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公开(公告)号：US20220364635A1
公开(公告)日：2022-11-17
申请号：US17619910
申请日：2019-08-22
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Naoki KANAYAMA
Abstract: This unit-type strain wave gearing is provided with a cross-roller bearing that supports an internally toothed gear and an externally toothed gear in a relatively rotatable manner, wherein a meshing portion between the two gears is lubricated by a grease. In the outer circumference of the externally toothed gear, a gap is formed which communicates with the meshing portion and a raceway groove of the cross-roller bearing. A portion of the grease pressed out from the meshing portion to the gap flows out through a through-hole formed in the internally toothed gear, and flows back to the meshing portion. The grease can be suppressed from leaking to the outside of the unit from an oil seal of the cross-roller bearing.
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公开(公告)号：US11320034B2
公开(公告)日：2022-05-03
申请号：US16754030
申请日：2017-10-31
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide Kiyosawa , Norio Shirokoshi
IPC: F16H49/00 , F16C17/04 , F16H57/021
Abstract: A cup-type strain wave gearing having a unit structure and having: a stationary-side part including a unit housing and an internally toothed gear; a driving-side part including an output member and an externally toothed gear; and a sliding bearing supporting the stationary-side part and the driving-side part in the radial direction and the thrust direction in a state in which relative rotation is possible. The sliding bearing has a cylindrical bushing accommodated in a radial gap, and annular bushings accommodated respectively in thrust gaps. Thus, it is possible to provide an advantageous strain wave gearing having a unit structure that is more lightweight and compact than when a rolling bearing is used.
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公开(公告)号：US11280370B2
公开(公告)日：2022-03-22
申请号：US16346941
申请日：2018-08-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Hiroaki Kimura , Jun Handa
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth having different teeth numbers, and a gap formed between these teeth as a cutter clearance area for tooth cutters. Where L1 is the maximum width of the gap, t1 is a depth from the tooth top land of the first external teeth to the deepest part of the gap, h1 is the tooth depth of the first external teeth, t2 is a depth from the tooth top land of the second external teeth to the deepest part, and h2 is the tooth depth of the second external teeth, any one of the following conditions 1 to 3 is satisfied: L1=0.1L−0.35L, t1=0.9h1−1.3h1, and t2=0.3h2−0.9h2 Condition 1: L1=0.1L−0.35L, t1=0.3h1−0.9h1, and t2=0.9h2−1.3h2 Condition 2: L1=0.1L−0.35L, t1=0.3h1−0.9h1, and t2=0.3h2−0.9h2 Condition 3: It is possible to obtain a dual-type strain wave gearing in which wear resistance and tooth bottom fatigue strength are increased.
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公开(公告)号：US20220065667A1
公开(公告)日：2022-03-03
申请号：US17298974
申请日：2019-03-15
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shintaro UENO , Yoshinori SHIBAHARA , Sadaharu KANAMORI
Abstract: In this optical rotary encoder, detection tracks of a rotating disc are irradiated with detection light emitted from a light-emitting element. An optical signal obtained via slits in the detection tracks passes through a slit pattern in a fixed slit plate and is received by light-receiving surfaces of a light-receiving element. The slit pattern in the fixed slit plate is formed so as to fit into a range of an effective spot of the detection light. An LED or other light-emitting element that has a small effective spot diameter can be used, which is advantageous in terms of reducing costs and making the device more compact.
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公开(公告)号：US20210404544A1
公开(公告)日：2021-12-30
申请号：US17191775
申请日：2021-03-04
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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Patent Agency Ranking
公开(公告)号：US11143283B2
公开(公告)日：2021-10-12
申请号：US16473820
申请日：2017-01-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshitomo Mizoguchi , Yuya Murayama , Shizuka Yata
IPC: F16H49/00
Abstract: A strain wave gearing has a wave generator which flexes an externally toothed gear in a radial direction to form meshing portions thereof with an internally toothed gear in positions that are separated along a circumferential direction of the externally toothed gear. When the wave generator rotates, the meshing portions move in the circumferential direction. Non-meshing regions are formed in part of the meshing portions along the tooth trace direction thereof. The non-meshing regions are those of a prescribed width including the support center of a wave bearing in the tooth trace direction. The concentration of stress in the tooth root of the externally toothed gear can be alleviated, and the tooth-root fatigue strength of the externally toothed gear can be increased.
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公开(公告)号：US11092223B2
公开(公告)日：2021-08-17
申请号：US15322640
申请日：2015-07-03
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun Handa , Yoshihide Kiyosawa , Noboru Takizawa , Xin Yue Zhang
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth having different teeth numbers, and a gap formed between these teeth as a cutter clearance area for tooth cutters. The maximum width L1 of the gap is 0.1 to 0.3 times the width L of the externally toothed gear. The depth from the tooth top land of the first external teeth to the deepest part of the gap is 0.9 to 1.3 times the depth of the first external teeth, and the depth from the tooth top land of the second external teeth to the deepest part of the gap is 0.9 to 1.3 times the depth of the second external teeth. The tooth bottom fatigue strength of the externally toothed gear provided with differing numbers of first and second external teeth is increased.
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公开(公告)号：US20210033178A1
公开(公告)日：2021-02-04
申请号：US17076364
申请日：2020-10-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun HANDA , Hiroaki KIMURA , Sotaro MIYAKE
Abstract: In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
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公开(公告)号：US20210033177A1
公开(公告)日：2021-02-04
申请号：US17076194
申请日：2020-10-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun HANDA , Hiroaki KIMURA , Sotaro MIYAKE
Abstract: In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
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公开(公告)号：US10907717B2
公开(公告)日：2021-02-02
申请号：US16316461
申请日：2016-07-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
Abstract: A wave generator of a strain wave gearing is provided with a rigid plug, a wave bearing mounted to the ellipsoidal outer peripheral surface of the rigid plug, and four elastic claws that rotate integrally with the rigid plug. The balls of the wave bearing include balls in a loose state and balls in a tight state. The loose-state balls adjacent to the tight-state balls are applied with braking force by the elastic claws immediately before they transition into a tight state, and the orbital motion thereof is temporarily prevented or suppressed, whereby the gaps between the loose-state balls and the adjacent tight-state balls are secured. It is possible to prevent increase in rotational torque, damage to the balls or other defects due to ball-to-ball contact by the tight-state balls.
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