公开(公告)号：JP2012251588A

公开(公告)日：2012-12-20

申请号：JP2011123828

申请日：2011-06-01

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： ISHIKAWA SHOICHI

IPC: F16H1/32

CPC classification number: F16H49/001 ,  F16H55/0833 ,  Y10T74/19 ,  Y10T74/19642

Abstract: PROBLEM TO BE SOLVED: To enhance a transmission torque of a wave gear device by reducing bending stress by averaging the bending stress generated in gear bottom rim surfaces of the outer teeth due to the flection of a flexible outer gear of the wave gear device.SOLUTION: When a flexing quantity in a radial direction of a longitudinal axis of an elliptical rim neutral line of each axially perpendicular cross section in a tooth trace direction of a flexible externally toothed gear 3 of a wave gear device 1 is w=κmn (m is modules of both the gears, n is a half of tooth number difference of a rigid inner gear and the flexible outer gear, κ is flection coefficient) and a rim thickness in an axially perpendicular cross section is t, dislocation is applied to the outer gear 34 such that the product of t and w becomes constant in each axially perpendicular cross section in the tooth trace direction in the external teeth 34 of the flexible externally toothed gear 3.

Abstract translation: 要解决的问题：为了通过减少弯曲应力来增强波齿轮装置的传动扭矩，通过平均在齿轮的齿轮底缘边缘表面产生的弯曲应力，由于波齿轮的柔性外齿轮的弯曲 设备。 解决方案：当波齿轮装置1的柔性外齿齿轮3的齿迹方向上的每个轴向垂直横截面的椭圆形边缘中线的径向方向的弯曲量为w = κmn（m是两个齿轮的模块，n是刚性内齿轮和柔性外齿轮的齿数差的一半，κ是弯曲系数），并且轴向垂直横截面中的边缘厚度为t，施加位错 到外齿轮34，使得在柔性外齿齿轮3的外齿34中，t和w的乘积在齿轨迹方向上的每个轴向垂直横截面中变得恒定。（C）2013，JPO和INPIT

公开(公告)号：JP2011220459A

公开(公告)日：2011-11-04

申请号：JP2010090695

申请日：2010-04-09

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： OKITSU YOSHIFUMI ,  KATO YUKI ,  SASAKI KOZO ,  IWASAKI MAKOTO

IPC: F16H1/32

CPC classification number: G05D3/10 ,  G05B2219/41427 ,  G05B2219/41432

Abstract: PROBLEM TO BE SOLVED: To compensate the effect relative to the positioning control of a load shaft caused by non-linear spring characteristics of a wave gear device using a strict linearization technique in the actuator having the wave gear device.SOLUTION: In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract translation: 要解决的问题：在具有波形齿轮装置的致动器中，使用严格的线性化技术来补偿由于使用波形齿轮装置的非线性弹簧特性而引起的负载轴的定位控制的影响。 解决方案：在该方法中，从要控制的执行器构建工厂模型，该模型使用严格的线性化技术进行线性化; 测量波形齿轮装置相对于负载转矩的非线性弹性变形; 使用常数定义为零的三次多项式来定义非线性弹簧模型τg（θtw），以允许重新创建测量结果; 并且当负载加速指令为指令值时，输入到工厂模型中的电流输入和工厂模型的电动机位置被输入到用于控制负载轴的定位的半闭环控制系统中作为前馈电流 指令和前馈电机位置指令。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JPD1689564S

公开(公告)日：2021-07-12

申请号：JPD2020501201

Applicant: HARMONIC DRIVE SYSTEMS INC.

Designer： Hiroaki KIMURA Jun HANDA Yoshihide KIYOSAWA

公开(公告)号：JP2012072912A

公开(公告)日：2012-04-12

申请号：JP2011268322

申请日：2011-12-07

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： KOBAYASHI MASARU

IPC: F16H1/32 ,  F16D7/02 ,  F16H35/10

Abstract: PROBLEM TO BE SOLVED: To provide a wave-motion gear device with a ratchet preventing mechanism having a simple constitution for preventing the generation of ratcheting and the plastic deformation of portions during deceleration/acceleration and stopping.SOLUTION: In the wave-motion gear device 1, a friction disc 7A is sandwiched between a rotation input shaft 5 and a wave generator 4, and input torque is transmitted from the rotation input shaft 5 to the wave generator 4 by a frictional engagement force of the friction disc 7A. Wave generator side torque is sufficiently smaller than output side torque, and does not vary largely at an operating mode (during the deceleration/acceleration and stopping) of the wave-motion gear device 1. The generation of a slide between the wave generator 4 and the rotation input shaft 5 is 60-75% of a ratcheting torque value between a rigid internal gear 2 and a flexible external gear 3 during the deceleration of the wave-motion gear device 1. Therefore, plastic deformation in tooth is prevented before both the gears are brought into ratcheting states.

