A strain wave gearing has a detection mechanism that detects thrust force generated between a wave generator and an externally toothed gear. The detection mechanism is provided with a strain gauge or piezoelectric load meter, and a transmission mechanism that transmits thrust force from the wave generator to the load meter. Only rotational force is transmitted to the wave generator from a from a motor shaft side, and axial force is not transmitted. The load meter and the transmission mechanism provide a small and compact detection mechanism that can be incorporated inside the externally toothed gear. In the strain wave gearing into which the detection mechanism is incorporated, operation control according to detected thrust force becomes possible using thrust force information during operation.
F16H 19/08 - Transmissions comportant essentiellement et uniquement des engrenages ou des organes de friction et qui ne peuvent transmettre un mouvement rotatif indéfini pour convertir un mouvement rotatif en mouvement oscillant et vice versa
In each of tooth tip surfaces of internal teeth of an internally toothed gear and external teeth of an externally toothed gear of a strain wave gearing, lubricant passage grooves are formed at fixed intervals along the tooth trace direction. Each of the lubricant passage grooves is an inclined groove that extends in a direction inclined to one side in the tooth trace direction. The inclined grooves facilitate the flow of the lubricant such as grease confined in gaps between the internal teeth and the external teeth and thus the lubricant is efficiently supplied to the tooth surfaces of both teeth.
A shaft member, in which electrical wiring and connectors are integrally formed, is disposed on a hollow portion for electrical wiring that extends through the center of a wave gear device. The connectors attached to first and second shaft ends on both sides of the shaft member are each exposed to outside from both ends of the hollow portion. During wiring work, external wiring or the like need merely be attached to respective terminals of the connectors exposed to outside. It is possible to reduce the risk of disconnection caused by sliding or twisting of the electrical wiring, without the electrical wiring contacting a hollow input shaft forming the hollow portion, an end of a second end plate, etc. Constraints on the number of wires and wire diameter are also alleviated, and wiring work also becomes simple.
A bearing for a strain wave gearing includes an annular plate portion; a plurality of partition plate portions that is arranged on the annular plate portion at predetermined intervals in a circumferential direction, that protrudes from the annular plate portion in the axial direction, and that includes side surface portions to form gap portions as the first pockets and the second pockets, the gap portion being formed between the side surface portions facing each other in a pair of the plurality of partition plate portions circumferentially adjacent to each other; protruding surface portions that protrude into the gap portions as the second pockets from the side surface portions at tip end portions of the pair of the plurality of plate portions in the axial direction; and the plurality of balls that is held in the gap portions, as the first pockets and the second pockets.
A strain gauge-type torque detection unit (20) of a strain wave gear (1) is provided with a first torque detection unit (20A) and a second torque detection unit (20B) that output two independent series of detection signals. The first and second torque detection units (20A, 20B) are each provided with a plurality of sets of strain gauges (11) affixed to a diaphragm (3c) of an external gear (3) at a prescribed angular interval around the center axis. A composite signal (23C) is generated by combining, after gain adjustment is performed, a first detection signal (22A) from the first torque detection unit (20A) and a second detection signal (22B) from the second torque detection unit (20B). Transmission torque can be calculated on the basis of the first detection signal (23A), the second detection signal (23B), and the composite signal (23C). From a torque detection device (10), three series of outputs resulting from adding a high-accuracy output (24C) to two independent series of detection outputs (24A, 24B) are acquired.
A strain wave gearing includes a wave generator that creates a state in which a flexible externally toothed gear is flexed into a non-circular shape and partially meshes with a rigid internally toothed gear, and that includes a wave plug having a non-circular outer peripheral surface and a wave bearing attached to the non-circular outer peripheral surface of the wave plug. The wave bearing includes an outer ring having an inner peripheral surface and an outer-ring-side raceway surface formed on the inner peripheral surface, an inner ring having an outer peripheral surface and an inner-ring-side raceway surface formed on the outer peripheral surface, and a plurality of rolling elements rotatably inserted between the outer-ring-side raceway surface and the inner-ring-side raceway surface,
In a strain wave gearing, a thrust force applied on an externally toothed gear during an increased-speed operation causes the externally toothed gear to move along an axis in a first direction, and the output-side end surface thereof is pressed, by a prescribed force, against a friction surface of a friction plate integrated with a rotating shaft part of a strain wave generator. Torque transmission efficiency can be reduced only during increased-speed operation, by means of a friction loss occurring between the externally toothed gear and the friction plate. When large load torque is applied from an output shaft which is an output-side member during reduced-speed operation, retention torque of the strain wave generator which is an input-side member during speed-reduction operation can be reduced.
Provided is strain wave gearing (1), in which on a tightening surface between a boss (33) on an external spline gear (3) and a first end plate (8), formed are tapered tightening surfaces (331, 81), inclined with respect to an orthogonal plane that is orthogonal to a center axis (1a). Additionally, on a tightening surface between an internal spline gear (2) and a second end plate (10), tapered tightening surfaces (21, 101) are formed. Due to engagement of the tapered tightening surfaces (331, 81) and engagement of the tapered tightening surfaces (21, 101), a firm tightening state can be formed, and radially-directed displacement of the first and second end plates (8, 10) that arises due to radially-directed load can be reduced. Decentering between a wave generator (4) and support bearings (7, 9) originating in the radially-directed displacement can be prevented or controlled, and the acting of unnecessary radial force on the wave generator (4) can be averted.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16B 5/02 - Jonction de feuilles ou de plaques soit entre elles soit à des bandes ou barres parallèles à elles par organes de fixation utilisant un filetage
The strain wave gear device (4) is provided with a device housing (41), an internally toothed gear (42), and an annular gap part (47) which is formed between an externally toothed gear (43) and a main bearing (46) and surrounds a cylindrical portion (43a) of the externally toothed gear (43). In order to fill the gap part (47), a gap filling ring (48) made of a lightweight resin material is attached to the gap part (47). By appropriately setting the contour shape of the gap filling ring (48) and forming the gap filling ring (48) using a material having a small unit volume weight, the gap part (47) formed on the outer peripheral side of the externally toothed gear (43) is filled without causing unnecessary increase in mass such that unwanted stagnation of a lubricant can be prevented.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
Reduction gears being parts of machines; reduction gears other than for land vehicles; gear boxes other than for land vehicles; machine elements not for land vehicles, namely, power transfers and gearing for machines not for land vehicles; AC motors and DC motors, not for land vehicles Precision measuring machines and instruments, namely, interferometers, angle gauges and surface roughness testing machines and instruments; power controllers; computer software and hardware for controlling or operating reduction gears and electric motors; computers Reduction gears, being machine elements for land vehicles; reduction gears for land vehicles; gear boxes for land vehicles; machine elements for land vehicles, namely, power transmissions and gearings for land vehicles; AC motors or DC motors for land vehicles not including their parts
12.
MOLD AND METHOD FOR MOLDING FLEXIBLE EXTERNAL GEAR
A molding die (100) used for molding a flexible external gear (3) of a wave gear device (1) is provided with an outer die (110) and a center die (120) that defines the inner peripheral surface shape of the flexible external gear (3). The center die (120) is provided with a die dividing part (122) composed of a plurality of divided dies (121) divided in the circumferential direction. Each divided die (121) can be retracted by a divided die movement mechanism (140) from a molding position (121A) to a retraction position (121B) that is radially inward from the molding position. When the die is opened after molding, the die dividing part (122) as a whole is slightly contracted by retracting each divided die (121) to the radially inward retraction position (121B). The center die (120) can be extracted from the outer die (110) without applying excessive force.
B29D 15/00 - Fabrication de roues d'engrenages ou d'objets similaires comportant des creux ou des saillies, p. ex. boutons de réglage
B29C 33/42 - Moules ou noyauxLeurs détails ou accessoires caractérisés par la forme de la surface de moulage, p. ex. par des nervures ou des rainures
B29C 33/48 - Moules ou noyauxLeurs détails ou accessoires comportant des moyens ou conçus spécialement pour faciliter le démoulage d'objets, p. ex. des objets à contre-dépouille avec des moyens rétractables ou démontables
A strain wave gearing (1) comprises a first flange (8) and a second flange (10) which support an input shaft (6) via a first support bearing (7) and a second support bearing (9), respectively. An external gear (3) is fastened and fixed to the first flange (8) by a first fastening bolt (11), and an internal gear (2) is fastened and fixed to the second flange (10) by a second fastening bolt (12). The radial fastening strength between the external gear (3) and the first flange (8) by the first fastening bolt (11) is set equal to or greater than the fastening strength between the internal gear (2) and the second flange (10) by the second fastening bolt (12). Misalignment between a wave generator (4) and the first and second support bearings (7, 9) caused by radial deformation generated in the first and second flanges (8, 10) due to radial loads acting from the load side can be suppressed and excessive radial forces acting on the wave generator can be avoided.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
In a strain wave gearing (1), a first gap portion (11) is in communication with one side, of an engagement section (A) for an internal gear (2) and an external gear (3), in the face width direction thereof, and a second gap portion (12) is in communication with the other side. A first magnet (13) is disposed in the first gap portion (11). A second magnet (14) is disposed in the second gap portion (12). The first and second magnets (13, 14) magnetically attract and thereby capture iron-based abrasion powder that flows out after being generated from the engagement section (A) and mixed in with a lubricant. Due the simple mechanism of the first and second magnets (13, 14) being disposed in the first and second gap portions (11, 12), the iron-based abrasion powder can be prevented from entering other portions after being mixed in with the lubricant.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
In the interior of a device housing of a strain wave gearing, a detection mechanism is incorporated at a site on the outer peripheral side of a hub of a wave generator. The hub of the wave generator is linked to a motor shaft so that axial force does not act thereon. The detection mechanism detects minute displacements in the axial direction that occur in the hub of the wave generator due to thrust acting on the wave generator. Thrust acting on the wave generator is obtained on the basis of the detected minute displacements. With this strain wave gearing in which the detection mechanism is incorporated, operation control that is responsive to sensed thrust is possible through the use of thrust information during operation.
