公开(公告)号：WO1993020451A1

公开(公告)日：1993-10-14

申请号：PCT/JP1993000370

申请日：1993-03-26

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  AKAHANE, Akira ,  GODLER, Ivan

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: G01P15/03

CPC classification number: G01P15/0888

Abstract: An angular acceleration detector (10) is provided with two slit-carrying discs (14, 15) mounted fixedly and coaxially in an opposed state on a rotary body (13), and a semiconductor position detecting unit (19) formed as a detecting means and consisting of a light emitting element (20) and a semiconductor position detecting member (21) which are disposed in an opposed state across the slits in these discs, the angular acceleration of the rotary body being detected by using this detecting unit. The slits (17) in the disc (15) cross at a predetermined angle the slits (16) in the disc (14). The disc (15) has an annular weight portion (15b) at the radially outer side of a slit-formed portion thereof, and a resiliently deformable spring portion (15c) circumferentially arranged at the inner side of the weight portion. The angular acceleration of the rotary body can be measured by detecting the movement of the crossing portions of the slits relatively moving due to the inertial force of the weight portion.

公开(公告)号：WO1997022818A1

公开(公告)日：1997-06-26

申请号：PCT/JP1996003645

申请日：1996-12-13

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ISHIKAWA, Shoichi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H55/0833 ,  Y10S475/904 ,  Y10T74/19 ,  Y10T74/19972

Abstract: In a deflection mesh type gear (1), basic tooth addendum profiles of a rigid internal gear (2) and a flexible external gear (3) are obtained from the formulas (1) and (2) where m is the tooth module, Zc is the number of teeth of the rigid internal gear (2), ZF, hfF, t and rn are the number of teeth, dedendum, rim thickness at the bottom, radius of the neutral circle of the rim of the flexible external gear (3), respectively, tau is the tooth thickness increase coefficient of both the rigid internal gear (2) and the flexible external gear (3), eta is the supplementary angle variable, and where the datum line is taken as x axis, the center line of tooth profile is taken as y axis, + sign of the composite sign in the formula (1) is for the flexible outer gear (3) and - sign is for the rigid internal gear (2). Formula (1) is x = m[0.25{ pi - n( eta - sin eta )} - (+/- tau )] - 0.5(g1 - g2); Formula (2) is y = 0.5mn(1 - cos eta ), where g1 = (0.5t + hfF + mn - f)[tan {2mn.sin eta / (rn + 2mn.cos eta )} + epsilon ]; g2 = 0.5mn ( eta - sin eta ) - xN + {yN - mn(1 - cos eta )}.0.5tan(0.5 eta ); f = 0.5m[n(1 + cos eta + tan(0.5 eta ){0.25( pi - n( eta - sin eta )) - tau }]; theta = 0.5 eta - (0.5mn/rn)sin eta + (0.5mn/rn) sin(2 eta ); epsilon = theta - 0.5 eta ZF/Zc; xN = (rn + mn.cos(2 theta ))sin epsilon ; yN = rn + mn - {rn + mn.cos(2 theta )}cos epsilon . Such a tooth profile realizes a proper wide-range engagement of teeth can be proposed for a tooth profile of rack approximation in consideration of tooth inclination and variation of locus of movement of the origin of the coordinate system for a tooth profile.

