公开(公告)号：EP3173657B1

公开(公告)日：2020-11-04

申请号：EP15823995.4

申请日：2015-07-03

Applicant: Harmonic Drive Systems Inc.

Inventor： KIYOSAWA, Yoshihide ,  HANDA, Jun ,  TAKIZAWA, Noboru ,  ZHANG, Xin Yue

IPC: F16H1/32 ,  F16H49/00

公开(公告)号：EP3702642A1

公开(公告)日：2020-09-02

申请号：EP17922908.3

申请日：2017-09-07

Applicant: Harmonic Drive Systems Inc.

Inventor： ZHANG, Xin Yue ,  KIYOSAWA, Yoshihide

IPC: F16H1/32 ,  F16C33/58

Abstract: A strain wave gearing (1) has a wave generator (4) provided with a rigid plug (5) and a wave bearing (7). The wave bearing (7) is of a deep groove bearing type and is mounted on an elliptical outer circumferential surface of the rigid plug (5), whereby outer race (9) and inner race (8) thereof are flexed into an elliptical shape. Where D is a ball diameter of the balls (10), Ro is a raceway-surface radius of the outer race, Ri is a raceway-surface radius of the inner race, Ro/D is an outer-race conformity, and Ri/D is an inner-race conformity, the outer-race conformity Ro/D is greater than the inner-race conformity Ri/D. The friction torque of the wave bearing (7) can be reduced while maintaining the practical service life thereof to be the same level as in a conventional one.

公开(公告)号：EP3611399A1

公开(公告)日：2020-02-19

申请号：EP17905051.3

申请日：2017-04-10

Applicant: Harmonic Drive Systems Inc.

Inventor： TEZUKA, Shunichi ,  KIYOSAWA, Yoshihide ,  YAMAGISHI, Toshimi

IPC: F16H1/32

Abstract: A silk hat-type strain wave gear device (1) has a crossed roller bearing (5) for supporting an internal gear (2) and an external gear (3) so as to allow relative rotation. A first gap part (54) between the inner and outer rings of said bearing is sealed by an oil seal (6) and a second gap part (55) thereof is in communication with a gear-side gap part (8) on the outside of the external gear (3). A bearing seal (9) separates the second gap part (55) from the gear-side gap part (8). The bearing seal (9) prevents excessive inflow of lubricant from the gear-side gap part (8) into the second gap part (55). Excess lubricant that has flowed into the bearing can flow back from the second gap part (55) to the gear-side gap part (8). Excess lubricant in the bearing is prevented from leaking through the oil seal (6) to the outside.

公开(公告)号：EP0622566A1

公开(公告)日：1994-11-02

申请号：EP92924006.7

申请日：1992-11-24

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： ISHIKAWA, Shoichi ,  KIYOSAWA, Yoshihide

IPC: F16H1/32

CPC classification number: F16H55/0833 ,  Y10T74/19

Abstract: 5 n7 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）的相应齿廓各自被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分由标准齿条产生，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连接到移动的包络线而获得 通过在一个旋转平面上将通过外齿轮的齿条近似获得的移动轨迹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的刚性内齿轮重叠获得的轨迹。

公开(公告)号：EP3705748A1

公开(公告)日：2020-09-09

申请号：EP17930339.1

申请日：2017-10-31

Applicant: Harmonic Drive Systems Inc.

Inventor： KIYOSAWA, Yoshihide ,  SHIROKOSHI, Norio

IPC: F16H1/32

Abstract: A cup-type strain wave gearing (20) having a unit structure and having: a stationary-side part including a unit housing (22) and an internally toothed gear (23); a driving-side part including an output member (25) and an externally toothed gear (26); and a sliding bearing (28) supporting the stationary-side part and the driving-side part in the radial direction and the thrust direction in a state in which relative rotation is possible. The sliding bearing (28) has a cylindrical bushing (28a) accommodated in a radial gap, and annular bushings (28b, 28c) accommodated respectively in thrust gaps. Thus, it is possible to provide an advantageous strain wave gearing having a unit structure that is more lightweight and compact than when a rolling bearing is used.

