公开(公告)号：US20190085962A1

公开(公告)日：2019-03-21

申请号：US15760671

申请日：2015-09-29

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H49/00

Abstract: The wave generator of a strain wave gearing is provided with an ellipsoidally contoured wave generator plug and a wave generator bearing. The wave generator bearing is provided with an annular body fitted between inner and outer races in a sliding contact state. The annular body is composed of an endless coil spring and has a rigidity that is able to maintain a constant gap between the inner and outer races. The annular body also has a specified overall flexibility in the radial direction so that the annular body can be flexed into an ellipsoidal shape by the wave generator plug. Since sliding occurs between the annular body and the inner race when the wave generator plug rotates, it is possible to generate a wave motion in an externally toothed gear with a small rotational torque.

公开(公告)号：US20180023678A1

公开(公告)日：2018-01-25

申请号：US15541390

申请日：2015-01-08

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru KOBAYASHI ,  Tatsuro HOSHINA

IPC: F16H49/00 ,  F16C33/46 ,  F16C19/30

CPC classification number: F16H49/001 ,  F16C19/225 ,  F16C19/26 ,  F16C19/305 ,  F16C33/4605 ,  F16C33/467

Abstract: A strain wave gearing has a wave generator provided with a plug and a roller bearing. The roller bearing is provided with flange plates fixed to both sides of the plug, and outer circumferential edge portions of the flange plates protrude outwardly from a plug outer circumferential surface so as to locate on both sides, in an axial line direction, of the raceway of rollers. The movements of the rollers in the axial line direction are constrained by the outer circumferential edge portions. The movement of retainer in the axial line direction is constrained by engaging with the rollers. The movement of each component part of the roller bearing in the axial line direction can be constrained without using additional components.

公开(公告)号：US20170002914A1

公开(公告)日：2017-01-05

申请号：US15101179

申请日：2015-02-26

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru KOBAYASHI

IPC: F16H49/00 ,  F16H55/17

CPC classification number: F16H49/001 ,  F16H55/17 ,  F16H2049/003

Abstract: In a strain wave gearing, external teeth of a flexible externally toothed gear are elastically deformable in a direction in which the tooth thickness of the external teeth decreases. Engagement between internal teeth of a first and a second rigid internally toothed gears and the external teeth is set in an overlapping state in which the external teeth elastically deform and engage in a state in which no gap is present. The tooth profile of the internal teeth is a corrected tooth profile so that no interference occurs between a tooth top portion of the internal teeth and a dedendum portion of the external teeth when the teeth are engaged in the overlapping state. A strain wave gearing capable of minimizing or eliminating tooth engagement backlash is realized.

Abstract translation: 在应变波齿轮传动中，柔性外齿齿轮的外齿沿外齿齿厚度减小的方向弹性变形。 第一和第二刚性内齿轮的内齿与外齿之间的接合被设定为重叠状态，其中外齿弹性变形并且在不存在间隙的状态下啮合。 内齿的齿廓是校正的齿廓，使得当齿以重叠状态接合时，在内齿的齿顶部和外齿的齿根部之间不发生干涉。 实现了能够最小化或消除齿啮合齿隙的应变波传动装置。

公开(公告)号：US20150240930A1

公开(公告)日：2015-08-27

申请号：US14611304

申请日：2015-02-02

Applicant: Harmonic Drive Systems Inc.

Inventor： Masaru KOBAYASHI ,  Daisuke ORII

IPC: F16H55/08 ,  C21D9/32 ,  C21D8/00 ,  C21D6/00 ,  C22C38/04 ,  C22C38/38 ,  C22C38/34 ,  C22C38/22 ,  F16H55/06 ,  C22C38/02

CPC classification number: F16H55/0833 ,  C21D1/22 ,  C21D6/002 ,  C21D6/005 ,  C21D6/008 ,  C21D7/06 ,  C21D8/005 ,  C21D9/32 ,  C21D2211/008 ,  C22C38/02 ,  C22C38/04 ,  C22C38/22 ,  C22C38/34 ,  C22C38/38 ,  F16H55/06 ,  F16H2049/003

Abstract: A method for manufacturing a flexible externally toothed gear includes: a first step (ST1) for producing a primary molded article by performing near-net-shape plastic working on a material comprising a nickel-free low-alloy steel having a silicon content of 1.45-1.5 wt %; a second step (ST2) for martempering the primary molded article; a third step (ST3) for producing a secondary molded article from the primary molded article; and a fourth step (ST4) for shot-peening the secondary molded article to change the surface portions of the tooth part and other parts to martensite. A flexible externally toothed gear can be obtained in which the surface hardness is kept within a prescribed range and the fatigue strength and abrasion resistance are high.