Abstract translation: 在偏转网状齿轮（1）中，从公式（1）和（2）获得刚性内齿轮（2）和柔性外齿轮（3）的基牙齿形轮廓，其中m是齿模块，Zc 是刚性内齿轮（2）的齿数，ZF，hfF，t和rn是齿数，齿根，底部的边缘厚度，柔性外齿轮边缘的中性圆的半径（3 ），tau是刚性内齿轮（2）和柔性外齿轮（3）两者的齿厚增加系数，eta是辅助角度变量，其中基准线作为x轴，中心线 将齿廓作为y轴，公式（1）中的复合符号的+符号用于柔性外齿轮（3），符号用于刚性内齿轮（2）。 公式（1）是x = m [0.25 {pi-n（eta-sin eta）} - （+/- tau）] -0.5（g1-g2）; 公式（2）是y = 0.5mn（1-cos eta），其中g1 =（0.5t + hfF + mn-f）[tan -1] {2mnsinsin eta /（rn + 2mn.cos eta）} +ε g2 = 0.5mn（eta-sin eta）-xN + {yN-mn（1-cos eta）}。0.5tan（0.5 eta）; f = 0.5m [n（1 + cos eta + tan（0.5 eta）{0.25（pi-n（eta-sin eta））-τ}];θ= 0.5 eta - （0.5mn / rn）sin eta + sin（2 eta）;ε=θ-0.5 eta ZF / Zc; xN =（rn + mn.cos（2θ））sinε; yN = rn + mn- {rn + mn 考虑到齿的倾斜和坐标原点的运动轨迹的变化，可以提出这种齿廓实现齿的适当的宽范围啮合的齿廓近似的齿廓 齿廓系统

公开(公告)号：WO1996036822A1

公开(公告)日：1996-11-21

申请号：PCT/JP1996001309

申请日：1996-05-17

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  SHIRASAWA, Naomi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H49/001 ,  F16H2049/003 ,  Y10T74/19

Abstract: A flat wave-motion gear (1) which has an input shaft (4) supported rotatably at both end portions thereof between first and second end plates (2, 3). A wave-motion gear mechanism is incorporated between these end plates (2, 3), and a cross roller bearing (8) is provided on an outer circumferential side of the wave-motion gear mechanism. The wave-motion gear mechanism comprises a rigid internal gear (5), a silk hat-shaped flexible external gear (6) provided on the inner side of the internal gear, and an intermittent driving force generator (7) provided on the inner side of the external gear (6). An annular boss (64) of the flexible external gear is held between an outer race (81) of the cross roller bearing (8) and the second end plate (3), whereby these three members are fastened to one another. The rigid internal gear (5) is held between an inner race (82) of the cross roller bearing (8) and the first end plate (2) whereby these three members are fastened to one another. The input shaft (4) may comprise a hollow shaft. Owing to the employment of such a structure, the apparatus as a whole can be formed flat and to a length slightly larger than the axial length of the flexible external gear. Since the outer race of the cross roller bearing can be used also as a housing of the apparatus, the apparatus can be formed compactly by a reduced number of parts.

Abstract translation: 一种扁平波动运动齿轮（1），其具有可旋转地支撑在第一和第二端板（2,3）两端的输入轴（4）。 在这些端板（2,3）之间并入有波动齿轮机构，在波动运动齿轮机构的外周侧设置有交叉滚子轴承（8）。 波动运动齿轮机构包括刚性内齿轮（5），设置在内齿轮内侧的丝帽状柔性外齿轮（6）和设置在内侧的间歇驱动力发生器（7） 的外齿轮（6）。 柔性外齿轮的环形凸台（64）保持在交叉滚子轴承（8）的外座圈（81）和第二端板（3）之间，由此这三个构件彼此紧固。 刚性内齿轮（5）保持在交叉滚子轴承（8）的内座圈（82）和第一端板（2）之间，由此这三个构件彼此紧固。 输入轴（4）可以包括中空轴。 由于采用了这种结构，因此整个装置可以形成为平坦的并且比可挠性外齿轮的轴向长度略大的长度。 由于交叉滚子轴承的外圈也可以用作装置的壳体，所以可以通过减少数量的部件紧凑地形成装置。

公开(公告)号：WO1996018833A1

公开(公告)日：1996-06-20

申请号：PCT/JP1995002567

申请日：1995-12-14

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  TAKIZAWA, Noboru ,  SHIRASAWA, Naomi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H49/001 ,  F16H2049/003 ,  Y10T74/19