F16H 57/02 - Boîtes de vitessesMontage de la transmission à l'intérieur
G01L 5/12 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de la poussée axiale d'un arbre tournant, p. ex. matériel de propulsion
A strain wave gearing (1) comprises: an input shaft (6) connected directly to a cam plate (41) of a wave generator (4); and first and second support bearings (7, 9) for supporting the input shaft. The first and second support bearings (7, 9) are respectively mounted to first and second bearing mounting parts (11, 13) in a state of being fit with a clearance. In order to remove backlash of the first and second support bearings (7, 9), outer rings for the first and second support bearings (7, 9) are pushed radially inside by first and second elastic rings (12, 14), respectively. Center misalignment, between the wave generator (4) and the first and second support bearings (7, 9), caused by a load applied from a load side to a second end plate (10) which is an output-side member is absorbed by the elastic deformation of the first and second elastic rings (12, 14), and unnecessary radial force is prevented from being applied to the wave generator (4).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16C 27/06 - Paliers ou supports de paliers élastiques ou extensibles pour mouvement de rotation exclusivement par le moyen de parties en caoutchouc ou en un matériau analogue
A rotation actuator (1) comprising a hollow motor (2), a strain wave gearing device (4), and an output member (6), wherein an actuator hollow portion (70) is defined by a sleeve (7) extending completely through the rotation actuator (1) in the axial direction, an output-side detector (9) is disposed on the front side of the strain wave gearing device (4), and an input-side detector (8) is disposed on a motor back side. The sleeve (7) has a back end portion (71) fixed on a motor housing (21) side, the motor housing (21) being a fixed-side member, and has a front end portion (72) extending into the center hole of the output member (6). The outer peripheral surface of the front end portion (72) of the sleeve positioned near the rotation center of the output member (6) is set as a mounting portion of a fixed-side detection component of the output-side detector (9), thereby making it possible to reduce deterioration in detection accuracy due to, for example, falling of the output member (6).
A strain wave gearing is provided with: a rigid internally toothed gear; a flexible externally toothed gear that is arranged coaxially on the inside of the internally toothed gear; and a wave generator that is arranged coaxially on the inside of the externally toothed gear, and, on the inside of the externally toothed gear, in addition to the wave generator, a brake mechanism that constrains or prevents the rotation of the wave generator is installed. Since the empty space on the inside of the external gear is used as a space for installing the brake mechanism, the strain wave gearing with a brake can be realized without increasing the axial length thereof. Accordingly, by using the strain wave gearing, an axially short, flat actuator with a brake can be realized.
F16D 55/02 - Freins à surfaces de freinage substantiellement radiales pressées l'une contre l'autre dans une direction axiale, p. ex. freins à disques avec disques ou patins déplaçables selon l'axe pressés contre des organes en rotation situés dans l'axe
F16D 57/00 - Freins à résistance liquideFreins à résistance à l'air
F16D 65/00 - Éléments constitutifs ou détails des freins
A strain wave gear device (1) has a unitized structure comprising: a main bearing (5) that supports an internal gear (2) and an external gear (3) in such a way that said gears are rotatable relative to each other; and an output flange (6) connected to the external gear (3). The external gear (3) has a wine glass-like shape, and has a large hollow diameter which is required when the external gear (3) is incorporated into a robot joint unit or the like. A strain gauge (101) of a torque sensor (100) is attached to an outwardly-facing end surface portion of the output flange (6) connected to the external gear (3). The torque sensor (100) can accurately detect rotational torque without being affected by deflection of the external gear (3), and the strain gauge (101) and the like are not exposed to oil, grease, etc.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
G01L 3/14 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple est autre qu'un arbre élastique en torsion
In a laser welding method for welding a first metal member and a second metal member, a first wobbling process is carried out in which a first laser beam is directed in a first scanning pattern along a butt-joining line and a first welded part is formed. A second wobbling process is subsequently performed in which a second laser beam is directed in a second scanning pattern along the surface of the first welded part formed through the first wobbling process and a second welded part that is wider and shallower than the first welded part is formed overlapping the first welded part. A welded part in which delayed cracking can be prevented or suppressed is thus formed.
Outer teeth (34) of an external gear (3) of a wave-motion gear device (1) each have a tooth shape that gradually changes in the tooth trace direction. Each of the outer teeth (34) is provided with an outer tooth part (341) engageable with an inner tooth (24) of an internal gear (2), and an outer tooth extension part (342) not engageable with the inner tooth (24). The tooth shape of the outer tooth extension part (342) is a tapered tooth shape, and serves as a guide for inserting the outer tooth (34) into the inner tooth (24). As compared to the tooth shape (341c) of the first end (341a) of the outer tooth part (341), the tooth shape (342c) of the outer tooth extension part (342) connected to the first end is slightly smaller. Protrusion of the tooth shape (342c) from the tooth shape (341c) in tooth length and thickness directions resulting from misalignment of a molding die will not be caused. Using the outer tooth extension part (342) as a guide facilitates easy assembling work of inserting the external gear (3) into the internal gear (2).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A wave bearing of a space strain wave gearing device comprises an inner ring formed from a bearing steel, an outer ring formed from a martensitic stainless steel, and balls formed from ceramics. On the inner ring formed from a bearing steel, a ceramic coating formed by an AD method is formed as a rust-preventive coating. In the space strain wave gearing device that adopts solid lubrication (powder lubrication), it is possible to reliably prevent rust from developing on the inner ring formed from a bearing steel of the wave bearing. In a space environment where the temperature greatly changes, appropriate setting of the linear expansion coefficients of the inner ring, the outer ring, and the balls enables a change in the radial gap of the wave bearing to be suppressed to a range that does not interfere with practical use.
A lubrication mechanism of a strain wave gearing is disposed in an interior space of an externally toothed gear and comprises a powder-accommodating bag that stores solid lubricant powder. A diaphragm of the externally toothed gear is repeatedly deflected during the driving of the strain wave gearing. Vibration or deflection is repeatedly imparted to the powder-accommodating bag and the solid lubricant powder is discharged from a powder discharge hole formed in the powder-accommodating bag into the interior space. A site to be lubricated is lubricated with the solid lubricant powder discharged into the interior space. Harmful effects due to a large amount of the solid lubricant powder being supplied to the site to be lubricated at one time can be resolved, and a necessary amount of the solid lubricant powder can be continuously supplied to the site to be lubricated.
In a strain wave gearing, in order to regulate axial-direction movement of an externally toothed gear thereof, first balls are directly interposed between a first annular end surface and a device housing, whereby the first annular end surface and the device housing are in rolling contact with one another. Similarly, second balls, are directly interposed between a second annular end surface and an output shaft, whereby the second annular end surface and the output shaft are in rolling contact with one another. No contact occurs other than rolling contact of 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 is reliably suppressed, and generation of high thrust force is prevented.
A powder supply mechanism, which is provided with a press-molded article obtained by consolidating a solid lubricant powder in advance, is incorporated into an inner-side space of an externally toothed gear of a strain wave gearing. While the strain wave gearing is operating, the press-molded article is worn down by the friction plate, whereby the powder supply mechanism can incrementally supply very small amounts of a solid lubricant abrasion powder from the press-molded article over an extended period. It is possible to suppress any reduction in efficiency caused by loss torque produced due to a large amount of the solid lubricant powder infiltrating gaps in, inter alia, a contact section of a wave generator rotating at high speed. Thus, it is possible to extend the service life of the powder-lubricated strain wave gearing while keeping the efficiency consistently high.
