公开(公告)号：EP3690281A1

公开(公告)日：2020-08-05

申请号：EP18934159.7

申请日：2018-09-20

Applicant: Harmonic Drive Systems Inc.

Inventor： KIYOSAWA, Yoshihide ,  SHIROKOSHI, Norio

IPC: F16H1/32

Abstract: In a unit-type strain wave gearing (1), a rotating-side member (B), which is constituted by a second internally toothed gear (4) and an output shaft (5), is supported, via a first sliding bearing (8) and a second sliding bearing (9), on a fixed-side member (A) so as to be capable of relative rotation, the fixed-side member being constituted by a unit housing (2) and a first internally toothed gear (3). Sliding bearing surfaces (8b, 8c) of the first sliding bearing (8) and sliding bearing surfaces (9b, 9c) of the second sliding bearing (9) are defined by a conic surface having a central axis line (1a) as a center line. It is possible to realize a unit-type strain wave gearing which is advantageous in making smaller and more compact than when a roller bearing is used. It is also easier to adjust the gap between the sliding bearing surfaces because a radial sliding bearing having no function to adjust the radial gap is obviated.

公开(公告)号：EP3845775A1

公开(公告)日：2021-07-07

申请号：EP18932022.9

申请日：2018-08-30

Applicant: Harmonic Drive Systems Inc.

Inventor： KOBAYASHI, Syuhei ,  ORII, Daisuke ,  SHIROKOSHI, Norio ,  YAMAZAKI, Hiroshi

IPC: F16H1/32 ,  F16C35/073

Abstract: In a wave generator (4) for a strain wave gearing (1), a plug outer peripheral surface (43) of a rigid wave plug (42) has a non-circular profile and is fixed to an inner-race inner peripheral surface (45) of a wave bearing (44) by press-fitting and using an adhesive. The plug outer peripheral surface (43) is a groove formation surface in which microgrooves (46) are formed as adhesive-retaining grooves that can retain the adhesive. When the wave plug (42) is press-fitted into the wave bearing (44), the amount of adhesive that is scraped out from therebetween is reduced and the bonding strength therebetween can be increased while also preventing unevenness of the bonding strength.

公开(公告)号：EP3712464A1

公开(公告)日：2020-09-23

申请号：EP18939287.1

申请日：2018-11-09

Applicant: Harmonic Drive Systems Inc.

Inventor： SHIROKOSHI, Norio

IPC: F16H1/32 ,  F16H57/04

Abstract: When a strain wave gearing (1) is used in an application for an operation of repeating startup/stopping, an outer-side lubrication portion (11) and an inner-side lubrication portion (12), which are lubricated using different types of grease, remain in a communicating state without being divided using a seal member or the like. The outer-side lubrication portion (11) is supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Similarly, the inner-side lubrication portion (12) is also supplied with a much smaller amount of grease than the amount that would be required if used in an application such as a steady operation. Essentially, the outer-side lubrication portion (11) and the inner-side lubrication portion (12) can be lubricated appropriately using different types of grease, without the grease becoming mixed.

公开(公告)号：EP3567278A1

公开(公告)日：2019-11-13

申请号：EP17934021.1

申请日：2017-12-08

Applicant: Harmonic Drive Systems Inc.

Inventor： SHIROKOSHI, Norio

IPC: F16H1/32

Abstract: A strain wave gearing (1) has a rigid internally toothed gear (2), a flexible externally toothed gear (3), and a wave generator (4). Before being flexed by the wave generator (4), the externally toothed gear (3) has a cylindrical body part (11), an inside diameter of which is such that the inside diameter D is smallest at a rear end (11a) thereof and increases gradually from the rear end to an opening end (11b) thereof. After being flexed by the wave generator (4), D1 ≤ D is satisfied where D1 is the minor diameter of an elliptical inner circumferential surface of the opening end (11b) of the cylindrical body part (11). The externally toothed gear (3), which is provided with such a tapered cylindrical body part (11), is suitable for manufacturing by die molding such as casting, and can also alleviate excessive uneven contact thereof with a wave bearing.

公开(公告)号：EP3306139A1

公开(公告)日：2018-04-11

申请号：EP15894100.5

申请日：2015-05-29

Applicant: Harmonic Drive Systems Inc.

Inventor： SHIROKOSHI, Norio ,  ONO, Yasushi

IPC: F16H57/033 ,  F16H1/32

CPC classification number: F16H1/28 ,  F16H1/32 ,  F16H57/033

Abstract: In a planetary gear device series composed of eight kinds of planetary gear devices with gear reduction ratios of 3 to 10, the planetary gear device of each gear reduction ratio uses an internal gear with 108 teeth or a slightly different number of teeth, and the module is common among the planetary gear devices of all gear reduction ratios. The combinations of the sun gear teeth number Za and the internal gear teeth number Zc in the planetary gear device of each reduction ratio are given in the table below. It is possible to reduce the kinds of gear cutting tools and to achieve common parts utilization of the internal gear, planet gears, and planet carrier among some of the planetary gear devices of differing gear reduction ratios.

