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公开(公告)号：US20210071745A1
公开(公告)日：2021-03-11
申请号：US16966770
申请日：2019-01-16
Applicant: Harmonic Drive Systems Inc.
Inventor： Kazuaki MANIWA , Yoshitomo MIZOGUCHI , Takumi IMADA , Akihiro ORITA
IPC: F16H49/00
Abstract: A wave gear device includes a circular spline that has an annular shape and rigidity; a flex spline that has an annular shape and flexibility, and is disposed in the circular spline; and a wave generator that is disposed in the flex spline, is configured to cause the flex spline to be distorted in a radial direction and is configured to partially mesh with the circular spline, and is configured to move a meshing position between the circular spline and the flex spline in a circumferential direction. The ratio of the Vickers hardness on an inner circumferential surface of the flex spline to the Vickers hardness on an outer circumferential surface of the wave generator is 1.2 or more and 1.7 or less.
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公开(公告)号：US10890239B2
公开(公告)日：2021-01-12
申请号：US16348884
申请日：2016-11-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Noboru Takizawa , Xin Yue Zhang
Abstract: In a silk hat-shaped external gear for a strain wave gearing, t(A)>t(C)>t(D)>t(B) is satisfied, where the thicknesses of the inner circumferential end (A), the middle part (B) and the outer circumferential end (C) of the diaphragm body portion of a diaphragm are t(A), t(B) and t(C), and where the thickness of the barrel-side end part (D) of the curved portion of the diaphragm is t(D). With reference to the thickness of the middle part (B), the thickness of the inner circumferential end (A) of the diaphragm is set so as to be thicker than conventional silk hat-shaped external gears. It is possible to realize an externally toothed gear capable of preventing diaphragm rupture due to thrust force at high load torque and having high fatigue strength.
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公开(公告)号：US10823259B2
公开(公告)日：2020-11-03
申请号：US16476587
申请日：2017-10-19
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi , Yuya Murayama , Yoshitomo Mizoguchi , Satoshi Kishi
Abstract: A strain wave gearing wherein the tooth profile of an external teeth of a cup-shaped or silk-hat-shaped external gear is set as follows. The tooth-tip tooth thickness decreases gradually from an external-teeth outer end toward an external-teeth inner end along an external tooth trace direction. In addition, a pressure angle at a pitch point (P) increases gradually from the external-teeth outer end toward the external-teeth inner end along the external tooth trace direction. Thus, it is possible to realize a cup-type or silk-hat-type strain wave gearing in which external teeth mesh with internal teeth in a wide range along the tooth trace direction, rather than only in one cross-section perpendicular to the axis in the tooth trace direction.
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公开(公告)号：US20200240500A1
公开(公告)日：2020-07-30
申请号：US16754030
申请日：2017-10-31
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide KIYOSAWA , Norio SHIROKOSHI
IPC: F16H49/00 , F16H57/021 , F16C17/04
Abstract: A cup-type strain wave gearing having a unit structure and having: a stationary-side part including a unit housing and an internally toothed gear; a driving-side part including an output member and an externally toothed gear; and a sliding bearing supporting the stationary-side part and the driving-side part in the radial direction and the thrust direction in a state in which relative rotation is possible. The sliding bearing has a cylindrical bushing accommodated in a radial gap, and annular bushings accommodated respectively in thrust gaps. Thus, it is possible to provide an advantageous strain wave gearing having a unit structure that is more lightweight and compact than when a rolling bearing is used.
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公开(公告)号：US10718420B2
公开(公告)日：2020-07-21
申请号：US15541390
申请日：2015-01-08
Applicant: Harmonic Drive Systems Inc.
Inventor： Masaru Kobayashi , Tatsuro Hoshina
Abstract: A strain wave gearing has a wave generator provided with a plug and a roller bearing. The roller bearing is provided with flange plates fixed to both sides of the plug, and outer circumferential edge portions of the flange plates protrude outwardly from a plug outer circumferential surface so as to locate on both sides, in an axial line direction, of the raceway of rollers. The movements of the rollers in the axial line direction are constrained by the outer circumferential edge portions. The movement of retainer in the axial line direction is constrained by engaging with the rollers. The movement of each component part of the roller bearing in the axial line direction can be constrained without using additional components.