A strain wave gearing is lubricated by a non-hydrophobized powder enclosed in an internal space until the strain wave gearing is fully broken in, and the non-hydrophobized powder is transferred to contact surfaces of contact parts to form a lubricating film. During operation under load, the strain wave gearing is lubricated by a hydrophobized powder enclosed in the internal space instead of the non-hydrophobized powder. Each of the powders used is a powder of an ionic crystalline compound (MoS2, WS2, etc.) having a layered crystal structure. By lubricating the strain wave gearing with the hydrophobized powder during operation under load, any temporary decrease in efficiency at the start of operation is minimized and stable operation of the strain wave gearing can be maintained.
According to a tooth profile designing method for a strain wave gear device, a first curve from a point A (φ=0) to a point B (φ=π/2) in a moving locus of external teeth with respect to internal teeth is extracted. A similarity curve is obtained by multiplying the first curve by (1−λ) using the point B as a center of similarity, and a second curve is obtained by rotating the similarity curve by 180° about a midpoint C between the point A and the point B as a center of similarity. A third curve is obtained by multiplying only the x-coordinate of the second curve by α (α<1), or a fourth curve is obtained by multiplying only the y-coordinate of the second curve by β (β>1). An addendum tooth profile of the external teeth is defined using the third curve or the fourth curve.
A brake for a motor includes a fixed-side engaging plate fixed to a motor shaft; a movable-side engaging plate coaxially opposed to the fixed-side engaging plate along the direction of a center axis; and a self-holding type solenoid that moves, in the direction of the center axis, the movable-side engaging plate to a halt cancelation position separated from the fixed-side engaging plate and a halt position where engagement with the fixed-side engaging plate occurs. When the motor is halted, the solenoid is driven to move the movable-side engaging plate from the halt cancelation position to the halt position. The movable-side engaging plate which has reached the halt position is mechanically engaged with the fixed-side engaging plate, and the motor shaft is forcibly halted.
F16D 63/00 - Freins non prévus ailleursFreins combinant plusieurs des types mentionnés dans les groupes
F16D 65/18 - Mécanismes d'actionnement pour freinsMoyens pour amorcer l'opération de freinage à une position prédéterminée disposés dans, ou sur le frein adaptés pour rapprocher les organes par traction
H02K 49/04 - Embrayages dynamo-électriquesFreins dynamo-électriques du type à induction asynchrone du type à courants de Foucault ou à hystérésis
A strain wave gearing includes an internally toothed gear integrated with an inner ring. A bolt hole is formed in the internally toothed gear. The bolt hole includes a bolt passage hole part, and a screw hole part extending in the direction of an axial line, continuously from the bolt passage hole part. The screw hole part, to which a bolt-fastening force is applied, is formed at a location away in the direction of the axial line from a location adjacent to a radially outer side of an internally toothed gear. Deformation, occurring during fastening of a bolt, at a portion in which the internally toothed gear is formed can be reduced, and adverse effects caused by the deformation such as a decrease in the accuracy of engagement or meshing of the internally toothed gear and an externally toothed gear can be inhibited.
F16C 19/36 - Paliers à contact de roulement pour mouvement de rotation exclusivement avec roulements à rouleaux essentiellement du même gabarit, disposés dans une ou plusieurs rangées circulaires, p. ex. roulements à aiguilles pour charges à la fois axiales et radiales avec une seule rangée de rouleaux
In a strain wave gearing, both of a pulley for transmitting rotation in a direction orthogonal to a rotation central axis and an output shaft are arranged on an axial-direction first side relative to a cup-shaped externally toothed gear. The input shaft, which transmits input rotation from the pulley to the wave generator, functions as a support shaft for both the pulley and the wave generator and is supported at both ends by the first and second bearings. A mechanism for transmitting rotation from the pulley to the wave generator, and a mechanism for supporting the rotation-transmitting mechanism, can be made compact, and support strength can also be ensured.
A strain wave gearing has three components and a temporary-fixing jig, three components being an internally toothed gear, a cup-shaped externally toothed gear, and a wave generator. The temporary-fixing jig is securely fastened to an output shaft fixed to the externally toothed gear by a temporary-fixing bolt and is securely fastened to an input shaft fixed to a cam plate of the wave generator by a temporary-fixing bolt. The temporary-fixing jig engages with the output shaft and the input shaft and maintains the three components in an assembled state. There is no need for an operation for adjusting the positions of the three components in an operation for attaching the strain wave gearing to a motor. After the strain wave gearing has been attached to the motor, the temporary-fixing jig is removed from the strain wave gearing, wherefore less space is required for installation.
A strain wave gear device (1) comprises a hollow input shaft (5). A strain wave generator (4) that makes an external gear (3) flex in the radial direction so as to engage an internal gear (2) comprises a wave bearing (43) that has a ball retainer (47). An input shaft outer circumferential surface portion of the hollow input shaft (5) that is positioned on the inside of the external gear (3) is coated with an oil-repellent coating (14). The surface of the ball retainer (47) is also coated with an oil-repellent coating (15). The oil-repellent coatings (14, 15) lower the grease stirring resistance of the hollow input shaft (5) and the ball retainer (47) and make it possible to reduce loss torque at the strain wave gear device (1).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A sealing mechanism (1) that seals an annular gap (4) between a housing (2) and a rotation shaft (3) comprises a metal sealing (10). A first shaft sliding surface (15), a labyrinth seal forming surface (16), and a second shaft sliding surface (17) are formed on a circular inner peripheral surface (11) of the sealing (10). The first and second shaft sliding surfaces (15, 17) are matte surfaces having a prescribed surface roughness. A labyrinth seal is formed between the labyrinth seal forming surface (16) and a circular outer peripheral surface (3a) of the rotation shaft (3). Making the first and second shaft sliding surfaces (15, 17) matte surfaces makes it possible to reduce the frictional resistance with the rotation shaft (3) and to suppress wear and heat generation in the first and second shaft sliding surfaces (15, 17). Furthermore, a sealing mechanism capable of preventing oil leakage in both axial directions can be obtained.
A motor stator (5) of an axial gap motor (1) is configured such that a printed circuit board (20) that has motor coils (30) of various phases disposed thereupon is stacked on a stator core (10) in the axial direction. The printed circuit board (20) is a stacked body in which phase substrates (21; 21U, 21V, 21W) of various phases are stacked in the axial direction with spacers (26) interposed therebetween. Each phase substrate is a stacked body of two insulating substrates (22(1), 22(2)), an on the respective surfaces of these insulating substrates, a distributed-winding motor coil (30) is formed, the motor coil comprising a coil winding pattern being formed by a copper foil or the like. By comprising distributed-winding coils with a high stacking factor, it is possible to realize a flat axial gap motor having improved insulation and breakdown voltage characteristics.
H02K 3/26 - Enroulements caractérisés par la configuration, la forme ou le genre de construction du conducteur, p. ex. avec des conducteurs en barre constitués par des conducteurs imprimés
A three-dimensional tooth profile of internal teeth in a strain wave gearing is a basic internal-teeth tooth profile at an internal-teeth outer end, and is a reduced tooth profile, in which the basic internal-teeth tooth profile is proportionally reduced only in the lateral direction, at other tooth-trace-direction positions. A three-dimensional tooth profile of external teeth is a basic external-teeth tooth profile at an external-teeth outer end, and is an increased tooth profile, in which the basic external-teeth tooth profile is proportionally increased only in the lateral direction, at other tooth-trace-direction positions. Tooth cutting process becomes easier than when only the external teeth employ a three-dimensional tooth profile. Since the tooth profiles, which are proportionally reduced and increased only in the lateral direction along the tooth trace direction, are employed, it is further easier in tooth cutting process.
A three-dimensional tooth profile of internal teeth in a strain wave gearing is a basic internal-teeth tooth profile at an internal-teeth outer end, and is a reduced tooth profile, in which the basic internal-teeth tooth profile is proportionally reduced only in the lateral direction, at other tooth-trace-direction positions. A three-dimensional tooth profile of external teeth is a basic external-teeth tooth profile at an external-teeth outer end, and is an increased tooth profile, in which the basic external-teeth tooth profile is proportionally increased only in the lateral direction, at other tooth-trace-direction positions. The tooth tip circle of an internal-teeth inner-end-side portion of the internal teeth is larger than that of other portions and does not interfere with the external teeth. The external teeth and the internal teeth mesh three-dimensionally, the teeth do not interfere at the internal-teeth inner-end side.
In a gear skiving process method, a tooth-cutting process is performed on a surface to be cut of a workpiece using a first skiving cutter disposed at a first processing position on the surface to be cut and a second skiving cutter disposed at a second processing position set apart by 180° in a circumferential direction from the first processing position. Parts that are to be right tooth flanks of internal teeth to be created in the surface to be cut of the workpiece are cut mainly by the first skiving cutter. Additionally, parts that are to be left tooth flanks are cut mainly by the second skiving cutter. Conditions of the processing performed using the first and second skiving cutters can be controlled individually and teeth having a shape in which the left and right tooth flanks are different can be processed efficiently.
