公开(公告)号：US20150316134A1

公开(公告)日：2015-11-05

申请号：US14649082

申请日：2013-09-24

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Tatsuro HOSHINA ,  Masakatsu SASAHARA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H2049/003 ,  Y10T74/19

Abstract: First and second external tooth gear parts of a strain wave gearing are bent in an elliptic shape by a wave generator to engage with first and second internal tooth gears, respectively. The first and second external tooth gear parts are bent so as to have elliptic shapes the phases of which are rotated 90 degrees from each other about a rotational center line. A coupling external tooth gear part that maintains a circular cross-sectional shape which does not deform is formed in between the first and second external tooth gear parts. The coupling external tooth gear part is maintained so as to be coupled with a coupling internal tooth gear in an engaged manner. The strain wave gearing has high engagement rigidity and is capable of transmitting large torque.

Abstract translation: 应变波齿轮的第一和第二外齿齿轮部分通过波发生器弯曲成椭圆形，分别与第一和第二内齿齿轮啮合。 第一外齿齿轮部分和第二外齿齿轮部分被弯曲成椭圆形，它们的相位围绕旋转中心线彼此旋转90度。 在第一和第二外齿齿轮部分之间形成有保持没有变形的圆形横截面形状的联接外齿齿轮部分。 联接外齿齿轮部分被保持为以啮合的方式与联接内齿齿轮联接。 应变波传动具有较高的接合刚度，能够传递较大的转矩。

公开(公告)号：US09140350B2

公开(公告)日：2015-09-22

申请号：US14002480

申请日：2013-01-09

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Yuki Honda

IPC: F16H57/04 ,  F16H49/00

CPC classification number: F16H49/001 ,  F16H57/04 ,  Y10T74/19642

Abstract: The interior space of a cup-shaped flexible externally toothed gear of a cup-type wave gear device is divided into a front interior space and a rear interior space by a partition mechanism. A lubricant is filled in the front interior space at the side of a wave generator, to which lubrication is required. The volume of the front interior space is set so that a necessary amount of lubricant is filled. Since the lubricant is not necessary to fill in the entire interior space of the flexible externally toothed gear, the amount of lubricant to be filled can be reduced.

Abstract translation: 杯式波轮装置的杯形柔性外齿轮的内部空间通过分隔机构分为前内部空间和后内部空间。 润滑剂填充在需要润滑的波浪发生器侧的前部内部空间中。 前部内部空间的容积被设定为填充必要量的润滑剂。 由于润滑剂不需要填充柔性外齿轮的整个内部空间，因此可以减少要填充的润滑剂的量。

公开(公告)号：US20150240929A1

公开(公告)日：2015-08-27

申请号：US14371446

申请日：2013-05-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16H49/00 ,  F16D1/076 ,  F16H57/00 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16D1/076 ,  F16H55/0833 ,  F16H57/0025 ,  F16H2049/003 ,  Y10T29/49465 ,  Y10T74/19647 ,  Y10T74/1987

Abstract: A strain wave gearing (1) has a flexible externally toothed gear (3) with a boss (7). A boss-side fastening surface (16) formed on the boss is coaxially superposed with a member-side fastening surface (15) of an output member (11), and the boss (7) and the output member are fastened by fastening bolts (13). The bolt tension of the fastening bolts (13) causes the engaging protuberances (20) of the boss-side fastening surface (16) to dig into the member-side fastening surface (15) by a predetermined dig-in depth. A large frictional force is produced in the fastening portions between the flexible externally toothed gear (3) and the output member (11). It is thereby possible to transmit the necessary torque by the bolt tension alone without using pins or a friction sheet together with the fastening bolts.

Abstract translation: 应变波传动装置（1）具有带有凸台（7）的柔性外齿轮（3）。 形成在凸台上的凸台侧紧固面（16）与输出构件（11）的构件侧固定面（15）同轴地重叠，并且凸台（7）和输出构件通过紧固螺栓 13）。 紧固螺栓（13）的螺栓张力导致凸台侧紧固表面（16）的接合突起（20）以预定的挖掘深度挖入构件侧紧固表面（15）。 在柔性外齿轮（3）和输出部件（11）之间的紧固部分产生较大的摩擦力。 因此，可以通过单独的螺栓张力传递必要的扭矩，而不用销或摩擦片与紧固螺栓一起使用。

公开(公告)号：US20150219200A1

公开(公告)日：2015-08-06

申请号：US14425679

申请日：2013-07-10

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Xin Yue Zhang ,  Yoshihide Kiyosawa

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H55/084 ,  Y10T74/19642

Abstract: A wave generator (5) for a flat-type strain wave gearing (1) has a first elliptical outer circumferential surface (6S) of a first wave generator portion (5S) defined by a first elliptical curve (C1), and a second elliptical outer circumferential surface (6D) of a second wave generator section (5D) defined by a second elliptical curve (C2). Compared to using a wave generator for which the contour is defined by a single elliptical curve, differences between the ball load distribution of the first wave generator portion (5S) and the ball load distribution of the second wave generator portion (5D) can be suppressed, both ball load distributions can be equalized, and the equivalent ball load can be reduced; therefore, an increase in the lifespan of the wave generator bearing can be achieved.