Abstract translation: 要解决的问题：提供具有防棘轮机构的波动运动齿轮装置，其具有用于在减速/加速和停止期间防止棘轮的产生和部分的塑性变形的简单结构。 解决方案：在波动运动齿轮装置1中，摩擦盘7A夹在旋转输入轴5和波浪发生器4之间，并且输入转矩从旋转输入轴5传递到波发生器4 摩擦片7A的摩擦接合力。 波发生器侧扭矩足够小于输出侧转矩，并且在波动运动齿轮装置1的运行模式（减速/加速停止期间）不会很大变化。在波发生器4和 旋转输入轴5在波动运动齿轮装置1的减速期间是刚性内齿轮2和柔性外齿轮3之间的棘轮转矩值的60-75％。因此，在两个 齿轮进入棘轮状态。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2011163462A

公开(公告)日：2011-08-25

申请号：JP2010027616

申请日：2010-02-10

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： KANAI SATORU

IPC: F16C33/37 ,  F16C19/36 ,  F16C33/66

CPC classification number: F16C33/37 ,  F16C19/362 ,  F16C33/6629 ,  F16C33/6681 ,  F16C43/06

Abstract: PROBLEM TO BE SOLVED: To provide a simple-shaped crossed roller bearing retainer which has a grease accumulation section which maintains the fixed spacing between adjacent rollers. SOLUTION: The retainer 6 of a crossed roller bearing has a retainer body plate 11 of rectangular profile corresponding to a rectangular cross-section of a race 4a. Rectangular side surfaces 12, 13 on both sides of the retainer body plate are inclined planes that incline in a direction of approaching one another from one corner 14 to another corner 15 along the diagonal line of the surfaces, and extend towards the bearing center while installed to the race 4a. Recesses 16, 17 for accumulating grease having a predetermined depth are formed in center portions of the rectangular side surfaces 12, 13, the recesses communicating via a through-hole 18. The rectangular side surfaces 12, 13 are in linear contact with the circular external circumferential surfaces of adjacent rollers and hold the rollers at the fixed spacing. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种简单的交叉滚子轴承保持器，其具有保持相邻辊之间的固定间隔的油脂积聚部。 解决方案：交叉滚子轴承的保持器6具有对应于座圈4a的矩形横截面的矩形轮廓的保持器本体板11。 保持器主体板两侧的矩形侧面12,13是沿着表面的对角线从一个角部14向另一个角部15彼此靠近的方向倾斜的倾斜平面，并且在安装时向轴承中心延伸 到比赛4a。 在矩形侧面12,13的中央部形成有用于积蓄预定深度的油脂的凹部16,17，凹部经由通孔18连通。矩形侧面12,13与圆形外部线性接触 相邻辊的圆周表面并以固定间隔保持辊。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JPD1692157S

公开(公告)日：2021-08-10

申请号：JPD2020501202

Applicant: HARMONIC DRIVE SYSTEMS INC.

Designer： Hiroaki KIMURA Jun HANDA Yoshihide KIYOSAWA

公开(公告)号：JP2011144916A

公开(公告)日：2011-07-28

申请号：JP2010008492

申请日：2010-01-18

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： ISHIKAWA SHOICHI

IPC: F16H1/32

Abstract: PROBLEM TO BE SOLVED: To provide a wave gear device having a three-dimensionally contacting positive shifted tooth profile continuously meshing in the tooth trace direction and having an increased tooth depth.
SOLUTION: The deflection coefficients κ of an opening end 34a of an external tooth 34 of a flexible external gear 3, a central principal section 30, and an inner end 34b in the harmonic drive gear device 1 are set at 1+2a, 1+a, and 1 respectively. An addendum tooth profile portion fs1 of the external tooth is obtained using a second similar curve AC obtained by similarly transforming part of a moving locus M0 obtained by a rack approximation of an inner end 34b of the external tooth 34 to define a straight line tooth profile portion fs2 connected thereto and a tooth profile FS1 having a tooth depth of 2mn(1+a) in the principal section 30 of tooth trace center of the external tooth by the addendum tooth profile portion fs3 connected thereto. As tooth profiles for the portion from the principal section 30 to the opening end 34a, and the portion from the principal section 30 to an inner end 34b, shifted tooth profiles FS2, FS3 which are obtained by shifting the tooth profile FS1 in the negative direction of the tooth depth are employed respectively.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种具有在齿迹方向上连续啮合并具有增加的齿深度的三维接触的正偏移齿廓的波齿轮装置。 解决方案：谐波驱动齿轮装置1中的柔性外齿轮3，中心主体部30和内端34b的外齿34的开口端34a的偏转系数κ设定为1 + 2a ，1 + a和1。 使用通过类似地转换通过外齿34的内端34b的齿条近似获得的移动轨迹M0的一部分来获得的第二相似曲线AC来确定外齿的齿顶齿廓部分fs1，以限定直线齿廓 通过与其连接的齿顶齿廓部分fs3，在外齿的齿迹中心的主体部分30中具有与其连接的部分fs2和齿廓为2mn（1 + a）的齿廓FS1。 作为从主体部30到开口端部34a的部分以及从主体部30到内侧端部34b的部分的齿廓，通过使齿廓FS1沿负方向移位而获得的偏移的齿廓FS2，FS3 的牙齿深度。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2011007206A

