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公开(公告)号：US20200032891A1
公开(公告)日：2020-01-30
申请号：US16477306
申请日：2017-11-29
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI , Akira MARUYAMA
IPC: F16H49/00
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：US20190301898A1
公开(公告)日：2019-10-03
申请号：US16306643
申请日：2016-06-10
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shintaro UENO , Ryutaro YAMAGUCHI , Kiyoto KOBAYASHI , Keisuke TAKEWAKA
IPC: G01D5/245 , H02K11/215
Abstract: A hollow type rotation detecting device has a 2-pole magnet ring and a multi-pole gear, the 2-pole magnet being coaxially fixed to the outer circumferential surface of the shaft end part of a hollow motor shaft that extends coaxially inside a cylindrical cover. In an annular gap between the cylindrical cover and the 2-pole magnet ring and multi-pole gear, rigid boards are arranged with an orientation facing in a tangential direction at prescribed intervals along the circumferential direction. The rigid boards are electrically connected to one another by flexible printed wiring boards. It is possible to obtain a rotation detecting device suitable to be incorporated into the narrow annular gap between a motor house and the shaft end part of the hollow motor shaft in a hollow motor having a large hollow diameter.
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公开(公告)号：US20190277383A1
公开(公告)日：2019-09-12
申请号：US16348884
申请日：2016-11-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Noboru Takizawa , Xin Yue Zhang
IPC: F16H49/00
Abstract: In a silk hat-shaped external gear for a strain wave gearing, t(A)>t(C)>t(D)>t(B) is satisfied, where the thicknesses of the inner circumferential end (A), the middle part (B) and the outer circumferential end (C) of the diaphragm body portion of a diaphragm are t(A), t(B) and t(C), and where the thickness of the barrel-side end part (D) of the curved portion of the diaphragm is t(D). With reference to the thickness of the middle part (B), the thickness of the inner circumferential end (A) of the diaphragm is set so as to be thicker than conventional silk hat-shaped external gears. It is possible to realize an externally toothed gear capable of preventing diaphragm rupture due to thrust force at high load torque and having high fatigue strength.
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公开(公告)号：US10400667B2
公开(公告)日：2019-09-03
申请号：US15578506
申请日：2016-04-22
Inventor： Ryosuke Hiyoshi , Yoshiaki Tanaka , Yoshihide Kiyosawa , Jun Handa , Kishiro Nagai , Junichiro Onigata , Yoshihiko Yamada
Abstract: A variable compression ratio mechanism for an internal combustion engine includes a gear reducer that varies an engine compression ratio. The gear reducer includes an input-side member connected to a rotation shaft of an actuator; an output-side member that transmits a reduced rotation of the actuator to the control shaft; a fixed member fixed to a housing of the actuator; and an intermediate member that transmits torque from the input-side member to the output-side member and the fixed member, and has a first gear portion engaged with the fixed member and a second gear portion engaged with the output-side member. A ratio of a number of teeth of the fixed gear portion to a number of teeth of the first gear portion is lower than a ratio of a number of teeth of the output-side gear portion to a number of teeth of the second gear portion.
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公开(公告)号：US10393250B2
公开(公告)日：2019-08-27
申请号：US15550697
申请日：2015-02-13
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
Abstract: A wave generator of a strain wave gearing uses a plurality of solid displacement elements to flex a flexible externally toothed gear into a non-circular shape and partially mesh the externally toothed with a rigid internally toothed gear. The solid displacement elements are obtained by curving a monomorphic or bimorphic type rectangular plate-shaped element into an arc shape and can be deformed from an arc shape to a semispherical shape by energization, the semicircular shape having a smaller radius than the arc radius of the arc shape. A wave generator can be realized, which can bear a large load torque by utilizing changes in rigidity, deformation amount, and deformation force associated with the deformation of the solid displacement elements.
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Patent Agency Ranking
146.发明授权公开(公告)号：US10365628B2
公开(公告)日：2019-07-30
申请号：US15553759
申请日：2016-09-27
Inventor： Masafumi Yamamoto , Yoshifumi Okitsu , Makoto Iwasaki
Abstract: A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H∞ compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.
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公开(公告)号：US10352427B2
公开(公告)日：2019-07-16
申请号：US15408889
申请日：2017-01-18
Applicant: Harmonic Drive Systems Inc.
Inventor： Noboru Takizawa , Go Kuroiwa
IPC: F16H49/00
Abstract: In the cup-shaped externally toothed gear, the outside end face profile of the diaphragm is defined by a first concave circular arc having a first radius, a second concave circular arc that has a second radius and is smoothly connected to the first concave circular arc, an inclined straight line that is smoothly connected to the second concave circular arc and is inclined toward an inside straight line with respect to the center axis line, the inside straight line defining the outside profile of the diaphragm. The second radius is larger than the first radius, and the thickness of the diaphragm is gradually decreased from the side of the boss to the side of the cylindrical body. The stress concentration in the boss-side joint portion of the diaphragm can be relieved, whereby enhancing fatigue strength of the flexible externally toothed gear.
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公开(公告)号：US10295037B2
公开(公告)日：2019-05-21
申请号：US15327830
申请日：2015-07-03
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide Kiyosawa , Jun Handa , Noboru Takizawa , XinYue Zhang
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth having different tooth numbers, and is flexed into an ellipsoidal shape by a wave generator. When the theoretical values of the radial flexing amounts at major-axis positions of the first and second external teeth flexed into the ellipsoidal shape are expressed by d1=m1n1 and d2=m2n2 (m1 and m2 represent the modules of the first and second external teeth, and n1 and n2 represent positive integers), the radial flexing amount of the first and second external teeth flexed by the wave generator satisfies d=(d1+d2)/ω(1.4≤ω≤2.6). Accordingly, a dual-type strain wave gearing can be achieved with which the first and second external teeth having different numbers can be suitably flexed to form excellent mating states with respective internally toothed gears.
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公开(公告)号：US10256710B2
公开(公告)日：2019-04-09
申请号：US15301971
申请日：2014-04-07
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Nozomu Tanioka , Syuhei Kobayashi
Abstract: In a magnetic drive linear actuator, a load attachment portion is fixed to the lower side portion of the rectangular tubular coil frame of a mover, and a light-emitting portion of a position detection portion for detecting the movement position of the mover is fixed to the upper side portion of the coil frame. The load attachment portion and the upper side portion of the coil frame are mutually coupled through beam portions bridged there between. This makes it possible to prevent or suppress the behaviors of the load attachment portion and light-emitting portion from being shifted to each other during high-acceleration driving of the mover, thereby improving the responsiveness and positioning accuracy of the linear actuator.
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公开(公告)号：US10254740B2
公开(公告)日：2019-04-09
申请号：US15553835
申请日：2016-09-27
Inventor： Masafumi Yamamoto , Yoshifumi Okitsu , Makoto Iwasaki
Abstract: A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.
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