gear reducer has a planetary carrier supported by an input-side main bearing and an output-side main bearing. An angular contact ball bearing or a deep groove ball bearing which requires less installation space and is inexpensive is used for the input-side main bearing. A tapered roller bearing having a large capacity is used for the output-side main bearing. A compact, flat and inexpensive planetary gear reducer can be realized in comparison with a case in which the both main bearings are tapered roller bearings.

公开(公告)号：US20170059024A1

公开(公告)日：2017-03-02

申请号：US15308412

申请日：2014-05-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: In this wave generator for a strain wave gearing, a plug thereof is configured from a plurality of split plug segments that are joined in the axial direction. Wave gearings are installed to the split outer peripheral surfaces of the split plug segments by press fitting, and thereafter the split plug segments can be joined in the axial direction. It is possible to easily produce the wave generator in which a plurality of wave bearings are press fitted, in parallel arrangement, on the non-circular outer peripheral surface.

Abstract translation: 在这种用于应变波齿轮的波发生器中，其塞子由沿轴向连接的多个分裂塞段构成。 波形齿轮通过压配合安装在分割塞片的分割外周面上，然后可以将分离塞片段沿轴向连接。 可以容易地制造波形发生器，其中多个波形轴承平行地压配合在非圆形外周面上。

公开(公告)号：US20170009868A1

公开(公告)日：2017-01-12

申请号：US15033815

申请日：2015-05-29

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16B21/18 ,  F16H55/0833 ,  F16H55/14 ,  F16H55/16 ,  F16H55/18 ,  F16H2049/003

Abstract: A flat strain wave gearing (1) has a mechanism for preventing a flexible externally toothed gear (4) from moving in the direction of the device center axis (1a) with respect to a rigid internally toothed gears (2, 3). The mechanism has an inner-peripheral groove (11) formed on inner teeth (3a) of the internally toothed gear (3), an outer-peripheral groove (12) formed on outer teeth (4a) of the externally toothed gear (4), and a flexible ring (13) mounted between the inner-peripheral groove (11) and the outer-peripheral groove (12). The ring (13) is engageable with groove inner-peripheral surfaces (11a, 11b, 12a, 12b), from the direction of the device center axis (1a), at meshing positions of the both gears (2, 4).

Abstract translation: 扁平应变波传动装置（1）具有防止柔性外齿轮（4）相对于刚性内齿轮（2,3）沿装置中心轴线（1a）的方向移动的机构。 该机构具有形成在内齿轮（3）的内齿（3a）上的内周槽（11），形成在外齿齿轮（4）的外齿（4a）上的外周槽（12） ，以及安装在内周槽（11）和外周槽（12）之间的柔性环（13）。 在两齿轮（2,4）的啮合位置，环（13）能够沿着装置中心轴线（1a）的方向与槽内周面（11a，11b，12a，12b）接合。

公开(公告)号：US09500234B2

公开(公告)日：2016-11-22

申请号：US14375377

申请日：2013-05-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16D1/076 ,  F16D1/033 ,  F16D69/00 ,  F16H49/00 ,  F16B39/24 ,  F16D69/02

CPC classification number: F16D1/076 ,  F16B39/24 ,  F16D1/033 ,  F16D69/00 ,  F16D69/02 ,  F16D69/023 ,  F16D2069/004 ,  F16D2300/10 ,  F16H49/001

Abstract: A fastening friction plate is wedged between the fastening surfaces of two fastening members in order to increase the fastening force between them. The fastening friction plate has a friction plate main body of a fixed thickness, and engaging protuberances having an approximately truncated cone shape formed on the both surfaces of the friction plate main body at a fixed pitch. The friction plate main body and the engaging protuberances are integrally formed by photo-etching into the both surfaces of a steel plate material having a fixed thickness. The hardness of the fastening friction plate is equal to or greater than that of the fastening surfaces of the fastening members.

