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11.发明申请公开(公告)号：US20170335941A1
公开(公告)日：2017-11-23
申请号：US15532857
申请日：2014-12-05
Applicant: Harmonic Drive Systems Inc.
Inventor： Tatsuro HOSHINA , Masaru KOBAYASHI , Akira NAGAI
CPC classification number: F16H49/001 , F16H57/0025 , F16H2049/003
Abstract: A boss-side fastening surface formed in a boss of a flexible externally toothed gear of a strain wave gearing and a shaft-side fastening surface of an output shaft are coaxially fastened with bolts. The boss-side fastening surface is a convex-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a ridge line on a diameter line of the surface. The shaft-side fastening surface is a concave-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a trough line on a diameter line of the surface. The inclination angle of the inclined surfaces is set in the range of 2° to 16°. Transmission torques equal to or larger than those for combined bolt and pin fastening can be secured with bolt-only fastening.
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公开(公告)号：US20250075785A1
公开(公告)日：2025-03-06
申请号：US17999511
申请日：2021-08-27
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a detection mechanism that detects thrust force generated between a wave generator and an externally toothed gear. The detection mechanism is provided with a strain gauge or piezoelectric load meter, and a transmission mechanism that transmits thrust force from the wave generator to the load meter. Only rotational force is transmitted to the wave generator from a from a motor shaft side, and axial force is not transmitted. The load meter and the transmission mechanism provide a small and compact detection mechanism that can be incorporated inside the externally toothed gear. In the strain wave gearing into which the detection mechanism is incorporated, operation control according to detected thrust force becomes possible using thrust force information during operation.
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公开(公告)号：US20240418215A1
公开(公告)日：2024-12-19
申请号：US18698765
申请日：2021-11-05
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yusuke SHIBAMOTO , Masaru KOBAYASHI
Abstract: A bearing for a strain wave gearing includes an annular plate portion; a plurality of partition plate portions that is arranged on the annular plate portion at predetermined intervals in a circumferential direction, that protrudes from the annular plate portion in the axial direction, and that includes side surface portions to form gap portions as the first pockets and the second pockets, the gap portion being formed between the side surface portions facing each other in a pair of the plurality of partition plate portions circumferentially adjacent to each other; protruding surface portions that protrude into the gap portions as the second pockets from the side surface portions at tip end portions of the pair of the plurality of plate portions in the axial direction; and the plurality of balls that is held in the gap portions, as the first pockets and the second pockets.
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公开(公告)号：US20240376972A1
公开(公告)日：2024-11-14
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：US20230116162A1
公开(公告)日：2023-04-13
申请号：US17052343
申请日：2019-05-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a wave generator provided with a plurality of rollers mounted between an ellipsoidal outer peripheral surface of a plug and an inner peripheral surface of an externally toothed gear. The plug is formed with recesses along the ellipsoidal outer peripheral surface. The recesses open in a first end surface of the plug facing toward a diaphragm of the externally toothed gear. The radial rigidity of the plug is relatively low in the side having the first end surface in the direction of a plug axis. When viewed along the direction of the plug axis, the respective rollers can be brought into linear contact with the inner peripheral surface of the externally toothed gear at positions on the long axis (Lmax) of the elliptically-flexed externally toothed gear, so as not to occur one-sided contact state.
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Patent Agency Ranking
公开(公告)号：US20190048925A1
公开(公告)日：2019-02-14
申请号：US15763775
申请日：2015-11-10
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A sliding bearing has an outer ring, an inner ring, an annular-shaped raceway formed between the two rings, and a sliding body mounted on the raceway. The raceway has rectangular cross-section or a rhomboid cross-section formed from an outer-ring-side V groove and an inner-ring-side V groove. The sliding body is, for example, formed of an endless coil spring, and the outer peripheral surface of the circular contour thereof is in contact in a four-point contact state with four first through fourth raceway surfaces of the raceway. A sliding bearing having a compact configuration that can bear a moment load can be achieved.
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公开(公告)号：US20180259054A1
公开(公告)日：2018-09-13
申请号：US15758377
申请日：2015-09-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
IPC: F16H49/00
CPC classification number: F16H49/001
Abstract: A wave generator for a strain wave gearing is provided with a rigid plug having an ellipsoidal plug-outer-circumferential surface, and a ring-shaped displacement body that is flexed to an ellipsoidal shape by the plug. The ring-shaped displacement body is provided with a plurality of radially arranged displacing sections. The plug-contacting surfaces of the displacing sections are in sliding contact with the plug-outer-circumferential surface and when the plug rotates, the displacing sections are repeatedly displaced in the radial direction. By the displacement of the displacing sections, wave motion is generated in an external gear. It is possible to achieve a wave generator capable of generating wave motion in the external gear with a small rotational torque.
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公开(公告)号：US20240410457A1
公开(公告)日：2024-12-12
申请号：US18699493
申请日：2021-11-05
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
IPC: F16H49/00
Abstract: A strain wave gearing includes a wave generator that creates a state in which a flexible externally toothed gear is flexed into a non-circular shape and partially meshes with a rigid internally toothed gear, and that includes a wave plug having a non-circular outer peripheral surface and a wave bearing attached to the non-circular outer peripheral surface of the wave plug. The wave bearing includes an outer ring having an inner peripheral surface and an outer-ring-side raceway surface formed on the inner peripheral surface, an inner ring having an outer peripheral surface and an inner-ring-side raceway surface formed on the outer peripheral surface, and a plurality of rolling elements rotatably inserted between the outer-ring-side raceway surface and the inner-ring-side raceway surface,
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公开(公告)号：US20240229918A1
公开(公告)日：2024-07-11
申请号：US17998573
申请日：2021-08-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
CPC classification number: F16H57/041 , F16H49/001 , F16H57/048
Abstract: A powder supply mechanism, which is provided with a press-molded article obtained by consolidating a solid lubricant powder in advance, is incorporated into an inner-side space of an externally toothed gear of a strain wave gearing. While the strain wave gearing is operating, the press-molded article is worn down by the friction plate, whereby the powder supply mechanism can incrementally supply very small amounts of a solid lubricant abrasion powder from the press-molded article over an extended period. It is possible to suppress any reduction in efficiency caused by loss torque produced due to a large amount of the solid lubricant powder infiltrating gaps in, inter alia, a contact section of a wave generator rotating at high speed. Thus, it is possible to extend the service life of the powder-lubricated strain wave gearing while keeping the efficiency consistently high.
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公开(公告)号：US20220290752A1
公开(公告)日：2022-09-15
申请号：US17630351
申请日：2019-09-27
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: The flat strain wave gearing is provided with an axially arranged rigid gear, flexible gear and wave generator. The flexible gear forms a flat truncated cone shape, has a tooth formation portion connected via a bellows-shaped cross-sectional diaphragm to a rigid boss which is an output shaft linking part. The flat strain wave gearing can ensure axial flexibility of the tooth formation portion, and can enable teeth of the flexible gear to mesh favorably with teeth of the rigid gear in the axial direction in each position in the tooth trace direction. Local bias of the load torque in the meshing portion in the tooth formation portion can also be suppressed.
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