公开(公告)号：US20170009868A1

公开(公告)日：2017-01-12

申请号：US15033815

申请日：2015-05-29

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16B21/18 ,  F16H55/0833 ,  F16H55/14 ,  F16H55/16 ,  F16H55/18 ,  F16H2049/003

Abstract: A flat strain wave gearing (1) has a mechanism for preventing a flexible externally toothed gear (4) from moving in the direction of the device center axis (1a) with respect to a rigid internally toothed gears (2, 3). The mechanism has an inner-peripheral groove (11) formed on inner teeth (3a) of the internally toothed gear (3), an outer-peripheral groove (12) formed on outer teeth (4a) of the externally toothed gear (4), and a flexible ring (13) mounted between the inner-peripheral groove (11) and the outer-peripheral groove (12). The ring (13) is engageable with groove inner-peripheral surfaces (11a, 11b, 12a, 12b), from the direction of the device center axis (1a), at meshing positions of the both gears (2, 4).

Abstract translation: 扁平应变波传动装置（1）具有防止柔性外齿轮（4）相对于刚性内齿轮（2,3）沿装置中心轴线（1a）的方向移动的机构。 该机构具有形成在内齿轮（3）的内齿（3a）上的内周槽（11），形成在外齿齿轮（4）的外齿（4a）上的外周槽（12） ，以及安装在内周槽（11）和外周槽（12）之间的柔性环（13）。 在两齿轮（2,4）的啮合位置，环（13）能够沿着装置中心轴线（1a）的方向与槽内周面（11a，11b，12a，12b）接合。

公开(公告)号：US09500234B2

公开(公告)日：2016-11-22

申请号：US14375377

申请日：2013-05-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16D1/076 ,  F16D1/033 ,  F16D69/00 ,  F16H49/00 ,  F16B39/24 ,  F16D69/02

CPC classification number: F16D1/076 ,  F16B39/24 ,  F16D1/033 ,  F16D69/00 ,  F16D69/02 ,  F16D69/023 ,  F16D2069/004 ,  F16D2300/10 ,  F16H49/001

Abstract: A fastening friction plate is wedged between the fastening surfaces of two fastening members in order to increase the fastening force between them. The fastening friction plate has a friction plate main body of a fixed thickness, and engaging protuberances having an approximately truncated cone shape formed on the both surfaces of the friction plate main body at a fixed pitch. The friction plate main body and the engaging protuberances are integrally formed by photo-etching into the both surfaces of a steel plate material having a fixed thickness. The hardness of the fastening friction plate is equal to or greater than that of the fastening surfaces of the fastening members.

Abstract translation: 紧固摩擦板楔入两个紧固构件的紧固表面之间，以增加它们之间的紧固力。 紧固摩擦片具有固定厚度的摩擦板主体，并且以固定节距形成在摩擦板主体的两个表面上的具有大致截锥形的接合突起。 摩擦板主体和接合突起通过光蚀刻一体地形成为具有固定厚度的钢板材料的两个表面。 紧固摩擦片的硬度等于或大于紧固构件的紧固面的硬度。

公开(公告)号：US09140350B2

公开(公告)日：2015-09-22

申请号：US14002480

申请日：2013-01-09

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Yuki Honda

IPC: F16H57/04 ,  F16H49/00

CPC classification number: F16H49/001 ,  F16H57/04 ,  Y10T74/19642

Abstract: The interior space of a cup-shaped flexible externally toothed gear of a cup-type wave gear device is divided into a front interior space and a rear interior space by a partition mechanism. A lubricant is filled in the front interior space at the side of a wave generator, to which lubrication is required. The volume of the front interior space is set so that a necessary amount of lubricant is filled. Since the lubricant is not necessary to fill in the entire interior space of the flexible externally toothed gear, the amount of lubricant to be filled can be reduced.

