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公开(公告)号：US20200284332A1
公开(公告)日：2020-09-10
申请号：US16305598
申请日：2016-07-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A wave bearing of a wave generator of a strain wave gearing is provided with steel or stainless steel cylindrical hollow rollers between an inner-race-side raceway surface and an outer-race-side raceway surface, the hollow rollers serving as rolling elements. The ratio Di/Do of the inner diameter Di to the outer diameter Do of the hollow rollers is set to 0.95 or more. The relative radius of curvature of hollow rollers that have been flexed into an ellipsoidal shape increases with respect to the inner-race raceway surface and the outer-race raceway surface with which the hollow rollers are in contact, and the Hertz maximum contact stress is reduced. The hardness of the hollow rollers, the inner-race raceway surface, and the outer-race raceway surface can be reduced.
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公开(公告)号：US20190234502A1
公开(公告)日：2019-08-01
申请号：US16316461
申请日：2016-07-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
CPC classification number: F16H49/001 , F16C19/16 , F16C2361/61 , F16H1/32
Abstract: A wave generator of a strain wave gearing is provided with a rigid plug, a wave bearing mounted to the ellipsoidal outer peripheral surface of the rigid plug, and four elastic claws that rotate integrally with the rigid plug. The balls of the wave bearing include balls in a loose state and balls in a tight state. The loose-state balls adjacent to the tight-state balls are applied with braking force by the elastic claws immediately before they transition into a tight state, and the orbital motion thereof is temporarily prevented or suppressed, whereby the gaps between the loose-state balls and the adjacent tight-state balls are secured. It is possible to prevent increase in rotational torque, damage to the balls or other defects due to ball-to-ball contact by the tight-state balls.
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公开(公告)号：US20170370457A1
公开(公告)日：2017-12-28
申请号：US15542872
申请日：2015-01-13
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
CPC classification number: F16H49/001 , F16H1/32 , F16H57/0409 , F16H57/041 , F16H57/0417 , F16H57/0427 , F16H57/0471 , F16H57/0486
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：US20170254404A1
公开(公告)日：2017-09-07
申请号：US15528706
申请日：2014-11-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has contact parts which are the portions to be lubricated other than the teeth of an externally toothed gear and an internally toothed gear, the contact parts being respectively lubricated with an inorganic lubricating powder having a lamellar crystal structure. The lubricating powder, during the operation of the strain wave gearing, is crushed between the contact surfaces of each of the contact parts to move and adhere to the contact surfaces, thereby forming thin surface films thereon. Additionally, the powder is thinly spread by pressure and reduced into finer particles to change into a shape which facilitates intrusion into the space between the contact surfaces. By both the fine particles having changed in shape and the surface films, the lubrication of the contact parts is maintained. Neither the fine particles nor the surface films are viscous.
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公开(公告)号：US20170082187A1
公开(公告)日：2017-03-23
申请号：US15126329
申请日：2014-03-31
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI , Yoshihide KIYOSAWA
CPC classification number: F16H49/001 , B23P15/14 , B23P2700/12 , F16C19/06 , F16C19/362 , F16C33/581 , F16C2361/61
Abstract: A wave plug of a wave generator of a wave gear device includes: a metallic outer hollow body with an elliptical wave plug outer circumferential surface formed thereon; a metallic inner hollow body with a wave plug inner circumferential surface formed thereon; and an intermediate hollow body sandwiched between the outer hollow body and the inner hollow body. The intermediate hollow body includes CFRP layers. It is possible to implement a light wave plug in which a big hollow portion can be formed while assuring a required rigidity. Using the wave plug makes it possible to implement a light wave gear device which allows jumping to occur at a high load torque and which includes a big hollow portion.
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Patent Agency Ranking
公开(公告)号：US20240263693A1
公开(公告)日：2024-08-08
申请号：US18041020
申请日：2021-11-04
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H2049/003
Abstract: In a strain wave gearing, in order to regulate axial-direction movement of an externally toothed gear thereof, first balls are directly interposed between a first annular end surface and a device housing, whereby the first annular end surface and the device housing are in rolling contact with one another. Similarly, second balls, are directly interposed between a second annular end surface and an output shaft, whereby the second annular end surface and the output shaft are in rolling contact with one another. No contact occurs other than rolling contact of contact portions. Additionally, pressure is applied in the axial direction to the portions that make rolling contact, and axial-direction rattling is eliminated, whereby axial-direction movement of the externally toothed gear is reliably suppressed, and generation of high thrust force is prevented.
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公开(公告)号：US20200158220A1
公开(公告)日：2020-05-21
申请号：US16611248
申请日：2017-06-16
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a rigid internally toothed gear, a flexible externally toothed gear, and a sliding-contact type wave generator. The wave generator has: a plurality of gear pressing members that flexes the externally toothed gear in the radial direction at positions at equal angular intervals in the circumferential direction to form plurality of meshing portions which mesh with the internally toothed gear; and piezoelectric elements that generate ultrasonic vibration of 20 kHz to 80 kHz in the gear pressing members in the radial direction. Ultrasonic vibration is applied at contact sites where the gear pressing members and the externally toothed gear contact each other. As a result of a squeeze film effect, the apparent friction coefficient of each contact surface at the contact sites can be greatly reduced and rotational torque, of the wave generator can be reduced.
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公开(公告)号：US20200032891A1
公开(公告)日：2020-01-30
申请号：US16477306
申请日：2017-11-29
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI , Akira MARUYAMA
IPC: F16H49/00
Abstract: In a strain wave gearing, a flexible externally toothed gear flexed by a wave generator meshes with a flexible internally toothed gear while in an overlapping meshing state. A floating ring, which supports the internally toothed gear from the outer circumferential side, maintains the overlapping state of the meshing and supports the internally toothed gear in a floating state that allows displacement following a state of radial flexion in the tooth trace direction of the internal teeth of the internally toothed gear. Differences between the meshing states of both gears can be alleviated at each position in the tooth trace direction. Degradation in the transmission characteristics and the strength characteristics of the strain wave gearing caused by manufacturing dimensional accuracy of each component and assembly accuracy can be suppressed.
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公开(公告)号：US20180031103A1
公开(公告)日：2018-02-01
申请号：US15550697
申请日：2015-02-13
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
IPC: F16H49/00
CPC classification number: F16H49/001 , H02N2/00
Abstract: A wave generator of a strain wave gearing uses a plurality of solid displacement elements to flex a flexible externally toothed gear into a non-circular shape and partially mesh the externally toothed with a rigid internally toothed gear. The solid displacement elements are obtained by curving a monomorphic or bimorphic type rectangular plate-shaped element into an arc shape and can be deformed from an arc shape to a semispherical shape by energization, the semicircular shape having a smaller radius than the arc radius of the arc shape. A wave generator can be realized, which can bear a large load torque by utilizing changes in rigidity, deformation amount, and deformation force associated with the deformation of the solid displacement elements.
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公开(公告)号：US20170254403A1
公开(公告)日：2017-09-07
申请号：US15519677
申请日：2014-11-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
CPC classification number: F16H49/001 , F16C19/364 , F16C33/588 , F16C2361/61 , F16H2049/003
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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