公开(公告)号：US20150229196A1

公开(公告)日：2015-08-13

申请号：US14423228

申请日：2013-01-18

Applicant: Harmonic Drive Systems Inc.

Inventor： Toshiki Maruyama ,  Tomoki Terashima

IPC: H02K41/035 ,  G02B7/02 ,  H02K11/00

CPC classification number: H02K41/0356 ,  G02B7/023 ,  H02K11/21

Abstract: A linear DC motor having first and second drive coils and first and second drive magnets arranged in a symmetrical state in relation to a motor central axis that passes through a sliding member in which a lens is mounted. The first and second coils on a moveable side are positioned to both the left and right sides of the sliding member. The first and second drive coils are designed to be independent without being affected by the shape, size, arrangement position, and the like of the sliding member, a linear guide, and a detection part. The first and second drive coils have high rigidity and do not deform when the sliding member slides. Accordingly, it is possible to obtain a linear DC motor that has a highly rigid moveable part and performs positioning action with high responsiveness and high precision.

Abstract translation: 一种具有第一和第二驱动线圈的线性直流电动机，以及相对于通过其中安装有透镜的滑动构件的电动机中心轴以对称状态布置的第一和第二驱动磁体。 可移动侧的第一和第二线圈位于滑动构件的左侧和右侧。 第一和第二驱动线圈被设计成独立的，而不受滑动构件，线性引导件和检测部件的形状，尺寸，布置位置等的影响。 第一和第二驱动线圈具有高刚性并且当滑动构件滑动时不变形。 因此，可以获得具有高度刚性的可动部件的线性直流电动机，并且执行高响应性和高精度的定位动作。

公开(公告)号：US20150226302A1

公开(公告)日：2015-08-13

申请号：US14429704

申请日：2013-07-01

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Jun Handa ,  Yoshihide Kiyosawa

IPC: F16H49/00 ,  F16H57/021

CPC classification number: F16H49/001 ,  F16H57/021 ,  F16H2049/003 ,  Y10T74/19647 ,  Y10T74/1987

Abstract: A first shaft end of a hollow shaft of a hollow strain wave gearing is supported by a first support bearing with a collar interposed therebetween which is mounted to the outer-circumferential surface of the first shaft end. A second shaft end on the other end of the hollow shaft is supported by a second support bearing. A wave plug of a wave generator is integrally formed with the hollow shaft, and a wave bearing is mounted on the elliptical outer-circumferential surface thereof from the first-shaft-end side. It is possible to use a first support bearing having an inner diameter larger than the outer diameter of the first shaft end as the first support bearing for supporting the first shaft end.

Abstract translation: 中空应变波传动装置的中空轴的第一轴端由第一支撑轴承支撑，其中插入有轴环，其安装到第一轴端的外周表面。 中空轴的另一端的第二轴端由第二支撑轴承支撑。 波浪发生器的波形塞与中空轴一体形成，波浪轴承从第一轴端侧安装在椭圆形外周面上。 可以使用具有大于第一轴端的外径的内径的第一支撑轴承作为用于支撑第一轴端的第一支撑轴承。

公开(公告)号：US20140283638A1

公开(公告)日：2014-09-25

申请号：US14135051

申请日：2013-12-19

Applicant: Harmonic Drive Systems Inc.

Inventor： Yoshikazu YAJIMA

IPC: F16H49/00

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.

Abstract translation: 在波轮装置中，内圈和凸台通过沿其整个周边形成的激光焊接部分固定在一起。 激光焊接部件还用作用于密封内圈和凸台的油封。 凸台和内圈以要求的轴向长度短的方式固定在一起，并且减少了加工和组装步骤。 油封件不需要密封凸台和内圈。

