24 results about "Strain wave gearing" patented technology

A strain wave gearing (1) is configured to have a unitized structure having a main bearing (5) that supports an internally toothed gear (2) and an externally toothed gear (3) in a manner that allows relative rotation, and an output flange (6) that is linked to the externally toothed gear (3). The externally toothed gear (3) is formed in the shape of a wine glass and ensures a large hollow diameter, which is required in cases where the externally toothed gear (3) is incorporated into a robot joint part or the like. A strain gauge (101) of a torque sensor (100) is attached to an outward-facing end surface portion of the output flange (6) linked to the externally toothed gear (3). The torque sensor (100) is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (3), and elements such as the strain gauge (101) are not exposed to oil, grease, or the like.

In the inner space (9) of the outer gear (3) of the invention's wave gear device (1), a powder supply mechanism (10) is assembled with a press-formed product (12) in which solid lubricant powder is pre-solidified. During operation of the wave gear device (1), the powder supply mechanism (10) wears the press-formed product (12) using a friction plate (13) to supply a small amount of solid lubricant wear powder (11) from the press-formed product (12) for a long period. Loss torque caused by the efficiency reduction due to the invasion of a large amount of solid lubricant powder into the gap of the contact portion (C) of the high-speed rotating wave generator (4) and the like can be suppressed. Thus, the high efficiency state of the powder-lubricated wave gear device can be maintained and its long service life can be achieved.

A strain wave gear device (1) is provided with: a first flange (8) that supports an input shaft (6) via a first support bearing (7); and a second flange (10) that supports the input shaft (6) via a second support bearing (9). The external gear (3) is fastened and fixed to the first flange (8) by means of a first fastening bolt (11), and the internal gear (2) is fastened and fixed to the second flange (10) by means of a second fastening bolt (12). The fastening strength in the radial direction between the externally toothed gear (3) and the first flange (8) by the first fastening bolt (11) is set to a degree equal to or greater than the fastening strength between the internally toothed gear (2) and the second flange (10) by the second fastening bolt (12). As a result, eccentricity between the wave generator (4) and the first and second support bearings (7, 9) caused by radial deformation of the first and second flanges (8, 10) due to a radial load acting from the load side can be suppressed, and excessive radial force can be prevented from acting on the wave generator.

A flat gearing in the form of a strain wave gearing includes a circular spline having an inner toothing; a dynamic spline which is axially adjacent to the circular spline and has an inner toothing; a flexible flexspline which is arranged inside the circular spline and dynamic spline and has at least one outer toothing; and a wave generator which is arranged inside the flexspline for deforming the flexspline in the radial direction. An interlocking, torque-transmitting connection is established between the circular spline and the flexspline at two opposing points on the flexspline and between the flexspline and the dynamic spline at four positions on either side of the contact with the circular spline. The axial course of the radial position of the tooth transverse of the at least one outer toothing of the flexspline has a region which is reduced radially in the direction of a center axis of the flat gearing.

A strain-gauge-type torque detection part (20) of a strain wave gearing (1) comprises a first torque detection part (20A) and a second torque detection part (20B), which output detection signals of two independent systems. The first and second torque detection parts (20A, 20B) are provided with multiple sets of strain gauges (11) attached to a diaphragm (3c) of an externally toothed gear (3), at predetermined angular intervals around a central axis. A first detection signal (22A) from the first torque detection part (20A) and a second detection signal (22B) from the second torque detection part (20B) are combined after a gain adjustment and a combined signal (23C) is generated. Transmitted torque can be calculated on the basis of the first detection signal (23A), the second detection signal (23B), and the combined signal (23C). Three-system output, resulting from adding high-accuracy output (24C) to detection outputs (24A, 24B) of two independent systems, is obtained from a torque detection device (10).

A strain wave gearing (1) is configured to have a unitized structure having a main bearing (5) that supports an internally toothed gear (2) and an externally toothed gear (3) in a manner that allows relative rotation, and an output flange (6) that is linked to the externally toothed gear (3). The externally toothed gear (3) is formed in the shape of a wine glass and ensures a large hollow diameter, which is required in cases where the externally toothed gear (3) is incorporated into a robot joint part or the like. A strain gauge (101) of a torque sensor (100) is attached to an outward-facing end surface portion of the output flange (6) linked to the externally toothed gear (3). The torque sensor (100) is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (3), and elements such as the strain gauge (101) are not exposed to oil, grease, or the like.

A strain wave gearing (1) has a hollow input shaft (5). A wave generator (4), which makes an externally toothed gear (3) flex in the radial direction so as to engage an internally toothed gear (2), has 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 externally toothed 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 gearing (1).

The invention relates to an actuating device (1) for actuating a friction clutch (33) of a differential (30), with which a torque distribution from an input (31) to at least one output can be controlled, comprising: a transmission unit (2) for connecting a drive unit (3) of the actuating device (1) to an output unit (4) of the actuating device (1), wherein the transmission unit (2) has a strain wave gearing. The invention also relates to a differential (30) for a motor vehicle comprising an actuating device (1).