B23F 5/16 - Fabrication de dents d'engrenage droites, impliquant le déplacement d'un outil par rapport à la pièce à usiner avec un mouvement de roulage ou d'enveloppement par rapport aux dents à réaliser par rabotage ou mortaisage l'outil ayant une forme semblable à celle d'une roue droite ou d'une partie de celle-ci
In the present invention, in each of tooth tip surfaces (202, 302) of internal teeth (20) of an internal gear (2) and external teeth (30) of an external gear (3) of a strain wave gearing (1), lubricant passage grooves (204, 304) are formed at fixed intervals along the tooth trace direction. Each of the lubricant passage grooves (204, 304) is an inclined groove that extends in a direction inclined to one side in the tooth trace direction. The inclined surface facilitates the flow of the lubricant such as grease confined in gaps (5, 6) between the internal teeth (20) and the external teeth (30) and thus the lubricant is efficiently supplied to the tooth surfaces of both teeth.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
39.
ROLLING BEARING AND WAVE GENERATOR OF STRAIN WAVE GEAR DEIVCE
In a ball bearing (1), outer ring inner peripheral surface portions (23, 24) of an outer ring (2) that are adjacent to an outer ring raceway surface (22) and inner ring outer peripheral surface portions (33, 34) of an inner ring (3) that are adjacent to an inner ring raceway surface (32) are subjected to processing such as shot peening-surface roughening or femtosecond laser nanotexturing to obtain a processed surface with a high wettability with respect to a base oil component of grease. Exudation of the base oil component of the grease located around the outer ring raceway surface (22) and the inner ring raceway surface (32) is facilitated and the base oil component is efficiently supplied to the outer ring raceway surface (22) and the inner ring raceway surface (32). The occurrence of a shortage of lubricant in the outer ring raceway surface and the inner ring raceway can be prevented or suppressed.
A shaft member (100), in which electrical wiring (111, 112) and connectors (131, 132) are integrally formed, is disposed on a hollow portion (10) for electrical wiring that extends through the center of a wave gear device (1). The connectors (131, 132) attached to first and second shaft ends (101, 102) on both sides of the shaft member (100) are each exposed to outside from both ends of the hollow portion (10). During wiring work, external wiring or the like need merely be attached to respective terminals of the connectors (131, 132) exposed to outside. The present invention makes it possible to reduce the risk of disconnection caused by sliding or twisting of the electrical wiring, without the electrical wiring contacting a hollow input shaft (41) forming the hollow portion (10), an end of a second end plate (7), etc. Constraints on the number of wires and wire diameter are also alleviated, and wiring work also becomes simple.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
H01R 31/06 - Pièces intermédiaires pour joindre deux pièces de couplage, p. ex. adaptateur
A speed ratio switching type strain wave gearing can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ratio switching type strain wave gearing includes first and second internally tooted gears, an externally toothed gear having first and second external teeth formed on the external peripheral surface thereof, a wave generator that causes the first and second external teeth to partially mesh with the first and second internally toothed gears, a clutch mechanism that can selectively switch the first and second internally toothed gears into a fixed state. Input rotation from the wave generator can be reduced in speed at a different speed ratio and derived from the externally toothed gear by selectively switching the first and second internally toothed gears into a fixed state.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 3/24 - Transmissions à engrenages pour transmettre un mouvement rotatif à rapport de vitesse variable ou pour inverser le mouvement rotatif sans engrenages à mouvement orbital utilisant exclusivement ou principalement des engrenages qui peuvent être désengrenés par un déplacement selon l'axe uniquement et dont les arbres d'entraînement et entraînés sont coaxiaux
In a strain wave gear device (1), to restrict the movement of an external gear (4) in the axial direction, the contact between a first annular end surface (41), which is one end surface of the external gear (4), and a device housing (7), which is a fixed-side member, is made to be rolling contact by directly interposing first balls (13), which are rolling elements, between the same. Similarly, the contact between a second annular end surface (42), which is the other end surface of the external gear (4), and an output shaft (8), which is a rotation-side member, is made to be rolling contact by directly interposing second balls (23), which are rolling elements, between the same. As the contact portions, there are no contact other than rolling contact and thus friction loss due to slipping at the contact portions can be greatly reduced. By pressing the portions in rolling contact from the axial direction to eliminate looseness in the axial direction, the movement of the external gear (4) in the axial direction is reliably suppressed and a large thrust force is prevented from occurring.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A wave gear device bearing (1) comprises a retainer (10) made of a single component. The retainer (10) includes first pockets (41) in which balls (4) can be loaded/unloaded from the axial direction, and a second pocket (42) that can hold the balls (4) from the axial direction. The first pockets (41) are positioned on both sides of the second pocket (42). A pocket opening (42a) of the second pocket (42) is defined by protruding surface portions (63) formed on a tip end portion of partition plate parts (32) on both sides of the pocket opening. When the balls (4) are pressed in from the axial direction, the protruding surface portions (63) are pushed, which spreads apart the partition plate parts (32), and the balls (4) are inserted. The engagement force between the inserted balls (4) and the protruding surface portions (63) of the partition plate parts (32) on both sides reliably block the retainer (10) from slipping out in the axial direction.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16C 33/41 - Cages à billes comportant une bague portant des doigts de séparation des éléments de roulement
A wave bearing (7) of a strain wave generator (4) of this strain wave gear device (1) comprises an outer ring integrally formed in an external gear (3), an inner ring integrally formed in a wave plug (6), and a plurality of cylindrical rollers (71). The external gear (3) having the integrated outer ring and the wave plug (6) having the integrated inner ring are a component comprising a super-engineering plastic. An odd number of at least 13 of the cylindrical rollers (71) are arranged at equal angular intervals in the circumferential direction, the deflection amount of the external gear (3) is greater than a reference deflection amount, and the pressure angle of external teeth (31) and internal teeth (21) is a low pressure angle no greater than 20 degrees. Thus, it is possible to achieve a strain wave generator equipped with a plastic raceway portion wherein stress applied on the cylindrical rollers (71) and the raceway surfaces (36, 62) can be reduced, and damage does not occur during use in practicable load torque region.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
This laser welding method involves welding a first metal member (11) and a second metal member (12) and performing first wobbling machining (ST1) to form a first weld portion (21) by emitting a first laser beam in a first scanning pattern (P1) along an abutting line (13). Then, second wobbling machining (ST2) to form a second weld portion (22) overlapping with the first weld portion (21) formed in the first wobbling machining (ST1) is performed by emitting a second laser beam in a second scanning pattern (P2) along the surface of the first weld portion (21), said second weld portion (22) having a wider width and a shallower depth than the first weld portion (21). Accordingly, a weld portion (20) in which delayed cracks are prevented or suppressed is formed.
A strain wave gearing has a wave generator provided with a plurality of rollers mounted between an ellipsoidal outer peripheral surface of a plug and an inner peripheral surface of an externally toothed gear. The plug is formed with recesses along the ellipsoidal outer peripheral surface. The recesses open in a first end surface of the plug facing toward a diaphragm of the externally toothed gear. The radial rigidity of the plug is relatively low in the side having the first end surface in the direction of a plug axis. When viewed along the direction of the plug axis, the respective rollers can be brought into linear contact with the inner peripheral surface of the externally toothed gear at positions on the long axis (Lmax) of the elliptically-flexed externally toothed gear, so as not to occur one-sided contact state.
F16C 19/26 - Paliers à contact de roulement pour mouvement de rotation exclusivement avec roulements à rouleaux essentiellement du même gabarit, disposés dans une ou plusieurs rangées circulaires, p. ex. roulements à aiguilles pour charges radiales principalement avec une seule rangée de rouleaux
47.
Lubricant sealing structure, strain wave gearing, and actuator
A strain wave gearing is provided with a lubricant sealing structure that prevents a lubricant from leaking to the outside through a gap between a hollow input shaft and an end plate. The lubricant sealing structure is provided with a labyrinth seal that seals the gap. The labyrinth seal is configured by a plurality of gap portions defined by an oil-repellent surface in which fine grooves are formed in a prescribed groove array pattern. The oil-repellent surface is also formed at an outer peripheral surface portion on an upstream side of the labyrinth seal. Leakage of a lubricant oil to outside of the device can be reliably prevented through the oil-repellent effect of the oil-repellent surface at the upstream side, the sealing effect of the labyrinth seal, and the oil-repellent effect from the oil-repellent surface of the labyrinth seal.
In the interior of a device housing (5) of a wave gear device (1), a detection mechanism (6) is incorporated at a site on the outer peripheral side of a hub (43) of a wave generator (4). The hub (43) of the wave generator (4) is linked to a motor shaft (9) so that axial force does not act thereon. The detection mechanism (6) detects minute displacements in the axial direction that occur in the hub (43) of the wave generator (4) due to thrust force acting on the wave generator (4). Thrust force acting on the wave generator (4) is obtained on the basis of the detected minute displacements. With this wave gear device (1) in which the detection mechanism (6) is incorporated, operation control that is responsive to sensed thrust force is possible through the use of thrust force information during operation.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
49.