公开(公告)号：US20140157925A1

公开(公告)日：2014-06-12

申请号：US13976076

申请日：2012-12-12

Applicant: Harmonic Drive Systems Inc

Inventor： Yoshikazu Yajima ,  Junichi Kurogi

IPC: F16H49/00

CPC classification number: F16H49/001 ,  Y10T74/19 ,  Y10T74/19642

Abstract: A wave gear unit has an input shaft positioned along a center axis by first and second input bearings. A first unit end plate at the first-input-bearing side is a composite member in which a bearing housing member of an iron-based material is integrated with an end plate main body member of a lightweight material. A second unit end plate at the second-input-bearing side is integrated with a rigid internally toothed gear, and is a composite member in which a second member of a lightweight material is integrated with a first member of a lightweight material. The first member has an end plate main body portion of the second unit end plate and a gear main body portion of the rigid internally toothed gear, while the second member has a bearing housing portion of the second unit end plate and a teeth formation portion of the rigid internally toothed gear.

Abstract translation: 波齿轮单元具有通过第一和第二输入轴承沿着中心轴定位的输入轴。 第一单元端板在第一输入轴承侧是复合构件，其中铁基材料的轴承壳体构件与轻质材料的端板主体构件一体化。 在第二输入轴承侧的第二单元端板与刚性内齿轮一体化，并且是复合构件，其中轻质材料的第二构件与轻质材料的第一构件成一体。 第一构件具有第二单元端板的端板主体部分和刚性内齿轮的齿轮主体部分，而第二构件具有第二单元端板的轴承容纳部分和齿形成部分 刚性内齿齿轮。

公开(公告)号：US20130124128A1

公开(公告)日：2013-05-16

申请号：US13633071

申请日：2012-10-01

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  Satoshi KIYONO

Inventor： Hiroshi YAMAZAKI ,  Hiroki HANAOKA ,  Satoshi KIYONO

IPC: G06F19/00 ,  G01B21/22

CPC classification number: G01D5/24452

Abstract: In a self-calibration method of an angle detector, an angle interval between first and second scale reader heads are set, so that a single rotation is not equally divided into an integer number of potions by a value of the angle interval and that a plurality of rotations N are equally divided into M equal portions by the value of the angle interval. Readings by the scale reader heads during N rotations of the divided circle are obtained at a pre-set data sampling interval. From differences in readings by these scale reader heads, data of the sequential two-point method relating to an angle scale error of the divided circle are obtained at the data sampling interval. The scale error of the divided circle at the data sampling interval is calculated by synthesizing the data using the fact that an average of the data for the rotations N reaches approximately zero.

Abstract translation: 在角度检测器的自校准方法中，设置第一和第二刻度尺读取器头之间的角度间隔，使得单个旋转不被等分成整数数量的角度间隔的值，并且多个 的旋转N通过角度间隔的值被等分成M等分。 在预先设定的数据采样间隔处获得在划分圆的N个旋转期间通过刻度尺读取头的读数。 由于这些刻度读取头的读数差异，在数据采样间隔获得与分割圆的角度刻度误差有关的连续两点方法的数据。 通过使用旋转数据N的平均值近似为零的事实合成数据来计算数据采样间隔处的分割圆的比例误差。

公开(公告)号：US20040259677A1

公开(公告)日：2004-12-23

申请号：US10870153

申请日：2004-06-18

Applicant: Harmonic Drive Systems Inc.

Inventor： Norio Shirokoshi

IPC: F16H037/06 ,  F16H057/02

CPC classification number: F16H1/2818 ,  F16H1/2845 ,  F16H1/2863 ,  F16H1/46 ,  Y10T74/2186

Abstract: A planetary gear drive includes a thin, elastically resilient internal gear arranged within an annular housing, in which there is also a carrier that is rotatably supported by a pair of tapered roller bearings. A sun gear located concentrically within a cylindrical portion of the carrier is arranged so that the sun gear is capable of floating movement perpendicular to the drive axis. Any uneven meshing caused by error in the assembly or manufacture of the gears is automatically cancelled by radial elastic deformation of the internal gear and the floating movement of the sun gear, reducing backlash. Moreover, the use of two tapered roller bearings makes it possible to increase the moment capacity of the planetary gear drive.