Abstract: A silk hat type flexible external gear (13) of a flexible mesh engagement gear device (11) comprises a barrel portion (22), a diaphragm portion (23) and a boss portion (25). A thin portion (221) whose thickness is 80 % of the thickness of a main body portion of the barrel portion (22) is formed between the main body portion and a curved portion (222). The thickness of the diaphragm portion (23) is set such that it is the maximum at its internal circumferential end portion (point A), the minimum at its central portion (point B) and a slightly thinner than the maximum thickness at an external circumferential end portion (point C). The contour of the diaphragm is determined by using a group of curves (223, 224) such that the change in thickness is smooth as a whole. It is possible to ease the concentration of stress at the internal and external circumferential end portions so as to realize a gentle stress distribution by disposing the thin portion (221) in a way as described above and determining the thickness of the diaphragm portion (23) also in a way as described above. Consequently, it is possible to realize a silk hat type flexible mesh engagement gear device having a shorter axial length and a smaller outside diameter.

Abstract translation: 柔性网状啮合齿轮装置（11）的丝帽型柔性外齿轮（13）包括筒部（22），隔膜部（23）和凸台部（25）。 在主体部分和弯曲部分（222）之间形成有厚度为筒部（22）的主体部分厚度的80％的薄壁部分（221）。 膜部分（23）的厚度被设定为其内周端部（点A）处的最大值，中心部分（点B）处的最小值，并且比外周部的最大厚度稍薄 端部（点C）。 通过使用一组曲线（223,224）来确定隔膜的轮廓，使得厚度的变化整体上是平滑的。 通过以如上所述的方式设置薄部（221）并确定隔膜部（23）的厚度，可以减轻内周端部和外周端部的应力集中，以实现平缓的应力分布， 也以上述方式。 因此，可以实现具有较短轴向长度和较小外径的丝帽型柔性啮合齿轮装置。

公开(公告)号：WO1994012809A1

公开(公告)日：1994-06-09

申请号：PCT/JP1992001536

申请日：1992-11-24

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ISHIKAWA, Shoichi ,  KIYOSAWA, Yoshihide

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H55/0833

Abstract: In cup-shaped flexing contact gears (1), the respective tooth profiles of the rigid internal gear (2) and the cup-shaped flexible external gear (3) are each constructed such that the tooth face portion is formed of a straight line MA disposed in the vicinity of a datum point, a first convex circular arc AB smoothly connected thereto and a second convex circular arc BC smoothly connected to the first convex circular arc AB and having a radius of curvature larger than the first convex circular arc, while, the dedendum portion excluding the root is created by a standard rack consisting of a tooth profile formed by a curve point-symmetrical with respect to the datum point to the tooth profile at the tooth face or a curve obtained by correcting the above-mentioned curve. The curve defined by the above-described first and second convex circular arcs is an approximated curve of a similar curve obtained by subjecting to the conversion of similitude of 1/2 in the reduction ratio from the marginal point of intermeshing, which is selected on a composite curve to be described hereunder, this composite curve obtained by connecting a moving locus of teeth of the flexible external gear in a section of rotation in the vicinity of the end portion of the tooth trace on the side of a diaphragm to an envelope of moving loci obtained by overlapping on one plane of rotation the moving loci obtained by rack approximation of the external gear to the rigid internal gear in sections of rotation at the respective positions in the direction of tooth trace of the cup-shaped flexible external gear.

Abstract translation: 在杯状弯曲接触齿轮（1）中，刚性内齿轮（2）和杯形柔性外齿轮（3）的各齿形分别构造成使得齿面部分由直线MA 设置在基准点附近，平滑地连接到其上的第一凸圆弧AB和平滑地连接到第一凸圆弧AB并且具有大于第一凸圆弧的曲率半径的第二凸圆弧BC， 不包括根部的齿根部由标准齿条产生，该标准齿条由通过相对于齿面处的齿廓的基准点的曲线点对称形成的齿廓或通过校正上述曲线而获得的曲线构成。 由上述第一和第二凸圆弧限定的曲线是通过在相互啮合的边缘点进行从缩小比例的1/2的相似转换获得的类似曲线的近似曲线，其在 复合曲线，该复合曲线通过将柔性外齿轮的齿的移动轨迹在振动膜侧的齿迹的端部附近的旋转部分中移动到移动的包络线 通过在一个旋转平面上重叠，通过在杯状柔性外齿轮的齿迹方向上的相应位置处的旋转部分中将通过外齿轮的齿条近似获得的移动轨迹重叠到刚性内齿轮而获得的轨迹。

