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公开(公告)号：US12281699B2
公开(公告)日：2025-04-22
申请号：US18560761
申请日：2021-07-20
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide Kiyosawa
IPC: F16H57/04 , C10M103/02 , C10M103/06 , C10M107/38 , C10N20/06 , C10N50/08 , F16H49/00
Abstract: A lubrication mechanism of a strain wave gearing is disposed in an interior space of an externally toothed gear and comprises a powder-accommodating bag that stores solid lubricant powder. A diaphragm of the externally toothed gear is repeatedly deflected during the driving of the strain wave gearing. Vibration or deflection is repeatedly imparted to the powder-accommodating bag and the solid lubricant powder is discharged from a powder discharge hole formed in the powder-accommodating bag into the interior space. A site to be lubricated is lubricated with the solid lubricant powder discharged into the interior space. Harmful effects due to a large amount of the solid lubricant powder being supplied to the site to be lubricated at one time can be resolved, and a necessary amount of the solid lubricant powder can be continuously supplied to the site to be lubricated.
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公开(公告)号：US12234902B2
公开(公告)日：2025-02-25
申请号：US18264942
申请日：2021-05-26
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Kotaro Matsuzawa , Hideki Hirabayashi , Syuhei Kobayashi , Hideki Okuhara
Abstract: A strain wave gearing includes an internally toothed gear integrated with an inner ring. A bolt hole is formed in the internally toothed gear. The bolt hole includes a bolt passage hole part, and a screw hole part extending in the direction of an axial line, continuously from the bolt passage hole part. The screw hole part, to which a bolt-fastening force is applied, is formed at a location away in the direction of the axial line from a location adjacent to a radially outer side of an internally toothed gear. Deformation, occurring during fastening of a bolt, at a portion in which the internally toothed gear is formed can be reduced, and adverse effects caused by the deformation such as a decrease in the accuracy of engagement or meshing of the internally toothed gear and an externally toothed gear can be inhibited.
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公开(公告)号：US12222028B2
公开(公告)日：2025-02-11
申请号：US18573062
申请日：2021-08-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
IPC: F16H49/00
Abstract: In a strain wave gearing, a thrust force applied on an externally toothed gear during an increased-speed operation causes the externally toothed gear to move along an axis in a first direction, and the output-side end surface thereof is pressed, by a prescribed force, against a friction surface of a friction plate integrated with a rotating shaft part of a strain wave generator. Torque transmission efficiency can be reduced only during increased-speed operation, by means of a friction loss occurring between the externally toothed gear and the friction plate. When large load torque is applied from an output shaft which is an output-side member during reduced-speed operation, retention torque of the strain wave generator which is an input-side member during speed-reduction operation can be reduced.
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公开(公告)号：US12078241B2
公开(公告)日：2024-09-03
申请号：US17921215
申请日：2021-08-04
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
CPC classification number: F16H57/048 , F16H49/001 , F16H57/041
Abstract: A strain wave gearing is lubricated by a non-hydrophobized powder enclosed in an internal space until the strain wave gearing is fully broken in, and the non-hydrophobized powder is transferred to contact surfaces of contact parts to form a lubricating film. During operation under load, the strain wave gearing is lubricated by a hydrophobized powder enclosed in the internal space instead of the non-hydrophobized powder. Each of the powders used is a powder of an ionic crystalline compound (MoS2, WS2, etc.) having a layered crystal structure. By lubricating the strain wave gearing with the hydrophobized powder during operation under load, any temporary decrease in efficiency at the start of operation is minimized and stable operation of the strain wave gearing can be maintained.
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公开(公告)号：US20240052920A1
公开(公告)日：2024-02-15
申请号：US18264942
申请日：2021-05-26
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Kotaro MATSUZAWA , Hideki HIRABAYASHI , Syuhei KOBAYASHI , Hideki OKUHARA
CPC classification number: F16H49/001 , F16C19/362 , F16C2361/61 , F16C2226/62
Abstract: A strain wave gearing includes an internally toothed gear integrated with an inner ring. A bolt hole is formed in the internally toothed gear. The bolt hole includes a bolt passage hole part, and a screw hole part extending in the direction of an axial line, continuously from the bolt passage hole part. The screw hole part, to which a bolt-fastening force is applied, is formed at a location away in the direction of the axial line from a location adjacent to a radially outer side of an internally toothed gear. Deformation, occurring during fastening of a bolt, at a portion in which the internally toothed gear is formed can be reduced, and adverse effects caused by the deformation such as a decrease in the accuracy of engagement or meshing of the internally toothed gear and an externally toothed gear can be inhibited.
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Patent Agency Ranking
公开(公告)号：US11739813B2
公开(公告)日：2023-08-29
申请号：US17608605
申请日：2019-07-25
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Kohei Isobe , Kenta Takahashi
CPC classification number: F16H1/46 , F16H57/082
Abstract: A planetary reduction gear using a helical gear is configured such that a rear-stage sun gear is rotatably supported by a device housing via a radial bearing on one side in the direction of a center axis, and is rotatably supported by a rear-stage planetary carrier via a thrust bearing on the other side. The rear-stage planetary carrier is rotatably supported by the device housing via a rear-stage carrier bearing. A preload is applied to the thrust bearing by a preload mechanism mounted to the rear-stage planetary carrier. Displacement of the rear-stage sun gear caused by a thrust force generated due to engagement with a rear-stage planetary gear can be suppressed, and an angle error between input rotation and output rotation can be suppressed.
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公开(公告)号：US11732791B2
公开(公告)日：2023-08-22
申请号：US17289066
申请日：2020-01-08
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi
CPC classification number: F16H49/001 , F16H55/0833 , F16H2049/003
Abstract: An externally toothed gear of a cup-type strain wave gearing has external teeth, the tooth profile of which gradually changes in the tooth-trace direction. The external teeth are formed with an external teeth portion capable of meshing with internal teeth of an internally toothed gear, a first external teeth extension portion and a second external teeth extension portion, in which the first and second external teeth extension portions do not mesh with the internal teeth. The second external teeth extension portion has a narrowing tapered tooth profile so that the second external teeth extension portion serves as a guide when the external teeth is inserted into the internal teeth. The work of assembling the externally toothed gear in the internally toothed gear is made easier.
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公开(公告)号：US11662008B1
公开(公告)日：2023-05-30
申请号：US17053469
申请日：2019-05-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yuya Murayama
CPC classification number: F16H49/001 , F16H1/32 , F16H3/24 , F16H55/08 , F16H2049/003 , F16H2200/0034 , F16H2200/0039
Abstract: A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally tooted gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.
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公开(公告)号：US11603918B2
公开(公告)日：2023-03-14
申请号：US17282055
申请日：2018-11-22
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Daisuke Orii , Syuhei Kobayashi , Norio Shirokoshi , Hiroshi Yamazaki
Abstract: In a strain wave gearing device, fine first and second lubricant-holding grooves for holding lubricant are formed at fine pitches in an outer-race external peripheral surface of a wave generator bearing and an outer-race-contacting internal peripheral surface portion of an externally toothed gear in contact therewith. Fine lubricant-guiding grooves for guiding the lubricant to the outer-race-contacting internal peripheral surface portion are formed at fine pitches in a second internal peripheral surface portion, which adjoins the outer-race-contacting internal peripheral surface portion, of an internal peripheral surface of the externally toothed gear. This configuration improves the contact state between the outer-race-contacting internal peripheral surface portion of the externally toothed gear and the outer-race external peripheral surface, thus suppressing fretting wear occurring in these surfaces.
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公开(公告)号：US11566695B2
公开(公告)日：2023-01-31
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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