公开(公告)号：US20170175869A1

公开(公告)日：2017-06-22

申请号：US15322664

申请日：2015-07-03

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshihide KIYOSAWA ,  Jun HANDA ,  Noboru TAKIZAWA ,  Xin Yue ZHANG

IPC: F16H49/00 ,  F16C19/08

CPC classification number: F16H49/001 ,  F16C19/08 ,  F16C2361/61 ,  F16H1/32 ,  F16H2049/003

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 is flexed into an ellipsoidal shape by a wave generator. When t(1) represents the tooth bottom rim wall thickness of the first external teeth, and t(2) represents the tooth bottom rim wall thickness of the second external teeth, the ratio of t(1)/t(2) is set to a value satisfying 0.5>t(1)/t(2)

公开(公告)号：US09644727B2

公开(公告)日：2017-05-09

申请号：US14135051

申请日：2013-12-19

Applicant: Harmonic Drive Systems Inc.

Inventor： Yoshikazu Yajima

IPC: F16H49/00 ,  H02K7/116 ,  H02K11/21 ,  F16H57/029 ,  H02K5/12

CPC classification number: F16H49/001 ,  F16H57/029 ,  H02K5/12 ,  H02K7/116 ,  H02K11/21 ,  Y10T74/19642

Abstract: In a wave gear device, the inner race and the boss are fixed together by a laser welded part formed along the entire periphery thereof. The laser welded part also functions as an oil seal for sealing the inner race and the boss. The boss and the inner race are fixed together in a manner that a required axial length is short, and that machining and assembling steps are reduced. Oil seal members are not required to seal the boss and the inner race.

公开(公告)号：US20170002914A1

公开(公告)日：2017-01-05

申请号：US15101179

申请日：2015-02-26

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru KOBAYASHI

IPC: F16H49/00 ,  F16H55/17

CPC classification number: F16H49/001 ,  F16H55/17 ,  F16H2049/003

Abstract: In a strain wave gearing, external teeth of a flexible externally toothed gear are elastically deformable in a direction in which the tooth thickness of the external teeth decreases. Engagement between internal teeth of a first and a second rigid internally toothed gears and the external teeth is set in an overlapping state in which the external teeth elastically deform and engage in a state in which no gap is present. The tooth profile of the internal teeth is a corrected tooth profile so that no interference occurs between a tooth top portion of the internal teeth and a dedendum portion of the external teeth when the teeth are engaged in the overlapping state. A strain wave gearing capable of minimizing or eliminating tooth engagement backlash is realized.

Abstract translation: 在应变波齿轮传动中，柔性外齿齿轮的外齿沿外齿齿厚度减小的方向弹性变形。 第一和第二刚性内齿轮的内齿与外齿之间的接合被设定为重叠状态，其中外齿弹性变形并且在不存在间隙的状态下啮合。 内齿的齿廓是校正的齿廓，使得当齿以重叠状态接合时，在内齿的齿顶部和外齿的齿根部之间不发生干涉。 实现了能够最小化或消除齿啮合齿隙的应变波传动装置。

公开(公告)号：US20160319927A1

公开(公告)日：2016-11-03

申请号：US14797305

申请日：2015-07-13

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Norio SHIROKOSHI

IPC: F16H57/08 ,  F16H1/28

CPC classification number: F16H57/082 ,  F16C19/163 ,  F16C19/36 ,  F16C19/54 ,  F16C19/548 ,  F16H1/28

Abstract: A planetary gear reducer has a planetary carrier supported by an input-side main bearing and an output-side main bearing. An angular contact ball bearing or a deep groove ball bearing which requires less installation space and is inexpensive is used for the input-side main bearing. A tapered roller bearing having a large capacity is used for the output-side main bearing. A compact, flat and inexpensive planetary gear reducer can be realized in comparison with a case in which the both main bearings are tapered roller bearings.

Abstract translation: 行星齿轮减速器具有由输入侧主轴承和输出侧主轴承支承的行星架。 输入侧主轴承使用角接触球轴承或深沟球轴承，其需要较少的安装空间并且便宜。 输出侧主轴承使用具有大容量的圆锥滚子轴承。 与两个主轴承是圆锥滚子轴承的情况相比，可以实现紧凑，扁平和便宜的行星齿轮减速器。

公开(公告)号：US20160298746A1

公开(公告)日：2016-10-13

申请号：US14758451

申请日：2013-11-19

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Satoshi KIYONO ,  Tatsuro HOSHINA ,  Masakatsu SASAHARA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: An externally toothed gear of a strain wave gearing is made to flex into a shape conforming to an ellipsoidal curve. The externally toothed gear meshes with an internally toothed gear at the major-diameter position of the ellipsoidal curve. These two meshing positions gradually change in the circumferential direction of the both gears along the tooth trace direction. The number of external teeth of the externally toothed gear participating in meshing with the internally toothed gear can be increased. A strain wave gearing which has a high rigidity and is capable of reducing vibrational noise, can be realized.