Lubricant sealing structure, strain wave gearing, and actuator
A strain wave gearing has a lubricant sealing structure that prevents a lubricant from leaking to the outside through a gap portion between a hollow input shaft and an end plate. The lubricant sealing structure includes an oil-repellent surface formed on the surface portion facing the gap portion, an oil seal that seals the gap portion, and an oil film forming surface formed at a lip tip surface of the oil seal. The oil-repellent surface has a surface texture in which first fine grooves are formed in a predetermined pattern so that an oil-repellent effect can be obtained with respect to the lubricant. The oil film forming surface has a surface texture in which second fine grooves are formed in a predetermined pattern so that an oil film forming effect of a seal lip grease can be obtained.
F16H 57/029 - Boîtes de vitessesMontage de la transmission à l'intérieur caractérisés par des moyens pour rendre hermétiques les boîtes de vitesses, p. ex. pour améliorer l'étanchéité à l'air
A strain wave gear device (1) is provided with: a rigid internal gear (2); a flexible external gear (3) that is arranged coaxially on the inside of the internal gear (2); and a wave generator (4) that is arranged coaxially on the inside of the external gear (3), and, on the inside of the external gear (3), in addition to the wave generator (4), a brake mechanism (5) that constrains or prevents the rotation of the wave generator (4) is installed. Since the empty space on the inside of the external gear (3) is used as a space for installing the brake mechanism (5), the strain wave gear device (1) with a brake can be realized without increasing the axial length thereof. Accordingly, by using the strain wave gear device (1), an axially short, flat actuator with a brake can be realized.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
In a strain wave gear device (1), a thrust force (F1) applied on an external tooth gear (4) during an acceleration operation causes the external tooth 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 rotary shaft part (5a) of a strain wave generator (5). Torque transmission efficiency can be reduced only during acceleration, by means of a friction loss occurring between the external tooth 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 deceleration operation, holding torque of the strain wave generator (5) which is an input-side member during deceleration operation can be reduced.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
52.
METHOD FOR POWDER LUBRICATING WAVE MOTION GEAR DEVICE
A powder supply mechanism (10) provided with a pressure-molded article (12) in which a solid lubricant powder is solidified in advance is incorporated in an inner space (9) of an external tooth gear (3) of a wave motion gear device (1). During operation of the wave motion gear device (1), the powder supply mechanism (10) abrades the pressure-molded article (12) through a friction plate (13), and thereby can supply trace amounts at a time of a solid lubricant abrasion powder (11) from the pressure-molded article (12) over a long period of time. A decrease in efficiency attributed to loss torque generated by the infiltration of large amounts of solid lubricant powder into a gap of a contact part (C) or the like of a wave motion generator (4) rotating at a high speed can be suppressed. Thus, the life span of the wave motion gear device that is powder lubricated can be increased while maintaining the high efficiency state of the wave motion gear device.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
A strain wave gear device (1) is provided with a detection mechanism (5) for detecting thrust force occurring between a strain wave generator (4) and an external gear (3). The detection mechanism (5) is provided with a strain gauge type or piezoelectric type load gauge (50), and a transmission mechanism (60) that transmits thrust force from the strain wave generator (4) to the load gauge (50). Only rotational force is transmitted from a motor shaft (6) side to the strain wave generator (4), and axial force is not transmitted. With the gauge (50) and the transmission mechanism (60), a small, compact detection mechanism (5) capable of being incorporated on the inside of the external gear (3) can be obtained. The strain wave gear device (1) in which the detection mechanism (5) is incorporated uses thrust force information during operation to enable operation control which is in accordance with detected thrust force.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A rotary encoder is incorporated in an annular space formed between a hollow rotating shaft and an encoder case. The rotary encoder has an annular printed wiring substrate, a plurality of mounting substrates that are outward from the printed wiring substrate in the radial direction and are arranged in the circumferential direction, and inter-substrate wiring cables bridged between the printed wiring substrate and each of the mounting substrates in the radial direction. Power supply to the mounting substrates and signal transmission and reception between the mounting substrates can be accomplished without routing around the wiring cables. It is possible to achieve a rotary encoder that is suitable for being incorporated in a narrow annular space.
H05K 1/14 - Association structurale de plusieurs circuits imprimés
G01B 7/30 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour tester l'alignement des axes
G01B 11/26 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour tester l'alignement des axes
G01D 5/14 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
G01P 3/36 - Dispositifs caractérisés par l'emploi de moyens optiques, p. ex. en utilisant la lumière infrarouge, visible ou ultraviolette
G01P 3/481 - Dispositifs caractérisés par l'utilisation de moyens électriques ou magnétiques pour mesurer la vitesse angulaire en mesurant la fréquence du courant ou de la tension engendrés de signaux ayant la forme d'impulsions
H02K 11/215 - Dispositifs utilisant un effet magnétique, p. ex. des éléments à effet Hall ou magnéto-résistifs
222, etc.) with a laminar crystalline structure. By lubricating the strain wave gear device (1) during load operations with the hydrophobized powder (10B), a temporary reduction in efficiency at the start of operation is suppressed and the stable operation of the strain wave gear device (1) can be maintained.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A lubrication mechanism (10) of a wave motion gear device (1) is disposed in an internal space (9) of an external gear (3) and comprises a powder storage bag (30) that stores solid lubricant powder (20). A diaphragm (3c) of the external gear (3) is repeatedly deflected during the driving of the wave motion gear device (1). Vibration or deflection is repeatedly imparted to the powder storage bag (30) and the solid lubricant powder (20) is discharged from a powder discharging hole (33) formed in the powder storage bag (30) into the internal space (9). A portion to be lubricated is lubricated with the solid lubricant powder discharged into the internal space (9). Harmful effects due to a large amount of the solid lubricant powder being supplied to the portion to be lubricated at one time can be resolved, and a necessary amount of the solid lubricant powder can be continuously supplied to the portion to be lubricated.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16N 19/00 - Réservoirs à lubrifiants pour emploi dans les graisseurs ou les systèmes de lubrification
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
57.
SPACE ROLLING BEARING AND SPACE STRAIN WAVE GEARING DEVICE
A wave bearing (43) of a space strain wave gearing device (1) comprises an inner ring (45) formed from a bearing steel, an outer ring (44) formed from a martensitic stainless steel, and balls (46) formed from ceramics. On the inner ring (45) formed from a bearing steel, a ceramic coating (48) formed by an AD method is formed as a rust-preventive coating. In the space strain wave gearing device (1) that adopts solid lubrication (powder lubrication), it is possible to reliably prevent rust from developing on the inner ring (45) formed from a bearing steel of the wave bearing (43). In a space environment where the temperature greatly changes, appropriate setting of the linear expansion coefficients of the inner ring (45), the outer ring (44), and the balls (46) enables a change in the radial gap of the wave bearing (43) to be suppressed to a range that does not interfere with practical use.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
58.
TOOTH PROFILE DESIGNING METHOD FOR STRAIN WAVE GEAR DEVICE
According to a tooth profile designing method for a strain wave gear device (1), a first curve from a point A (φ=0) to a point B (φ=π/2) in a moving locus of external teeth (30) with respect to internal teeth (20) is extracted. A similarity curve is obtained by multiplying the first curve by (1-λ) using the point B as a center of similarity, and a second curve is obtained by rotating the similarity curve by 180° about a midpoint C between the point A and the point B as a center of similarity. A third curve is obtained by multiplying only the x-coordinate of the second curve by α (α<1), or a fourth curve is obtained by multiplying only the y-coordinate of the second curve by β (β>1). An addendum tooth profile of the external teeth (30) is defined using the third curve or the fourth curve. A tooth profile is obtained that has wider tooth bottoms of the external teeth (30), and that allows a larger portion of tooth surfaces of the external teeth (30) to be used for meshing, while maintaining a wide range of meshing achieved by a tooth profile designing method using a moving locus.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A strain wave gear device (1) comprises an internal gear (2) integrated with an inner ring. A bolt hole (27) is formed in the internal gear (2). The bolt hole (27) includes a bolt passage hole part (28), and a screw hole part (29) extending in the direction of an axial line (1a), continuously from the bolt passage hole part (28). The screw hole part (29), to which a bolt-fastening force is applied, is formed at a location away in the direction of the axial line (1a) from a location adjacent to a radially outer side of an internal gear (20). Deformation, occurring during fastening of a bolt, at a portion in which the internal gear (20) is formed can be reduced, and adverse effects caused by the deformation such as a decrease in the accuracy of engagement or meshing of the internal gear (2) and an external gear (3) can be inhibited.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
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 the shaft or other rotating element of the 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 the 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.
