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公开(公告)号：US20210222769A1
公开(公告)日：2021-07-22
申请号：US16768985
申请日：2018-11-09
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
Abstract: When a strain wave gearing is used in an application for an operation of repeating startup/stopping, an outer-side lubrication portion and an inner-side lubrication portion, which are lubricated using different types of grease, remain in a communicating state without being divided using a seal member or the like. The outer-side lubrication portion is supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Similarly, the inner-side lubrication portion is also supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Essentially, the outer-side lubrication portion and the inner-side lubrication portion can be lubricated appropriately using different types of grease, without the grease becoming mixed.
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公开(公告)号：US11015693B2
公开(公告)日：2021-05-25
申请号：US16966770
申请日：2019-01-16
Applicant: Harmonic Drive Systems Inc.
Inventor： Kazuaki Maniwa , Yoshitomo Mizoguchi , Takumi Imada , Akihiro Orita
IPC: F16H49/00
Abstract: A wave gear device includes a circular spline that has an annular shape and rigidity; a flex spline that has an annular shape and flexibility, and is disposed in the circular spline; and a wave generator that is disposed in the flex spline, is configured to cause the flex spline to be distorted in a radial direction and is configured to partially mesh with the circular spline, and is configured to move a meshing position between the circular spline and the flex spline in a circumferential direction. The ratio of the Vickers hardness on an inner circumferential surface of the flex spline to the Vickers hardness on an outer circumferential surface of the wave generator is 1.2 or more and 1.7 or less.
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公开(公告)号：US20210140531A1
公开(公告)日：2021-05-13
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：US10907716B2
公开(公告)日：2021-02-02
申请号：US15753600
申请日：2015-09-17
Applicant: Harmonic Drive Systems Inc.
Inventor： Jun Handa , Sotaro Miyake , Hiroaki Kimura , Hideo Yasue
Abstract: A wave generator for a strain wave gearing makes a flexible externally toothed gear to flex into an elliptical shape and mesh with rigid internally toothed gears, and makes meshing positions of the flexible externally toothed gear with the both gears to move in a circumferential direction. On the inner side of a rigid plug of the wave generator, a plug support ring is secured and integrated. The rigid plug is formed from an iron-based material, and the plug support ring is formed from a high-rigidity material that is more rigid than the iron-based material. Since deformation of the rigid plug is suppressed, the wave generator provided with a large hollow part can be obtained.
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公开(公告)号：US10883591B2
公开(公告)日：2021-01-05
申请号：US15760671
申请日：2015-09-29
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
IPC: F16H1/32 , F16H49/00 , F16C33/26 , F16C17/18 , F16C17/04 , F16C19/55 , F16C19/24 , F16C33/58 , F16C19/50
Abstract: The wave generator of a strain wave gearing is provided with an ellipsoidally contoured wave generator plug and a wave generator bearing. The wave generator bearing is provided with an annular body fitted between inner and outer races in a sliding contact state. The annular body is composed of an endless coil spring and has a rigidity that is able to maintain a constant gap between the inner and outer races. The annular body also has a specified overall flexibility in the radial direction so that the annular body can be flexed into an ellipsoidal shape by the wave generator plug. Since sliding occurs between the annular body and the inner race when the wave generator plug rotates, it is possible to generate a wave motion in an externally toothed gear with a small rotational torque.
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Patent Agency Ranking
公开(公告)号：US10819206B2
公开(公告)日：2020-10-27
申请号：US16073169
申请日：2016-02-02
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Toshiki Maruyama
IPC: H02K41/035 , G02B7/04 , H02K11/21
Abstract: A linear motor includes a motor movable body which has symmetrical structure with respect to a vertical plane and a horizontal plane that include the motor center axis line. Two linear bearings disposed in a space on the inner side of a rectangular tubular movable coil of the motor movable body are disposed symmetrically to the left and right of the center axis line so that the bearing support center coincides with the motor center axis line. Thrust generation sections of the motor movable body are disposed symmetrically above and below the motor center axis line, so that the thrust center coincides with the motor center axis line. Since the center of gravity of the motor movable body, the thrust center and the bearing support center coincide with the motor center axis line, a high responsive liner motor can be realized with no decrease in the thrust/movable body mass ratio.
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公开(公告)号：US10816073B2
公开(公告)日：2020-10-27
申请号：US16477306
申请日：2017-11-29
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi , Akira Maruyama
Abstract: In a strain wave gearing, a flexible externally toothed gear flexed by a wave generator meshes with a flexible internally toothed gear while in an overlapping meshing state. A floating ring, which supports the internally toothed gear from the outer circumferential side, maintains the overlapping state of the meshing and supports the internally toothed gear in a floating state that allows displacement following a state of radial flexion in the tooth trace direction of the internal teeth of the internally toothed gear. Differences between the meshing states of both gears can be alleviated at each position in the tooth trace direction. Degradation in the transmission characteristics and the strength characteristics of the strain wave gearing caused by manufacturing dimensional accuracy of each component and assembly accuracy can be suppressed.
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公开(公告)号：US20200284333A1
公开(公告)日：2020-09-10
申请号：US16753394
申请日：2018-09-20
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide KIYOSAWA , Norio SHIROKOSHI
Abstract: In a unit-type strain wave gearing, a rotating-side member, which is constituted by a second internally toothed gear and an output shaft is supported, via a first sliding bearing and a second sliding bearing, on a fixed-side member so as to be capable of relative rotation, the fixed-side member being constituted by a unit housing and a first internally toothed gear. Sliding bearing surfaces of the first sliding bearing and sliding bearing surfaces of the second sliding bearing are defined by a conic surface having a central axis line as a center line. It is possible to realize a unit-type strain wave gearing which is advantageous in making smaller and more compact than when a roller bearing is used. It is also easier to adjust the gap between the sliding bearing surfaces because a radial sliding bearing having no function to adjust the radial gap is obviated.
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公开(公告)号：US10753450B2
公开(公告)日：2020-08-25
申请号：US16320520
申请日：2016-09-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Naoki Kanayama , Toru Takeda
Abstract: A magnetic type rotation transmitting mechanism has a rotating plate made of a magnetic material, and a magnet to which the rotational movement of the rotating plate is transmitted through a magnetic coupling between the magnet and the rotating plate. When the rotating plate is rotated, a plurality of oblique edge portions formed on the outer peripheral edge of the rotating plate rotate while sequentially passing through a magnet-facing area. The oblique edge portions move in the direction of the rotation centerline of the rotating plate, the rotation centerline being perpendicular to the center axis line of the magnet. The magnet is rotated about the center axis line by a magnetic force occurring between the magnet and the oblique edge portions passing through the magnet-facing area. It is possible to realize a small and compact mechanism for extracting rotation.
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公开(公告)号：US20200158220A1
公开(公告)日：2020-05-21
申请号：US16611248
申请日：2017-06-16
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a rigid internally toothed gear, a flexible externally toothed gear, and a sliding-contact type wave generator. The wave generator has: a plurality of gear pressing members that flexes the externally toothed gear in the radial direction at positions at equal angular intervals in the circumferential direction to form plurality of meshing portions which mesh with the internally toothed gear; and piezoelectric elements that generate ultrasonic vibration of 20 kHz to 80 kHz in the gear pressing members in the radial direction. Ultrasonic vibration is applied at contact sites where the gear pressing members and the externally toothed gear contact each other. As a result of a squeeze film effect, the apparent friction coefficient of each contact surface at the contact sites can be greatly reduced and rotational torque, of the wave generator can be reduced.
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