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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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公开(公告)号：US20220213947A1
公开(公告)日：2022-07-07
申请号：US17608605
申请日：2019-07-25
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Kohei ISOBE , Kenta TAKAHASHI
Abstract: A planetary reduction gear using a helical gear is configured such that a rear-stage sun gear is rotatably supported by a device housing via a radial bearing on one side in the direction of a center axis, and is rotatably supported by a rear-stage planetary carrier via a thrust bearing on the other side. The rear-stage planetary carrier is rotatably supported by the device housing via a rear-stage carrier bearing. A preload is applied to the thrust bearing by a preload mechanism mounted to the rear-stage planetary carrier. Displacement of the rear-stage sun gear caused by a thrust force generated due to engagement with a rear-stage planetary gear can be suppressed, and an angle error between input rotation and output rotation can be suppressed.
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公开(公告)号：USD937332S1
公开(公告)日：2021-11-30
申请号：US35511076
申请日：2020-06-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Designer： Hiroaki Kimura , Jun Handa , Yoshihide Kiyosawa
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公开(公告)号：US20210310834A1
公开(公告)日：2021-10-07
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：US20210222764A1
公开(公告)日：2021-07-22
申请号：US17056213
申请日：2018-06-19
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yutaka MIYAZAWA , Noboru TAKIZAWA
IPC: F16H49/00
Abstract: A hollow strain-wave gear device (1) has a wave generator (5), a wave generator plug (5a) of which is integrally formed in a portion of a hollow rotating shaft (6). A plug reinforcement part (5d), which is adjacent to the wave generator plug (5a), has a thickness larger than that of the wave generator plug (5a), and is integrally formed in the hollow rotating shaft (6). The wave generator plug (5a) is reinforced by the highly rigid plug reinforcement part (5d) formed adjacently to the wave generator plug (5a). It is thus possible to prevent or suppress a decline in the rigidity of the wave generator plug (5a) when the hollow rotating shaft has a thin thickness in order to reduce the weight of the hollow rotating shaft (6) and increase the diameter of the hollow portion thereof. Consequently, it is possible to suppress a decline in ratcheting torque.
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Patent Agency Ranking
公开(公告)号：US11028915B2
公开(公告)日：2021-06-08
申请号：US15781751
申请日：2015-12-11
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun Handa , Hiroaki Kimura , Sotaro Miyake
IPC: F16H1/32 , F16H49/00 , F16H57/021
Abstract: A restraint mechanism for limiting the movement of the flexible external gear of a flat strain wave gearing in the axial direction has a first restraining member installed in a floating state in a first recess and a second restraining member installed in a floating state in a second recess. The restraining member is able to limit the movement of the flexible external gear in the axial direction to a range in which there are no difficulties during actual use. Moreover, compared with when movement of the flexible external gear is limited using members that are disposed at fixed positions, it is possible to reduce the sliding abrasion that occurs between the flexible external gear and the first and second restraining members.
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公开(公告)号：US20210140529A1
公开(公告)日：2021-05-13
申请号：US16629327
申请日：2017-08-09
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
Abstract: A strain wave gearing wherein the outer circumferential surface of an outer ring of a wave generator is in contact with an inner-circumferential-surface portion of a flexible externally toothed gear, and a release groove, which is not in contact with the outer circumferential surface, is formed in the inner-circumferential-surface portion. The release groove is formed in a region containing a ball raceway groove. The groove depth of the release groove gradually increases from both sides of the groove in the groove width direction toward a deepest portion of the groove provided at an intermediate portion in the groove width direction. By providing the release groove, it is possible to smooth the distribution of pressing force of the wave generator acting on the externally toothed gear in the tooth-trace direction. In addition, the tooth root fatigue strength and the transmission torque capacity of the externally toothed gear can be improved.
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公开(公告)号：US11002349B2
公开(公告)日：2021-05-11
申请号：US15738172
申请日：2015-07-07
Applicant: Harmonic Drive Systems Inc.
Inventor： Jun Handa , Hiroaki Kimura , Sotaro Miyake
Abstract: In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
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公开(公告)号：US20210131543A1
公开(公告)日：2021-05-06
申请号：US16473820
申请日：2017-01-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshitomo MIZOGUCHI , Yuya MURAYAMA , Shizuka YATA
IPC: F16H49/00
Abstract: A strain wave gearing has a wave generator which flexes an externally toothed gear in a radial direction to form meshing portions thereof with an internally toothed gear in positions that are separated along a circumferential direction of the externally toothed gear. When the wave generator rotates, the meshing portions move in the circumferential direction. Non-meshing regions are formed in part of the meshing portions along the tooth trace direction thereof. The non-meshing regions are those of a prescribed width including the support center of a wave bearing in the tooth trace direction. The concentration of stress in the tooth root of the externally toothed gear can be alleviated, and the tooth-root fatigue strength of the externally toothed gear can be increased.
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公开(公告)号：US10962098B2
公开(公告)日：2021-03-30
申请号：US15758377
申请日：2015-09-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
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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