Abstract translation: 用于扁平型应变波传动装置（1）的波发生器（5）具有由第一椭圆曲线（C1）限定的第一波发生器部分（5S）的第一椭圆形外周表面（6S）和第二椭圆形 由第二椭圆曲线（C2）限定的第二波发生器部分（5D）的外圆周表面（6D）。 与使用由单个椭圆曲线限定轮廓的波发生器相比，可以抑制第一波发生器部分（5S）的球负载分布与第二波发​​生器部分（5D）的球载荷分布之间的差异 可以均衡两个球载荷分布，可以减小等效球载荷; 因此，可以实现波发生器轴承的寿命的增加。

公开(公告)号：US08991282B2

公开(公告)日：2015-03-31

申请号：US13976076

申请日：2012-12-12

Applicant: Harmonic Drive Systems Inc.

Inventor： Yoshikazu Yajima ,  Junichi Kurogi

IPC: F16H33/00 ,  F16H35/00 ,  F16H37/00 ,  F16H49/00

CPC classification number: F16H49/001 ,  Y10T74/19 ,  Y10T74/19642

Abstract: A wave gear unit has an input shaft positioned along a center axis by first and second input bearings. A first unit end plate at the first-input-bearing side is a composite member in which a bearing housing member of an iron-based material is integrated with an end plate main body member of a lightweight material. A second unit end plate at the second-input-bearing side is integrated with a rigid internally toothed gear, and is a composite member in which a second member of a lightweight material is integrated with a first member of a lightweight material. The first member has an end plate main body portion of the second unit end plate and a gear main body portion of the rigid internally toothed gear, while the second member has a bearing housing portion of the second unit end plate and a teeth formation portion of the rigid internally toothed gear.

Abstract translation: 波齿轮单元具有通过第一和第二输入轴承沿着中心轴定位的输入轴。 第一单元端板在第一输入轴承侧是复合构件，其中铁基材料的轴承壳体构件与轻质材料的端板主体构件一体化。 在第二输入轴承侧的第二单元端板与刚性内齿轮一体化，并且是复合构件，其中轻质材料的第二构件与轻质材料的第一构件成一体。 第一构件具有第二单元端板的端板主体部分和刚性内齿轮的齿轮主体部分，而第二构件具有第二单元端板的轴承容纳部分和齿形成部分 刚性内齿齿轮。

公开(公告)号：US20140347679A1

公开(公告)日：2014-11-27

申请号：US14279313

申请日：2014-05-15

Applicant: Satoshi Kiyono ,  Harmonic Drive Systems Inc.

Inventor： Hideki HIRABAYASHI ,  Hiroki HANAOKA ,  Satoshi KIYONO

IPC: G01B11/14

CPC classification number: G01B11/14 ,  G01B11/08 ,  G01B11/105

Abstract: A gap measurement device 1 comprises a light source 5 for projecting light on a gap 3 to be measured, a lens optical system 6 for focusing on an imaging surface 7 a gap image 3A from light transmitted through the gap 3, and a light-receiving element 9 for receiving light of the gap image 3A formed on the imaging surface 7 of the lens optical system 6. A holed mask 8 provided with a light-transmitting hole 8a having a prescribed aperture size is arranged on the imaging surface 7, and the light-receiving element 9 receives the light of the gap image 3A via the hole 8a. A gap size at a point to be measured in an extended gap 3 can be measured by forming an image of the gap with the lens optical system 6 and placing the hole 8a of the holed mask 8 on the point to be measured on the imaging surface 7 of the lens optical system 6.

Abstract translation: 间隙测量装置1包括用于将光投射在待测量间隙3上的光源5，用于将透过间隙3的光聚焦在成像表面7上的透镜光学系统6和光接收 元件9，用于接收形成在透镜光学系统6的成像表面7上的间隙图像3A的光。具有规定孔径尺寸的透光孔8a的孔掩模8布置在成​​像表面7上， 光接收元件9经由孔8a接收间隙图像3A的光。 可以通过与透镜光学系统6形成间隙的图像并将孔眼8的孔8a放置在成像面上的待测点上来测量在延伸间隙3中要测量的点处的间隙尺寸 7透镜光学系统6。

公开(公告)号：US20040262504A1

公开(公告)日：2004-12-30

申请号：US10828184

申请日：2004-04-21

Applicant: Harmonic Drive Systems Inc. ,  Kazuhiro HANE

Inventor： Muneo Mitamura ,  Kazuhiro Hane ,  Yoshinori Ito

IPC: G01D005/34 ,  H01J003/14

CPC classification number: G01D5/34707

Abstract: A projection linear encoder has an SOQ substrate formed with transmission gratings and grid-like photodiode groups, and a reflecting grating plate with reflecting gratings that are formed facing thereto. A light-blocking film composed of a metal thin film or the like is formed on a surface of a glass substrate of the SOQ substrate, and the transmission gratings are formed by patterning the light-blocking film. The photodiodes are integrally formed by epitaxial growth on the silicon layer of the SOQ substrate. Transmission gratings with high mechanical strength can be formed inexpensively in comparison with cases in which through holes are formed by etching a silicon substrate to manufacture transmission gratings.