G01D 5/24 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension en faisant varier la capacité
G01D 5/14 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
G01B 7/00 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques
G01D 5/249 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant les caractéristiques d'impulsionsMoyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant des impulsions codées
G01B 7/30 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour tester l'alignement des axes
A push-pull solenoid is provided with a cylindrical guide member that is fixed to a case. A circular outer peripheral surface of a plunger is in contact with a friction guide surface formed on a circular inner peripheral surface of the guide member, and slides along the friction guide surface. Frictional force due to contact with the friction guide surface is always acting on the plunger, so it is possible to suppress impact-like contact of the plunger with an object to be manipulated during suctioning, and vibration and noise caused thereby. Moreover, over-recovery and falling-out of the plunger after suction is released can also be prevented.
A brake (3) for a motor comprises: a fixed-side engaging plate (30) fixed to a motor shaft (4); a movable-side engaging plate (20) coaxially opposed to the fixed-side engaging plate (30) along the direction of a center axis (3a); and a self-holding type solenoid (10) that moves, in the direction of the center axis, the movable-side engaging plate (20) to a halt cancelation position (20A) separated from the fixed-side engaging plate (30) and a halt position (20B) where engagement with the fixed-side engaging plate (30) occurs. When the motor is halted, the solenoid (10) is driven to move the movable-side engaging plate (20) from the halt cancelation position (20A) to the halt position (20B). The movable-side engaging plate (20) which has reached the halt position (20B) is mechanically engaged with the fixed-side engaging plate (30), and the motor shaft (4) is forcibly halted.
F16D 63/00 - Freins non prévus ailleursFreins combinant plusieurs des types mentionnés dans les groupes
F16D 65/16 - Mécanismes d'actionnement pour freinsMoyens pour amorcer l'opération de freinage à une position prédéterminée disposés dans, ou sur le frein
F16D 121/20 - Électrique ou magnétique utilisant des électroaimants
An externally toothed gear of a cup-type strain wave gearing has external teeth, the tooth profile of which gradually changes in the tooth-trace direction. The external teeth are formed with an external teeth portion capable of meshing with internal teeth of an internally toothed gear, a first external teeth extension portion and a second external teeth extension portion, in which the first and second external teeth extension portions do not mesh with the internal teeth. The second external teeth extension portion has a narrowing tapered tooth profile so that the second external teeth extension portion serves as a guide when the external teeth is inserted into the internal teeth. The work of assembling the externally toothed gear in the internally toothed gear is made easier.
A bearing unit is provided with a strain element for torque detection. The strain element is provided with a first annular part attached to a rotation-side member, a second annular part attached to a load-side member, and a plurality of ribs serving as strained parts linking the first annular part and the second annular part together. One of an inner race and an outer race is integrally formed on the first annular part of the strain element. Deformation, which occurs in the ribs of the strain element due to torque exerted on the rotation-side member from the load-side member, is detected by a strain gauge, etc., and converted to torque. The strain element for torque detection can be incorporated into a motor, a reducer, or another rotary propulsion unit without the need for a dedicated installation space and without the need for fastening fittings, etc.
F16C 33/58 - Chemins de roulementBagues de roulement
F16C 33/60 - Chemins de roulementBagues de roulement en plusieurs pièces
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
The flat strain wave gearing is provided with an axially arranged rigid gear, flexible gear and wave generator. The flexible gear forms a flat truncated cone shape, has a tooth formation portion connected via a bellows-shaped cross-sectional diaphragm to a rigid boss which is an output shaft linking part. The flat strain wave gearing can ensure axial flexibility of the tooth formation portion, and can enable teeth of the flexible gear to mesh favorably with teeth of the rigid gear in the axial direction in each position in the tooth trace direction. Local bias of the load torque in the meshing portion in the tooth formation portion can also be suppressed.
A rotary actuator includes a PWB motor and a wave gear drive. The PWB motor is an axial gap motor. A motor rotor in the PWB motor includes a rotor disk coaxially affixed to a hollow motor shaft and a rotor magnet affixed to the rotor disk. A motor stator is composed of a printed wiring board, and includes an insulating substrate and a motor coil defined by printed wiring formed on the insulating substrate. Compared with a conventional rotary actuator using an SPM motor or the like, the shaft length can be shortened and the hollow diameter thereof can be increased.
H02K 3/26 - Enroulements caractérisés par la configuration, la forme ou le genre de construction du conducteur, p. ex. avec des conducteurs en barre constitués par des conducteurs imprimés
H02K 7/08 - Association structurelle avec des paliers
H02K 21/24 - Moteurs synchrones à aimants permanentsGénératrices synchrones à aimants permanents avec des induits fixes et des aimants tournants avec des aimants disposés axialement en face des induits, p. ex. dynamos de bicyclette du type moyeu
In this gear skiving process method, a tooth cutting process is performed on a surface (31) to be cut of a workpiece (3) by using a first skiving cutter (10) disposed in a first processing position (P1), and a second skiving cutter (20) disposed in a second processing position (P2) circumferentially separated from the first processing position (P1) by 180-degrees. A portion that forms a right tooth surface (32R) of an internal tooth (32) to be created on the surface (31) to be cut of the workpiece (3) is mainly cut with the first skiving cutter (10). Additionally, a portion that forms a left tooth surface (32L) is mainly cut with the second skiving cutter (20). The processing conditions of the first and second skiving cutters (10, 20) can be controlled individually and teeth each having different shapes on the left and right tooth surfaces can be processed with high efficiency.
B23F 5/16 - Fabrication de dents d'engrenage droites, impliquant le déplacement d'un outil par rapport à la pièce à usiner avec un mouvement de roulage ou d'enveloppement par rapport aux dents à réaliser par rabotage ou mortaisage l'outil ayant une forme semblable à celle d'une roue droite ou d'une partie de celle-ci
A planetary reduction gear using a helical gear is configured such that a rear-stage sun gear is rotatably supported by a device housing via a radial bearing on one side in the direction of a center axis, and is rotatably supported by a rear-stage planetary carrier via a thrust bearing on the other side. The rear-stage planetary carrier is rotatably supported by the device housing via a rear-stage carrier bearing. A preload is applied to the thrust bearing by a preload mechanism mounted to the rear-stage planetary carrier. Displacement of the rear-stage sun gear caused by a thrust force generated due to engagement with a rear-stage planetary gear can be suppressed, and an angle error between input rotation and output rotation can be suppressed.
A three-dimensional tooth profile of an internal gear tooth (20) of a wave gear device (1) is a basic internal gear tooth profile (20(0)) at an internal gear tooth outer end (20a), and is a reduced tooth profile, which is obtained by proportionally reducing the basic internal gear tooth profile (20(0)) only in the transverse direction, at the other positions in the tooth trace direction. A three-dimensional tooth profile of an outer gear tooth (3) is a basic outer gear tooth profile (30(0)) at an outer gear tooth outer end (30a), and is an enlarged tooth profile, which is obtained by proportionally enlarging the basic outer gear tooth profile (30(0)) only in the transverse direction, at the other positions in the tooth trace direction. The addendum of a part of the internal gear tooth (20) on an internal gear tooth inner end (20b) side is larger than that of the other parts, and inhibits interference with the outer gear tooth (30). The present invention can achieve the three-dimensional tooth profiles of the outer gear tooth (30) and the internal gear tooth (20) which three-dimensionally engage the outer gear teeth (30) and the internal gear teeth (20) with each other, which inhibit both teeth from interfering with each other on the internal gear tooth inner end (20b) side, and which facilitate gear cutting processing.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
71.
HARMONIC GEARING COMPRISING THREE-DIMENSIONAL TOOTH FORM
The three-dimensional tooth form of internal teeth (20) of a harmonic gearing (1) is a basic internal tooth form (20(0)) at an internal tooth outer end (20a), and at other positions in the tooth width direction is a shrunken tooth form in which the basic internal tooth form (20(0)) is proportionally shrunken only in a lateral direction, by a factor proportional to the distance from the internal tooth outer end (20a). The three-dimensional tooth form of external teeth (3) is a basic external tooth form (30(0)) at the position of an external teeth outer end (30a), and at other positions in the tooth width direction, is an expanded tooth form in which the basic external tooth form (30(0)) is proportionally expanded only in the lateral direction, by a factor proportional to the distance from the external teeth outer end (30a). The present invention makes gear cutting processing easier compared to when only the external teeth (30) have a three-dimensional tooth form. Furthermore, because the present invention employs tooth forms that, along the tooth width direction, are proportionally shrunken and proportionally expanded only in the lateral direction, gear cutting processing is made even easier.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
In this optical rotary encoder, detection tracks of a rotating disc are irradiated with detection light emitted from a light-emitting element. An optical signal obtained via slits in the detection tracks passes through a slit pattern in a fixed slit plate and is received by light-receiving surfaces of a light-receiving element. The slit pattern in the fixed slit plate is formed so as to fit into a range of an effective spot of the detection light. An LED or other light-emitting element that has a small effective spot diameter can be used, which is advantageous in terms of reducing costs and making the device more compact.