Abstract translation: 行星齿轮传动装置包括布置在环形壳体内的细的弹性弹性内齿轮，其中还有一个由一对圆锥滚子轴承可转动地支承的托架。 太阳齿轮同心地布置在载体的圆柱形部分内，使得太阳齿轮能够垂直于驱动轴线浮动。 由于齿轮组装或制造中的误差引起的任何不均匀的啮合都会通过内齿轮的径向弹性变形和太阳齿轮的浮动运动自动消除，从而减少齿隙。 此外，使用两个圆锥滚子轴承可以增加行星齿轮传动的力矩能力。

公开(公告)号：US20040183701A1

公开(公告)日：2004-09-23

申请号：US10790785

申请日：2004-03-03

Applicant: Harmonic Drive Systems Inc.

Inventor： Muneo Mitamura ,  Yoshinori Ito ,  Sadaharu Kanamori

IPC: H03M001/22 ,  G01D005/34

CPC classification number: H03M1/301 ,  G01D5/34715

Abstract: A projection-type rotary encoder is provided which has a light source, an object grating plate in which a substantially fan-shaped object grating for transmitting light is arranged at constant angular intervals in the circumferential direction, a rotary scale plate in which a substantially fan-shaped scale grating for transmitting light is arranged at constant angular intervals in the circumferential direction, and a photodiode grating plate in which a substantially fan-shaped photodiode photosensitive surface grating is arranged at constant angular intervals in the circumferential direction. A scale grating 32A is formed in the rotary scale plate with a shape and size that correspond to a light image of the object grating 31A incident on the surface thereof. A photodiode photosensitive surface grating 33A is formed in the photodiode grating plate with a shape and size that correspond to a light image of the scale grating 32A incident on the surface thereof.

Abstract translation: 提供一种具有光源的投影式旋转编码器，其中用于透射光的大致扇形物体光栅在圆周方向上以恒定角度间隔布置的物体光栅板，旋转刻度板，其中基本上为风扇 在圆周方向以恒定的角度间隔布置用于透射光的鳞状光栅，以及光电二极管光栅板，其中大致扇形的光电二极管光敏表面光栅在圆周方向上以恒定的角度间隔布置。 刻度光栅32A形成在旋转刻度盘上，其形状和尺寸对应于入射在其表面上的物体光栅31A的光图像。 在光电二极管光栅板中形成光电二极管光敏表面光栅33A，其形状和尺寸对应于入射在其表面上的刻度光栅32A的光图像。

公开(公告)号：US20030038204A1

公开(公告)日：2003-02-27

申请号：US09935551

申请日：2001-08-24

Applicant: Harmonic Drive Systems, Inc.

Inventor： Masaru Nakazawa ,  Takashi Kawamura ,  Masayasu Shimaru

IPC: H01F041/08 ,  B65H081/02

CPC classification number: H01F41/08 ,  Y10T29/49071

Abstract: A toroidal core automatic winding apparatus has a winding ring positioned concentrically around a supply ring. The rings are C-shaped, by virtue of a through-slit on each ring. Wire wound on the supply ring is drawn out towards a toroidal core, via a wire guide on the winding ring. A ring rotation mechanism rotates the supply ring and winding ring in the same direction as that in which the supply ring was rotated when being loaded with the wire, but at mutually different speeds, to wind the wire around the toroidal core. The difference in the rotation amounts of the supply ring and winding ring equals the length of the wire that is wound on the toroidal core.

公开(公告)号：US12215768B2

公开(公告)日：2025-02-04

申请号：US18164856

申请日：2023-02-06

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Kazumasa Furuta ,  Nozomu Tanioka ,  Jun Handa

IPC: F16H49/00

Abstract: In a strain wave gearing, both of a pulley for transmitting rotation in a direction orthogonal to a rotation central axis and an output shaft are arranged on an axial-direction first side relative to a cup-shaped externally toothed gear. The input shaft, which transmits input rotation from the pulley to the wave generator, functions as a support shaft for both the pulley and the wave generator and is supported at both ends by the first and second bearings. A mechanism for transmitting rotation from the pulley to the wave generator, and a mechanism for supporting the rotation-transmitting mechanism, can be made compact, and support strength can also be ensured.

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,