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公开(公告)号：US20040125079A1
公开(公告)日：2004-07-01
申请号：US10674538
申请日：2003-10-01
Applicant: Harmonic Drive Systems Inc.
Inventor： Makoto Kaneko , Ryuta Horie
IPC: G09G005/00
CPC classification number: G01L5/228 , G01L1/205 , G01L1/2256 , G01L5/009
Abstract: A system for detecting tactile information includes strain-gauge touch sensors and a controller. Based on the sum output from each of touch-sensor sensor units, an analyzer in the controller calculates touch force Fi(t) at each measurement point. An automatic gain control adjusts the voltage amplitude Ai(t) of a sine wave of frequency fi applied to the sensor units at each measurement point to bring the voltage amplitude measured at each measurement point into line with a target voltage, and, via a bandpass filter, applies to each sensor unit a composite sine wave y(t) that includes sine waves of each frequency provided with the thus-adjusted voltage amplitude Ai(t). This makes it possible to reduce the number of lines between the controller and touch sensors that include numerous measurement points, and enables the gain of the touch sensors constituted by strain gauges to be controlled within an appropriate range.
Abstract translation: 用于检测触觉信息的系统包括应变计触摸传感器和控制器。 基于每个触摸传感器传感器单元的总和输出，控制器中的分析器计算每个测量点处的触摸力Fi（t）。 自动增益控制调节在每个测量点施加到传感器单元的频率fi的正弦波的电压幅度Ai（t），使得在每个测量点测量的电压振幅与目标电压一致，并且经由带通 滤波器适用于每个传感器单元的复合正弦波y（t），其包括提供有由此调整的电压振幅A 1（t）的每个频率的正弦波。 这使得可以减少控制器和包括多个测量点的触摸传感器之间的线数，并且使得由应变计构成的触摸传感器的增益能够被控制在适当的范围内。
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公开(公告)号：US12209648B2
公开(公告)日：2025-01-28
申请号：US18549650
申请日：2021-06-01
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yuya Murayama
Abstract: According to a tooth profile designing method for a strain wave gear device, a first curve from a point A (φ=0) to a point B (φ=π/2) in a moving locus of external teeth with respect to internal teeth is extracted. A similarity curve is obtained by multiplying the first curve by (1−λ) using the point B as a center of similarity, and a second curve is obtained by rotating the similarity curve by 180° about a midpoint C between the point A and the point B as a center of similarity. A third curve is obtained by multiplying only the x-coordinate of the second curve by α (α 1). An addendum tooth profile of the external teeth is defined using the third curve or the fourth curve.
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公开(公告)号：US12203746B2
公开(公告)日：2025-01-21
申请号：US17758245
申请日：2020-04-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shintaro Ueno , Yuki Kato , Yoshinori Shibahara
Abstract: A rotary encoder is incorporated in an annular space formed between a hollow rotating shaft and an encoder case. The rotary encoder has an annular printed wiring substrate, a plurality of mounting substrates that are outward from the printed wiring substrate in the radial direction and are arranged in the circumferential direction, and inter-substrate wiring cables bridged between the printed wiring substrate and each of the mounting substrates in the radial direction. Power supply to the mounting substrates and signal transmission and reception between the mounting substrates can be accomplished without routing around the wiring cables. It is possible to achieve a rotary encoder that is suitable for being incorporated in a narrow annular space.
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公开(公告)号：US20250015549A1
公开(公告)日：2025-01-09
申请号：US18713406
申请日：2022-01-12
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
Abstract: A shaft member, in which electrical wiring and connectors are integrally formed, is disposed on a hollow portion for electrical wiring that extends through the center of a wave gear device. The connectors attached to first and second shaft ends on both sides of the shaft member are each exposed to outside from both ends of the hollow portion. During wiring work, external wiring or the like need merely be attached to respective terminals of the connectors exposed to outside. It is possible to reduce the risk of disconnection caused by sliding or twisting of the electrical wiring, without the electrical wiring contacting a hollow input shaft forming the hollow portion, an end of a second end plate, etc. Constraints on the number of wires and wire diameter are also alleviated, and wiring work also becomes simple.
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公开(公告)号：US20240263693A1
公开(公告)日：2024-08-08
申请号：US18041020
申请日：2021-11-04
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H2049/003
Abstract: In a strain wave gearing, in order to regulate axial-direction movement of an externally toothed gear thereof, first balls are directly interposed between a first annular end surface and a device housing, whereby the first annular end surface and the device housing are in rolling contact with one another. Similarly, second balls, are directly interposed between a second annular end surface and an output shaft, whereby the second annular end surface and the output shaft are in rolling contact with one another. No contact occurs other than rolling contact of contact portions. Additionally, pressure is applied in the axial direction to the portions that make rolling contact, and axial-direction rattling is eliminated, whereby axial-direction movement of the externally toothed gear is reliably suppressed, and generation of high thrust force is prevented.