公开(公告)号：WO1994012808A1

公开(公告)日：1994-06-09

申请号：PCT/JP1992001535

申请日：1992-11-24

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ISHIKAWA, Shoichi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H55/0833 ,  Y10T74/19

Abstract: In cup-shaped flexing contact gears (1), both a rigid internal gear (2) and a flexible external gear (3) are made to be non-profile-shifted spur gears, an opening (3a) of the flexible external gear (3) is set in a state of negative deflection lower in value than a normal deflection, a moving locus is obtained through rack approximation of teeth of the external gear to the internal gear at respective sections of rotating of tooth trace of the flexible external gear (3), another moving locus in a section of rotation at an end portion of tooth trace on the side of a diaphragm or in the vicinity of the outside of the end portion is smoothly connected to an envelope e &cir& - of the first moving locus, which is obtained by overlapping this moving locus on one of the sections of rotation, so that a composite curve L is obtained. A curve FE is obtained by subjecting to the conversion of similitude of 1/2 in the reduction ratio a portion from a starting point A of the envelope e &cir& - to a terminating point E corresponding to two times the working depth in the direction of the depth from an apex of the moving locus lo when the deflection is 0, using the terminating point as an original point, this curve FE is made to be each of main portions of convex tooth profiles at the tooth faces of the both gears 2 and 3, and, a composite curve MFE includes a straight line MF having a limited pressure angle alpha M associated with a deflection value of an opening inserted in the vicinity of a datum point M of tooth profile and a transient curve smoothly connecting the above-mentioned straight line to the main portion of the convex tooth profile, and this composite curve MFE is made to be each of tooth profiles at the tooth faces of the both gears.

Abstract translation: 在杯形弯曲接触齿轮（1）中，刚性内齿轮（2）和柔性外齿轮（3）都被制成非轮廓移动的正齿轮，柔性外齿轮的开口（3a） 3）被设定为比正常偏转值低的负偏转的状态，通过外齿轮的齿的近似，通过在柔性外齿轮的齿迹的旋转的各个部分处的内齿轮获得移动轨迹（ 如图3所示，在隔膜侧的齿迹端部或端部附近的旋转部分的另一移动轨迹平滑地连接到第一移动轨迹的包络线， 这是通过在旋转部分之一上重叠该移动轨迹获得的，从而获得复合曲线L. 曲线FE通过以缩小比例将从包络e＆cir的 - 的起始点A的一部分转换为对应于工作深度的两倍的终止点E的方式获得， 当偏转为0时，使用终点作为原点，从运动轨迹lo的顶点的深度开始，使该曲线FE为两齿轮2和3的齿面处的凸齿轮廓的主要部分 并且复合曲线MFE包括直线MF，其具有与插入在齿廓基准点M附近的开口的偏转值相关联的有限的压力角αM，以及平滑地连接上述直线 线组合到凸齿轮廓的主要部分，并且该复合曲线MFE被制成为在两个齿轮的齿面处的每个齿廓。

公开(公告)号：WO1993015300A1

公开(公告)日：1993-08-05

申请号：PCT/JP1993000068

申请日：1993-01-20

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  SUMITOMO METAL INDUSTRIES, LTD. ,  MISAWA, Toshiaki ,  KIYOSAWA, Yoshihide ,  SAKATA, Jun ,  IKEDA, Akio

Inventor： HARMONIC DRIVE SYSTEMS INC. ,  SUMITOMO METAL INDUSTRIES, LTD.