公开(公告)日：2011-01-13

申请号：JP2009148203

申请日：2009-06-23

Applicant: Harmonic Drive Systems Inc ,  株式会社ハーモニック・ドライブ・システムズ

Inventor： KANAI SATORU

IPC: F16H1/32 ,  F16H55/08

CPC classification number: F16H55/0833 ,  F16H49/001 ,  F16H2049/003 ,  Y10T29/49476 ,  Y10T29/49478 ,  Y10T74/19 ,  Y10T74/19972 ,  Y10T409/101431

Abstract: PROBLEM TO BE SOLVED: To provide a wave gear device having a tooth profile capable of being subjected to gear cutting by a simple process using a typical machining mechanism without generating coning induced interference.SOLUTION: A bending state known as "coning" in which the amount of bending of a flexspline 3 gradually decreases in accordance with the distance from the open end 30 is caused in the cup type or silk hat type wave gear device. A tooth profile in which the tooth depth is kept constant and the bottom lands and top lands are parallel to each other along the tooth trace direction is used as the basic tooth profile for the circular spline and flexspline 3. Tapers 24d, 34d are formed on a part of the top land at the tooth trace end near the open end 30, whereby a modified tooth profile is obtained. The modified tooth profile is employed as the tooth profile for both of the splines 3. Both of the splines 3 can be caused to mesh together without generating coning-induced interference. Both of the splines 3 can also be subjected to gear cutting by a simple process using a typical machining mechanism.

Abstract translation: 要解决的问题：提供一种齿轮装置，其具有能够通过使用典型加工机构的简单工艺进行齿轮切割的齿形，而不产生锥形引起的干涉。解决方案：称为“锥形”的弯曲状态，其中 在杯型或丝帽型波浪装置中，弹性线3的弯曲量根据与开口端30的距离而逐渐减小。 作为圆形花键和挠曲线3的基本齿廓，使用牙齿深度保持恒定并且沿着牙轨迹方向彼此平行的齿廓。锥形部24d，34d形成在 位于开口端30附近的齿迹端部的顶部区域的一部分，由此获得改进的齿廓。 改进的齿廓被用作两个样条3的齿廓。可以使两个花键3啮合在一起而不产生锥形引起的干扰。 两个花键3也可以通过使用典型的加工机构的简单的工艺进行齿轮切割。

公开(公告)号：WO1996036489A1

公开(公告)日：1996-11-21

申请号：PCT/JP1996001290

申请日：1996-05-16

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： HARMONIC DRIVE SYSTEMS INC. ,  TANAKA, Kazuo ,  KIYOSAWA, Yoshihide

IPC: B41F33/00

CPC classification number: F16H35/008 ,  B41F13/12 ,  F16H49/001

Abstract: A phase adjustment unit (100) for effecting phase adjustment between rolls of a multi-color printing press comprises a phase adjustment gear device (10) and a phase adjustment motor (6) fitted to the rear end of the gear device (10). The phase adjustment gear device (10) includes a hollow input shaft (12) inside a hollow casing (11) and an output shaft (14) inside the input shaft (12), and spline shafts (121, 141) for fitting are disposed at the distal ends of these shafts (12, 14). Cup type first and second wave motion gear devices (16, 25) are coaxially disposed at the rear end of the spline shafts, and input rotation returns to the first wave motion gear device (16) from an inner gear (161) of the first wave motion gear device through a gear train (30) and the second wave motion gear device (25), and is transmitted to the output shaft (14). While the motor (6) is locked, each constituent element of the first wave motion gear device rotates integrally, and the input and output shafts rotate in the same way. At the time of phase adjustment, the rotation speed of the motor (6) is drastically reduced and outputted through the gear devices (25, 16). Since the input and output shafts protrude from one of the sides, fitting and removal of the unit can be conducted easily.

