公开(公告)号：TW201414937A

公开(公告)日：2014-04-16

申请号：TW101141337

申请日：2012-11-07

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

Inventor： 矢島喜一 ,  YAJIMA, YOSHIKAZU ,  高嶺香里 ,  TAKAMINE, KAORI ,  鈴木真憲 ,  SUZUKI, MASANORI

IPC: F16H1/32

Abstract: 本發明的課題係提供一種具有輸入軸承的諧波齒輪單元，其具備由易於製作及組裝的軸承裝置所支承的輸入軸。本發明的解決手段係：諧波齒輪單元(1)，係藉由第1輸入軸承(7)、及第2輸入軸承(8)對內建的諧波齒輪裝置(5)之輸入軸(6)進行支承。由於輸入軸(6)係固定於安裝在此的諧波產生器(16)之軸方向的位置，所以馬達組裝作業十分簡單。支承著輸入軸(6)的第2輸入軸承(8)之軸承外殼(21)係夾持可撓性外齒齒輪(15)的圓環狀凸面部(15c)，再藉由緊固螺栓(22)鎖緊固定於輸出用圓盤(4)。不必對圓環狀凸面部(15c)進行切螺紋加工、或凹部等之加工，藉由簡單之構造即可構成用以將輸入軸(6)的軸承裝置、及可撓性外齒齒輪(15)固定於輸出用圓盤(4)上之固定裝置。

Abstract in simplified Chinese: 本发明的课题系提供一种具有输入轴承的谐波齿轮单元，其具备由易于制作及组装的轴承设备所支承的输入轴。本发明的解决手段系：谐波齿轮单元(1)，系借由第1输入轴承(7)、及第2输入轴承(8)对内置的谐波齿轮设备(5)之输入轴(6)进行支承。由于输入轴(6)系固定于安装在此的谐波产生器(16)之轴方向的位置，所以马达组装作业十分简单。支承着输入轴(6)的第2输入轴承(8)之轴承外壳(21)系夹持可挠性外齿齿轮(15)的圆环状凸面部(15c)，再借由紧固螺栓(22)锁紧固定于输出用圆盘(4)。不必对圆环状凸面部(15c)进行切螺纹加工、或凹部等之加工，借由简单之构造即可构成用以将输入轴(6)的轴承设备、及可挠性外齿齿轮(15)固定于输出用圆盘(4)上之固定设备。

公开(公告)号：TWI305443B

公开(公告)日：2009-01-11

申请号：TW094107781

申请日：2005-03-15

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

Inventor： 小林清人 KOBAYASHI, KIYOHITO

IPC: H02K

Abstract: 一種具有由分離磁芯連接成環形的定子芯的分離磁芯型電動機定子。每個分離磁芯在兩端面形成一個耦合凸起和一個耦合凹槽,在分離磁芯的連接方向耦合凸起能夠被可分離的安裝在耦合凹槽內。相鄰分離磁芯通過使用由耦合凸起和耦合凹槽組成的機械耦合結構連接。定子芯的裝配過程因為不需要焊接和粘合工作能夠被容易地在短時間內實現。

Abstract in simplified Chinese: 一种具有由分离磁芯连接成环形的定子芯的分离磁芯型电动机定子。每个分离磁芯在两端面形成一个耦合凸起和一个耦合凹槽,在分离磁芯的连接方向耦合凸起能够被可分离的安装在耦合凹槽内。相邻分离磁芯通过使用由耦合凸起和耦合凹槽组成的机械耦合结构连接。定子芯的装配过程因为不需要焊接和粘合工作能够被容易地在短时间内实现。

公开(公告)号：TWI252895B

公开(公告)日：2006-04-11

申请号：TW091134539

申请日：2002-11-27

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

Inventor： 白澤直巳 NAOMI SHIRASAWA

IPC: F16H

CPC classification number: F16H1/28 ,  F16H57/08

Abstract: 一種行星齒輪裝置(1)包括從內側的順序同心設置的第一，第二以及第三環形件(10，20，30)。太陽齒輪(4)同軸被固定在第一環形件(10)的端面上，行星齒輪(6－1至6－4)的行星軸(61至64)被支承在第二環形件(20)的端面上，將內齒輪(2)同軸固定至第三環形件(30)的端面上。在第一和第二環形件(10，20)之間形成第一十字滾柱軸承(40)，在第二和第三環形件(20，30)之間形成第二十字滾柱軸承(50)。每一個部件均同心設置在與裝置軸線(1a)垂直的一個平面上，以便獲得在裝置的軸向非常薄的行星齒輪裝置。由於從裝置軸向的兩側獲得相應的齒輪部分，因此，能夠以很大的自由度佈置輸入端和輸出端。