IPC: E21B07/06

CPC classification number: E21B7/062

Abstract: A positioning device capable of positioning a member in any direction with a high degree of resolution by using a hollow type harmonic gear reducer and an excavating direction control device for an excavator utilizing the positioning device. The device of the present invention is mainly constituted by a double eccentric mechanism section (10). A first annular member (12) is rotatably supported by the inner circumferential surface (11a) of a cylindrical member (11) of this mechanism section, and a second annular member (13) is rotatably supported by the circular inner circumferential surface (11b) of this first annular member. In addition, the circular inner circumferential surface (12b) of the first annular member is formed in a position deviated by a distance 'e' relative to the center of the cylindrical member, and the circular inner circumferential surface (13b) of the second annular member is also formed in a position deviated by the distance 'e' relative to the center of the circular inner circumferential surface of the first annular member. It is possible to move the center (C) of the circular inner circumferential surface (13b) of the second annular member in any direction within a range of a predetermined radius by relatively rotating these first and second annular members by employing hollow type harmonic gear reducers (8, 9).

公开(公告)号：TWI695942B

公开(公告)日：2020-06-11

申请号：TW107125970

申请日：2018-07-27

Applicant: 日商和諧驅動系統股份有限公司 ,  HARMONIC DRIVE SYSTEMS INC.

Inventor： 張新月 ,  ZHANG, XIN YUE ,  清澤芳秀 ,  KIYOSAWA, YOSHIHIDE

IPC: F16H1/32

公开(公告)号：TWI695940B

公开(公告)日：2020-06-11

申请号：TW105123454

申请日：2016-07-25

Applicant: 日商和諧驅動系統股份有限公司 ,  HARMONIC DRIVE SYSTEMS INC.

Inventor： 小林優 ,  KOBAYASHI, MASARU

IPC: F16H1/32 ,  F16H3/70

公开(公告)号：TW201903301A

公开(公告)日：2019-01-16

申请号：TW107116377

申请日：2018-05-15

Applicant: 日商和諧驅動系統股份有限公司 ,  HARMONIC DRIVE SYSTEMS INC.

Inventor： 石川昌一 ,  ISHIKAWA, SHOICHI

IPC: F16H1/32

Abstract: 在佔據於諧波齒輪裝置之外齒齒輪的齒交線中央的主剖面，依據在將外齒齒輪對內齒齒輪之齒的嚙合視為齒條嚙合的場合中所獲得之｢外齒齒輪的齒對內齒齒輪的齒之κ=1的移動軌跡(Mc)｣，內齒齒輪的齒冠齒形是由算式a所賦予，外齒齒輪的齒冠齒形(34C1)是由算式b所賦予。在外齒齒輪之橢圓狀的長軸兩端部，避免｢因撓曲所產生的彎曲應力｣、與｢因負荷轉矩所產生的拉伸應力｣之間的重疊，能實際地將2應力的產生位置完全分離，故可提高諧波齒輪裝置的傳遞轉矩容量。 (算式a) 而且，0≦θ≦π (算式b) 而且，0≦θ≦π 　　 0＜ε≦0.1

Abstract in simplified Chinese: 在占据于谐波齿轮设备之外齿齿轮的齿交线中央的主剖面，依据在将外齿齿轮对内齿齿轮之齿的啮合视为齿条啮合的场合中所获得之｢外齿齿轮的齿对内齿齿轮的齿之κ=1的移动轨迹(Mc)｣，内齿齿轮的齿冠齿形是由算式a所赋予，外齿齿轮的齿冠齿形(34C1)是由算式b所赋予。在外齿齿轮之椭圆状的长轴两端部，避免｢因挠曲所产生的弯曲应力｣、与｢因负荷转矩所产生的拉伸应力｣之间的重叠，能实际地将2应力的产生位置完全分离，故可提高谐波齿轮设备的传递转矩容量。 (算式a) 而且，0≦θ≦π (算式b) 而且，0≦θ≦π 　　 0＜ε≦0.1