公开(公告)号：US20040261545A1

公开(公告)日：2004-12-30

申请号：US10827363

申请日：2004-04-20

Applicant: Harmonic Drive Systems Inc.

Inventor： Naoki Kanayama ,  Masashi Horiuchi

IPC: G01L003/02

CPC classification number: G01L5/226 ,  F16H49/001 ,  G01L3/1457

Abstract: A driving mechanism includes a motor and a wave gear device. Three sets of torque sensors are attached at intervals of 120null on a diaphragm of a flexible external gear of the wave gear device. In the rotational angle detecting part of the signal processing circuit, signal components that are included in the outputs of the torque sensors, that vary in the form of two cycles of a sine wave per rotation of the wave generator and are synchronous with a rotational angle of the wave generator are extracted and a coordinate transformation is carried out for the obtained three-phase sinusoidal signals to calculate two-phase sinusoidal signals that are 90null out of phase, with the rotational angle of the wave generator being calculated based on these signals. Without providing a rotational angle detector separately, it is possible to detect the rotational angle of the wave generator using the outputs of the torque sensors.

Abstract translation: 驱动机构包括马达和波齿轮装置。 三组扭矩传感器以120°的间隔安装在波齿轮装置的柔性外齿轮的隔膜上。 在信号处理电路的旋转角度检测部分中，包括在扭矩传感器的输出中的信号分量，其以波形发生器每旋转一周期的正弦波的两个周期的形式变化，并且与旋转角度同步 并对所获得的三相正弦信号进行坐标变换，以计算相位差为90°的两相正弦信号，基于这些信号计算波发生器的旋转角度 。 不用分开设置旋转角度检测器，就可以使用扭矩传感器的输出来检测波发生器的旋转角度。

公开(公告)号：US20040260499A1

公开(公告)日：2004-12-23

申请号：US10819206

申请日：2004-04-07

Applicant: Harmonic Drive Systems Inc.

Inventor： Yoshinori Ito ,  Sadaharu Kanamori ,  Muneo Mitamura

IPC: G01D018/00

CPC classification number: G01D5/24452 ,  G01D5/24409 ,  G01D5/2448 ,  G01D5/2449

Abstract: In an encoder signal interpolation divider (1) that automatically corrects errors in the offset and gain of an input signal at a high speed with a low cost circuit configuration, and can accurately generate an encoder signal having a predetermined resolution by interpolation division, analog input signals (A1, B1) are subjected to offset correction by a 0-point correction circuit (13) in adders (4, 5) prior to being digitally converted by A/D converters (8, 9), and are subjected to gain correction by an amplitude correction circuit (14) in amplifiers (6, 7). The corrected analog signals are converted to digital values, angle data is calculated in an angle data lookup table (10), and, based on these results, an encoder pulse signal having a predetermined resolution is generated and output from an encoder pulse signal generating circuit (12).

Abstract translation: 在编码器信号插值分配器（1）中，以低成本的电路结构自动校正输入信号的偏移和增益的误差，并且可以通过内插分割精确地生成具有预定分辨率的编码器信号，模拟输入 在由A / D转换器（8,9）进行数字转换之前，通过加法器（4,5）中的0点校正电路（13）对信号（A1，B1）进行偏移校正，并进行增益校正 通过放大器（6,7）中的幅度校正电路（14）。 校正的模拟信号被转换为数字值，角度数据在角度数据查找表（10）中计算，并且基于这些结果，生成具有预定分辨率的编码器脉冲信号并从编码器脉冲信号发生电路 （12）。

公开(公告)号：US20040184691A1

公开(公告)日：2004-09-23

申请号：US10751727

申请日：2003-12-30

Applicant: Harmonic Drive Systems Inc. ,  Harmonic Drive Aktiengesellschaft

Inventor： Masaru Kobayashi ,  Rolf Slatter

IPC: F16C033/32 ,  F16C033/62

CPC classification number: F16C33/60 ,  F16H49/001 ,  Y10S384/912 ,  Y10T74/19

Abstract: A lightweight bearing and wave gear drive are provided. An outer or inner bearing ring of the bearing has fixing holes to enable the ring to be attached to another member. The parts of the bearing on which raceway surfaces are formed are made of an iron-based material, while the main bearing ring member is formed of a lightweight material that is lighter than the iron-based material. Surface portions that constitute fixing bolt seats are plated to increase the strength of such portions. The wave gear drive includes a rigid internal gear, a flexible external gear located inside the internal gear, and a wave generator located inside the external gear. The internal and external gears are coupled by the lightweight bearing in a way that allows the gears to rotate relative to each other.