Abstract in simplified Chinese: 一种行星齿轮设备(1)包括从内侧的顺序同心设置的第一，第二以及第三环形件(10，20，30)。太阳齿轮(4)同轴被固定在第一环形件(10)的端面上，行星齿轮(6－1至6－4)的行星轴(61至64)被支承在第二环形件(20)的端面上，将内齿轮(2)同轴固定至第三环形件(30)的端面上。在第一和第二环形件(10，20)之间形成第一十字滚柱轴承(40)，在第二和第三环形件(20，30)之间形成第二十字滚柱轴承(50)。每一个部件均同心设置在与设备轴线(1a)垂直的一个平面上，以便获得在设备的轴向非常薄的行星齿轮设备。由于从设备轴向的两侧获得相应的齿轮部分，因此，能够以很大的自由度布置输入端和输出端。

公开(公告)号：WO2020117237A1

公开(公告)日：2020-06-11

申请号：PCT/US2018/064182

申请日：2018-12-06

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  COYNE, Brian

Inventor： COYNE, Brian ,  KATOH, Yuki

IPC: G01D5/14 ,  G01D5/245 ,  G01D5/249 ,  G01B7/30

Abstract: An exemplary encoder assembly includes a substrate, a first encoder, and a second encoder. The substrate has two or more position sensors, each position sensor being configured for detecting a rotary position of a shaft or other rotating element of a machine. The first encoder includes at least one first position sensor of the two or more position sensors. The at least one first position sensor is disposed on the substrate for off-axis alignment with a shaft or other rotating element of a machine. The second encoder includes a second position sensor of the two or more position sensors, the second position sensor being disposed on the substrate for on-axis or off-axis alignment with the shaft or other rotating element of a machine. Each position sensor is configured to detect different or common signal types, and a signal type of the second position sensor excludes optical signals.

公开(公告)号：WO1999031517A1

公开(公告)日：1999-06-24

申请号：PCT/JP1997004695

申请日：1997-12-18

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ITOH, Yoshinori ,  HORIUCHI, Masashi ,  ASAWA, Hideo ,  TSUJIMOTO, Jun

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: G01P15/03

CPC classification number: G01P15/165 ,  G01D5/34723 ,  G01D5/3473 ,  G01P3/486

Abstract: A detecting device (1) is provided with first and second discs (6 and 7) fixed to a rotating shaft (2). In the first disc (6), a first slit row (8) and a slit row (9) for encoder are formed as a common slit row (10). In the second disc (7), a second slit row (12) is formed. The light emitted from a photosensor (13) is led by an optical fiber cable (135) through the first and second slit rows (8 and 12). The angular acceleration of the rotating shaft (2) is detected from the relative movement between the slits. An encoder (14) detects the angle of the shaft (2) by detecting the movement of the slit row (9). Since the light wave guide of the photosensor (13) is formed of an optical fiber, the two discs (6 and 7) can be attached to arbitrary positions. In addition, since the slits are commonly used, the manufacture of an optical rotational information detecting device becomes easier. Therefore, a small-sized compact rotational information detecting device having a high degree of freedom in design can be manufactured inexpensively.

Abstract translation: 检测装置（1）设置有固定到旋转轴（2）的第一和第二盘（6和7）。 在第一盘（6）中，形成用于编码器的第一狭缝行（8）和狭缝行（9）作为公共狭缝行（10）。 在第二盘（7）中，形成第二狭缝行（12）。 从光传感器（13）发射的光通过第一和第二狭缝行（8和12）由光纤电缆（135）引导。 根据狭缝之间的相对运动来检测旋转轴（2）的角加速度。 编码器（14）通过检测狭缝排（9）的移动来检测轴（2）的角度。 由于光传感器（13）的光波导由光纤形成，所以可以将两个光盘（6和7）安装在任意位置。 此外，由于通常使用狭缝，所以光学旋转信息检测装置的制造变得更容易。 因此，可以廉价地制造具有高设计自由度的小型紧凑型旋转信息检测装置。

公开(公告)号：WO1999020917A1

公开(公告)日：1999-04-29

申请号：PCT/JP1997003751

申请日：1997-10-16

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  SHIRASAWA, Naomi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H49/001 ,  Y10T74/19

Abstract: A silk hat flexible engagement gear device (1) has first and second end plates (2 and 3) and an input shaft (4) is rotatably supported, with their ends supported, between the two end plates. A cylindrical body part (61) of a silk hat flexible external gear (6) is disposed on the outer circumference of the input shaft (4). A cross roller bearing (8) which also functions as a device housing and a rigid internal gear (5) are provided on the outer circumference. An annular boss (64) of the flexible external gear is held between the outer ring (81) of the cross roller bearing and the second end plate (3) and these three members are coupled with each other with second fixing bolts (9). The rigid internal gear (5) is held between the inner ring (82) of the cross roller bearing and the first end plate (2) and these three members are coupled with each other with first fixing bolts (11). An additional member which is used as a device housing is not necessary. The members are temporarily fixed and fastened and, further, attached to a housing on the motor side or on the load side with the fixing bolts (9 and 11) only. Therefore, the number of components of the device can be reduced and the size of the device can be reduced.