Abstract translation: 紧固摩擦板楔入两个紧固构件的紧固表面之间，以增加它们之间的紧固力。 紧固摩擦片具有固定厚度的摩擦板主体，并且以固定节距形成在摩擦板主体的两个表面上的具有大致截锥形的接合突起。 摩擦板主体和接合突起通过光蚀刻一体地形成为具有固定厚度的钢板材料的两个表面。 紧固摩擦片的硬度等于或大于紧固构件的紧固面的硬度。

公开(公告)号：US09377096B2

公开(公告)日：2016-06-28

申请号：US14397526

申请日：2013-05-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Tatsuro Hoshina ,  Yoshihide Kiyosawa

IPC: F16H35/00 ,  F16H49/00 ,  F16C19/46 ,  F16C33/46

CPC classification number: F16H49/001 ,  F16C19/463 ,  F16C33/4641 ,  F16H2049/003

Abstract: A wave generator of a strain wave gearing has a rigid plug and a needle roller bearing mounted on the plug external peripheral surface. The plug external peripheral surface has a retainer engaging part for engaging with a retainer that would move in an axis line direction and for restricting the movement thereof along the axis line direction. The retainer has an outer ring engaging part for engaging with an outer ring that would move in the axis line direction and for restricting the movement thereof along the axis line direction. The movements of the retainer and the outer ring can be restricted without providing a separate member. A wave generator of a strain way gearing can be realized, which is provided with a roller bearing capable of restricting the movement of the outer ring with a simple structure.

Abstract translation: 应变波传动装置的波发生器具有安装在插头外周面上的刚性塞子和滚针轴承。 插头外周面具有保持器接合部，用于与将沿轴线方向移动并用于限制其沿着轴线方向的移动的保持器接合。 保持器具有外环接合部分，用于与将在轴线方向上移动并用于限制其沿着轴线方向的移动的外环接合。 可以限制保持器和外圈的移动，而不需要提供单独的构件。 可以实现应变传动装置的波发生器，其具有能够以简单的结构限制外圈的运动的滚子轴承。

公开(公告)号：US09371900B2

公开(公告)日：2016-06-21

申请号：US14429704

申请日：2013-07-01

Applicant: Harmonic Drive Systems Inc.

Inventor： Jun Handa ,  Yoshihide Kiyosawa

IPC: F16H49/00 ,  F16H57/021

CPC classification number: F16H49/001 ,  F16H57/021 ,  F16H2049/003 ,  Y10T74/19647 ,  Y10T74/1987

Abstract: A first shaft end of a hollow shaft of a hollow strain wave gearing is supported by a first support bearing with a collar interposed therebetween which is mounted to the outer-circumferential surface of the first shaft end. A second shaft end on the other end of the hollow shaft is supported by a second support bearing. A wave plug of a wave generator is integrally formed with the hollow shaft, and a wave bearing is mounted on the elliptical outer-circumferential surface thereof from the first-shaft-end side. It is possible to use a first support bearing having an inner diameter larger than the outer diameter of the first shaft end as the first support bearing for supporting the first shaft end.

Abstract translation: 中空应变波传动装置的中空轴的第一轴端由第一支撑轴承支撑，其中插入有轴环，其安装到第一轴端的外周表面。 中空轴的另一端的第二轴端由第二支撑轴承支撑。 波浪发生器的波形塞与中空轴一体形成，波浪轴承从第一轴端侧安装在椭圆形外周面上。 可以使用具有大于第一轴端的外径的内径的第一支撑轴承作为用于支撑第一轴端的第一支撑轴承。

公开(公告)号：US20160003338A1

公开(公告)日：2016-01-07

申请号：US14767220

申请日：2013-11-29

Applicant: Harmonic Drive Systems Inc.

Inventor： Shoichi ISHIKAWA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: The addendum tooth profile of the inner teeth and outer teeth of a strain wave gearing is stipulated by a first and second similar curve obtained from the curve segment from an inflection point to a low point in a movement trajectory when the meshing of both teeth is approximated by rack meshing. The addendum tooth profile of the inner teeth is stipulated by a curve generated at the inner teeth in the process of the addendum profile of the outer teeth moving from the inflection point to the apex of the movement trajectory. The addendum tooth profile of the outer teeth is stipulated by a curve generated at the outer teeth when the addendum profile of the inner teeth moves from the inflection point to the apex. The addendum profile of the outer teeth makes double contact with the addendum profile and dedendum profile of the inner teeth.

Abstract translation: 应变波传动装置的内齿和外齿的齿顶齿廓由当从两个齿的啮合近似的从运动轨迹的拐点到低点的曲线段获得的第一和第二相似曲线规定 通过机架网格划分。 内齿的齿顶齿廓由在从拐点移动到移动轨迹的顶点的外齿的齿顶轮廓的过程中由内齿产生的曲线规定。 当外齿的齿顶轮廓从拐点移动到顶点时，外齿的齿顶齿廓由外齿上产生的曲线规定。 外齿的齿顶轮廓与内齿的齿顶轮廓和齿根轮廓形成双重接触。