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Patent Agency Ranking
公开(公告)号：US12038077B1
公开(公告)日：2024-07-16
申请号：US18041020
申请日：2021-11-04
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H2049/003
Abstract: In a strain wave gearing, in order to regulate axial-direction movement of an externally toothed gear thereof, first balls are directly interposed between a first annular end surface and a device housing, whereby the first annular end surface and the device housing are in rolling contact with one another. Similarly, second balls, are directly interposed between a second annular end surface and an output shaft, whereby the second annular end surface and the output shaft are in rolling contact with one another. No contact occurs other than rolling contact of contact portions. Additionally, pressure is applied in the axial direction to the portions that make rolling contact, and axial-direction rattling is eliminated, whereby axial-direction movement of the externally toothed gear is reliably suppressed, and generation of high thrust force is prevented.
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公开(公告)号：US12018740B2
公开(公告)日：2024-06-25
申请号：US18170580
申请日：2023-02-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Nozomu Tanioka , Jun Handa
CPC classification number: F16H49/001 , F16H2057/0056 , F16H2057/0062
Abstract: A strain wave gearing has three components and a temporary-fixing jig, three components being an internally toothed gear, a cup-shaped externally toothed gear, and a wave generator. The temporary-fixing jig is securely fastened to an output shaft fixed to the externally toothed gear by a temporary-fixing bolt and is securely fastened to an input shaft fixed to a cam plate of the wave generator by a temporary-fixing bolt. The temporary-fixing jig engages with the output shaft and the input shaft and maintains the three components in an assembled state. There is no need for an operation for adjusting the positions of the three components in an operation for attaching the strain wave gearing to a motor. After the strain wave gearing has been attached to the motor, the temporary-fixing jig is removed from the strain wave gearing, wherefore less space is required for installation.
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公开(公告)号：US12009149B2
公开(公告)日：2024-06-11
申请号：US17619497
申请日：2019-08-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
CPC classification number: H01F7/081 , H01F7/121 , H01F7/16 , H01F2007/086
Abstract: A push-pull solenoid is provided with a cylindrical guide member that is fixed to a case. A circular outer peripheral surface of a plunger is in contact with a friction guide surface formed on a circular inner peripheral surface of the guide member, and slides along the friction guide surface. Frictional force due to contact with the friction guide surface is always acting on the plunger, so it is possible to suppress impact-like contact of the plunger with an object to be manipulated during suctioning, and vibration and noise caused thereby. Moreover, over-recovery and falling-out of the plunger after suction is released can also be prevented.
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公开(公告)号：US20240159305A1
公开(公告)日：2024-05-16
申请号：US18549650
申请日：2021-06-01
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yuya MURAYAMA
CPC classification number: F16H49/001 , F16H55/0833
Abstract: According to a tooth profile designing method for a strain wave gear device, a first curve from a point A (φ=0) to a point B (φ=τ/2) in a moving locus of external teeth with respect to internal teeth is extracted. A similarity curve is obtained by multiplying the first curve by (1−λ) using the point B as a center of similarity, and a second curve is obtained by rotating the similarity curve by 180° about a midpoint C between the point A and the point B as a center of similarity. A third curve is obtained by multiplying only the x-coordinate of the second curve by α (α 1). An addendum tooth profile of the external teeth is defined using the third curve or the fourth curve.
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公开(公告)号：US11982343B2
公开(公告)日：2024-05-14
申请号：US17052343
申请日：2019-05-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
CPC classification number: F16H49/001 , F16C19/26 , F16H2049/003
Abstract: A strain wave gearing has a wave generator provided with a plurality of rollers mounted between an ellipsoidal outer peripheral surface of a plug and an inner peripheral surface of an externally toothed gear. The plug is formed with recesses along the ellipsoidal outer peripheral surface. The recesses open in a first end surface of the plug facing toward a diaphragm of the externally toothed gear. The radial rigidity of the plug is relatively low in the side having the first end surface in the direction of a plug axis. When viewed along the direction of the plug axis, the respective rollers can be brought into linear contact with the inner peripheral surface of the externally toothed gear at positions on the long axis (Lmax) of the elliptically-flexed externally toothed gear, so as not to occur one-sided contact state.
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