Abstract translation: 丝绸帽柔性接合齿轮装置（1）具有第一和第二端板（2和3），输入轴（4）可旋转地支撑，其端部支撑在两个端板之间。 丝绸帽柔性外齿轮（6）的圆柱体部分（61）设置在输入轴（4）的外圆周上。 在外圆周上还设有也用作装置壳体和刚性内齿轮（5）的十字轴承（8）。 柔性外齿轮的环形凸台（64）保持在交叉滚子轴承的外圈（81）和第二端板（3）之间，并且这三个构件通过第二固定螺栓（9）彼此联接。 刚性内齿轮（5）保持在交叉滚子轴承的内圈（82）和第一端板（2）之间，并且这三个构件通过第一固定螺栓（11）彼此联接。 不需要用作装置外壳的附加构件。 构件被暂时固定和紧固，并且还用固定螺栓（9和11）附接到电动机侧或负载侧的壳体。 因此，可以减少装置的部件数量，并且可以减小装置的尺寸。

公开(公告)号：WO1995028583A1

公开(公告)日：1995-10-26

申请号：PCT/JP1995000738

申请日：1995-04-14

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ISHIKAWA, Shoichi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

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

Abstract: A meshing type gear device designed to improve further its strength and wear resistance, and more particularly to improve the wear resistance of the tooth surface. In a meshing type gear device (1), a spur gear is used both for a rigid internal gear (2) and a flexible external gear (3), and the number of teeth of the flexible external gear (3) is made greater by two than that of the rigid internal gear (2). The tooth profile of the flexible external gear (3) is formed into a convex tooth profile which is in the form of a curve AC that is to be obtained through similar transformation at a reduction ratio lambda of a convex portion (a curve between A and B) relative to the internal gear of a moving path L by rack approximation drawn by the external gear relative to the internal gear with a limiting point A of the contact between the two gears on the path serving as an origin, while the tooth profile of the rigid internal gear (2) is formed into a concave tooth profile which is in the form of a curve AD that is to be obtained through similar transformation at an enlargement ratio (1 + lambda ) of the same convex portion relative to the internal gear of the moving path with the limiting point A of the contact serving as an origin, whereby a continuously contactable and passing meshing can be produced between the two tooth profiles. With this configuration, it is possible to remarkably increase the capability of maintaining a lubricating oil film between the tooth surfaces and remarkably improve the permissible delivered torque of the flexible meshing type gear device based on the tooth surface wear.

Abstract translation: 啮合式齿轮装置设计成进一步提高其强度和耐磨性，特别是提高齿面的耐磨性。 在啮合式齿轮装置（1）中，正齿轮用于刚性内齿轮（2）和柔性外齿轮（3），并且柔性外齿轮（3）的齿数大于 两个比刚性内齿轮（2）的刚度大。 柔性外齿轮（3）的齿廓形成为凸齿形，其为曲线AC的形式，其将通过凸部的减速比λ（A和A之间的曲线）通过类似的变换获得 B）相对于移动路径L的内齿轮，通过外齿轮相对于内齿轮拉伸的齿条近似，具有作为原点的路径上的两个齿轮之间的接触的极限点A，而齿廓 刚性内齿轮（2）形成为凹曲线，其为曲线AD的形式，其将通过相同凸部的相对于内齿轮的增大比（1 +λ）的相似变换而获得 的移动路径，其中接触件的限制点A用作原点，由此可以在两个齿廓之间产生连续可接触和经过的啮合。 利用这种结构，可以显着提高在齿面之间保持润滑油膜的能力，并且基于齿面磨损显着提高柔性啮合型齿轮装置的允许传递扭矩。

公开(公告)号：WO1999031475A1

公开(公告)日：1999-06-24

申请号：PCT/JP1997004696

申请日：1997-12-18

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ITOH, Yoshinori ,  HORIUCHI, Masashi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: G01L03/14

CPC classification number: G01D5/2451

Abstract: In the rotation angle detector (5) of a flexure engagement gear device (1), a 1st torque detector (6) and a 2nd torque detector (7) are provided at the diaphragm (32) part of a cup-shaped flexible gear (3) at an angular interval of 45 degrees around the center axis (1a). The outputs of the 1st and 2nd torque detectors (6 and 7) are sine waves whose phases are shifted 90 DEG from each other. Therefore, by utilizing the torque detection outputs (6S and 7S), the rotation angle of the output side member of the gear device (1) can be detected.

