公开(公告)号：US5973320A

公开(公告)日：1999-10-26

申请号：US988535

申请日：1997-12-10

申请人： Toshiki Maruyama ,  Akira Akahane ,  Hideo Asawa

发明人： Toshiki Maruyama ,  Akira Akahane ,  Hideo Asawa

IPC分类号： G01D5/347 ,  G01B11/26 ,  G01D5/34

CPC分类号： G01B11/26 ,  G01D5/2449 ,  G01D5/3473

摘要： An optical position sensor comprises a linearity correction circuit 20 having ROM 22 in which a corresponding table between compensation values and respective rotational angular position of a rotational disk 51. The compensation values are obtained such that an actual relationship is measured between the rotational angular positions of the rotational disk 51 and the output B of a semiconductor position sensing device 54, deviation of the output B of the device 54 from a predetermined linearity relationship (A) is calculated, and compensation values are determined for eliminating the deviation of the output B of the device 54 at respective rotational angular positions of the rotational disk 51. The linearity correction circuit 20 retrieves a compensation value E from ROM 22 based on the output B of the device 54, and compensates the output A so as to produce the sensing output E which has a linearity relationship to the rotational angle of the rotational disk 51.

摘要翻译： 光学位置传感器包括具有ROM22的线性校正电路20，其中在补偿值和旋转盘51的相应旋转角度位置之间的对应的表格。获得补偿值，使得在旋转角度位置之间测量实际关系 计算半导体位置检测装置54的旋转盘51和输出B，装置54的输出B与预定线性关系（A）的偏差，并且确定补偿值以消除输出B的输出B的偏差 线性校正电路20基于装置54的输出B从ROM22检索补偿值E，并补偿输出A以产生感测输出E 其与旋转盘51的旋转角度具有线性关系。

公开(公告)号：US06564677B1

公开(公告)日：2003-05-20

申请号：US09172273

申请日：1998-10-14

申请人： Yoshihide Kiyosawa ,  Hideo Asawa

发明人： Yoshihide Kiyosawa ,  Hideo Asawa

IPC分类号： F16H132

CPC分类号： F16H49/001 ,  F16H35/10 ,  Y10T74/19

摘要： A wave gear drive (1) includes an annular rigid internal gear (2), an annular flexible external gear (3) arranged inside of the annular rigid internal gear (2), and a wave generator (4) fitted inside of the annular flexible external gear. The wave generator (4) includes a rigid cam plate (41) having a predetermined outline, and a hub (43) inserted into a fitting hole (42) formed in the center of the rigid cam plate (41). A transfer-torque control mechanism for limiting the torque transferred through the wave generator (4) to the flexible external gear (3) is defined by a nut (46) that fastens the rigid cam plate (41) and the hub (42). When the torque equal to or greater than a predetermined value is transferred, a slip is generated in a rotational direction between the rigid cam plate (41) and the hub (42), thus limiting the transfer torque to a predetermined limit value. As a result, the torque limiter is not required. The use of the wave gear drive (1), therefore, makes it possible to configure a small, compact actuator for driving the robot arm or the like as well as reduce the cost.

摘要翻译： 波浪齿轮传动装置（1）包括环形刚性内齿轮（2），布置在环形刚性内齿轮（2）内部的环形柔性外啮合齿轮（3）和安装在环形柔性内齿轮 外齿轮 波浪发生器（4）包括具有预定轮廓的刚性凸轮板（41）和插入形成在刚性凸轮板（41）中心的装配孔（42）中的轮毂（43）。 用于将通过波浪发生器（4）传递的扭矩限制到柔性外齿轮（3）的传递扭矩控制机构由紧固刚性凸轮板（41）和轮毂（42）的螺母（46）限定。 当传递等于或大于预定值的扭矩时，在刚性凸轮板（41）和轮毂（42）之间沿旋转方向产生滑动，从而将传递扭矩限制在预定极限值。 因此，不需要扭矩限制器。 因此，通过使用波齿轮传动装置（1），能够构成用于驱动机器人手臂等的小型紧凑型致动器，并且降低成本。

