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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
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。
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公开(公告)号：US20150285356A1
公开(公告)日：2015-10-08
申请号：US14437213
申请日：2013-09-11
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Junichi Kurogi , Yoshihide Kiyosawa
IPC: F16H49/00
CPC classification number: F16H49/001 , Y10T74/19
Abstract: A wave generator of a strain wave gearing has a plug, a wave generator bearing mounted to an outer peripheral surface of the plug, an input shaft protruding from the center of the plug to a first side running along a center axis, and a bearing arrangement on which a support bearing supporting the input shaft is arranged. Relative to an outer ring end surface of the wave generator bearing that faces the first side, a center-side plug end surface of a plug end surface facing the same direction is in a position withdrawn from the first side toward the opposite direction. The bearing arrangement is provided between the center-side plug end surface and the outer ring end surface encircling the input shaft. The input shaft can be fitted within the width dimension of the wave generator, and a strain wave gearing having a short axial length can be achieved.
Abstract translation: 应变波传动装置的波发生器具有插头，安装在插头的外周面的波发生器轴承，从插头的中心突出到沿着中心轴延伸的第一侧的输入轴，以及轴承装置 在其上布置有支撑输入轴的支撑轴承。 相对于波浪发生器轴承的面向第一侧的外环端面，面向相同方向的塞头端面的中心侧塞端面处于从第一侧向相反方向退出的位置。 轴承装置设置在中心侧塞头端面和环绕输入轴的外圈端面之间。 输入轴可以安装在波浪发生器的宽度尺寸内，可以实现轴向长度短的应变波传动装置。
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公开(公告)号：US20040079174A1
公开(公告)日：2004-04-29
申请号：US10661586
申请日：2003-09-15
Applicant: Harmonic Drive Systems Inc.
Inventor： Masashi Horiuchi
IPC: G01L001/22
CPC classification number: G01L3/1457 , F16H49/001
Abstract: The torque detection device for a wave gearing comprises a strain gauge unit having a strain gauge pattern. The strain gauge pattern includes circular-arc shaped detection segments A and B, and three terminal portions for external wiring with one being formed between the detection segments and the others at opposite ends thereof. The strain gauge unit having the strain gauge pattern can be mounted on the diaphragm of a flexible external gear by a simple operation of positioning the strain gauge unit on the diaphragm and connecting the three terminal portions to the external wirings. Compared to the case where a large number of perpendicular biaxial strain gauges are positioned and wired to form a bridge circuit, the wiring operation can be simplified, the mounting space can be reduced, and errors in detected signals due to the positioning errors of the strain gauges can also be reduced.
Abstract translation: 用于波动传动的扭矩检测装置包括具有应变计模式的应变计单元。 应变计图案包括圆弧形检测段A和B，以及三个用于外部布线的端子部分，其中一个在检测段之间形成在其相对端。 具有应变计图案的应变计单元可以通过将应变计单元定位在隔膜上并将三个端子部分连接到外部布线的简单操作来安装在柔性外齿轮的隔膜上。 与大量垂直双轴应变计定位并布线以形成桥接电路的情况相比，可以简化布线操作，减少安装空间，并且由于应变的定位误差引起的检测信号误差 仪表也可以减少。
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公开(公告)号：US20250075785A1
公开(公告)日：2025-03-06
申请号：US17999511
申请日：2021-08-27
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a detection mechanism that detects thrust force generated between a wave generator and an externally toothed gear. The detection mechanism is provided with a strain gauge or piezoelectric load meter, and a transmission mechanism that transmits thrust force from the wave generator to the load meter. Only rotational force is transmitted to the wave generator from a from a motor shaft side, and axial force is not transmitted. The load meter and the transmission mechanism provide a small and compact detection mechanism that can be incorporated inside the externally toothed gear. In the strain wave gearing into which the detection mechanism is incorporated, operation control according to detected thrust force becomes possible using thrust force information during operation.
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公开(公告)号：US20240418215A1
公开(公告)日：2024-12-19
申请号：US18698765
申请日：2021-11-05
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yusuke SHIBAMOTO , Masaru KOBAYASHI
Abstract: A bearing for a strain wave gearing includes an annular plate portion; a plurality of partition plate portions that is arranged on the annular plate portion at predetermined intervals in a circumferential direction, that protrudes from the annular plate portion in the axial direction, and that includes side surface portions to form gap portions as the first pockets and the second pockets, the gap portion being formed between the side surface portions facing each other in a pair of the plurality of partition plate portions circumferentially adjacent to each other; protruding surface portions that protrude into the gap portions as the second pockets from the side surface portions at tip end portions of the pair of the plurality of plate portions in the axial direction; and the plurality of balls that is held in the gap portions, as the first pockets and the second pockets.
