Harmonic Patent Applications

HOLLOW STRAIN WAVE GEARING AND HOLLOW ACTUATOR

Granted: February 23, 2017
Application Number: 20170051817
A cup-type hollow strain wave gearing of a hollow actuator has a seal part assembled inside a cup-shaped externally toothed gear. The seal part seals between a boss of the externally toothed gear and a plug of the wave generator so as to prevent lubricant from leaking from the side of the externally toothed gear into a hollow part. Since the seal part employs an oil seal and an O-ring, it is able to be constituted inexpensively and to surely prevent leakage of low-viscosity lubricant.

WAVE GENERATOR AND STRAIN WAVE GEAR DEVICE

Granted: January 19, 2017
Application Number: 20170016523
The wave generator of the strain wave gear device comprises: a rigid plug; a roller bearing fitted on the elliptical outer circumferential surface thereof; and first and second cylindrical springs, which press loose rollers that have some play in the radial direction between the outer race and the inner race of the roller bearing against the outer raceway surface. The loose rollers are pressed against the outer raceway surface with a linear contact and roll according to the outer raceway…

FLAT STRAIN WAVE GEARING

Granted: January 12, 2017
Application Number: 20170009868
A flat strain wave gearing (1) has a mechanism for preventing a flexible externally toothed gear (4) from moving in the direction of the device center axis (1a) with respect to a rigid internally toothed gears (2, 3). The mechanism has an inner-peripheral groove (11) formed on inner teeth (3a) of the internally toothed gear (3), an outer-peripheral groove (12) formed on outer teeth (4a) of the externally toothed gear (4), and a flexible ring (13) mounted between the inner-peripheral…

STRAIN WAVE GEARING

Granted: January 5, 2017
Application Number: 20170002914
In a strain wave gearing, external teeth of a flexible externally toothed gear are elastically deformable in a direction in which the tooth thickness of the external teeth decreases. Engagement between internal teeth of a first and a second rigid internally toothed gears and the external teeth is set in an overlapping state in which the external teeth elastically deform and engage in a state in which no gap is present. The tooth profile of the internal teeth is a corrected tooth profile…

PASSING-TYPE-MESHING NEGATIVE-DEFLECTION STRAIN WAVE GEARING

Granted: December 8, 2016
Application Number: 20160356373
A strain wave gearing is a negative deflection strain wave gearing. The tooth profile shape for the internally toothed gear is defined by using a convex, basic tooth profile curve, which is a curve portion from an inflection point (A) to a bottom-part point (B) of a moving locus (Mc) of an externally toothed gear with regard to an internally toothed gear obtained by a rack meshing approximation. The tooth profile shape for the externally toothed gear at a principal cross section is…

PLANETARY GEAR REDUCER

Granted: November 3, 2016
Application Number: 20160319927
A planetary gear reducer has a planetary carrier supported by an input-side main bearing and an output-side main bearing. An angular contact ball bearing or a deep groove ball bearing which requires less installation space and is inexpensive is used for the input-side main bearing. A tapered roller bearing having a large capacity is used for the output-side main bearing. A compact, flat and inexpensive planetary gear reducer can be realized in comparison with a case in which the both…

STRAIN WAVE GEARING, FRICTIONAL ENGAGEMENT WAVE DEVICE, AND WAVE GENERATOR

Granted: October 13, 2016
Application Number: 20160298746
An externally toothed gear of a strain wave gearing is made to flex into a shape conforming to an ellipsoidal curve. The externally toothed gear meshes with an internally toothed gear at the major-diameter position of the ellipsoidal curve. These two meshing positions gradually change in the circumferential direction of the both gears along the tooth trace direction. The number of external teeth of the externally toothed gear participating in meshing with the internally toothed gear can…

FASTENING STRUCTURE FOR FASTENING DRIVEN MEMBER TO STRAIN WAVE GEARING DEVICE UNIT, AND STRAIN WAVE GEARING DEVICE UNIT

Granted: July 14, 2016
Application Number: 20160201783
A press plate is tacked to a boss of a cup-shaped flexible externally toothed gear of a wave gear device unit. A second arm as a driven member is attached by a fastening bolt to an end surface on an outer side of an output flange of the wave gear device unit. The fastening bolt is screwed into and secured in a tap hole of the press plate from each bolt insertion hole of the second arm, via a flange-side bolt insertion hole and a boss-side bolt insertion hole. A fastening structure can be…

STRAIN WAVE GEARING DEVICE

Granted: June 23, 2016
Application Number: 20160178044
The externally toothed gear of the strain wave gear device is provided with first external teeth, which are capable of meshing with first internal teeth on the stationary side, and second external teeth, which are capable of meshing with second internal teeth on the driving side. The numbers of the first and second external teeth differ. The number of the first internal teeth is greater than the number of the first external teeth. The number of the second internal teeth is less than the…

ROTARY ACTUATOR AND STRAIN WAVE GEARING REDUCTION DRIVE UNIT

Granted: June 23, 2016
Application Number: 20160178045
A reduction drive-side mounting end face on a strain wave gearing reduction drive unit has a circular center hole, and a motor-side mounting end face on a motor has a circular projection. The strain wave gearing reduction drive unit and motor are coaxially mounted by the circular projection being fit into the circular center hole with a regulating ring therebetween. The regulating ring, which regulates the motion of a flexible external gear, can be easily mounted to the strain wave…