Abstract translation: 使应变波传动装置的外齿齿轮弯曲成符合椭圆曲线的形状。 外齿轮在椭圆曲线的大直径位置处与内齿齿轮啮合。 这两个啮合位置沿着齿迹方向在两个齿轮的圆周方向上逐渐变化。 可以增加参与与内齿轮啮合的外齿齿轮的外齿数。 可以实现具有高刚性并能够降低振动噪声的应变波传动装置。

公开(公告)号：US09341252B2

公开(公告)日：2016-05-17

申请号：US14425679

申请日：2013-07-10

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Xin Yue Zhang ,  Yoshihide Kiyosawa

IPC: F16H1/32 ,  F16H49/00 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H55/084 ,  Y10T74/19642

Abstract: A wave generator (5) for a flat-type strain wave gearing (1) has a first elliptical outer circumferential surface (6S) of a first wave generator portion (5S) defined by a first elliptical curve (C1), and a second elliptical outer circumferential surface (6D) of a second wave generator section (5D) defined by a second elliptical curve (C2). Compared to using a wave generator for which the contour is defined by a single elliptical curve, differences between the ball load distribution of the first wave generator portion (5S) and the ball load distribution of the second wave generator portion (5D) can be suppressed, both ball load distributions can be equalized, and the equivalent ball load can be reduced; therefore, an increase in the lifespan of the wave generator bearing can be achieved.

Abstract translation: 用于扁平型应变波传动装置（1）的波发生器（5）具有由第一椭圆曲线（C1）限定的第一波发生器部分（5S）的第一椭圆形外周表面（6S）和第二椭圆形 由第二椭圆曲线（C2）限定的第二波发生器部分（5D）的外圆周表面（6D）。 与使用由单个椭圆曲线限定轮廓的波发生器相比，可以抑制第一波发生器部分（5S）的球负载分布与第二波发​​生器部分（5D）的球载荷分布之间的差异 可以均衡两个球载荷分布，可以减小等效球载荷; 因此，可以实现波发生器轴承的寿命的增加。

公开(公告)号：US20160109014A1

公开(公告)日：2016-04-21

申请号：US14400358

申请日：2013-06-20

Applicant: Harmonic Drive Systems Inc.

Inventor： Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: A hollow-type strain wave gearing unit has a cup-shaped flexible externally-toothed gear, in which one shaft end portion of a hollow rotation shaft of a wave generator is located. The shaft end portion is supported by a bearing mounted on a bearing holder fixed to a boss of the flexible externally-toothed gear. The bearing holder has a retainer holding portion to prevent a retainer of a wave generator bearing from coming off in the axis line direction. There is no need to dispose a retainer holding plate of the wave generator bearing inside the flexible externally-toothed gear, whereby the axial length of the hollow-type strain wave gearing unit can be reduced.

Abstract translation: 中空型应变波传动装置具有杯形的柔性外齿轮，波形发生器的中空旋转轴的一个轴端部分位于其中。 轴端部由安装在固定到柔性外齿轮的凸台的轴承座上的轴承支撑。 轴承座具有用于防止波浪发生器轴承的保持器沿轴线方向脱落的保持器保持部。 不需要将波浪发生器轴承的保持板固定在柔性外齿轮内，从而可以减小中空型应变波传动装置的轴向长度。

公开(公告)号：US20160025203A1

公开(公告)日：2016-01-28

申请号：US14396504

申请日：2013-05-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Tatsuro HOSHINA ,  Yoshihide Kiyosawa

IPC: F16H49/00 ,  F16C19/46

CPC classification number: F16H49/001 ,  F16C19/06 ,  F16C19/44 ,  F16C19/46 ,  F16C19/54 ,  F16C19/55 ,  F16C41/001 ,  F16H2049/003

Abstract: A wave generator of a hollow strain wave gearing has a rigid plug and a needle roller bearing. The needle roller bearing has an inner ring trajectory surface formed in the plug external peripheral surface, a flexible outer ring, an outer ring trajectory surface formed in an inner peripheral surface of the outer ring, and needle rollers. An inner ring trajectory groove is formed in the plug external peripheral surface, and the inner ring trajectory surface is formed in a groove bottom surface of the inner ring trajectory groove. Inner-ring-side restricting surfaces for restricting the needle rollers from moving in the center axis direction are formed in groove side surfaces on both sides of the inner ring trajectory groove. A wave generator can be obtained, which is suitable for increasing the hollow diameter of a strain wave gearing.