Systems and methods for a barrel cam actuator assembly. The barrel cam actuator assembly includes, in one example, a barrel cam including a first track and a strain wave gearing device that is arranged coaxial to the barrel cam and rotationally coupled to the barrel cam. The barrel cam actuator assembly further includes an electric motor rotationally coupled to the strain wave gearing device and configured to selectively rotate the strain wave gearing device. Further, in the barrel cam actuator assembly, the strain wave gearing device includes an outer spline, a flexible inner spline that meshes with the outer spline, and an elliptical wave generator.

An assembly includes at least three strain gauges and is attached to an elastic transmission element of a strain wave gearing. The assembly is designed to measure a torque acting on the elastic transmission element. Output signals from each of the strain gauges are measured. The output signal of one of the strain gauges is predicted from the measured output signals of the other strain gauges. An error message is output based on the predicted output signal deviating from the respective measured output signal by more than a predetermined tolerance.

A mold used for molding a flexible external gear of a strain wave gearing is provided with an outer die and a center die that defines the inner peripheral surface shape of the flexible externally toothed gear. The center die is provided with a die divided part composed of a plurality of divided dies divided in the circumferential direction. Each divided die can be retracted by a divided die movement mechanism from a molding position to a retracted position that is radially inward from the molding position. When the mold is opened after molding, the die divided part as a whole is slightly contracted by retracting each divided die to the radially inward retracted position. The center die can be extracted from the outer die without applying excessive force.

The invention relates to a strain wave gearing (2), comprising a flexspline (6), a circular spline (10), and a wave generator (14) which has a plug (18) and a rolling body bearing (22) surrounding the plug (18), wherein a plurality of measurement grids (28) for strain measurement are arranged on the flexspline (6), wherein the wave generator (14) is designed in such a way that three engagement regions are formed between the toothings of the flexspline (6) and circular spline (10).

The invention relates to the field of strain wave gearing, which is also commonly referred to as "harmonic drive". In order to provide a frictional strain wave gearing which enables the deformation of the flexspline in a simple, mechanical manner, including the generation of the necessary contact forces, so that technically usable forces can be transmitted without significant effort to compensate for mechanical tolerances present in the gearing, a frictional strain wave gearing is proposed, having an outer cylinder, a flexspline and a wave generator, wherein the outer cylinder, the flexspline and the wave generator are in force transmission by frictional contact, which is generated by a pressing force, wherein at least one structure having an elastic shape is formed by a component of the wave generator or the outer cylinder, the elastic shape being hollow in the region of the frictional contact and having a constant wall thickness even when the shape is deformed, wherein the elastic structure is configured to exert the pressing force. The invention also relates to a frictional planetary gearing.

A robot joint assembly and a robotic arm with the joint assembly are disclosed. Also, a robot comprising the robotic arm is disclosed. The joint assembly extends along a joint axis between a primary joint assembly end and a secondary joint assembly end and comprises a housing including a first housing part and a second housing part, and an output part arranged at the secondary joint assembly end. The joint assembly also comprises a motor and a strain wave gearing system. The first housing part comprises a plurality of first assembly holes arranged circumferentially around the joint axis and each of the plurality of first assembly holes extending parallel to the joint axis, and wherein the second housing part comprises a plurality of second assembly holes arranged circumferentially around the joint axis and each of the plurality of second assembly holes extending parallel to the joint axis. Each first assembly hole of the plurality of first assembly holes is aligned with a corresponding second assembly hole of the plurality of second assembly holes and is adapted to receive a primary fastening element being inserted parallel to the joint axis from the secondary joint assembly end towards the primary joint assembly end into the first assembly hole and the second assembly hole to mechanically fastening together the first housing part and the second housing part.

A wave gear device (1) is lubricated with non-hydrophobized powder (10A) enclosed in an internal space (9) before the end of running-in (aging), and the non-hydrophobized powder (10A) forms a firm lubricating film by transferring and adhering to each contact surface of the contact portions (B, C). During load running, the wave gear device (1) is lubricated with hydrophobized powder (10B) enclosed in the internal space (9) instead of the non-hydrophobized powder (10A). The powders (10A, 10B) used are powders of ionic crystal compounds (MoS2, WS2, etc.) having a layered crystal structure. By lubricating the wave gear device (1) during load running with the hydrophobized powder (10B), temporary efficiency reduction at the start of running can be suppressed, and stable running of the wave gear device (1) can be maintained.