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Patent Agency Ranking
公开(公告)号：US20240376972A1
公开(公告)日：2024-11-14
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：US12092221B2
公开(公告)日：2024-09-17
申请号：US17908628
申请日：2020-06-05
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Daisuke Orii , Syuhei Kobayashi
IPC: F16J15/447 , F16H49/00 , F16H57/04 , F16J15/324 , F16J15/44
CPC classification number: F16J15/447 , F16H49/001 , F16H57/0427 , F16H57/048 , F16J15/324 , F16J15/444
Abstract: A strain wave gearing is provided with a lubricant sealing structure that prevents a lubricant from leaking to the outside through a gap between a hollow input shaft and an end plate. The lubricant sealing structure is provided with a labyrinth seal that seals the gap. The labyrinth seal is configured by a plurality of gap portions defined by an oil-repellent surface in which fine grooves are formed in a prescribed groove array pattern. The oil-repellent surface is also formed at an outer peripheral surface portion on an upstream side of the labyrinth seal. Leakage of a lubricant oil to outside of the device can be reliably prevented through the oil-repellent effect of the oil-repellent surface at the upstream side, the sealing effect of the labyrinth seal, and the oil-repellent effect from the oil-repellent surface of the labyrinth seal.
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公开(公告)号：US11946536B2
公开(公告)日：2024-04-02
申请号：US17639630
申请日：2020-10-30
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi , Satoshi Kishi , Yoshihide Kiyosawa
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H2049/003
Abstract: A three-dimensional tooth profile of internal teeth in a strain wave gearing is a basic internal-teeth tooth profile at an internal-teeth outer end, and is a reduced tooth profile, in which the basic internal-teeth tooth profile is proportionally reduced only in the lateral direction, at other tooth-trace-direction positions. A three-dimensional tooth profile of external teeth is a basic external-teeth tooth profile at an external-teeth outer end, and is an increased tooth profile, in which the basic external-teeth tooth profile is proportionally increased only in the lateral direction, at other tooth-trace-direction positions. Tooth cutting process becomes easier than when only the external teeth employ a three-dimensional tooth profile. Since the tooth profiles, which are proportionally reduced and increased only in the lateral direction along the tooth trace direction, are employed, it is further easier in tooth cutting process.
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公开(公告)号：US20240044401A1
公开(公告)日：2024-02-08
申请号：US18170580
申请日：2023-02-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Nozomu TANIOKA , Jun HANDA
IPC: F16H49/00
CPC classification number: F16H49/001 , F16H2057/0062
Abstract: A strain wave gearing has three components and a temporary-fixing jig, three components being an internally toothed gear, a cup-shaped externally toothed gear, and a wave generator. The temporary-fixing jig is securely fastened to an output shaft fixed to the externally toothed gear by a temporary-fixing bolt and is securely fastened to an input shaft fixed to a cam plate of the wave generator by a temporary-fixing bolt. The temporary-fixing jig engages with the output shaft and the input shaft and maintains the three components in an assembled state. There is no need for an operation for adjusting the positions of the three components in an operation for attaching the strain wave gearing to a motor. After the strain wave gearing has been attached to the motor, the temporary-fixing jig is removed from the strain wave gearing, wherefore less space is required for installation.
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公开(公告)号：US20240044400A1
公开(公告)日：2024-02-08
申请号：US18164856
申请日：2023-02-06
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Kazumasa FURUTA , Nozomu TANIOKA , Jun HANDA
IPC: F16H49/00 , F16H57/023 , F16H57/021
CPC classification number: F16H49/001 , F16H57/023 , F16H57/021
Abstract: In a strain wave gearing, both of a pulley for transmitting rotation in a direction orthogonal to a rotation central axis and an output shaft are arranged on an axial-direction first side relative to a cup-shaped externally toothed gear. The input shaft, which transmits input rotation from the pulley to the wave generator, functions as a support shaft for both the pulley and the wave generator and is supported at both ends by the first and second bearings. A mechanism for transmitting rotation from the pulley to the wave generator, and a mechanism for supporting the rotation-transmitting mechanism, can be made compact, and support strength can also be ensured.
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