公开(公告)号：EP4428390A1

公开(公告)日：2024-09-11

申请号：EP21951114.4

申请日：2021-11-04

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H1/32

CPC classification number: F16H1/32 ,  F16H49/00 ,  F16H55/08

Abstract: In a strain wave gearing (1), in order to regulate axial-direction movement of an externally toothed gear (4) thereof, first balls (13), which are rolling elements, are directly interposed between a first annular end surface (41) on one side of the externally toothed gear (4) and a device housing (7), which is a fixed-side member, whereby the first annular end surface (41) and the device housing (7) are in rolling contact with one another. Similarly, second balls (23), which are rolling elements, are directly interposed between a second annular end surface (42) on the other side of the externally toothed gear (4) and an output shaft (8), which is a rotating-side member, whereby the second annular end surface (42) and the output shaft (8) are in rolling contact with one another. No contact occurs other than rolling contact of contact portions, and therefore it is possible to greatly reduce friction loss caused by sliding of the contact portions. Additionally, pressure is applied in the axial direction to the portions that make rolling contact, and axial-direction rattling is eliminated, whereby axial-direction movement of the externally toothed gear (4) is reliably suppressed, and generation of high thrust force is prevented.

公开(公告)号：EP3614019A1

公开(公告)日：2020-02-26

申请号：EP17913875.5

申请日：2017-06-16

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H1/32

Abstract: A strain wave gearing (1) has a rigid internally toothed gear (2), a flexible externally toothed gear (3), and a sliding-contact type wave generator (4). The wave generator (4) has: a plurality of gear pressing members (8) that flexes the externally toothed gear (3) in the radial direction at positions at equal angular intervals in the circumferential direction to form a plurality of meshing portions which mesh with the internally toothed gear (2); and piezoelectric elements (9) that generate ultrasonic vibration of 20kHz to 80 kHz in the gear pressing members (8) in the radial direction. Ultrasonic vibration is applied at contact sites where the gear pressing members (8) and the externally toothed gear (3) contact each other. As a result of a squeeze film effect, the apparent friction coefficient of each contact surface at the contact sites can be greatly reduced and rotational torque of the wave generator can be reduced.

公开(公告)号：EP4394207A1

公开(公告)日：2024-07-03

申请号：EP21954991.2

申请日：2021-08-24

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H1/32

CPC classification number: F16H1/32

Abstract: In a strain wave gearing (1), a thrust force (F1) applied on an externally toothed gear (4) during an increased-speed operation causes the externally toothed gear (4) to move along an axis in a first direction (a1), and the output-side end surface (4c) thereof is pressed, by a prescribed force, against a friction surface (11a) of a friction plate (11) integrated with a rotating shaft part (5a) of a strain wave generator (5). Torque transmission efficiency can be reduced only during increased-speed operation, by means of a friction loss occurring between the externally toothed gear (4) and the friction plate (11). When large load torque is applied from an output shaft (8) which is an output-side member during reduced-speed operation, retention torque of the strain wave generator (5) which is an input-side member during speed-reduction operation can be reduced.

公开(公告)号：EP3258590B1

公开(公告)日：2020-07-29

申请号：EP15881997.9

申请日：2015-02-13

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: H02N2/00 ,  F16H49/00

公开(公告)号：EP3249261B1

公开(公告)日：2019-10-30

申请号：EP14906858.7

申请日：2014-11-28

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H57/04 ,  C10M103/00 ,  C10M103/02 ,  C10M103/06 ,  C10N30/06 ,  C10N40/04

公开(公告)号：EP3351823A1

公开(公告)日：2018-07-25

申请号：EP15904117.7

申请日：2015-09-17

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H1/32

CPC classification number: F16H49/001

Abstract: A wave generator (5) for a strain wave gearing (1) is provided with a rigid plug (11) having an ellipsoidal plug-outer-circumferential surface (12), and a ring-shaped displacement body (13) that is flexed to an ellipsoidal shape by the plug (11). The ring-shaped displacement body (13) is provided with a plurality of radially arranged displacing sections (15). The plug-contacting surfaces (16) of the displacing sections (15) are in sliding contact with the plug-outer-circumferential surface (12) and when the plug (11) rotates, the displacing sections (15) are repeatedly displaced in the radial direction. By the displacement of the displacing sections (15), wave motion is generated in an external gear (4). It is possible to achieve a wave generator capable of generating wave motion in the external gear (4) with a small rotational torque.

公开(公告)号：EP3258590A1

公开(公告)日：2017-12-20

申请号：EP15881997.9

申请日：2015-02-13

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: H02N2/00 ,  F16H1/32

Abstract: A wave generator (4) of a strain wave gearing (1) uses a plurality of solid displacement elements (12) to flex a flexible externally toothed gear (3) into a non-circular shape and partially mesh the externally toothed with a rigid internally toothed gear (2). The solid displacement elements (12) are obtained by curving a monomorphic or bimorphic type rectangular plate-shaped element into an arc shape and can be deformed from an arc shape (12A) to a semispherical shape (12B) by energization, the semicircular shape having a smaller radius than the arc radius of the arc shape. A wave generator can be realized, which can bear a large load torque by utilizing changes in rigidity, deformation amount, and deformation force associated with the deformation of the solid displacement elements (12).