Abstract translation: 在弯曲啮合齿轮装置（1）的旋转角度检测器（5）中，在杯形柔性齿轮（1）的隔膜（32）部分设有第1扭矩检测器（6）和第2转矩检测器（7） 3）围绕中心轴线（1a）以45度的角度间隔。 第一和第二转矩检测器（6和7）的输出是相位彼此偏移90度的正弦波。 因此，通过利用转矩检测输出（6S，7S），能够检测出齿轮装置（1）的输出侧部件的旋转角度。

公开(公告)号：WO1999025992A1

公开(公告)日：1999-05-27

申请号：PCT/JP1997004223

申请日：1997-11-19

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  TANIOKA, Yoshihiro ,  SHIROKOSHI, Norio ,  NAKAGAWA, Hiroshi ,  KAMEDA, Hiroshi ,  AOYAGI, Harushige

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/28

CPC classification number: F16H1/46

Abstract: A planetary gear device (20) comprises a first-stage side planetary gear mechanism (22) and a second-stage side planetary gear mechanism (23). The first-stage side planetary gear mechanism (23) includes an internal gear (25), a carrier (29) rotatably supported by a pair of main bearings (26, 27) disposed on both sides of the internal gear (25), a plurality of planetary gears (31) rotatably supported round a plurality of planetary shafts (30) extending between a pair of right and left carrier portions (28A, 28B) of the carrier (29), a sun gear (33) provided round the outer circumference of a pinion shaft (32) extending in the axial direction of the gear device through the carrier (29), and an output shaft (34) connected to the carrier (29) and extending in the direction of the axis (20a) of the gear device. The carrier (29) and the output shaft (34) are formed as a unitary member, and a pin so driven as to extend between the portions (28A, 28B) of the carrier (29) fabricated as the unitary member is used as the planetary shaft (30). Therefore, the planetary gear device (20) has a reduced number of components, can be produced easily and has high assembly accuracy.

Abstract translation: 行星齿轮装置（20）包括第一级侧行星齿轮机构（22）和后级侧行星齿轮机构（23）。 第一级侧行星齿轮机构（23）具有内齿轮（25），由设置在内齿轮（25）的两侧的一对主轴承（26,27）可旋转地支撑的托架（29）， 多个行星齿轮（31），可旋转地支撑在所述行星齿轮架（29）的一对左右托架部分（28A，28B）之间延伸的多个行星轴（30）上;太阳齿轮（33） 通过载体（29）沿齿轮装置的轴向方向延伸的小齿轮轴（32）的周长和连接到载体（29）并沿轴线（20a）的方向延伸的输出轴（34） 齿轮装置。 载体（29）和输出轴（34）形成为整体构件，并且被驱动以在制造为整体构件的载体（29）的部分（28A，28B）之间延伸的销被用作 行星轴（30）。 因此，行星齿轮装置（20）的部件数量减少，容易制造，组装精度高。

公开(公告)号：WO1999018364A1

公开(公告)日：1999-04-15

申请号：PCT/JP1997003572

申请日：1997-10-02

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  TAKIZAWA, Noboru

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H49/001 ,  F16H2049/003 ,  Y10T74/19 ,  Y10T74/19633

Abstract: A silk hat flexible external gear (13) of a flexible engagement gear device (11) comprises a body part (22), a diaphragm (23) and a boss (25). The one side of the shape of the cross section which is obtained by cutting a plate-shaped part (28) of the diaphragm (23) along a plane including the device axis (11a) is defined by a straight line (231) extending in a radial direction. The other side of the shape of the cross section is defined by a first convex circular arc (240), a concave circular arc (250) and a second convex circular arc (260) in this order from the boss side. Among those circular arcs, the first convex circular arc (240) has the smallest curvature and the concave circular arc (250) has the largest curvature. The concave circular arc (250) is at the center position of the plate-shaped part (28), which has the smallest thickness in the plate-shaped part (28). If the flexible external gear having this cross section is used, when the axial length is reduced, the stress concentration can be relieved without increasing the outer diameter.

Abstract translation: 挠性接合齿轮装置（11）的丝绸帽柔性外齿轮（13）包括主体部分（22），隔膜（23）和凸台（25）。 通过沿着包括装置轴线（11a）的平面切割隔膜（23）的板状部分（28）而获得的横截面形状的一侧由直线延伸的直线（231）限定， 径向。 横截面形状的另一侧由凸起侧依次由第一凸圆弧（240），凹圆弧（250）和第二凸圆弧（260）限定。 在这些圆弧之中，第一凸圆弧（240）具有最小的曲率，而凹圆弧（250）具有最大的曲率。 凹圆弧（250）位于板状部（28）中具有最小厚度的板状部（28）的中心位置。 如果使用具有这种截面的柔性外齿轮，则当轴向长度减小时，可以在不增加外径的情况下减轻应力集中。