公开(公告)号：US09394985B2

公开(公告)日：2016-07-19

申请号：US14371446

申请日：2013-05-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru Kobayashi ,  Tatsuro Hoshina

IPC: F16H33/00 ,  F16H35/00 ,  F16H37/00 ,  F16H49/00 ,  F16D1/076 ,  F16H55/08 ,  F16H57/00

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：US20160201783A1

公开(公告)日：2016-07-14

申请号：US14901237

申请日：2013-07-04

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Sotaro MIYAKE ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: A press plate is tacked to a boss of a cup-shaped flexible externally toothed gear of a wave gear device unit. A second arm as a driven member is attached by a fastening bolt to an end surface on an outer side of an output flange of the wave gear device unit. The fastening bolt is screwed into and secured in a tap hole of the press plate from each bolt insertion hole of the second arm, via a flange-side bolt insertion hole and a boss-side bolt insertion hole. A fastening structure can be achieved in which a driven member is fastened to a wave gear device unit in which holes are easily machined into the output flange, and only a few fastening bolts are needed to fasten the boss, the output flange, and the driven member.

Abstract translation: 压板被固定到波齿轮装置单元的杯形柔性外齿轮的凸台上。 作为从动构件的第二臂通过紧固螺栓附接到波齿轮装置单元的输出凸缘的外侧的端面。 紧固螺栓通过法兰侧螺栓插入孔和凸起侧螺栓插入孔从第二臂的每个螺栓插入孔旋入并固定在压板的抽出孔中。 可以实现紧固结构，其中从动构件紧固到波形齿轮装置单元中，其中孔容易加工到输出法兰中，并且仅需要几个紧固螺栓来紧固凸台，输出凸缘和被驱动 会员。

公开(公告)号：US09382993B2

公开(公告)日：2016-07-05

申请号：US14398749

申请日：2013-06-20

Applicant: Harmonic Drive Systems Inc.

Inventor： Yuya Murayama ,  Yoshihide Kiyosawa

IPC: F16H37/00 ,  F16H49/00 ,  F16H57/029 ,  F16H57/04 ,  F16H57/02

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：US20160160985A1

公开(公告)日：2016-06-09

申请号：US14906861

申请日：2013-07-25

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshitomo MIZOGUCHI ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: A flat strain wave gearing device equipped with: a first internal gear and a second internal gear; a flexible tubular external gear; and an elliptically shaped wave generator. In the direction of a central axis, the center of support of the external teeth by the wave generator is offset, by an offset amount of Δ along the direction of the central axis, with respect to the tooth-width center of the external teeth of the external gear. By setting the offset direction and the offset amount appropriately it is possible to achieve a strain wave gearing device which is suitable in terms of the operating conditions and the mechanical characteristics of the first and second internal gears.

Abstract translation: 一种扁平应变波传动装置，配备有：第一内齿轮和第二内齿轮; 柔性管状外齿轮; 和椭圆形波发生器。 在中心轴的方向上，波发生器的外齿的支撑中心偏移量为＆Dgr; 沿着中心轴线的方向相对于外齿轮的外齿的齿宽中心。 通过适当地设定偏移方向和偏移量，可以实现适用于第一和第二内齿轮的运行条件和机械特性的应变波传动装置。

公开(公告)号：US20150167814A1

公开(公告)日：2015-06-18

申请号：US14631265

申请日：2015-02-25

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Satoru KANAI

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003 ,  Y10T74/19 ,  Y10T74/19642 ,  Y10T74/19647

Abstract: In a wave gear device, an annular rigid externally toothed gear is disposed on the inner side of a cup-shaped flexible internally toothed gear. An internal-tooth-formation portion of the flexible internally toothed gear and a pushed portion pushed by a wave generator and flexed ellipsoidally are formed in different positions along the center axis line. The wave generator is disposed on the inner side of the flexible internally toothed gear, the pushed cylindrical portion is pushed from the inner side to the outside along the radial direction thereof by the wave generator, whereby the pushed cylindrical portion is flexed ellipsodially. As the outside diameter dimension of the wave gear device is determined by that of the flexible internally toothed gear, a wave gear device having a small outside diameter dimension can be obtained.

Abstract translation: 在波齿轮装置中，环形刚性外齿轮设置在杯形柔性内齿齿轮的内侧。 柔性内齿齿轮的内齿形成部分和由波发生器推动并被椭圆形弯曲的推动部分沿着中心轴线形成在不同的位置。 波发生器设置在柔性内齿轮的内侧，被推动的圆柱形部分通过波发生器沿其径向方向从内侧向外侧推动，由此推动的圆柱形部分被椭圆形弯曲。 由于波齿轮装置的外径尺寸由柔性内齿轮的外径尺寸确定，所以可以获得具有小外径尺寸的波齿轮装置。

公开(公告)号：US09046384B2

公开(公告)日：2015-06-02

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: G01C17/38 ,  G01D5/244

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 portions 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读取头之间的角度间隔，使得通过角度间隔的值将单个旋转不等分成整数个部分，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：US20040083850A1

公开(公告)日：2004-05-06

申请号：US10728281

申请日：2003-12-03

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru Kobayashi

IPC: F16H033/00 ,  F16C033/62 ,  F16H035/00 ,  F16H037/00 ,  F16C033/32

CPC classification number: F16C33/60 ,  F16H49/001 ,  Y10S384/912 ,  Y10T74/19

Abstract: A lightweight bearing and wave gear drive are provided. An outer or inner bearing ring of the bearing has fixing holes to enable the ring to be attached to another member. The parts of the bearing on which raceway surfaces are formed are made of an iron-based material, while the main bearing ring member is formed of a lightweight material that is lighter than the iron-based material. Surface portions that constitute fixing bolt seats are plated to increase the strength of such portions. The wave gear drive includes a rigid internal gear, a flexible external gear located inside the internal gear, and a wave generator located inside the external gear. The internal and external gears are coupled by the lightweight bearing in a way that allows the gears to rotate relative to each other.