Abstract translation: 应变波传动装置（1）的波发生器（4）使用多个固体位移元件（12）来将柔性外齿轮（3）弯曲成非圆形形状，并且部分啮合外齿与刚性内部 齿轮（2）。 固体位移元件（12）通过将单形或双面型矩形板状元件弯曲成弧形并且可以通过激励从弧形（12A）变形为半球形（12B）而获得，该半圆形具有 比弧形的弧半径小的半径。 通过利用刚性，变形量和与固体位移元件（12）的变形相关联的变形力的变化，可以实现能够承受大负载扭矩的波浪发生器。

公开(公告)号：EP3222878B1

公开(公告)日：2020-05-27

申请号：EP14906198.8

申请日：2014-11-21

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H49/00

公开(公告)号：EP3249261A1

公开(公告)日：2017-11-29

申请号：EP14906858.7

申请日：2014-11-28

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru

IPC: F16H1/32 ,  C10M103/00 ,  C10M103/02 ,  C10M103/06 ,  C10N30/06 ,  C10N40/04

CPC classification number: F16H49/001 ,  C10M103/00 ,  C10M103/02 ,  C10M103/06 ,  C10M171/06 ,  C10M2201/041 ,  C10M2201/0413 ,  C10M2201/061 ,  C10M2201/0613 ,  C10M2201/065 ,  C10M2201/0653 ,  C10M2201/066 ,  C10M2201/0663 ,  C10N2220/082 ,  C10N2230/06 ,  C10N2240/04 ,  C10N2250/08 ,  F16H1/32 ,  F16H57/04 ,  F16H57/0409 ,  F16H57/041 ,  F16H2049/003 ,  F16J15/50

Abstract: A strain wave gearing (1) has contact parts (B, C) which are the portions to be lubricated other than the teeth of an externally toothed gear (3) and an internally toothed gear (2), the contact parts being respectively lubricated with an inorganic lubricating powder having a lamellar crystal structure. The lubricating powder, during the operation of the strain wave gearing (1), is crushed between the contact surfaces of each of the contact parts (B, C) to move and adhere to the contact surfaces, thereby forming thin surface films thereon. Additionally, the powder is thinly spread by pressure and reduced into finer particles to change into a shape which facilitates intrusion into the space between the contact surfaces. By both the fine particles having changed in shape and the surface films, the lubrication of the contact parts is maintained. Neither the fine particles nor the surface films are viscous. Compared to the case where a grease or an oil is used as a lubricant, the efficiency in the low-load region and the high-speed region can be greatly improved.

Abstract translation: 应变波传动装置（1）具有除外齿轮（3）和内齿轮（2）的齿之外的待润滑部分的接触部分（B，C），接触部分分别被润滑 具有层状晶体结构的无机润滑粉末。 在应变波齿轮传动装置（1）工作期间，润滑粉在每个接触部分（B，C）的接触表面之间被压碎以移动并附着到接触表面，由此在其上形成薄的表面膜。 此外，粉末通过压力稀薄地分散并且变成更细的颗粒以变成有助于侵入接触表面之间的空间的形状。 通过改变形状的微粒和表面膜两者，保持接触部分的润滑。 细颗粒和表面薄膜都不粘稠。 与使用润滑脂或油作为润滑剂的情况相比，能够大幅度提高低负载区域和高速区域的效率。

公开(公告)号：EP3244095A1

公开(公告)日：2017-11-15

申请号：EP15876855.6

申请日：2015-01-08

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI Masaru ,  HOSHINA Tatsuro

IPC: F16H1/32 ,  F16C19/26 ,  F16C33/46 ,  F16C35/073

CPC classification number: F16H49/001 ,  F16C19/225 ,  F16C19/26 ,  F16C19/305 ,  F16C33/4605 ,  F16C33/467

Abstract: A strain wave gearing (1) has a wave generator (5) provided with a plug (11) and a roller bearing (13). The roller bearing (13) is provided with flange plates (19) fixed to both sides of the plug (11), and outer circumferential edge portions (19a) of the flange plates protrude outwardly from a plug outer circumferential surface (12) so as to locate on both sides, in an axial line direction (1a), of the raceway (16) of rollers (17). The movements of the rollers (17) in the axial line direction (1a) are constrained by the outer circumferential edge portions (19a). The movement of retainer (18) in the axial line direction (1a) is constrained by engaging with the rollers (17). The movement of each component part of the roller bearing (13) in the axial line direction can be constrained without using additional components.

Abstract translation: 应变波传动装置（1）具有设置有塞（11）和滚动轴承（13）的波发生器（5）。 在滚子轴承13上设有固定在塞子11的两侧的凸缘板19，凸缘板的外周缘部19a从塞子外周面12向外侧突出， 以在辊（17）的滚道（16）的轴线方向（1a）上定位在两侧。 辊（17）在轴线方向（1a）上的运动受到外圆周边缘部分（19a）的约束。 保持器18沿轴线方向1a的运动通过与辊17接合而被约束。 滚动轴承（13）的每个部件在轴线方向上的运动可以被约束而不使用附加的部件。