Abstract translation: 用于在多色印刷机的辊之间进行相位调整的相位调整单元（100）包括相位调节齿轮装置（10）和安装在齿轮装置（10）的后端的相位调节电动机（6）。 相位调整齿轮装置（10）在中空壳体（11）的内部具有中空的输入轴（12）和输入轴（12）内的输出轴（14），并且配置用于配合的花键轴（121,141） 在这些轴（12,14）的远端处。 杯型第一和第二波动齿轮装置（16,25）同轴地设置在花键轴的后端，并且输入旋转从第一和第二波动运动齿轮装置的内齿轮（161）返回到第一波浪运动齿轮装置（16） 波浪运动齿轮装置通过齿轮系（30）和第二波浪运动齿轮装置（25）传递到输出轴（14）。 当马达（6）被锁定时，第一波浪运动齿轮装置的每个构成元件一体地旋转，并且输入和输出轴以相同的方式旋转。 在相位调整时，通过齿轮装置（25,16），马达（6）的旋转速度急剧减小并输出。 由于输入和输出轴从一侧突出，所以可以容易地进行装置的拆卸。

公开(公告)号：WO1996019683A1

公开(公告)日：1996-06-27

申请号：PCT/JP1994002141

申请日：1994-12-19

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  ISHIKAWA, Shoichi

Inventor： HARMONIC DRIVE SYSTEMS INC.

IPC: F16H01/32

CPC classification number: F16H55/0833 ,  F16H2049/006 ,  Y10T74/19

Abstract: An object of this invention is to provide a flexible meshing type gear having improved retaining force for lubricating oil film between gear surfaces. In a flexible meshing type gear (1), a flexture amount (w) in a radial direction of a cross section normal to a reference axis set at a predetermined position along a tooth trace of a flexible external gear (3) thereof is made a negative deflection flexture amount which is smaller than a normal flexture amount (wo), and a rigid internal gear (2) and the flexible external gear (3) are each constituted by a spur gear. The number of teeth of the flexible external gear (3) is made smaller by 2n (n is a positive integer) than that of the rigid internal gear (2). The working tooth profile of one of these two gears (2, 3) is formed into a convex curve, and the configuration thereof is made such that a portion (L1(O, A)) belonging to a convex relative to the other gear of the top portion of a moving path (L1) by a rack approximation drawn by the teeth thereof relative to the other gear on the cross section normal to the reference axis of the tooth trace is formed into a convex curve (L2(O, B)) which is similarity transformed using an extension ratio ( lambda ) with the apex of the moving path as an origin or a similarity curve thereof, while the working tooth profile of the other gear is formed into a concave curve, and the configuration thereof is also formed into a concave curve (L3(O, C)) resulting from similarity transforming of a portion of a moving path which is identical to that portion of the one of the two gears using an extension ratio ( lambda +1) with the apex of the moving path as an origin, whereby the meshing between the two gears is made an over-running type meshing in which continuous contact is made possible at a cross section normal to the reference axis.

Abstract translation: 本发明的目的是提供一种在齿轮表面之间具有改进的润滑油膜保持力的柔性啮合型齿轮。 在柔性啮合型齿轮（1）中，将与设置在沿其柔性外齿轮（3）的齿迹的预定位置处的基准轴垂直的横截面的径向的弯曲量（w）设为 小于正常挠曲量（wo）的负偏转挠曲量，以及刚性内齿轮（2）和柔性外齿轮（3）均由正齿轮构成。 柔性外齿轮（3）的齿数比刚性内齿轮（2）的齿数小2n（n为正整数）。 这两个齿轮（2,3）中的一个的工作齿廓形成为凸曲线，并且其构造使得属于相对于另一个齿轮的凸形的部分（L1（O，A）） 形成凸曲线（L2（O，B）），通过齿的相对于另一个齿轮在与牙轨的参考轴线相垂直的横截面上拉伸的齿条近似的移动路径（L1） ），其中使用与移动路径的顶点相关联的延伸比（lambda）作为其原点或相似曲线进行相似变换，而另一齿轮的工作齿廓形成为凹曲线，并且其构造也是 形成为通过与两个齿轮中的一个的一部分相同的移动路径的一部分的相似变换而产生的凹曲线（L3（O，C）），其使用与顶点的扩展比（λ+1） 作为原点的移动路径，由此两个齿轮之间的啮合 被制成超跑型啮合，其中在与基准轴垂直的横截面上可以进行连续接触。