公开(公告)号：US11739813B2

公开(公告)日：2023-08-29

申请号：US17608605

申请日：2019-07-25

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Kohei Isobe ,  Kenta Takahashi

IPC: F16H1/46 ,  F16H57/08

CPC classification number: F16H1/46 ,  F16H57/082

Abstract: A planetary reduction gear using a helical gear is configured such that a rear-stage sun gear is rotatably supported by a device housing via a radial bearing on one side in the direction of a center axis, and is rotatably supported by a rear-stage planetary carrier via a thrust bearing on the other side. The rear-stage planetary carrier is rotatably supported by the device housing via a rear-stage carrier bearing. A preload is applied to the thrust bearing by a preload mechanism mounted to the rear-stage planetary carrier. Displacement of the rear-stage sun gear caused by a thrust force generated due to engagement with a rear-stage planetary gear can be suppressed, and an angle error between input rotation and output rotation can be suppressed.