The invention provides a ball bearing preventing vibration of a cage while preventing deformation of the cage in strain wave gearing. A ball bearing includes an inner ring deformable, an outer ring deformable and installed outside the inner ring, a plurality of rolling elements having a spherical shape and provided between the inner ring and the outer ring, and a cage provided with a plurality of pockets respectively accommodating the plurality of rolling elements and separated by gaps in a circumferential direction. Each of the plurality of pockets includes a pocket surface spread about a pocket axial line extending in a radial direction, and a flange part protruding from the pocket surface toward the pocket axial line. The pocket surface is configured to accommodate the rolling element with a gap interposed between the pocket surface and the rolling element, and the flange part is configured to come into contact with the rolling element positioned at at least a position of a minor radius of the inner ring from an inner side in the radial direction.

In a strain wave gearing device (1), tapered fastening surfaces (331, 81) inclined with respect to an orthogonal plane orthogonal to a central axis (1a) are formed on a fastening surface between a boss (33) of an external gear (3) and a first end plate (8), and tapered fastening surfaces (21, 101) are also formed on a fastening surface between an internal gear (2) and a second end plate (10). As a result of the engagement between the tapered fastening surfaces (331, 81), the engagement between the tapered fastening surfaces (21, 101) can form a firm fastening state, and the radial displacement of the first and second end plates (8, 10) due to a radial load can be reduced. As a result, eccentricity between the wave generator (4) and the support bearings (7, 9) due to radial displacement can be prevented or suppressed, and unnecessary radial force can be prevented from acting on the wave generator (4).

A wave gear device (1) is provided with an inner tooth gear (2) of an inner ring integrated type. A bolt hole (27) is formed in the inner tooth gear (2), and the bolt hole (27) is provided with a bolt through hole portion (28) and a screw hole portion (29) that is continuous with the bolt through hole portion (28) and extends in the direction of an axis (1a). The screw hole portion (29) in which a bolt fastening connection force acts is formed at a position that is deviated in the direction of the axis (1a) from a position adjacent to the outer side in the radial direction with respect to an inner tooth (20). Deformation of a portion in which the inner tooth (20) is formed at the time of bolt fastening connection can be reduced, and disadvantages such as a decrease in meshing accuracy or assembly accuracy of the inner tooth gear (2) and an outer tooth gear (3) due to deformation can be suppressed.

An externally toothed gear (3) of a strain wave gearing (1) is provided with external teeth (34), the tooth profile of which gradually changes along the tooth trace direction. The external teeth (34) are each provided with an external tooth portion (341) that is capable of meshing with internal teeth (24) of an internally toothed gear (2), and an external tooth extension portion (342) that does not mesh with the internal teeth (24). The external tooth extension portions (342) have a tapered tooth profile that tapers off, and serves as a guide for instances when the external teeth (34) are inserted between the internal teeth (24). The tooth profile (342c) of the external tooth extension portions (342) is slightly smaller than the tooth profile (341c) at first ends (341a) of the external tooth portions (341), to which the external tooth extension portions (342) are linked. The tooth profile (342c) does not protrude in the tooth depth direction or the tooth thickness direction from the tooth profile (341c) due to misalignment of a molding die. It is easy to carry out fitting work for inserting the externally toothed gear (3) into the internally toothed gear (2) using the external tooth extension portions (342) as a guide.

A strain wave gear device (4) is provided with: a device case (41); an internally toothed gear (42); and an annular gap portion (47) which is formed between the external gear (43) and the main bearing (46), surrounds the cylindrical portion (43a) of the external gear (43), and in which a gap filling ring (48) made of a lightweight resin material is fitted in order to fill the gap portion (47). As a result, the contour shape of the gap-filling ring (48) is appropriately set, and by forming the gap-filling ring (48) from a material having a small weight per volume, a gap portion (47) formed on the outer peripheral side of the externally toothed gear (43) can be filled without causing an unnecessary increase in mass, and without causing unnecessary retention of a lubricant.

The invention relates to an actuating device (1) for actuating a separating clutch (33) of a drive (30), by means of which a drive machine (31) can be separated from and / or coupled to an output (32), comprising: a transmission unit (2) for connecting a drive unit (3) of the actuating device (1) to an output unit (4) of the actuating device (1), wherein the transmission unit (2) has a strain wave gearing and / or a cycloidal gear drive. The invention also relates to a drive (30) for a hybrid or electric vehicle comprising an actuating device (1).

In a strain wave gearing device (1) in which a flexible external gear (3) is caused to flex into an elliptical shape to partially mesh with a rigid internal gear (2), a torque detection unit (20) of a torque detection device (10) for detecting transmission torque transmitted via the external gear (3) is provided with: strain gauges (11) that are affixed, to the surface of a diaphragm of the external gear, at 16 locations at equiangular intervals of 22.5 degrees in the circumferential direction; and a Wheatstone bridge circuit (21) that combines the outputs of the strain gauges (11) and outputs a torque detection signal (22). This makes it possible to remove eighth-order components of rotation ripple included in the strain gauge output and to accurately detect transmission torque.