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公开(公告)号：US20230330763A1
公开(公告)日：2023-10-19
申请号：US18027153
申请日：2020-12-28
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio SHIROKOSHI
IPC: B23F5/16
CPC classification number: B23F5/163
Abstract: In a gear skiving process method, a tooth-cutting process is performed on a surface to be cut of a workpiece using a first skiving cutter disposed at a first processing position on the surface to be cut and a second skiving cutter disposed at a second processing position set apart by 180° in a circumferential direction from the first processing position. Parts that are to be right tooth flanks of internal teeth to be created in the surface to be cut of the workpiece are cut mainly by the first skiving cutter. Additionally, parts that are to be left tooth flanks are cut mainly by the second skiving cutter. Conditions of the processing performed using the first and second skiving cutters can be controlled individually and teeth having a shape in which the left and right tooth flanks are different can be processed efficiently.
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公开(公告)号：US20230151881A1
公开(公告)日：2023-05-18
申请号：US17053469
申请日：2019-05-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yuya MURAYAMA
CPC classification number: F16H49/001 , F16H1/32 , F16H3/24 , F16H55/08 , F16H2049/003 , F16H2200/0034 , F16H2200/0039
Abstract: A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally toothed gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.
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公开(公告)号：US20230116162A1
公开(公告)日：2023-04-13
申请号：US17052343
申请日：2019-05-17
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Masaru KOBAYASHI
Abstract: A strain wave gearing has a wave generator provided with a plurality of rollers mounted between an ellipsoidal outer peripheral surface of a plug and an inner peripheral surface of an externally toothed gear. The plug is formed with recesses along the ellipsoidal outer peripheral surface. The recesses open in a first end surface of the plug facing toward a diaphragm of the externally toothed gear. The radial rigidity of the plug is relatively low in the side having the first end surface in the direction of a plug axis. When viewed along the direction of the plug axis, the respective rollers can be brought into linear contact with the inner peripheral surface of the externally toothed gear at positions on the long axis (Lmax) of the elliptically-flexed externally toothed gear, so as not to occur one-sided contact state.
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公开(公告)号：US20220316528A1
公开(公告)日：2022-10-06
申请号：US17419950
申请日：2020-04-27
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yuki KATO , Douglas OLSON , Brian COYNE
Abstract: A bearing unit is provided with a strain element for torque detection. The strain element is provided with a first annular part attached to a rotation-side member, a second annular part attached to a load-side member, and a plurality of ribs serving as strained parts linking the first annular part and the second annular part together. One of an inner race and an outer race is integrally formed on the first annular part of the strain element. Deformation, which occurs in the ribs of the strain element due to torque exerted on the rotation-side member from the load-side member, is detected by a strain gauge, etc., and converted to torque. The strain element for torque detection can be incorporated into a motor, a reducer, or another rotary propulsion unit without the need for a dedicated installation space and without the need for fastening fittings, etc.
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公开(公告)号：US11441650B2
公开(公告)日：2022-09-13
申请号：US17076194
申请日：2020-10-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Jun Handa , Hiroaki Kimura , Sotaro Miyake
Abstract: In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
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Patent Agency Ranking
公开(公告)号：US11320041B2
公开(公告)日：2022-05-03
申请号：US16768985
申请日：2018-11-09
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi
Abstract: When a strain wave gearing is used in an application for an operation of repeating startup/stopping, an outer-side lubrication portion and an inner-side lubrication portion, which are lubricated using different types of grease, remain in a communicating state without being divided using a seal member or the like. The outer-side lubrication portion is supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Similarly, the inner-side lubrication portion is also supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Essentially, the outer-side lubrication portion and the inner-side lubrication portion can be lubricated appropriately using different types of grease, without the grease becoming mixed.
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公开(公告)号：US20210372515A1
公开(公告)日：2021-12-02
申请号：US17282077
申请日：2018-11-22
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Daisuke ORII , Syuhei KOBAYASHI , Norio SHIROKOSHI , Hiroshi YAMAZAKI
Abstract: An outer-ring lubrication groove pattern formed in an outer-race raceway surface and an inner-race lubrication groove pattern formed in an inner-race raceway surface of a wave generator bearing of a strain wave gearing device are patterns in which linear lubrication grooves having very small widths and depths of several micrometers or less are arranged at fine pitches of several micrometers or less. The inner-race lubrication groove pattern includes a second groove pattern formed in long-axis-side inner-race raceway surface portions to hold the lubricant, and a first groove pattern formed in short-axis-side inner-race raceway surface portions to hold the lubricant and guide the lubricant to the second groove pattern. This configuration improves the contact state between balls and the inner-race and outer-race raceway surfaces of the wave generator bearing, thus reducing the coefficient of friction therebetween.
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公开(公告)号：US11168775B2
公开(公告)日：2021-11-09
申请号：US16753394
申请日：2018-09-20
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide Kiyosawa , Norio Shirokoshi
Abstract: In a unit-type strain wave gearing, a rotating-side member, which is constituted by a second internally toothed gear and an output shaft is supported, via a first sliding bearing and a second sliding bearing, on a fixed-side member so as to be capable of relative rotation, the fixed-side member being constituted by a unit housing and a first internally toothed gear. Sliding bearing surfaces of the first sliding bearing and sliding bearing surfaces of the second sliding bearing are defined by a conic surface having a central axis line as a center line. It is possible to realize a unit-type strain wave gearing which is advantageous in making smaller and more compact than when a roller bearing is used. It is also easier to adjust the gap between the sliding bearing surfaces because a radial sliding bearing having no function to adjust the radial gap is obviated.
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公开(公告)号：US11118668B2
公开(公告)日：2021-09-14
申请号：US16629327
申请日：2017-08-09
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Norio Shirokoshi
Abstract: A strain wave gearing wherein the outer circumferential surface of an outer ring of a wave generator is in contact with an inner-circumferential-surface portion of a flexible externally toothed gear, and a release groove, which is not in contact with the outer circumferential surface, is formed in the inner-circumferential-surface portion. The release groove is formed in a region containing a ball raceway groove. The groove depth of the release groove gradually increases from both sides of the groove in the groove width direction toward a deepest portion of the groove provided at an intermediate portion in the groove width direction. By providing the release groove, it is possible to smooth the distribution of pressing force of the wave generator acting on the externally toothed gear in the tooth-trace direction. In addition, the tooth root fatigue strength and the transmission torque capacity of the externally toothed gear can be improved.
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公开(公告)号：US11002348B2
公开(公告)日：2021-05-11
申请号：US16607757
申请日：2017-06-21
Applicant: HARMONIC DRIVE SYSTEMS INC.
Inventor： Yoshihide Kiyosawa
Abstract: A rotary actuator has a hollow motor and hollow reduction gears arranged coaxially on either side of the hollow motor. A rotary shaft is arranged so as to pass through a hollow motor shaft of the hollow motor. The hollow reduction gears have hollow input shafts connected to the shaft ends on either sides of the hollow motor shaft. The hollow reduction gears have hollow output shafts connected to sections of the rotary shaft protruding from both ends of the hollow motor shaft. The connection position of the hollow output shaft with respect to the rotary shaft can be adjusted in the rotational direction. A load is rotationally driven by the rotary shaft. By increasing the axial length of the hollow motor, it is possible to obtain a small-diameter rotary actuator having a rotational output with large torque.
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