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公开(公告)号：US10250097B2
公开(公告)日：2019-04-02
申请号：US15565333
申请日：2015-04-17
Applicant: Harmonic Drive Systems Inc.
Inventor： Toshiki Maruyama , Kazumasa Furuta
IPC: F16C33/72 , H02K5/15 , H01L21/304 , H02K5/10 , H02K5/22 , H02K5/173 , H02K11/215 , F16C41/00 , F16C19/54 , F16C35/04
Abstract: A static pressure seal-equipped motor in which front and rear gaps are sealed by first and second static pressure seal portions disposed at first and second axial end portions of a motor rotating shaft protruding toward front and rear. Sealing gas supplied to sealing gaps of the first and second static pressure seal portions is caused to diverge and flow to chemical liquid atmospheres and a motor chamber or an encoder chamber into the chemical liquid atmospheres, and also prevent entry of chemical liquid-containing gas from the chemical liquid atmospheres into the motor chamber or encoder chamber.
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公开(公告)号：US20190003569A1
公开(公告)日：2019-01-03
申请号：US16068383
申请日：2016-01-15
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shoichi ISHIKAWA
Abstract: In a strain wave gearing, the addendum tooth profile of an internal gear is defined by the formula a and that of an external gear is by the formula b at a principal cross-section located at a tooth-trace-direction center of the external gear, on the basis of a movement locus (Mc) of κ=1 of the teeth of the external gear with respect to those of the internal gear in the principle cross-section taken at the center of the tooth trace of the external gear obtained when the tooth meshing is approximated by rack meshing. It is possible to avoid superimposition of flexion-induced bending stresses and tensile stresses caused by load torque at the major-axis locations of the external gear, and the transmission torque capacity of a strain wave gearing can be improved.
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公开(公告)号：US20180355898A1
公开(公告)日：2018-12-13
申请号：US15780712
申请日：2015-12-03
Inventor： Norio Shirokoshi , Kei Yamada
Abstract: A slotted-type rigid coupling is manufactured so that the internal-diameter dimension of a first shaft hole of a circumferentially divided shaft-fastening part is the same as that of a shaft. The first shaft hole is widened by widening force from a pressing mechanism provided with a fastening bolt, and the shaft is inserted through the first shaft hole up to a shaft insertion hole. The widening force is ceased, the first shaft hole is narrowed by fastening force from the pressing mechanism, and the shaft is securely fastened. When the shaft is securely fastened to the shaft-fastening part by the fastening bolt, eccentricity in the shaft is prevented or minimized.
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公开(公告)号：US20180347679A1
公开(公告)日：2018-12-06
申请号：US15995363
申请日：2018-06-01
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Shoichi Ishikawa
CPC classification number: F16H49/001 , F16H55/0833 , F16H2049/003
Abstract: In a strain wave gearing, the addendum tooth profile of an internal gear is defined by the formula a and that of an external gear is by the formula b at a principal cross-section located at a tooth-trace-direction center of the external gear, on the basis of a movement locus (Mc) of κ=1 by the teeth of the external gear with respect to those of the internal gear. It is possible to avoid superimposition of flexion-induced bending stresses and tensile stresses caused by load torque at the major-axis locations of the external gear, and the transmission torque capacity of a strain wave gearing can be improved.
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公开(公告)号：US10132398B2
公开(公告)日：2018-11-20
申请号：US15126329
申请日：2014-03-31
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru Kobayashi , Yoshihide Kiyosawa
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：US20180320770A1
公开(公告)日：2018-11-08
申请号：US15772277
申请日：2015-11-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun HANDA , Hiroaki KIMURA , Sotaro MIYAKE
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H1/32 , F16H2049/003
Abstract: A foreign-matter intrusion preventing mechanism of a strain wave gearing is provided with a filter attachment plate attached to a wave generator plug and a filter attached to the ellipsoidal outer peripheral surface of the filter mounting plate. Lubricant flows, via the filter, between a wave generator bearing and a meshing portion between an external gear and an internal gear. Foreign matters included in the lubricant are captured by the filter. Because the filter is in contact with the inner peripheral surface of an external-tooth forming portion of the external gear, foreign matters can be assuredly prevented from intruding into a sliding friction portion between an outer-ring outer peripheral surface of the wave generator bearing and the inner peripheral surface of the external-tooth forming portion of the external gear.
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公开(公告)号：US20180306276A1
公开(公告)日：2018-10-25
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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38.发明申请公开(公告)号：US20180246489A1
公开(公告)日：2018-08-30
申请号：US15553835
申请日：2016-09-27
Inventor： Masafumi YAMAMOTO , Yoshifumi OKITSU , Makoto IWASAKI
IPC: G05B19/19
CPC classification number: G05B19/19 , F16H1/32 , F16H49/001 , G05B11/36 , G05B2219/42005 , G05D3/12
Abstract: A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.
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39.发明申请公开(公告)号：US20180239327A1
公开(公告)日：2018-08-23
申请号：US15553759
申请日：2016-09-27
Inventor： Masafumi YAMAMOTO , Yoshifumi OKITSU , Makoto IWASAKI
IPC: G05B19/19
CPC classification number: G05B19/19 , F16H49/001 , G05B2219/42005
Abstract: A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H∞ compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.
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公开(公告)号：US20180195433A1
公开(公告)日：2018-07-12
申请号：US15578506
申请日：2016-04-22
Inventor： Ryosuke HIYOSHI , Yoshiaki TANAKA , Yoshihide KIYOSAWA , Jun HANDA , Kishiro NAGAI , Junichiro ONIGATA , Yoshihiko YAMADA
CPC classification number: F02B75/045 , F02B75/04 , F02B75/32 , F02D15/02 , F16H1/28 , F16H1/32 , F16H2001/323
Abstract: Disclosed is a variable compression ration mechanism in which a control shaft is rotated and driven by an electric motor through a wave gear reducer. The wave gear reducer includes: a first internal gear member; an external gear member arranged concentrically inside the internal gear member; a wave generator arranged inside the external gear member; and a second internal gear member, wherein a ratio of the number of teeth of a fixed gear portion of the first internal gear member to the number of teeth of a first gear portion of the external gear member is set lower than a ratio of the number of teeth of an output-side gear portion of the second internal gear member to the number of teeth of a second gear portion of the external gear member.
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