Abstract translation: 在由8种齿轮减速比为3〜10的行星齿轮装置构成的行星齿轮装置系列中，各齿轮减速比的行星齿轮装置使用齿数为108齿或齿数稍微不同的内齿轮， 在所有齿轮减速比的行星齿轮装置中是常见的。 下表中给出了各减速比的行星齿轮装置中太阳轮齿数Za和内齿轮齿数Zc的组合。 在一些具有不同齿轮减速比的行星齿轮装置中，可以减少齿轮切削工具的种类并实现内齿轮，行星齿轮和行星齿轮架的通用部件利用。

公开(公告)号：EP3885608A1

公开(公告)日：2021-09-29

申请号：EP18940743.0

申请日：2018-11-22

Applicant: Harmonic Drive Systems Inc.

Inventor： ORII, Daisuke ,  KOBAYASHI, Syuhei ,  SHIROKOSHI, Norio ,  YAMAZAKI, Hiroshi

IPC: F16H1/32

Abstract: In a strain wave gearing device (1), fine first and second lubricant-holding grooves (5, 6) for holding lubricant are formed at 5fine pitches in an outer-race external peripheral surface (49) of a wave generator bearing (45) and an outer-race-contacting internal peripheral surface portion (37) of an externally toothed gear (3) in contact therewith. Fine lubricant-guiding grooves (7) for guiding the lubricant to the outer-race-contacting internal peripheral surface 10portion (37) are formed at fine pitches in a second internal peripheral surface portion (38), which adjoins the outer-race-contacting internal peripheral surface portion (37), of an internal peripheral surface (36) of the externally toothed gear (3). This configuration improves the contact state between the outer-race-contacting internal peripheral 15surface portion (37) of the externally toothed gear (3) and the outer-race external peripheral surface (49), thus suppressing fretting wear occurring in these surfaces.

公开(公告)号：EP3885607A1

公开(公告)日：2021-09-29

申请号：EP18940487.4

申请日：2018-11-22

Applicant: Harmonic Drive Systems Inc.

Inventor： ORII, Daisuke ,  KOBAYASHI, Syuhei ,  SHIROKOSHI, Norio ,  YAMAZAKI, Hiroshi

IPC: F16H1/32

Abstract: An outer-ring lubrication groove pattern (6) formed in an outer-race raceway surface (47a) and an inner-race lubrication groove pattern 5(5) formed in an inner-race raceway surface (46a) of a wave generator bearing (45) of a strain wave gearing device (1) are patterns in which linear lubrication grooves (53, 54, 60) having very small widths and depths of several micrometers or less are arranged at fine pitches of several micrometers or less. The inner-race lubrication groove pattern 10(5) includes a second groove pattern (52) formed in long-axis-side inner-race raceway surface portions (46B1, 46B2) to hold the lubricant, and a first groove pattern (51) formed in short-axis-side inner-race raceway surface portions (46A1, 46A2) to hold the lubricant and guide the lubricant to the second groove pattern (52). This configuration 15 improves the contact state between balls (48) and the inner-race and outer-race raceway surfaces (46a, 47a) of the wave generator bearing (45), thus reducing the coefficient of friction therebetween.

公开(公告)号：EP3913254A1

公开(公告)日：2021-11-24

申请号：EP20900699.8

申请日：2020-01-08

Applicant: Harmonic Drive Systems Inc.

Inventor： SHIROKOSHI, Norio

IPC: F16H1/32

Abstract: An externally toothed gear (3) of a cup-type strain wave gearing (1) has external teeth (34), the tooth profile of which gradually changes in the tooth-trace direction. The external teeth (34) are formed with an external teeth portion (34a) capable of meshing with internal teeth (24) of an internally toothed gear (2), a first external teeth extension portion (34b) and a second external teeth extension portion (34c), in which the first and second external teeth extension portions do not mesh with the internal teeth (24). The second external teeth extension portion (34c) has a narrowing tapered tooth profile so that the second external teeth extension portion (34c) serves as a guide when the external teeth (34) is inserted into the internal teeth (24). The work of assembling the externally toothed gear (3) in the internally toothed gear (2) is made easier.

公开(公告)号：EP3795858A1

公开(公告)日：2021-03-24

申请号：EP18918976.4

申请日：2018-05-14

Applicant: Harmonic Drive Systems Inc.

Inventor： SHIROKOSHI, Norio ,  KODAIRA, Takeo ,  YAMAZAKI, Hiroshi

IPC: F16H1/32 ,  F16H55/08

Abstract: The tooth profile contours of a rigid internally toothed gear (2) and a flexible externally toothed gear (3) in this strain wave gearing (1) are stipulated by: meshing portions (26, 36) which each mesh with the opposing gear; tooth-crest-side convex surface portions (27, 37) which, respectively, are smoothly connected to the addendum-side ends of the meshing portions (26, 36) and extend from said ends to the apices of the tooth crests; and tooth-bottom-side concave surface portions (28, 38) which, respectively, are smoothly connected to the dedendum-side ends of the meshing portions and extend from said ends to the deepest parts of the tooth bottoms. The meshing portions and tooth-crest-side convex surface portions are machined portions that are simultaneously machined by topping gear cutting, and there are no edges on the teeth of either gear on the tooth-crest side. When both teeth (24, 34) begin to mesh, or the like, it is possible to form a smooth mesh and to restrict wear caused by tooth interference.

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.