Abstract translation: 杯式波轮装置的杯形柔性外齿轮的内部空间通过分隔机构分为前内部空间和后内部空间。 润滑剂填充在需要润滑的波浪发生器侧的前部内部空间中。 前部内部空间的容积被设定为填充必要量的润滑剂。 由于润滑剂不需要填充柔性外齿轮的整个内部空间，因此可以减少要填充的润滑剂的量。

公开(公告)号：US20150240929A1

公开(公告)日：2015-08-27

申请号：US14371446

申请日：2013-05-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16H49/00 ,  F16D1/076 ,  F16H57/00 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16D1/076 ,  F16H55/0833 ,  F16H57/0025 ,  F16H2049/003 ,  Y10T29/49465 ,  Y10T74/19647 ,  Y10T74/1987

Abstract: A strain wave gearing (1) has a flexible externally toothed gear (3) with a boss (7). A boss-side fastening surface (16) formed on the boss is coaxially superposed with a member-side fastening surface (15) of an output member (11), and the boss (7) and the output member are fastened by fastening bolts (13). The bolt tension of the fastening bolts (13) causes the engaging protuberances (20) of the boss-side fastening surface (16) to dig into the member-side fastening surface (15) by a predetermined dig-in depth. A large frictional force is produced in the fastening portions between the flexible externally toothed gear (3) and the output member (11). It is thereby possible to transmit the necessary torque by the bolt tension alone without using pins or a friction sheet together with the fastening bolts.

Abstract translation: 应变波传动装置（1）具有带有凸台（7）的柔性外齿轮（3）。 形成在凸台上的凸台侧紧固面（16）与输出构件（11）的构件侧固定面（15）同轴地重叠，并且凸台（7）和输出构件通过紧固螺栓 13）。 紧固螺栓（13）的螺栓张力导致凸台侧紧固表面（16）的接合突起（20）以预定的挖掘深度挖入构件侧紧固表面（15）。 在柔性外齿轮（3）和输出部件（11）之间的紧固部分产生较大的摩擦力。 因此，可以通过单独的螺栓张力传递必要的扭矩，而不用销或摩擦片与紧固螺栓一起使用。

公开(公告)号：US12038077B1

公开(公告)日：2024-07-16

申请号：US18041020

申请日：2021-11-04

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: In a strain wave gearing, in order to regulate axial-direction movement of an externally toothed gear thereof, first balls are directly interposed between a first annular end surface and a device housing, whereby the first annular end surface and the device housing are in rolling contact with one another. Similarly, second balls, are directly interposed between a second annular end surface and an output shaft, whereby the second annular end surface and the output shaft are in rolling contact with one another. No contact occurs other than rolling contact of contact portions. Additionally, pressure is applied in the axial direction to the portions that make rolling contact, and axial-direction rattling is eliminated, whereby axial-direction movement of the externally toothed gear is reliably suppressed, and generation of high thrust force is prevented.

公开(公告)号：US12009149B2

公开(公告)日：2024-06-11

申请号：US17619497

申请日：2019-08-28

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi

IPC: H01F7/121 ,  H01F7/08 ,  H01F7/16

CPC classification number: H01F7/081 ,  H01F7/121 ,  H01F7/16 ,  H01F2007/086

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.

公开(公告)号：US11982343B2

公开(公告)日：2024-05-14

申请号：US17052343

申请日：2019-05-17

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi

IPC: F16H49/00 ,  F16C19/26

CPC classification number: F16H49/001 ,  F16C19/26 ,  F16H2049/003

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.

公开(公告)号：US10883591B2

公开(公告)日：2021-01-05

申请号：US15760671

申请日：2015-09-29

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi

IPC: F16H1/32 ,  F16H49/00 ,  F16C33/26 ,  F16C17/18 ,  F16C17/04 ,  F16C19/55 ,  F16C19/24 ,  F16C33/58 ,  F16C19/50

Abstract: The wave generator of a strain wave gearing is provided with an ellipsoidally contoured wave generator plug and a wave generator bearing. The wave generator bearing is provided with an annular body fitted between inner and outer races in a sliding contact state. The annular body is composed of an endless coil spring and has a rigidity that is able to maintain a constant gap between the inner and outer races. The annular body also has a specified overall flexibility in the radial direction so that the annular body can be flexed into an ellipsoidal shape by the wave generator plug. Since sliding occurs between the annular body and the inner race when the wave generator plug rotates, it is possible to generate a wave motion in an externally toothed gear with a small rotational torque.

公开(公告)号：US10816073B2

公开(公告)日：2020-10-27

申请号：US16477306

申请日：2017-11-29

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Akira Maruyama

IPC: F16H33/00 ,  F16H35/00 ,  F16H37/00 ,  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.

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

IPC: F16H49/00 ,  H02N2/00

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.