G01B 11/26 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour tester l'alignement des axes
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
H02K 1/22 - Parties tournantes du circuit magnétique
ABSTRACT A strain wave gearing unit has a unit housing, a strain wave gearing, and a bearing device. Balls of a bearing part of the bearing device are positioned on the diametrically outer side with respect to a cylindrical barrel part of an externally toothed gear. The diameter S of the balls is 0.05 to 0.15 times the pitch diameter D of the externally toothed gear. The centers of the balls are positioned between a point at a distance of 1.2 times the diameter S toward the cylindrical-barrel-part side from an inner-side end surface of a diaphragm along a center axis and a point at a distance of 1 times the diameter S toward a side opposite the cylindrical barrel part from the inner-side end surface. The bearing device can be configured to be used in common for strain wave gearing units having different axial lengths. Date Reçue/Date Received 2021-03-10
F16H 57/021 - Structures de support d'arbres, p. ex. parois de séparation, orifices de logement de paliers, parois de carter ou couvercles avec paliers
A unit-type strain wave gearing device provided with a cross roller bearing that supports an internally toothed gear and an externally toothed gear in a state in which both gears can rotate relative to each other, and a meshing section of both gears is lubricated with grease. A gap by which the meshing section and the cross roller bearing raceway groove communicate is formed between the inner ring of the cross roller bearing and the external gear. Due to the pump effect caused by deflection of the external gear, grease is pushed from the meshing section to the gap. Some grease is returned to the inner space of the externally toothed gear via a grease-flowing hole that penetrates the diaphragm of the external gear. Thus, leakage of grease from an oil seal of the cross roller bearing to the unit side can be controlled.
A wave-motion gear device (1) is provided with a lubricant sealing structure that prevents a lubricant from leaking to the outside through a gap between a hollow input shaft (4) and an end plate (2). The lubricant sealing structure is provided with a labyrinth seal (20) that seals the gap. The labyrinth seal (20) is configured by a plurality of gap portions (21a-21e) defined by an oil-repellent surface in which fine grooves are formed in a prescribed groove arrangement pattern. The oil-repellent surface is also formed at an outer peripheral surface portion (4d1) on an upstream side of the labyrinth seal (20). Leakage of an lubricant oil to outside of the device can be reliably prevented through the oil-repellent effect of the oil-repellent surface at the upstream side, the sealing effect of the labyrinth seal (20), and the oil-repellent effect from the oil-repellent surface of the labyrinth seal (20).
An outer-ring lubrication groove pattern formed in an outer-race raceway surface and an inner-race lubrication groove pattern formed in an inner-race raceway surface of a wave generator bearing of a strain wave gearing device are patterns in which linear lubrication grooves 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 includes a second groove pattern formed in long-axis-side inner-race raceway surface portions to hold the lubricant, and a first groove pattern formed in short-axis-side inner-race raceway surface portions to hold the lubricant and guide the lubricant to the second groove pattern. This configuration improves the contact state between balls and the inner-race and outer-race raceway surfaces of the wave generator bearing, thus reducing the coefficient of friction therebetween.
F16C 19/04 - Paliers à contact de roulement pour mouvement de rotation exclusivement avec roulements à billes essentiellement du même calibre, en une ou plusieurs rangées circulaires pour charges radiales principalement
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
In a strain wave gearing device, fine first and second lubricant-holding grooves for holding lubricant are formed at fine pitches in an outer-race external peripheral surface of a wave generator bearing and an outer-race-contacting internal peripheral surface portion of an externally toothed gear in contact therewith. Fine lubricant-guiding grooves for guiding the lubricant to the outer-race-contacting internal peripheral surface portion are formed at fine pitches in a second internal peripheral surface portion, which adjoins the outer-race-contacting internal peripheral surface portion, of an internal peripheral surface of the externally toothed gear. This configuration improves the contact state between the outer-race-contacting internal peripheral surface portion of the externally toothed gear and the outer-race external peripheral surface, thus suppressing fretting wear occurring in these surfaces.
A bearing device (1) comprises a strain body (6) for torque detection. The strain body (6) comprises: a first annular part (7) that is attached to a rotation-side member; a second annular part (8) that is attached to a load-side member; and a plurality of ribs (9) that serve as strain parts and that connect between the first annular part (7) and the second annular part (8). One of an inner ring (4) and an outer ring (3) is integrally molded with the first annular part (7) of the strain body (6). Deformation that occurs in the ribs (9) of the strain body (6) caused by torque from the load-side member acting on the rotation-side member is detected by a strain gauge, etc. and is converted to torque. The strain body for torque detection can be incorporated into a rotation-type drive device such as a motor or a reduction gear without the need for a dedicated installation space and without the need for a fastening metal fitting, etc.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
G01L 3/10 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple comporte un arbre élastique en torsion impliquant des moyens électriques ou magnétiques d'indication
A rotary encoder (10) is embedded in an annular space (15) formed between a hollow rotary shaft (11) and an encoder case (12). The rotary encoder (10) comprises an annular printed wiring board (50), a plurality of mounting boards (22, 32, 41, 42) that are outward from the printed wiring board (50) in the radial direction and are arranged in the circumferential direction, and inter-board wiring cabling (60) bridged between the printed wiring board (50) and each of the mounting boards in the radial direction. Power supply to the mounting boards (22, 32, 41, 42) and signal transmission and reception between the mounting boards can be accomplished without routing around the wiring cabling. This invention makes it possible to achieve a rotary encoder that is suitable for being embedded in a narrow annular space.
G01D 5/245 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant les caractéristiques d'impulsionsMoyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant un nombre variable d'impulsions dans un train
81.
LUBRICANT SEALING STRUCTURE, WAVE-MOTION GEAR DEVICE, AND ACTUATOR
A wave-motion gear device (1) has a lubricant sealing structure that prevents a lubricant from leaking to the outside through a gap portion (21) between a hollow input shaft (4) and an end plate (2). The lubricant sealing structure includes an oil-repellent surface formed on the surface portion facing the gap portion (21), an oil seal (20) that seals the gap portion (21), and an oil film forming surface formed at a lip tip surface (20c) of the oil seal (20). The oil-repellent surface has a surface texture in which first fine grooves are formed in a predetermined pattern so that an oil-repellent effect can be obtained with respect to the lubricant. The oil film forming surface has a surface texture in which second fine grooves are formed in a predetermined pattern so that an oil film forming effect of a seal lip grease can be obtained.
F16J 15/3204 - Joints d'étanchéité entre deux surfaces mobiles l'une par rapport à l'autre par joints élastiques, p. ex. joints toriques avec au moins une lèvre
F16J 15/324 - Agencements pour graissage ou refroidissement du joint d’étanchéité lui-même
F16J 15/3244 - Joints d'étanchéité entre deux surfaces mobiles l'une par rapport à l'autre par joints élastiques, p. ex. joints toriques avec pompage hydrodynamique
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 the shaft or other rotating element of the 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 the 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.
G01D 5/249 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant les caractéristiques d'impulsionsMoyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant des impulsions codées
G01B 7/00 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques
G01D 5/14 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
83.
GEAR MECHANISM AND PLANETARY GEAR MECHANISM HAVING TEETH ARRANGED AT UNEVEN PITCHES
According to the present invention, a gear pair (10) includes: a first gear (11) in which first teeth (11a) are arranged at uneven pitches; and a second gear (12) in which second teeth (12a) are arranged at uneven pitches. In the meshing portion (14) between the first and second gears (11, 12) each having the teeth arranged at uneven pitches, a first tooth (11a) portion and a second tooth (12a) portion having the same pitch p1(n) engage with each other. The smooth meshing of the two gears (11, 12) is maintained. The first and second teeth (11a, 12a) of the two gears (11, 12), which pass through the meshing portion (14), change in pitch sequentially. A primary meshing frequency caused by vibration generated from the meshing portion (14) also changes sequentially. Since the vibrations of different frequencies offset each other, the generated vibrations and noises can be reduced or suppressed.
a) when the hollow rotating shaft has a thin thickness in order to reduce the weight of the hollow rotating shaft (6) and increase the diameter of the hollow portion thereof. Consequently, it is possible to suppress a decline in ratcheting torque.
When a strain wave gearing is used in an application for an operation of repeating startup/stopping, an outer-side lubrication portion and an inner-side lubrication portion, 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 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 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 and the inner-side lubrication portion can be lubricated appropriately using different types of grease, without the grease becoming mixed.