Abstract translation: 制造柔性外齿轮的方法包括：第一步骤（ST1），用于通过对包含硅含量为1.45的无镍低合金钢的材料进行近净形塑性加工来制造一次成型制品 -1.5重量％ 用于对一次成型品进行捣碎的第二工序（ST2） 用于从一次成型品制造二次成型品的第三工序（ST3） 和第二工序（ST4），其用于对二次成型体进行喷丸处理，将齿部等部分的表面部分变为马氏体。 可以获得其中表面硬度保持在规定范围内并且疲劳强度和耐磨性高的柔性外齿齿轮。

公开(公告)号：US20240309945A1

公开(公告)日：2024-09-19

申请号：US18576392

申请日：2021-09-21

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H49/00 ,  F16H57/02 ,  G01L5/12

CPC classification number: F16H49/001 ,  F16H57/02 ,  G01L5/12 ,  F16H2049/003

Abstract: In the interior of a device housing of a strain wave gearing, a detection mechanism is incorporated at a site on the outer peripheral side of a hub of a wave generator. The hub of the wave generator is linked to a motor shaft so that axial force does not act thereon. The detection mechanism detects minute displacements in the axial direction that occur in the hub of the wave generator due to thrust acting on the wave generator. Thrust acting on the wave generator is obtained on the basis of the detected minute displacements. With this strain wave gearing in which the detection mechanism is incorporated, operation control that is responsive to sensed thrust is possible through the use of thrust information during operation.

公开(公告)号：US20240301944A1

公开(公告)日：2024-09-12

申请号：US18574880

申请日：2021-08-31

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H49/00 ,  F16D55/02 ,  F16D57/00 ,  F16D65/00

CPC classification number: F16H49/001 ,  F16D55/02 ,  F16D57/002 ,  F16D65/005 ,  F16H2049/003

Abstract: A strain wave gearing is provided with: a rigid internally toothed gear; a flexible externally toothed gear that is arranged coaxially on the inside of the internally toothed gear; and a wave generator that is arranged coaxially on the inside of the externally toothed gear, and, on the inside of the externally toothed gear, in addition to the wave generator, a brake mechanism that constrains or prevents the rotation of the wave generator is installed. Since the empty space on the inside of the external gear is used as a space for installing the brake mechanism, the strain wave gearing with a brake can be realized without increasing the axial length thereof. Accordingly, by using the strain wave gearing, an axially short, flat actuator with a brake can be realized.

公开(公告)号：US20240218926A1

公开(公告)日：2024-07-04

申请号：US17921215

申请日：2021-08-04

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H57/04 ,  F16H49/00

CPC classification number: F16H57/048 ,  F16H49/001 ,  F16H57/041

Abstract: A strain wave gearing is lubricated by a non-hydrophobized powder enclosed in an internal space until the strain wave gearing is fully broken in, and the non-hydrophobized powder is transferred to contact surfaces of contact parts to form a lubricating film. During operation under load, the strain wave gearing is lubricated by a hydrophobized powder enclosed in the internal space instead of the non-hydrophobized powder. Each of the powders used is a powder of an ionic crystalline compound (MoS2, WS2, etc.) having a layered crystal structure. By lubricating the strain wave gearing with the hydrophobized powder during operation under load, any temporary decrease in efficiency at the start of operation is minimized and stable operation of the strain wave gearing can be maintained.

公开(公告)号：US20220375670A1

公开(公告)日：2022-11-24

申请号：US17619497

申请日：2019-08-28

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: H01F7/08 ,  H01F7/16 ,  H01F7/121

Abstract: A push-pull solenoid is provided with a cylindrical guide member that is fixed to a case. A circular outer peripheral surface of a plunger is in contact with a friction guide surface formed on a circular inner peripheral surface of the guide member, and slides along the friction guide surface. Frictional force due to contact with the friction guide surface is always acting on the plunger, so it is possible to suppress impact-like contact of the plunger with an object to be manipulated during suctioning, and vibration and noise caused thereby. Moreover, over-recovery and falling-out of the plunger after suction is released can also be prevented.

公开(公告)号：US20180306276A1

公开(公告)日：2018-10-25

申请号：US15766534

申请日：2015-11-06

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI ,  Tatsuro Hoshina

IPC: F16H1/32 ,  F16H49/00

Abstract: The flexible external gear of a strain wave gearing is provided with: a cylindrical body part capable of flexing in the radial direction; external teeth formed on the outer circumferential surface thereof with a constant pitch; and grooves formed on the inner circumferential surface of the cylindrical body section along the circumferential direction thereof with the same pitch as the external teeth. The grooves are grooves with a wave-shaped cross-sectional shape having the center line of the tooth crest of the external tooth as the center and extend in the width direction of the external teeth. It is possible to increase the tooth bottom fatigue strength of the flexible external gear by increasing the tooth bottom thickness, while maintaining ease of flexing and a tooth shape that can withstand tangential forces due to meshing.

公开(公告)号：US20170350497A1

公开(公告)日：2017-12-07

申请号：US15519650

申请日：2014-11-21

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Masaru KOBAYASHI

IPC: F16H57/04 ,  F16H49/00

CPC classification number: F16H57/0413 ,  F16H49/001 ,  F16H57/0464 ,  F16H57/0486

Abstract: A strain wave gearing device has a grease temperature control mechanism for controlling the grease temperature of a portion of grease, of the grease filled inside an externally toothed gear of the strain wave gearing device, the portion of the grease being disposed on the outer peripheral side portion of a wave generator. The grease temperature control mechanism has a circular heater facing the outer peripheral side portion of the wave generator over the entire circumference from a direction of a device central axis line. By controlling the grease temperature of a specified portion inside the externally toothed gear, it is possible to reliably start the strain wave gearing device even in an extremely low temperature environment where the grease solidifies.