公开(公告)号：US09797497B2

公开(公告)日：2017-10-24

申请号：US14906861

申请日：2013-07-25

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshitomo Mizoguchi ,  Yoshihide Kiyosawa

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: A flat strain wave gearing device equipped with: a first internal gear and a second internal gear; a flexible tubular external gear; and an elliptically shaped wave generator. In the direction of a central axis, the center of support of the external teeth by the wave generator is offset, by an offset amount of Δ along the direction of the central axis, with respect to the tooth-width center of the external teeth of the external gear. By setting the offset direction and the offset amount appropriately it is possible to achieve a strain wave gearing device which is suitable in terms of the operating conditions and the mechanical characteristics of the first and second internal gears.

公开(公告)号：US11015693B2

公开(公告)日：2021-05-25

申请号：US16966770

申请日：2019-01-16

Applicant: Harmonic Drive Systems Inc.

Inventor： Kazuaki Maniwa ,  Yoshitomo Mizoguchi ,  Takumi Imada ,  Akihiro Orita

IPC: F16H49/00

Abstract: A wave gear device includes a circular spline that has an annular shape and rigidity; a flex spline that has an annular shape and flexibility, and is disposed in the circular spline; and a wave generator that is disposed in the flex spline, is configured to cause the flex spline to be distorted in a radial direction and is configured to partially mesh with the circular spline, and is configured to move a meshing position between the circular spline and the flex spline in a circumferential direction. The ratio of the Vickers hardness on an inner circumferential surface of the flex spline to the Vickers hardness on an outer circumferential surface of the wave generator is 1.2 or more and 1.7 or less.

公开(公告)号：US10823259B2

公开(公告)日：2020-11-03

申请号：US16476587

申请日：2017-10-19

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Norio Shirokoshi ,  Yuya Murayama ,  Yoshitomo Mizoguchi ,  Satoshi Kishi

IPC: F16H1/32 ,  F16H55/17 ,  F16H57/08

Abstract: A strain wave gearing wherein the tooth profile of an external teeth of a cup-shaped or silk-hat-shaped external gear is set as follows. The tooth-tip tooth thickness decreases gradually from an external-teeth outer end toward an external-teeth inner end along an external tooth trace direction. In addition, a pressure angle at a pitch point (P) increases gradually from the external-teeth outer end toward the external-teeth inner end along the external tooth trace direction. Thus, it is possible to realize a cup-type or silk-hat-type strain wave gearing in which external teeth mesh with internal teeth in a wide range along the tooth trace direction, rather than only in one cross-section perpendicular to the axis in the tooth trace direction.

公开(公告)号：US11143283B2

公开(公告)日：2021-10-12

申请号：US16473820

申请日：2017-01-21

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yoshitomo Mizoguchi ,  Yuya Murayama ,  Shizuka Yata

IPC: F16H49/00

Abstract: A strain wave gearing has a wave generator which flexes an externally toothed gear in a radial direction to form meshing portions thereof with an internally toothed gear in positions that are separated along a circumferential direction of the externally toothed gear. When the wave generator rotates, the meshing portions move in the circumferential direction. Non-meshing regions are formed in part of the meshing portions along the tooth trace direction thereof. The non-meshing regions are those of a prescribed width including the support center of a wave bearing in the tooth trace direction. The concentration of stress in the tooth root of the externally toothed gear can be alleviated, and the tooth-root fatigue strength of the externally toothed gear can be increased.