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公开(公告)号：US20230048463A1
公开(公告)日：2023-02-16
申请号：US17758245
申请日：2020-04-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shintaro UENO , Yuki KATO , Yoshinori SHIBAHARA
Abstract: A rotary encoder is incorporated in an annular space formed between a hollow rotating shaft and an encoder case. The rotary encoder has an annular printed wiring substrate, a plurality of mounting substrates that are outward from the printed wiring substrate in the radial direction and are arranged in the circumferential direction, and inter-substrate wiring cables bridged between the printed wiring substrate and each of the mounting substrates in the radial direction. Power supply to the mounting substrates and signal transmission and reception between the mounting substrates can be accomplished without routing around the wiring cables. It is possible to achieve a rotary encoder that is suitable for being incorporated in a narrow annular space.
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公开(公告)号：US20220375670A1
公开(公告)日：2022-11-24
申请号：US17619497
申请日：2019-08-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A push-pull solenoid is provided with a cylindrical guide member that is fixed to a case. A circular outer peripheral surface of a plunger is in contact with a friction guide surface formed on a circular inner peripheral surface of the guide member, and slides along the friction guide surface. Frictional force due to contact with the friction guide surface is always acting on the plunger, so it is possible to suppress impact-like contact of the plunger with an object to be manipulated during suctioning, and vibration and noise caused thereby. Moreover, over-recovery and falling-out of the plunger after suction is released can also be prevented.
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公开(公告)号：US20220333673A1
公开(公告)日：2022-10-20
申请号：US17289066
申请日：2020-01-08
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
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：US11359938B2
公开(公告)日：2022-06-14
申请号：US17338799
申请日：2021-06-04
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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公开(公告)号：US20210341048A1
公开(公告)日：2021-11-04
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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Patent Agency Ranking
公开(公告)号：US20210324948A1
公开(公告)日：2021-10-21
申请号：US16328789
申请日：2017-09-07
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Xin Yue Zhang , Yoshihide Kiyosawa
Abstract: A strain wave gearing has a wave generator provided with a rigid plug and a wave bearing. The wave bearing is of a deep groove bearing type and is mounted on an elliptical outer circumferential surface of the rigid plug, whereby outer race and inner race thereof are flexed into an elliptical shape. Where D is a ball diameter of the balls, Ro is a raceway-surface radius of the outer race, Ri is a raceway-surface radius of the inner race, Ro/D is an outer-race conformity, and Ri/D is an inner-race conformity, the outer-race conformity Ro/D is greater than the inner-race conformity Ri/D. The friction torque of the wave bearing can be reduced while maintaining the practical service life thereof to be the same level as in a conventional one.
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公开(公告)号：US11118669B2
公开(公告)日：2021-09-14
申请号：US16633391
申请日：2017-08-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi
Abstract: A cup-shaped strain wave gearing has an externally toothed gear formed with a cylindrical extension portion extending from an end of an external tooth forming portion of the externally toothed gear. A space between the external peripheral surface of the cylindrical extension portion and an end face of an internally toothed gear is sealed by an oil seal. A space between an outer-side lubrication portion on the outer side of the externally toothed gear and an inner-side lubrication portion on the inner side of the externally toothed gear is blocked by a lubricant-mixing-prevention part configured from the cylindrical extension portion and the oil seal. The mixing of different types of lubricants supplied to the outer-side and inner-side lubrication portions can be effectively prevented.
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公开(公告)号：US20210207652A1
公开(公告)日：2021-07-08
申请号：US16080858
申请日：2016-03-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Tsuguhisa Hagiwara , Yoshiji Nakazawa , Kazuhisa Taguchi , Kazuhiko Kurashina
Abstract: A double-row cylindrical roller bearing employs a cross roller bearing for one cylindrical roller bearing and a parallel cylindrical roller bearing for the other cylindrical roller bearing. The relative positions of a first cylindrical roller on the cross roller bearing part side and a second cylindrical roller on the parallel cylindrical roller bearing part side are not restricted in the direction of the bearing center axis lines thereof. As a result, a bearing having high rigidity and being easy to process and assemble can be achieved at low cost. Increase in friction torque in bearing sliding sections and fluctuation in bearing properties can also be suppressed.
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公开(公告)号：US11053976B1
公开(公告)日：2021-07-06
申请号：US16080858
申请日：2016-03-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Tsuguhisa Hagiwara , Yoshiji Nakazawa , Kazuhisa Taguchi , Kazuhiko Kurashina
Abstract: A double-row cylindrical roller bearing employs a cross roller bearing for one cylindrical roller bearing and a parallel cylindrical roller bearing for the other cylindrical roller bearing. The relative positions of a first cylindrical roller on the cross roller bearing part side and a second cylindrical roller on the parallel cylindrical roller bearing part side are not restricted in the direction of the bearing center axis lines thereof. As a result, a bearing having high rigidity and being easy to process and assemble can be achieved at low cost. Increase in friction torque in bearing sliding sections and fluctuation in bearing properties can also be suppressed.
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公开(公告)号：US11035452B2
公开(公告)日：2021-06-15
申请号：US16305598
申请日：2016-07-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
Abstract: A wave bearing of a wave generator of a strain wave gearing is provided with steel or stainless steel cylindrical hollow rollers between an inner-race-side raceway surface and an outer-race-side raceway surface, the hollow rollers serving as rolling elements. The ratio Di/Do of the inner diameter Di to the outer diameter Do of the hollow rollers is set to 0.95 or more. The relative radius of curvature of hollow rollers that have been flexed into an ellipsoidal shape increases with respect to the inner-race raceway surface and the outer-race raceway surface with which the hollow rollers are in contact, and the Hertz maximum contact stress is reduced. The hardness of the hollow rollers, the inner-race raceway surface, and the outer-race raceway surface can be reduced.
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