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公开(公告)号：US20240102522A1
公开(公告)日：2024-03-28
申请号：US18264852
申请日：2021-04-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Toru TAKEDA
CPC classification number: F16D63/006 , F16D65/18 , H02K49/046 , F16D2121/20
Abstract: A brake for a motor includes a fixed-side engaging plate fixed to a motor shaft; a movable-side engaging plate coaxially opposed to the fixed-side engaging plate along the direction of a center axis; and a self-holding type solenoid that moves, in the direction of the center axis, the movable-side engaging plate to a halt cancelation position separated from the fixed-side engaging plate and a halt position where engagement with the fixed-side engaging plate occurs. When the motor is halted, the solenoid is driven to move the movable-side engaging plate from the halt cancelation position to the halt position. The movable-side engaging plate which has reached the halt position is mechanically engaged with the fixed-side engaging plate, and the motor shaft is forcibly halted.
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公开(公告)号：US20230349458A1
公开(公告)日：2023-11-02
申请号：US17639603
申请日：2020-10-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
CPC classification number: F16H49/001 , F16H55/0833 , F16H2049/003
Abstract: A three-dimensional tooth profile of internal teeth in a strain wave gearing is a basic internal-teeth tooth profile at an internal-teeth outer end, and is a reduced tooth profile, in which the basic internal-teeth tooth profile is proportionally reduced only in the lateral direction, at other tooth-trace-direction positions. A three-dimensional tooth profile of external teeth is a basic external-teeth tooth profile at an external-teeth outer end, and is an increased tooth profile, in which the basic external-teeth tooth profile is proportionally increased only in the lateral direction, at other tooth-trace-direction positions. The tooth tip circle of an internal-teeth inner-end-side portion of the internal teeth is larger than that of other portions and does not interfere with the external teeth. The external teeth and the internal teeth mesh three-dimensionally, the teeth do not interfere at the internal-teeth inner-end side.
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公开(公告)号：US11649886B2
公开(公告)日：2023-05-16
申请号：US17282077
申请日：2018-11-22
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Daisuke Orii , Syuhei Kobayashi , Norio Shirokoshi , Hiroshi Yamazaki
CPC classification number: F16H49/001 , F16C19/04 , F16H1/32 , F16C2361/61
Abstract: An outer-ring lubrication groove pattern formed in an outer-race raceway surface and an inner-race lubrication groove pattern formed in an inner-race raceway surface of a wave generator bearing of a strain wave gearing device are patterns in which linear lubrication grooves having very small widths and depths of several micrometers or less are arranged at fine pitches of several micrometers or less. The inner-race lubrication groove pattern includes a second groove pattern formed in long-axis-side inner-race raceway surface portions to hold the lubricant, and a first groove pattern formed in short-axis-side inner-race raceway surface portions to hold the lubricant and guide the lubricant to the second groove pattern. This configuration improves the contact state between balls and the inner-race and outer-race raceway surfaces of the wave generator bearing, thus reducing the coefficient of friction therebetween.
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公开(公告)号：US20230035665A1
公开(公告)日：2023-02-02
申请号：US17964081
申请日：2022-10-12
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Hiroaki KIMURA , Yoshihide KIYOSAWA , Jun HANDA
IPC: F16H49/00 , F16H57/021
Abstract: A strain wave gearing unit has a unit housing, a strain wave gearing, and a bearing device. Balls of a bearing part of the bearing device are positioned on the diametrically outer side with respect to a cylindrical barrel part of an externally toothed gear. The diameter S of the balls is 0.05 to 0.15 times the pitch diameter D of the externally toothed gear. The centers of the balls are positioned between a point at a distance of 1.2 times the diameter S toward the cylindrical-barrel-part side from an inner-side end surface of a diaphragm along a center axis and a point at a distance of 1 times the diameter S toward a side opposite the cylindrical barrel part from the inner-side end surface. The bearing device can be configured to be used in common for strain wave gearing units having different axial lengths.
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公开(公告)号：US20220381549A1
公开(公告)日：2022-12-01
申请号：US17838922
申请日：2022-06-13
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Brian COYNE , Yuki KATOH
Abstract: An exemplary encoder assembly includes a substrate, a first encoder, and a second encoder. The substrate has two or more position sensors, each position sensor being configured for detecting a rotary position of a shaft or other rotating element of a machine. The first encoder includes at least one first position sensor of the two or more position sensors. The at least one first position sensor is disposed on the substrate for off-axis alignment with the shaft or other rotating element of the machine. The second encoder includes a second position sensor of the two or more position sensors, the second position sensor being disposed on the substrate for on-axis or off-axis alignment with the shaft or other rotating element of the machine. Each position sensor is configured to detect different or common signal types, and a signal type of the second position sensor excludes optical signals.