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Patent Agency Ranking
公开(公告)号：US10655721B2
公开(公告)日：2020-05-19
申请号：US15542872
申请日：2015-01-13
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
Abstract: An internal contact part of a wave generator of a strain wave gearing, a contact part between an externally toothed gear and the wave generator, and tooth surface parts are lubricated by a lubricating fine powder. When the strain wave gearing is in operation, the lubricating fine powder is supplied to the internal contact part and the contact part by a first powder guide that rotates integrally with the wave generator. Having passed through these sections, the lubricating fine powder is supplied to the tooth surface parts by a second powder guide that rotates integrally with the wave generator. Each component part can be reliably lubricated regardless of the orientation of the strain wave gearing during operation.
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公开(公告)号：US20200072338A1
公开(公告)日：2020-03-05
申请号：US16493111
申请日：2017-04-10
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shunichi TEZUKA , Yoshihide KIYOSAWA , Toshimi YAMAGISHI
Abstract: A silk hat-type strain wave gear device has a crossed roller bearing for supporting an internal gear and an external gear so as to allow relative rotation. A first gap part between the inner and outer rings of said bearing is sealed by an oil seal and a second gap part thereof is in communication with a gear-side gap part on the outside of the external gear. A bearing seal separates the second gap part from the gear-side gap part. The bearing seal prevents excessive inflow of lubricant from the gear-side gap part into the second gap part. Excess lubricant that has flowed into the bearing can flow back from the second gap part to the gear-side gap part. Excess lubricant in the bearing is prevented from leaking through the oil seal to the outside.
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公开(公告)号：US20200049237A1
公开(公告)日：2020-02-13
申请号：US16607757
申请日：2017-06-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide KIYOSAWA
Abstract: A rotary actuator has a hollow motor and hollow reduction gears arranged coaxially on either side of the hollow motor. A rotary shaft is arranged so as to pass through a hollow motor shaft of the hollow motor. The hollow reduction gears have hollow input shafts connected to the shaft ends on either sides of the hollow motor shaft. The hollow reduction gears have hollow output shafts connected to sections of the rotary shaft protruding from both ends of the hollow motor shaft. The connection position of the hollow output shaft with respect to the rotary shaft can be adjusted in the rotational direction. A load is rotationally driven by the rotary shaft. By increasing the axial length of the hollow motor, it is possible to obtain a small-diameter rotary actuator having a rotational output with large torque.
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公开(公告)号：US10557539B2
公开(公告)日：2020-02-11
申请号：US15519677
申请日：2014-11-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
Abstract: A wave generator of a strain wave gearing has a rigid plug provided with an elliptical outer peripheral surface, and a roller bearing. The outer peripheral surface of the plug is provided with a major-axis-side outer-peripheral surface portion formed at a major axis position L1, and a minor-axis-side outer-peripheral surface portion formed at a minor axis position L2. The major-axis-side outer-peripheral surface portion is a tapered surface that is tapered along a center axis line, and the minor-axis-side outer-peripheral surface portion is an inverted tapered surface that is tapered in the opposite direction. An externally toothed gear can be supported and flexed into an elliptical shape without partial contact by using the wave generator in which the roller bearing is used.
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公开(公告)号：US20200040978A1
公开(公告)日：2020-02-06
申请号：US16603405
申请日：2017-04-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Naoki KANAYAMA
IPC: F16H49/00
Abstract: A wave generator of a wave gear device flexes an externally toothed gear into a shape along an elliptical closed curve to form engaging portions of the externally toothed gear with an internally toothed gear at two places, namely at both ends of the major axis, and to move the engaging portions in the circumferential direction. The elliptical closed curve has a non-point symmetric shape. For example, the elliptical closed curve is a line symmetric closed curve that is not symmetric about the minor axis, and is symmetric about only the major axis. In the non-point symmetric state, the engaging portions are formed at both ends in the major axis direction. By selecting different shapes for the engaging portions at the two locations of the major axis, vibration attributed to a secondary angular transmission error component generated along with the rotation of the wave generator can be reduced.
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