Abstract translation: 中空应变波传动装置的波发生器具有刚性塞子和滚针轴承。 滚针轴承具有形成在插塞外周面中的内环轨迹面，柔性外圈，形成在外圈内周面的外圈轨迹面以及滚针。 内圈轨迹槽形成在插塞外周面上，内圈轨迹面形成在内圈轨迹槽的槽底面。 在内圈轨迹槽的两侧的槽侧面形成有用于限制针辊在中心轴方向移动的内圈侧限制面。 可以获得波浪发生器，其适用于增加应变波传动装置的中空直径。

公开(公告)号：US20150300475A1

公开(公告)日：2015-10-22

申请号：US14398749

申请日：2013-06-20

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya Murayama ,  Yoshihide Kiyosawa

IPC: F16H49/00 ,  F16H57/04

CPC classification number: F16H49/001 ,  F16H57/029 ,  F16H57/0454 ,  F16H2057/02073

Abstract: A hollow-type strain wave gearing unit (1) has a sealing member (14) for sealing a gap (15) opening to the inner peripheral surface of a unit hollow portion (5) passing through in an axis (1a) direction. The gap (15) includes a gap section (15b) between an outer peripheral side end race (48b) on the wave generator side and a boss side end face (108), both faces opposing each other in the axis (1a) direction, and the sealing member (14) is assembled therein. The gap section (15b) is formed in a state partially entering the inside of the inner ring (11b) of the second bearing (11) supporting the wave generator (4). It is possible to realize a hollow-type strain wave gearing unit with a sealing mechanism that is suitable for increasing the inner diameter of the unit hollow portion and for reducing the unit axial length.

Abstract translation: 中空型应变波传动单元（1）具有密封部件（14），该密封部件（14）用于密封通向沿轴线（1a）方向通过的单元中空部分（5）的内周面的间隙（15）。 间隙（15）包括在波浪发生器侧的外周侧端部座圈（48b）和凸起侧端面（108）之间的沿轴线（1a）方向相对的两个面的间隙部（15b） 并且密封构件（14）组装在其中。 间隙部（15b）形成为部分地进入支撑波发生器（4）的第二轴承（11）的内圈（11b）的内部的状态。 可以实现具有密封机构的中空型应变波传动单元，该密封机构适于增加单元中空部分的内径并减小单元轴向长度。

公开(公告)号：US20150240930A1

公开(公告)日：2015-08-27

申请号：US14611304

申请日：2015-02-02

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru KOBAYASHI ,  Daisuke ORII

IPC: F16H55/08 ,  C21D9/32 ,  C21D8/00 ,  C21D6/00 ,  C22C38/04 ,  C22C38/38 ,  C22C38/34 ,  C22C38/22 ,  F16H55/06 ,  C22C38/02

CPC classification number: F16H55/0833 ,  C21D1/22 ,  C21D6/002 ,  C21D6/005 ,  C21D6/008 ,  C21D7/06 ,  C21D8/005 ,  C21D9/32 ,  C21D2211/008 ,  C22C38/02 ,  C22C38/04 ,  C22C38/22 ,  C22C38/34 ,  C22C38/38 ,  F16H55/06 ,  F16H2049/003

Abstract: A method for manufacturing a flexible externally toothed gear includes: a first step (ST1) for producing a primary molded article by performing near-net-shape plastic working on a material comprising a nickel-free low-alloy steel having a silicon content of 1.45-1.5 wt %; a second step (ST2) for martempering the primary molded article; a third step (ST3) for producing a secondary molded article from the primary molded article; and a fourth step (ST4) for shot-peening the secondary molded article to change the surface portions of the tooth part and other parts to martensite. A flexible externally toothed gear can be obtained in which the surface hardness is kept within a prescribed range and the fatigue strength and abrasion resistance are high.

Abstract translation: 制造柔性外齿轮的方法包括：第一步骤（ST1），用于通过对包含硅含量为1.45的无镍低合金钢的材料进行近净形塑性加工来制造一次成型制品 -1.5重量％ 用于对一次成型品进行捣碎的第二工序（ST2） 用于从一次成型品制造二次成型品的第三工序（ST3） 和第二工序（ST4），其用于对二次成型体进行喷丸处理，将齿部等部分的表面部分变为马氏体。 可以获得其中表面硬度保持在规定范围内并且疲劳强度和耐磨性高的柔性外齿齿轮。