An external gear (3) of a cup-type wave gear device (1) comprises external teeth (34) that gradually change in profile along a lead direction. An external tooth portion (34a) capable of meshing with internal teeth (24) of an internal gear (2) and a first external tooth extension portion (34b) and a second external tooth extension portion (34c) that do not mesh with the internal teeth (24) are formed in the external teeth (34). The second external tooth extension portion (34c) has a tapered profile so that the second external tooth extension portion (34c) serves as a guide when the external teeth (34) are inserted into the internal teeth (24). This facilitates assembly work in which the external gear (3) is inserted into the internal gear (2).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A double-row cylindrical roller bearing employs a cross roller bearing for one cylindrical roller bearing and a parallel cylindrical roller bearing for the other cylindrical roller bearing. The relative positions of a first cylindrical roller on the cross roller bearing part side and a second cylindrical roller on the parallel cylindrical roller bearing part side are not restricted in the direction of the bearing center axis lines thereof. As a result, a bearing having high rigidity and being easy to process and assemble can be achieved at low cost. Increase in friction torque in bearing sliding sections and fluctuation in bearing properties can also be suppressed.
F16C 33/58 - Chemins de roulementBagues de roulement
F16C 33/60 - Chemins de roulementBagues de roulement en plusieurs pièces
F16C 19/38 - Paliers à contact de roulement pour mouvement de rotation exclusivement avec roulements à rouleaux essentiellement du même gabarit, disposés dans une ou plusieurs rangées circulaires, p. ex. roulements à aiguilles pour charges à la fois axiales et radiales avec plusieurs rangées de rouleaux
A strain wave gearing wherein the outer circumferential surface of an outer ring of a wave generator is in contact with an inner-circumferential-surface portion of a flexible externally toothed gear, and a release groove, which is not in contact with the outer circumferential surface, is formed in the inner-circumferential-surface portion. The release groove is formed in a region containing a ball raceway groove. The groove depth of the release groove gradually increases from both sides of the groove in the groove width direction toward a deepest portion of the groove provided at an intermediate portion in the groove width direction. By providing the release groove, it is possible to smooth the distribution of pressing force of the wave generator acting on the externally toothed gear in the tooth-trace direction. In addition, the tooth root fatigue strength and the transmission torque capacity of the externally toothed gear can be improved.
In a wave generator for a strain wave gearing, a plug outer peripheral surface of a rigid wave plug has a non-circular profile and is fixed to an inner-race inner peripheral surface of a wave bearing by press-fitting and using an adhesive. The plug outer peripheral surface is a groove formation surface in which microgrooves are formed as adhesive-retaining grooves that can retain the adhesive. When the wave plug is press-fitted into the wave bearing, 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.
A strain wave gearing has a wave generator which flexes an externally toothed gear in a radial direction to form meshing portions thereof with an internally toothed gear in positions that are separated along a circumferential direction of the externally toothed gear. When the wave generator rotates, the meshing portions move in the circumferential direction. Non-meshing regions are formed in part of the meshing portions along the tooth trace direction thereof. The non-meshing regions are those of a prescribed width including the support center of a wave bearing in the tooth trace direction. The concentration of stress in the tooth root of the externally toothed gear can be alleviated, and the tooth-root fatigue strength of the externally toothed gear can be increased.
This flat strain wave gear device (1) is provided with an axially arranged rigid gear (2), flexible gear (3) and wave generator (4). The flexible gear (3) forms a flat truncated cone shape, has a tooth-forming component (34) connected via a bellows-shaped cross-sectional diaphragm (32) to a rigid boss (31) which is an output shaft linking part. This flat strain wave gear device can ensure axial flexibility of the tooth-forming component (34), and can enable teeth of the flexible gear (3) to mesh favorably with teeth of the rigid gear (2) from the axial direction in each position in the tooth longitudinal direction. Local bias of the load torque in the meshing portion in the tooth-forming component (34) can also be suppressed.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A wave gear device includes a circular spline that has an annular shape and rigidity; a flex spline that has an annular shape and flexibility, and is disposed in the circular spline; and a wave generator that is disposed in the flex spline, is configured to cause the flex spline to be distorted in a radial direction and is configured to partially mesh with the circular spline, and is configured to move a meshing position between the circular spline and the flex spline in a circumferential direction. The ratio of the Vickers hardness on an inner circumferential surface of the flex spline to the Vickers hardness on an outer circumferential surface of the wave generator is 1.2 or more and 1.7 or less.
A push–pull solenoid (1) is provided with a cylindrical guide member (7) that is fixed to a case (2). A circular outer peripheral surface (43) of a plunger (4) is in contact with a friction guide surface (72) formed on a circular inner peripheral surface of the guide member (7), and slides along the friction guide surface (72). Frictional force due to contact with the friction guide surface (72) is always acting on the plunger (4), so it it possible to suppress impact-like contact of the plunger (4) with an object to be manipulated (W) during suctioning, and vibration and noise caused thereby. Moreover, over-recovery and falling-out of the plunger (4) after suction is released can also be prevented.
F16K 31/06 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant
H01F 7/121 - Guidage ou positionnement d'armatures, p. ex. maintien des armatures dans leur position extrême
This unit-type wave gear device (1) is provided with a cross-roller bearing (5) that supports an internal gear (2) and an external gear (3) in a relatively rotatable manner, wherein a meshing portion (7) between the two gears (2, 3) is lubricated by a grease. In the outer circumference of the external gear (3), a gap (8) is formed which communicates with the meshing portion (7) and an orbital groove (53) of the cross-roller bearing (5). A portion of the grease pressed out from the meshing portion (70) to the gap (8) flows out through a through-hole (10) formed in the internal gear (2), and flows back to the meshing portion (7). The grease can be suppressed from leaking to the outside of the unit from an oil seal (9) of the cross-roller bearing (5).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
A rotary actuator (1) includes a PWB motor (2) and a harmonic gear reducer (3). The PWB motor (2) is an axial gap motor. A motor rotor (24) in the PWB motor (2) includes a rotor disk coaxially affixed to a hollow motor shaft (22) and a rotor magnet affixed to the rotor disk. A motor stator (23) is composed of a printed wiring board, and includes an insulating substrate (26) and a motor coil (27) defined by printed wiring formed on the insulating substrate (26). Compared with a conventional rotary actuator using an SPM motor or the like, the shaft length can be shortened and the hollow diameter thereof can be increased.
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
H02K 3/26 - Enroulements caractérisés par la configuration, la forme ou le genre de construction du conducteur, p. ex. avec des conducteurs en barre constitués par des conducteurs imprimés
96.
Rotation transmission mechanism provided with strain wave gearing
In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 35/10 - Dispositions ou dispositifs pour absorber la surcharge ou empêcher tout dommage par surcharge
In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 35/10 - Dispositions ou dispositifs pour absorber la surcharge ou empêcher tout dommage par surcharge
A planetary reduction gear (1) using a helical gear is configured such that a rear-stage sun gear (21) is rotatably supported by a device housing (2) via a radial bearing (15) on one side in the direction of a center axis (1a), and is rotatably supported by a rear-stage planetary carrier (23) via a thrust bearing (30) on the other side. The rear-stage planetary carrier (23) is rotatably supported by the device housing (2) via a rear-stage carrier bearing (25). A preload is applied to the thrust bearing (30) by a preload mechanism (40) mounted to the rear-stage planetary carrier (23). Displacement of the rear-stage sun gear (21) caused by a thrust force generated due to engagement with a rear-stage planetary gear (22) can be suppressed, and an angle error between input rotation and output rotation can be suppressed.
A speed ratio-switching strain wave gearing device (1) has a simple configuration that enables a speed ratio of a rotation output to one rotation input to be switched in two stages or multiple stages. The speed ratio-switching strain wave gearing device (1) comprises: first and second internal gears (2, 3); an external gear (4) having first and second external teeth (45, 46) formed on an outer peripheral surface thereof; a wave generator (5) for causing the first and second external teeth (45, 46) to partially mesh with the first and second internal gears (2, 3); and a clutch mechanism (6) capable of selectively switching the first and second internal gears (2, 3) to a rotation-disabled fixed state. The selective switching of the first and second internal gears (2, 3) to the fixed state allows input rotation from the wave generator (5) to be decelerated at different speed ratios and extracted from the external gear (4).
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
A speed ratio switching type strain wave gearing (1) can switch the speed ratio of output rotation with respect to one input rotation into two states or multiple states with a simple configuration. The speed ration switching type strain wave gearing (1) includes first and second internally tooted gears (2, 3), an externally toothed gear (4) having first and second external teeth (45, 46) formed on the external peripheral surface thereof, a wave generator (5) that causes the first and second external teeth (45, 46) to partially mesh with the first and second internally toothed gears(2, 3), a clutch mechanism (6) that can selectively switch the first and second internally toothed gears (2, 3) into a fixed state. Input rotation from the wave generator (5) can be reduced in speed at a different speed ratio and derived from the externally toothed gear (4) by selectively switching the first and second internally toothed gears (2, 3) into a fixed state.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
