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公开(公告)号：US10145459B2
公开(公告)日：2018-12-04
申请号：US15124788
申请日：2014-03-11
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi , Tatsuro Hoshina
Abstract: The wave generator of the strain wave gear device comprises: a rigid plug; a roller bearing fitted on the elliptical outer circumferential surface thereof; and first and second cylindrical springs, which press loose rollers that have some play in the radial direction between the outer race and the inner race of the roller bearing against the outer raceway surface. The loose rollers are pressed against the outer raceway surface with a linear contact and roll according to the outer raceway surface. Skewing of the rollers is limited, ensuring smooth rotation of the roller bearing.
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公开(公告)号：US10066724B2
公开(公告)日：2018-09-04
申请号：US15101179
申请日：2015-02-26
Applicant: Harmonic Drive Systems Inc.
Inventor： Masaru Kobayashi
Abstract: In a strain wave gearing, external teeth of a flexible externally toothed gear are elastically deformable in a direction in which the tooth thickness of the external teeth decreases. Engagement between internal teeth of a first and a second rigid internally toothed gears and the external teeth is set in an overlapping state in which the external teeth elastically deform and engage in a state in which no gap is present. The tooth profile of the internal teeth is a corrected tooth profile so that no interference occurs between a tooth top portion of the internal teeth and a dedendum portion of the external teeth when the teeth are engaged in the overlapping state. A strain wave gearing capable of minimizing or eliminating tooth engagement backlash is realized.
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公开(公告)号：US12222028B2
公开(公告)日：2025-02-11
申请号：US18573062
申请日：2021-08-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
IPC: F16H49/00
Abstract: In a strain wave gearing, a thrust force applied on an externally toothed gear during an increased-speed operation causes the externally toothed gear to move along an axis in a first direction, and the output-side end surface thereof is pressed, by a prescribed force, against a friction surface of a friction plate integrated with a rotating shaft part of a strain wave generator. Torque transmission efficiency can be reduced only during increased-speed operation, by means of a friction loss occurring between the externally toothed gear and the friction plate. When large load torque is applied from an output shaft which is an output-side member during reduced-speed operation, retention torque of the strain wave generator which is an input-side member during speed-reduction operation can be reduced.
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公开(公告)号：US12078241B2
公开(公告)日：2024-09-03
申请号：US17921215
申请日：2021-08-04
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
CPC classification number: F16H57/048 , F16H49/001 , F16H57/041
Abstract: A strain wave gearing is lubricated by a non-hydrophobized powder enclosed in an internal space until the strain wave gearing is fully broken in, and the non-hydrophobized powder is transferred to contact surfaces of contact parts to form a lubricating film. During operation under load, the strain wave gearing is lubricated by a hydrophobized powder enclosed in the internal space instead of the non-hydrophobized powder. Each of the powders used is a powder of an ionic crystalline compound (MoS2, WS2, etc.) having a layered crystal structure. By lubricating the strain wave gearing with the hydrophobized powder during operation under load, any temporary decrease in efficiency at the start of operation is minimized and stable operation of the strain wave gearing can be maintained.
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公开(公告)号：US10907717B2
公开(公告)日：2021-02-02
申请号：US16316461
申请日：2016-07-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
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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Patent Agency Ranking
26.发明授权公开(公告)号：US10508726B2
公开(公告)日：2019-12-17
申请号：US15532857
申请日：2014-12-05
Applicant: Harmonic Drive Systems Inc.
Inventor： Tatsuro Hoshina , Masaru Kobayashi , Akira Nagai
Abstract: A boss-side fastening surface formed in a boss of a flexible externally toothed gear of a strain wave gearing and a shaft-side fastening surface of an output shaft are coaxially fastened with bolts. The boss-side fastening surface is a convex-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a ridge line on a diameter line of the surface. The shaft-side fastening surface is a concave-side fastening surface defined by two symmetrical inclined surfaces that are intersected at a prescribed angle to form a trough line on a diameter line of the surface. The inclination angle of the inclined surfaces is set in the range of 2° to 16°. Transmission torques equal to or larger than those for combined bolt and pin fastening can be secured with bolt-only fastening.
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公开(公告)号：US12092199B2
公开(公告)日：2024-09-17
申请号：US17998573
申请日：2021-08-24
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi
CPC classification number: F16H57/041 , F16H49/001 , F16H57/048
Abstract: A powder supply mechanism, which is provided with a press-molded article obtained by consolidating a solid lubricant powder in advance, is incorporated into an inner-side space of an externally toothed gear of a strain wave gearing. While the strain wave gearing is operating, the press-molded article is worn down by the friction plate, whereby the powder supply mechanism can incrementally supply very small amounts of a solid lubricant abrasion powder from the press-molded article over an extended period. It is possible to suppress any reduction in efficiency caused by loss torque produced due to a large amount of the solid lubricant powder infiltrating gaps in, inter alia, a contact section of a wave generator rotating at high speed. Thus, it is possible to extend the service life of the powder-lubricated strain wave gearing while keeping the efficiency consistently high.
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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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公开(公告)号：US10935121B2
公开(公告)日：2021-03-02
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：US10801585B2
公开(公告)日：2020-10-13
申请号：US15766534
申请日：2015-11-06
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi , Tatsuro Hoshina
Abstract: The flexible external gear of a strain wave gearing is provided with: a cylindrical body part capable of flexing in the radial direction; external teeth formed on the outer circumferential surface thereof with a constant pitch; and grooves formed on the inner circumferential surface of the cylindrical body section along the circumferential direction thereof with the same pitch as the external teeth. The grooves are grooves with a wave-shaped cross-sectional shape having the center line of the tooth crest of the external tooth as the center and extend in the width direction of the external teeth. It is possible to increase the tooth bottom fatigue strength of the flexible external gear by increasing the tooth bottom thickness, while maintaining ease of flexing and a tooth shape that can withstand tangential forces due to meshing.
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