公开(公告)号：US20190113106A1

公开(公告)日：2019-04-18

申请号：US16091203

申请日：2016-05-11

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Hiroshi Nakagawa ,  Daisuke Yaguchi

IPC: F16H1/32 ,  H02K7/116 ,  F16H49/00

Abstract: A rotary actuator has: one motor, two strain wave reduction gears disposed symmetrically on both sides of the motor, and one output shaft. The output rotation of the motor is reduced in speed at the same reduction ratio by the two strain wave reduction gears and is outputted from the output shaft to a load side. The first and second externally toothed gears of the first and second strain wave reduction gears are flexed into ellipsoidal shapes with 90 degrees shifted in phase, and are meshed with first and second internally toothed gears. The angle transmission errors of the first and second strain wave reduction gears transmitted to the output shaft are reduced by cancelling each other out in the output shaft. Reduced-speed output rotation that has the reduced angle transmission errors is outputted to the load side from the output shaft.

公开(公告)号：US10753427B2

公开(公告)日：2020-08-25

申请号：US16091203

申请日：2016-05-11

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Hiroshi Nakagawa ,  Daisuke Yaguchi

IPC: F16H1/32 ,  F16H49/00 ,  H02K7/116

Abstract: A rotary actuator has: one motor, two strain wave reduction gears disposed symmetrically on both sides of the motor, and one output shaft. The output rotation of the motor is reduced in speed at the same reduction ratio by the two strain wave reduction gears and is outputted from the output shaft to a load side. The first and second externally toothed gears of the first and second strain wave reduction gears are flexed into ellipsoidal shapes with 90 degrees shifted in phase, and are meshed with first and second internally toothed gears. The angle transmission errors of the first and second strain wave reduction gears transmitted to the output shaft are reduced by cancelling each other out in the output shaft. Reduced-speed output rotation that has the reduced angle transmission errors is outputted to the load side from the output shaft.

公开(公告)号：US09882450B2

公开(公告)日：2018-01-30

申请号：US15315629

申请日：2014-06-02

Applicant: Harmonic Drive Systems Inc.

Inventor： Daisuke Yaguchi ,  Kiyoto Kobayashi

IPC: F16H1/28 ,  H02K7/116 ,  H02K1/27 ,  H02K7/08

CPC classification number: H02K7/116 ,  F16H1/28 ,  F16H1/32 ,  H02K1/2706 ,  H02K7/08 ,  H02K7/088

Abstract: A rotation actuator is equipped with a motor and a reduction gear disposed adjacent to each other. Both shaft end portions of a rotating shaft, which passes through the center of the motor and reducer, are rotatably supported through first and second rolling bearings by first and second fixed discs that are mutually fastened and fixed. A rotation output plate is supported through a third rolling bearing in the outer peripheral surface of the second fixed disc. A sliding ring is mounted between the rotation output plate and the first fixed disc. The sliding ring functions as a thrust bearing for the rotation output plate and also functions as a sealing mechanism for preventing grease from flowing from the reducer gear to the outside. A flat rotation actuator can be achieved.