公开(公告)号：US20230151881A1

公开(公告)日：2023-05-18

申请号：US17053469

申请日：2019-05-17

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya MURAYAMA

IPC: F16H49/00 ,  F16H1/32 ,  F16H3/24 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H3/24 ,  F16H55/08 ,  F16H2049/003 ,  F16H2200/0034 ,  F16H2200/0039

Abstract: A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally toothed gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.

公开(公告)号：US20240159305A1

公开(公告)日：2024-05-16

申请号：US18549650

申请日：2021-06-01

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya MURAYAMA

IPC: F16H49/00 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16H55/0833

Abstract: According to a tooth profile designing method for a strain wave gear device, a first curve from a point A (φ=0) to a point B (φ=τ/2) in a moving locus of external teeth with respect to internal teeth is extracted. A similarity curve is obtained by multiplying the first curve by (1−λ) using the point B as a center of similarity, and a second curve is obtained by rotating the similarity curve by 180° about a midpoint C between the point A and the point B as a center of similarity. A third curve is obtained by multiplying only the x-coordinate of the second curve by α (α 1). An addendum tooth profile of the external teeth is defined using the third curve or the fourth curve.

公开(公告)号：US20210131543A1

公开(公告)日：2021-05-06

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.

公开(公告)号：US20160178044A1

公开(公告)日：2016-06-23

申请号：US14896980

申请日：2014-06-19

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Noboru TAKIZAWA ,  Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: The externally toothed gear of the strain wave gear device is provided with first external teeth, which are capable of meshing with first internal teeth on the stationary side, and second external teeth, which are capable of meshing with second internal teeth on the driving side. The numbers of the first and second external teeth differ. The number of the first internal teeth is greater than the number of the first external teeth. The number of the second internal teeth is less than the number of the second external teeth. Using the externally toothed gear, which is provided with first and second external teeth that differ in number, a strain wave gear device with a low reduction ratio in which the velocity ratio is less than 30 can be achieved.

Abstract translation: 应变波齿轮装置的外齿轮具有能够与固定侧的第一内齿啮合的第一外齿和能够与驱动侧的第二内齿啮合的第二外齿。 第一和第二外齿的数量不同。 第一内齿的数量大于第一外齿的数量。 第二内齿的数量小于第二外齿的数量。 使用具有不同数量的第一外齿和第二外齿的外齿轮，可以实现速度比小于30的低减速比的应变波齿轮装置。

公开(公告)号：US20160084367A1

公开(公告)日：2016-03-24

申请号：US14890605

申请日：2013-06-20

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00 ,  F16C25/08

CPC classification number: F16H49/001 ,  F16C25/083

Abstract: In this hollow strain wave gearing unit, a shaft end part of a hollow rotary shaft of a wave generator is located inside a cup-shaped flexible external gear. The shaft end part is supported by a bearing attached to a bearing holder that is fixed to a boss of the flexible external gear. In the bearing holder, an elastic leaf spring part that is displaceable in the axial direction constitutes a part that supports a holder body part that holds the bearing. A preload is applied by the leaf spring part to the bearing in the axial direction. Thus, there is no need to separately arrange a preload application member inside the flexible external gear, and the axial length of the hollow strain wave gearing unit can be shortened.

Abstract translation: 在这种中空应变波传动装置中，波发生器的中空旋转轴的轴端部位于杯形柔性外齿轮内。 轴端部由附接到固定到柔性外齿轮的凸台的轴承座的轴承支撑。 在轴承座中，沿轴向移动的弹性板簧部件构成支撑保持轴承的保持器主体部的部件。 通过板簧部分在轴向方向上对轴承施加预载荷。 因此，不需要在弹性外齿轮内部分别设置预加载部件，能够缩短中空应变波传动装置的轴向长度。

公开(公告)号：US20190368576A1

公开(公告)日：2019-12-05

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 ,  F16H57/08 ,  F16H55/17

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：US20190003525A1

公开(公告)日：2019-01-03

申请号：US16064261

申请日：2015-12-21

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Yuya MURAYAMA ,  Naoki KANAYAMA

IPC: F16C19/36 ,  F16C33/58 ,  F16C19/38

Abstract: The roller insertion groove of the inner ring of a crossed roller bearing is provided with an outer circumferential surface-side groove opening that is exposed to an inner rings-side V-groove. The groove opening is defined by circumferential direction opening edge that extends in the circumferential direction along the inner ring-side V-groove and side opening edges that extend from both ends of the circumferential direction opening to the ring-shaped end face of the inner ring. Concentration of stress occurs in the corners between the circumferential direction opening edges and the side opening edges. The circumferential direction opening edge is formed so as not to coincide with the minimum outer diameter section of the inner ring-side V-groove.

公开(公告)号：US20160109014A1

公开(公告)日：2016-04-21

申请号：US14400358

申请日：2013-06-20

Applicant: Harmonic Drive Systems Inc.

Inventor： Yuya MURAYAMA ,  Yoshihide KIYOSAWA

IPC: F16H49/00

CPC classification number: F16H49/001

Abstract: A hollow-type strain wave gearing unit has a cup-shaped flexible externally-toothed gear, in which one shaft end portion of a hollow rotation shaft of a wave generator is located. The shaft end portion is supported by a bearing mounted on a bearing holder fixed to a boss of the flexible externally-toothed gear. The bearing holder has a retainer holding portion to prevent a retainer of a wave generator bearing from coming off in the axis line direction. There is no need to dispose a retainer holding plate of the wave generator bearing inside the flexible externally-toothed gear, whereby the axial length of the hollow-type strain wave gearing unit can be reduced.

Abstract translation: 中空型应变波传动装置具有杯形的柔性外齿轮，波形发生器的中空旋转轴的一个轴端部分位于其中。 轴端部由安装在固定到柔性外齿轮的凸台的轴承座上的轴承支撑。 轴承座具有用于防止波浪发生器轴承的保持器沿轴线方向脱落的保持器保持部。 不需要将波浪发生器轴承的保持板固定在柔性外齿轮内，从而可以减小中空型应变波传动装置的轴向长度。