公开(公告)号：EP3173661B1

公开(公告)日：2020-01-01

申请号：EP15824574.6

申请日：2015-07-03

Applicant: Harmonic Drive Systems Inc.

Inventor： HANDA, Jun ,  KIYOSAWA, Yoshihide ,  TAKIZAWA, Noboru ,  ZHANG, Xin Yue

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

公开(公告)号：EP3306053B1

公开(公告)日：2019-11-20

申请号：EP16802947.8

申请日：2016-04-22

Applicant: Nissan Motor Co., Ltd. ,  Harmonic Drive Systems Inc. ,  Hitachi Automotive Systems, Ltd.

Inventor： HIYOSHI, Ryosuke ,  TANAKA, Yoshiaki ,  KIYOSAWA, Yoshihide ,  HANDA, Jun ,  NAGAI, Kishiro ,  ONIGATA, Junichiro ,  YAMADA, Yoshihiko

IPC: F02B75/04 ,  F02B75/32 ,  F02D15/02 ,  F16H1/28 ,  F16H1/32

公开(公告)号：EP3173658B1

公开(公告)日：2019-10-16

申请号：EP15824078.8

申请日：2015-07-03

Applicant: Harmonic Drive Systems Inc.

Inventor： KIYOSAWA, Yoshihide ,  HANDA, Jun ,  ZHANG, Xin Yue ,  TAKIZAWA, Noboru

IPC: F16H1/32 ,  F16H49/00

公开(公告)号：EP3173659A1

公开(公告)日：2017-05-31

申请号：EP15824221.4

申请日：2015-07-03

Applicant: Harmonic Drive Systems Inc.

Inventor： KIYOSAWA, Yoshihide ,  HANDA, Jun ,  TAKIZAWA, Noboru ,  ZHANG, Xin Yue

IPC: F16H1/32

CPC classification number: F16H49/001 ,  F16H1/32 ,  F16H2049/003

Abstract: An externally toothed gear (4) of a dual-type strain wave gearing (1) is provided with first and second external teeth (7, 8) having different teeth numbers, and is flexed into an ellipsoidal shape by a wave generator. When the theoretical values (d 1 , d 2 ) of the radial flexing amounts at major-axis positions of the first and second external teeth (7, 8) flexed into the ellipsoidal shape are expressed by d 1 =m 1 n 1 and d 2 =m 2 n 2 (m 1 and m 2 represent the modules of the first and second external teeth, and n 1 and n 2 represent positive integers), the radial flexing amounts (d 1a , d 2a ) of the first and second external teeth (7, 8) flexed by the wave generator (5) satisfy d 1a =ωd 1 and d 2a = ωd 2 , where 1.25 ≦ω≦ 3. Accordingly, a dual-type strain wave gearing can be achieved with which the first and second external teeth having different numbers can be suitably flexed to form excellent mating states with respective internally toothed gears.

Abstract translation: 双型波动传动装置（1）的外齿轮（4）具有齿数不同的第一和第二外齿（7,8），并通过波发生器弯曲成椭圆形。 当第一和第二外齿（7,8）的主轴位置处的径向弯曲量的理论值（d1，d2）弯曲成椭圆形时，由d1 = m1n1和d2 = m2n2（m1和m2 表示第一和第二外齿的模块，并且n1和n2表示正整数），由波发生器（5）弯曲的第一和第二外齿（7,8）的径向挠曲量（d1a，d2a）满足 d1a =ωd1，并且d2a =ωd2，其中1.25≤ω≤3。因此，可以实现双类型的应变波齿轮传动装置，其中具有不同数量的第一和第二外齿可以适当地弯曲以形成优异的配合状态， 齿轮。

公开(公告)号：EP0622566B1

公开(公告)日：1997-02-05

申请号：EP92924006.7

申请日：1992-11-24

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： ISHIKAWA, Shoichi ,  KIYOSAWA, Yoshihide

IPC: F16H1/32

CPC classification number: F16H55/0833 ,  Y10T74/19

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.