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Patent Agency Ranking
公开(公告)号：US11486481B2
公开(公告)日：2022-11-01
申请号：US17256774
申请日：2018-08-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Syuhei Kobayashi , Daisuke Orii , Norio Shirokoshi , Hiroshi Yamazaki
Abstract: In a wave generator for a strain wave gearing, a plug outer peripheral surface of a rigid wave plug has a non-circular profile and is fixed to an inner-race inner peripheral surface of a wave bearing by press-fitting and using an adhesive. The plug outer peripheral surface is a groove formation surface in which microgrooves are formed as adhesive-retaining grooves that can retain the adhesive. When the wave plug is press-fitted into the wave bearing, the amount of adhesive that is scraped out from therebetween is reduced and the bonding strength therebetween can be increased while also preventing unevenness of the bonding strength.
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公开(公告)号：US11441660B2
公开(公告)日：2022-09-13
申请号：US17056213
申请日：2018-06-19
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yutaka Miyazawa , Noboru Takizawa
IPC: F16H49/00
Abstract: A hollow strain-wave gear device (1) has a wave generator (5), a wave generator plug (5a) of which is integrally formed in a portion of a hollow rotating shaft (6). A plug reinforcement part (5d), which is adjacent to the wave generator plug (5a), has a thickness larger than that of the wave generator plug (5a), and is integrally formed in the hollow rotating shaft (6). The wave generator plug (5a) is reinforced by the highly rigid plug reinforcement part (5d) formed adjacently to the wave generator plug (5a). It is thus possible to prevent or suppress a decline in the rigidity of the wave generator plug (5a) when the hollow rotating shaft has a thin thickness in order to reduce the weight of the hollow rotating shaft (6) and increase the diameter of the hollow portion thereof. Consequently, it is possible to suppress a decline in ratcheting torque.
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公开(公告)号：US20220255400A1
公开(公告)日：2022-08-11
申请号：US17629077
申请日：2020-07-27
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Toru TAKEDA
Abstract: A rotary actuator includes a PWB motor and a wave gear drive. The PWB motor is an axial gap motor. A motor rotor in the PWB motor includes a rotor disk coaxially affixed to a hollow motor shaft and a rotor magnet affixed to the rotor disk. A motor stator is composed of a printed wiring board, and includes an insulating substrate and a motor coil defined by printed wiring formed on the insulating substrate. Compared with a conventional rotary actuator using an SPM motor or the like, the shaft length can be shortened and the hollow diameter thereof can be increased.
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公开(公告)号：US20210396303A1
公开(公告)日：2021-12-23
申请号：US17281736
申请日：2018-11-16
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Naoki KANAYAMA
Abstract: A unit-type strain wave gearing device provided with a cross roller bearing that supports an internally toothed gear and an externally toothed gear in a state in which both gears can rotate relative to each other, and a meshing section of both gears is lubricated with grease. A gap by which the meshing section and the cross roller bearing raceway groove communicate is formed between the inner ring of the cross roller bearing and the external gear. Due to the pump effect caused by deflection of the external gear, grease is pushed from the meshing section to the gap. Some grease is returned to the inner space of the externally toothed gear via a grease-flowing hole that penetrates the diaphragm of the external gear. Thus, leakage of grease from an oil seal of the cross roller bearing to the unit side can be controlled.
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公开(公告)号：US20210364077A1
公开(公告)日：2021-11-25
申请号：US16982086
申请日：2018-05-14
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI , Takeo KODAIRA , Hiroshi YAMAZAKI
Abstract: The tooth profile contours of a rigid internally toothed gear and a flexible externally toothed gear in this strain wave gearing are stipulated by: meshing portions which each mesh with the opposing gear; tooth-crest-side convex surface portions which, respectively, are smoothly connected to the addendum-side ends of the meshing portions and extend from said ends to the apices of the tooth crests; and tooth-bottom-side concave surface portions which, respectively, are smoothly connected to the dedendum-side ends of the meshing portions and extend from said ends to the deepest parts of the tooth bottoms. The meshing portions and tooth-crest-side convex surface portions are machined portions that are simultaneously machined by topping gear cutting, and there are no edges on the teeth of either gear on the tooth-crest side.
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