公开(公告)号：US5984048A

公开(公告)日：1999-11-16

申请号：US926430

申请日：1997-10-21

申请人： Yoshihide Kiyosawa ,  Hiroshi Takizawa ,  Masaru Kobayashi ,  Hideo Asawa

发明人： Yoshihide Kiyosawa ,  Hiroshi Takizawa ,  Masaru Kobayashi ,  Hideo Asawa

IPC分类号： F16H49/00 ,  F16H57/04 ,  F16H1/32

CPC分类号： F16H49/001 ,  F16H57/0445 ,  F16H57/0454 ,  Y10T74/19 ,  Y10T74/19991

摘要： A wave gear drive (1) has a silk-hat shaped flexible external gear (12) comprising a cylindrical body (13), a circular diaphragm (14), a circular boss (15) formed integrally on the diaphragm (14), and external teeth (16) formed on the body (13) at a side of an open end (13a) thereof. The boss (13) of the flexible external gear, a cross roller bearing (7) and the rigid internal gear (11) are arranged between first and second end plates (2, 3) so as to define a substantially sealed inside space of the wave gear drive (1). A resilient seal ring member (8) is mounted on the open end (13a) of the flexible external gear to divide the inside space into an inside portion (9) where a first lubricant having a high viscosity is supplied and an outside portion (10) where a second lubricant having a low viscosity is supplied. These lubricants are prevented from being mixed with each other during operation, thus proper lubrication to portions of the teeth (11a, 16) of the gears (11, 12) and to a wave bearing (19) of the wave generator (17) can be maintained.

摘要翻译： 波纹齿轮传动装置（1）具有一个包括圆柱形主体（13），圆形隔膜（14），一体地形成在隔膜（14）上的圆形凸台）的丝绸形弹性外齿轮， 在主体（13）的开口端（13a）的一侧形成有外齿（16）。 柔性外齿轮的凸台（13），交叉滚子轴承（7）和刚性内齿轮（11）设置在第一和第二端板（2,3）之间，以便限定内侧空间 波齿轮传动（1）。 弹性密封环构件（8）安装在柔性外齿轮的开口端（13a）上，以将内部空间分成内部（9），在内部（9）中供应高粘度的第一润滑剂和外部部分 ），其中提供具有低粘度的第二润滑剂。 这些润滑剂在操作期间被防止彼此混合，因此对齿轮（11,12）的齿（11a，16）的部分和波发生器（17）的波浪轴承（19）的适当润滑可以 保持。

公开(公告)号：US5775178A

公开(公告)日：1998-07-07

申请号：US722797

申请日：1996-09-27

申请人： Hideo Asawa ,  Naomi Shirasawa

发明人： Hideo Asawa ,  Naomi Shirasawa

IPC分类号： F16H1/32 ,  F16H49/00 ,  F16H1/00

CPC分类号： F16H49/001 ,  Y10T74/19

摘要： A wave gear device has a circular spline, a flexspline arranged within the circular spline, and a wave generator disposed within the flexspline for deflecting the flexspline in radial direction for partially engaging external tooth formed on the flexspline with internal gear teeth formed on the circular spline and shifting an engaging position in circumferential direction to cause relative rotation depending upon difference in number of teeth of the internal gear teeth and the external gear teeth between the circular spline and the flexspline. The circular spline has an annular rigid teeth portion formed with the internal gear teeth along the inner periphery thereof, a fastening portion to be rigidly secured on one of a device housing and a supporting member rotatably supported in the device housing, and a connecting portion connecting the rigid teeth portion and the fastening portion. The connecting portion has a low rigidity at least in one of a direction of an axis of the device and a direction perpendicular to the axis, in comparison with that of the rigid teeth portion.

摘要翻译： 波形齿轮装置具有圆形花键，布置在圆形花键内的挠性线，以及设置在弹性线内的波发生器，用于沿径向方向偏转弹性线，以部分地接合形成在弹性线上的外齿，形成在圆形花键上的内齿轮齿 并且根据圆周花键和柔性线之间的内齿轮齿和外齿轮齿的齿数的差异，在圆周方向上移动接合位置以引起相对旋转。 圆形花键具有环形刚性齿部分，其内齿轮齿沿着其内圆周形成，刚性地紧固在装置壳体和可旋转地支撑在装置壳体中的支撑构件之一上的紧固部分和连接部分 刚性齿部和紧固部。 与刚性齿部分相比，连接部分至少在装置的轴线方向和垂直于轴线的方向中的至少一个方面具有低的刚性。