公开(公告)号：US20170350497A1

公开(公告)日：2017-12-07

申请号：US15519650

申请日：2014-11-21

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H57/04 ,  F16H49/00

CPC classification number: F16H57/0413 ,  F16H49/001 ,  F16H57/0464 ,  F16H57/0486

Abstract: A strain wave gearing device has a grease temperature control mechanism for controlling the grease temperature of a portion of grease, of the grease filled inside an externally toothed gear of the strain wave gearing device, the portion of the grease being disposed on the outer peripheral side portion of a wave generator. The grease temperature control mechanism has a circular heater facing the outer peripheral side portion of the wave generator over the entire circumference from a direction of a device central axis line. By controlling the grease temperature of a specified portion inside the externally toothed gear, it is possible to reliably start the strain wave gearing device even in an extremely low temperature environment where the grease solidifies.

公开(公告)号：US20170335941A1

公开(公告)日：2017-11-23

申请号：US15532857

申请日：2014-12-05

Applicant: Harmonic Drive Systems Inc.

Inventor： Tatsuro HOSHINA ,  Masaru KOBAYASHI ,  Akira NAGAI

IPC: F16H49/00 ,  F16H57/00

CPC classification number: F16H49/001 ,  F16H57/0025 ,  F16H2049/003

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.

公开(公告)号：US20170314671A1

公开(公告)日：2017-11-02

申请号：US15166540

申请日：2016-05-27

Applicant: Harmonic Drive Systems Inc.

Inventor： Norio SHIROKOSHI

IPC: F16H57/04 ,  F16H57/08

CPC classification number: F16H57/0464 ,  F16H57/04 ,  F16H57/0479 ,  F16H57/0486 ,  F16H57/08 ,  F16H2057/085

Abstract: A planetary gear drive has needle roller bearings of full roller type as planetary gear bearings for planetary gears. The needle roller bearings have lubrication mechanisms, respectively. Each lubrication mechanism has an annular grease retaining groove. The grease retaining groove is formed on an inner peripheral surface (an outer-race-side raceway surface) of the shaft hole of each planetary gear. Poor lubrication can be prevented from occurring when needle roller bearings of full roller type are employed as the planetary gear bearings.

公开(公告)号：US20170211677A1

公开(公告)日：2017-07-27

申请号：US15327830

申请日：2015-07-03

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshihide KIYOSAWA ,  Jun HANDA ,  Noboru TAKIZAWA ,  XinYue ZHANG

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H55/12 ,  F16H2049/003

Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth having different tooth numbers, and is flexed into an ellipsoidal shape by a wave generator. When the theoretical values of the radial flexing amounts at major-axis positions of the first and second external teeth flexed into the ellipsoidal shape are expressed by d1=m1n1 and d2=m2n2 (m1 and m2 represent the modules of the first and second external teeth, and n1 and n2 represent positive integers), the radial flexing amount of the first and second external teeth flexed by the wave generator satisfies d=(d1+d2)/ω (1.4≦ω≦2.6). Accordingly, a dual-type strain wave gearing can be achieved with which the first and second external teeth having different numbers can be suitably flexed to form excellent mating states with respective internally toothed gears.

公开(公告)号：US09644728B2

公开(公告)日：2017-05-09

申请号：US14649082

申请日：2013-09-24

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Tatsuro Hoshina ,  Masakatsu Sasahara

IPC: F16H49/00 ,  F16H1/32

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H2049/003 ,  Y10T74/19

Abstract: First and second external tooth gear parts of a strain wave gearing are bent in an elliptic shape by a wave generator to engage with first and second internal tooth gears, respectively. The first and second external tooth gear parts are bent so as to have elliptic shapes the phases of which are rotated 90 degrees from each other about a rotational center line. A coupling external tooth gear part that maintains a circular cross-sectional shape which does not deform is formed in between the first and second external tooth gear parts. The coupling external tooth gear part is maintained so as to be coupled with a coupling internal tooth gear in an engaged manner. The strain wave gearing has high engagement rigidity and is capable of transmitting large torque.

公开(公告)号：US20160356373A1

公开(公告)日：2016-12-08

申请号：US15102409

申请日：2014-12-09

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Shoichi ISHIKAWA

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: A strain wave gearing is a negative deflection strain wave gearing. The tooth profile shape for the internally toothed gear is defined by using a convex, basic tooth profile curve, which is a curve portion from an inflection point (A) to a bottom-part point (B) of a moving locus (Mc) of an externally toothed gear with regard to an internally toothed gear obtained by a rack meshing approximation. The tooth profile shape for the externally toothed gear at a principal cross section is defined by a concave, basic tooth profile curve, which is generated in the externally toothed gear by the convex, basic tooth profile curve of the internally toothed gear moving from an apex (C) to an inflection point (A) of the moving locus (Mc). Passing-type meshing that is effective in lubrication is established, and bending stress in the tooth-bottom rim of the externally toothed gear can be reduced.