STRAIN WAVE GEARING

Granted: June 9, 2016
Application Number: 20160160985
A flat strain wave gearing device equipped with: a first internal gear and a second internal gear; a flexible tubular external gear; and an elliptically shaped wave generator. In the direction of a central axis, the center of support of the external teeth by the wave generator is offset, by an offset amount of ? along the direction of the central axis, with respect to the tooth-width center of the external teeth of the external gear. By setting the offset direction and the offset amount…

STRAIN WAVE GEARING

Granted: April 21, 2016
Application Number: 20160109014
A hollow-type strain wave gearing unit has a cup-shaped flexible externally-toothed gear, in which one shaft end portion of a hollow rotation shaft of a wave generator is located. The shaft end portion is supported by a bearing mounted on a bearing holder fixed to a boss of the flexible externally-toothed gear. The bearing holder has a retainer holding portion to prevent a retainer of a wave generator bearing from coming off in the axis line direction. There is no need to dispose a…

BEARING HOLDER, BEARING MECHANISM, AND STRAIN WAVE GEARING DEVICE

Granted: March 24, 2016
Application Number: 20160084367
In this hollow strain wave gearing unit, a shaft end part of a hollow rotary shaft of a wave generator is located inside a cup-shaped flexible external gear. The shaft end part is supported by a bearing attached to a bearing holder that is fixed to a boss of the flexible external gear. In the bearing holder, an elastic leaf spring part that is displaceable in the axial direction constitutes a part that supports a holder body part that holds the bearing. A preload is applied by the leaf…

WAVE GENERATOR OF STRAIN WAVE GEARING

Granted: February 18, 2016
Application Number: 20160047451
A wave generator of a strain wave gearing has a rigid plug and a needle roller bearing mounted on the plug external peripheral surface. The plug external peripheral surface has a retainer engaging part for engaging with a retainer that would move in an axis line direction and for restricting the movement thereof along the axis line direction. The retainer has an outer ring engaging part for engaging with an outer ring that would move in the axis line direction and for restricting the…

STRAIN WAVE GEARING HAVING DOUBLE-CONTACT NEGATIVE DEFLECTION TOOTH PROFILE

Granted: January 7, 2016
Application Number: 20160003338
The addendum tooth profile of the inner teeth and outer teeth of a strain wave gearing is stipulated by a first and second similar curve obtained from the curve segment from an inflection point to a low point in a movement trajectory when the meshing of both teeth is approximated by rack meshing. The addendum tooth profile of the inner teeth is stipulated by a curve generated at the inner teeth in the process of the addendum profile of the outer teeth moving from the inflection point to…

STRAIN WAVE GEARING

Granted: November 5, 2015
Application Number: 20150316134
First and second external tooth gear parts of a strain wave gearing are bent in an elliptic shape by a wave generator to engage with first and second internal tooth gears, respectively. The first and second external tooth gear parts are bent so as to have elliptic shapes the phases of which are rotated 90 degrees from each other about a rotational center line. A coupling external tooth gear part that maintains a circular cross-sectional shape which does not deform is formed in between…

WAVE GENERATOR AND STRAIN WAVE GEARING

Granted: October 8, 2015
Application Number: 20150285356
A wave generator of a strain wave gearing has a plug, a wave generator bearing mounted to an outer peripheral surface of the plug, an input shaft protruding from the center of the plug to a first side running along a center axis, and a bearing arrangement on which a support bearing supporting the input shaft is arranged. Relative to an outer ring end surface of the wave generator bearing that faces the first side, a center-side plug end surface of a plug end surface facing the same…

STRAIN WAVE GEARING UNIT

Granted: October 8, 2015
Application Number: 20150285357
A strain wave gearing unit is provided with an internal gear, which surrounds the periphery of a cup-shaped external gear, and a bearing. An annular gap is formed between the inner ring of the bearing and the internal gear. The gap communicates with the sliding portions of the bearing and the section where the two gears mesh. An annular filter member made of non-woven fabric is fitted in the gap. Foreign matter such as abrasion powder, which is contained in lubricant that flows in the…

FLEXIBLE EXTERNALLY TOOTHED GEAR FOR STRAIN WAVE GEARING AND METHOD FOR MANUFACTURING SAME

Granted: August 27, 2015
Application Number: 20150240930
A method for manufacturing a flexible externally toothed gear includes: a first step (ST1) for producing a primary molded article by performing near-net-shape plastic working on a material comprising a nickel-free low-alloy steel having a silicon content of 1.45-1.5 wt %; a second step (ST2) for martempering the primary molded article; a third step (ST3) for producing a secondary molded article from the primary molded article; and a fourth step (ST4) for shot-peening the secondary molded…

HOLLOW STRAIN WAVE GEARING

Granted: August 13, 2015
Application Number: 20150226302
A first shaft end of a hollow shaft of a hollow strain wave gearing is supported by a first support bearing with a collar interposed therebetween which is mounted to the outer-circumferential surface of the first shaft end. A second shaft end on the other end of the hollow shaft is supported by a second support bearing. A wave plug of a wave generator is integrally formed with the hollow shaft, and a wave bearing is mounted on the elliptical outer-circumferential surface thereof from the…