Abstract translation: 应变波传动是负偏转应变波齿轮传动。 内齿齿轮的齿廓形状通过使用凸的基本齿廓曲线来定义，该凸形基本齿廓曲线是从运动轨迹（Mc）的拐点（A）到底部点（B）的曲线部分 相对于通过齿条啮合近似获得的内齿齿轮的外齿齿轮。 用于外齿齿轮在主横截面处的齿廓形状由凹形的基本齿廓曲线限定，该凹形基本齿廓曲线通过内齿齿轮从顶点移动的凸形基本齿廓曲线在外齿齿轮中产生 （C）到移动轨迹（Mc）的拐点（A）。 建立了有效润滑的通过型啮合，可以减少外齿齿轮的齿底边缘的弯曲应力。

公开(公告)号：US09435418B2

公开(公告)日：2016-09-06

申请号：US14396504

申请日：2013-05-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Tatsuro Hoshina ,  Yoshihide Kiyosawa

IPC: F16H35/00 ,  F16H49/00 ,  F16C19/44 ,  F16C19/46

CPC classification number: F16H49/001 ,  F16C19/06 ,  F16C19/44 ,  F16C19/46 ,  F16C19/54 ,  F16C19/55 ,  F16C41/001 ,  F16H2049/003

Abstract: A wave generator of a hollow strain wave gearing has a rigid plug and a needle roller bearing. The needle roller bearing has an inner ring trajectory surface formed in the plug external peripheral surface, a flexible outer ring, an outer ring trajectory surface formed in an inner peripheral surface of the outer ring, and needle rollers. An inner ring trajectory groove is formed in the plug external peripheral surface, and the inner ring trajectory surface is formed in a groove bottom surface of the inner ring trajectory groove. Inner-ring-side restricting surfaces for restricting the needle rollers from moving in the center axis direction are formed in groove side surfaces on both sides of the inner ring trajectory groove. A wave generator can be obtained, which is suitable for increasing the hollow diameter of a strain wave gearing.

Abstract translation: 中空应变波传动装置的波发生器具有刚性塞子和滚针轴承。 滚针轴承具有形成在插塞外周面中的内环轨迹面，柔性外圈，形成在外圈内周面的外圈轨迹面以及滚针。 内圈轨迹槽形成在插塞外周面上，内圈轨迹面形成在内圈轨迹槽的槽底面。 在内圈轨迹槽的两侧的槽侧面形成有用于限制针辊在中心轴方向移动的内圈侧限制面。 可以获得波浪发生器，其适用于增加应变波传动装置的中空直径。

公开(公告)号：US20160178044A1

公开(公告)日：2016-06-23

申请号：US14896980

申请日：2014-06-19

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Noboru TAKIZAWA ,  Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: The externally toothed gear of the strain wave gear device is provided with first external teeth, which are capable of meshing with first internal teeth on the stationary side, and second external teeth, which are capable of meshing with second internal teeth on the driving side. The numbers of the first and second external teeth differ. The number of the first internal teeth is greater than the number of the first external teeth. The number of the second internal teeth is less than the number of the second external teeth. Using the externally toothed gear, which is provided with first and second external teeth that differ in number, a strain wave gear device with a low reduction ratio in which the velocity ratio is less than 30 can be achieved.

Abstract translation: 应变波齿轮装置的外齿轮具有能够与固定侧的第一内齿啮合的第一外齿和能够与驱动侧的第二内齿啮合的第二外齿。 第一和第二外齿的数量不同。 第一内齿的数量大于第一外齿的数量。 第二内齿的数量小于第二外齿的数量。 使用具有不同数量的第一外齿和第二外齿的外齿轮，可以实现速度比小于30的低减速比的应变波齿轮装置。

公开(公告)号：US20160084367A1

公开(公告)日：2016-03-24

申请号：US14890605

申请日：2013-06-20

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00 ,  F16C25/08

CPC classification number: F16H49/001 ,  F16C25/083

Abstract: In this hollow strain wave gearing unit, a shaft end part of a hollow rotary shaft of a wave generator is located inside a cup-shaped flexible external gear. The shaft end part is supported by a bearing attached to a bearing holder that is fixed to a boss of the flexible external gear. In the bearing holder, an elastic leaf spring part that is displaceable in the axial direction constitutes a part that supports a holder body part that holds the bearing. A preload is applied by the leaf spring part to the bearing in the axial direction. Thus, there is no need to separately arrange a preload application member inside the flexible external gear, and the axial length of the hollow strain wave gearing unit can be shortened.

Abstract translation: 在这种中空应变波传动装置中，波发生器的中空旋转轴的轴端部位于杯形柔性外齿轮内。 轴端部由附接到固定到柔性外齿轮的凸台的轴承座的轴承支撑。 在轴承座中，沿轴向移动的弹性板簧部件构成支撑保持轴承的保持器主体部的部件。 通过板簧部分在轴向方向上对轴承施加预载荷。 因此，不需要在弹性外齿轮内部分别设置预加载部件，能够缩短中空应变波传动装置的轴向长度。

公开(公告)号：US20160047451A1

公开(公告)日：2016-02-18

申请号：US14397526

申请日：2013-05-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Tatsuro HOSHINA ,  Yoshihide KIYOSAWA

IPC: F16H49/00 ,  F16C33/46 ,  F16C19/46

CPC classification number: F16H49/001 ,  F16C19/463 ,  F16C33/4641 ,  F16H2049/003

Abstract: A wave generator of a strain wave gearing has a rigid plug and a needle roller bearing mounted on the plug external peripheral surface. The plug external peripheral surface has a retainer engaging part for engaging with a retainer that would move in an axis line direction and for restricting the movement thereof along the axis line direction. The retainer has an outer ring engaging part for engaging with an outer ring that would move in the axis line direction and for restricting the movement thereof along the axis line direction. The movements of the retainer and the outer ring can be restricted without providing a separate member. A wave generator of a strain way gearing can be realized, which is provided with a roller bearing capable of restricting the movement of the outer ring with a simple structure.

Abstract translation: 应变波传动装置的波发生器具有安装在插头外周面上的刚性塞子和滚针轴承。 插头外周面具有保持器接合部，用于与将沿轴线方向移动并用于限制其沿着轴线方向的移动的保持器接合。 保持器具有外环接合部分，用于与将在轴线方向上移动并用于限制其沿着轴线方向的移动的外环接合。 可以限制保持器和外圈的移动，而不需要提供单独的构件。 可以实现应变传动装置的波发生器，其具有能够以简单的结构限制外圈的运动的滚子轴承。