| Harmonic Drive Systems Inc. Patent applications |
| Patent application number | Title | Published |
|---|
| 20120085188 | NONCIRCULAR BEARING, WAVE GENERATOR, AND WAVE GEAR DEVICE - A wave generator ( | 04-12-2012 |
| 20120068694 | METHOD OF DETECTING ABSOLUTE ROTATIONAL POSITION - Before detecting a mechanical angular absolute position θabs of a rotating shaft ( | 03-22-2012 |
| 20120036951 | WAVE-TYPE LINEAR MOTION MECHANISM - Disclosed is a wave-type linear motion mechanism including a hydraulic pressure chamber for applying a retention force in the axial direction to a rigid screw member which moves in a linear fashion. Regulating valves are provided in the hydraulic pressure chamber, and these regulating valves open during the rotation of a wave generator so that no hydraulic pressure is exerted on the rigid screw member which moves in a linear fashion. During the rotation of the wave generator the regulating valves close to establish an airtight state in the hydraulic pressure chamber, and a hydraulic pressure is exerted as a retention force on the rigid screw member. Although restricted by the meshing strength between the rigid screw member and a flexible screw member and the buckling strength of the flexible screw member, the retention force of the wave-type linear motion mechanism is able to be increased. | 02-16-2012 |
| 20120031329 | ELECTROSTATIC COATING APPARATUS - Provided is an electrostatic coating apparatus capable of insulating an electric motor electrically from a member, to which an electrostatic high voltage is applied, and reducing the size and weight of the electrostatic coating apparatus. This electrostatic coating apparatus comprises a rotary atomizing head, to which high voltage is electrostatically applied, an electrostatically grounded AC servomotor, and a spindle and a fixed insulating member for insulating the AC servomotor electrically from the rotary atomizing head and a speed-increasing device to be set at the same potential as that of the former. The spindle and the fixed insulating member have insulation distance enlarging portions of the mode, in which the creepage insulation distances from the speed-increasing device to the AC servomotor are enlarged. | 02-09-2012 |
| 20110304836 | METHOD FOR CREATING DRIVE PATTERN FOR GALVANO-SCANNER SYSTEM - A visible laser beam scanned by a galvano-scanner system is aligned at each of positioning points on the top surface of a master work by manual operation to record sensor position signals of position sensors on galvano-scanners. The sensor position signals on each positioning point are recorded to create a drive pattern in accordance with recorded sensor position signals. The drive pattern no longer has optics system error sources including focus error and attachment error as well as errors caused by scale, offset and the like, also eliminating the need for entering a distance as far as the top surface of the work. Therefore, the drive pattern with error components removed can be created with ease. | 12-15-2011 |
| 20110278983 | SEGMENTED CORE MOTOR STATOR - Stator core of motor stator is equipped with a segmented core connecting body which connects in an annular shape a segmented core having a structure whereby laminated core plates are connected and held in place in a laminated state. To connect and fix core laminated plates by clamping, first and second dowels formed in each core laminated plate are used to connect and fix common rings by pressure-fitting them to the first and second end faces at either side of the segmented core connecting body, thus integrating the segmented core connecting body. The segmented core connecting body can be integrated with a simple operation, thus significantly reducing the assembly time for the stator core. | 11-17-2011 |
| 20110251722 | METHOD FOR PERFORMING ADAPTIVE FRICTION COMPENSATION IN AN ACTUATOR ACCOUNTING FOR VARIATION IN FRICTION CHARACTERISTICS OF WAVE GEAR DRIVE ACCOMPANYING CHANGE IN TEMPERATURE - According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current i | 10-13-2011 |
| 20110248661 | METHOD FOR CONTROLLING POSITIONING OF ACTUATOR COMPRISING WAVE GEAR DEVICE - A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command. | 10-13-2011 |
| 20110237382 | WAVE GEAR DEVICE HAVING THREE-DIMENSIONALLY CONTACTABLE SHIFTED TOOTH PROFILE - Disclosed is a wave gear device ( | 09-29-2011 |
| 20110154928 | WAVE GEAR DEVICE HAVING COMPOUND TOOTH PROFILE OF POSITIVE DEFLECTION MESHING - In a wave gear device ( | 06-30-2011 |
| 20110138952 | Method for setting non-positive deflection, maximum meshable tooth profile in flat wave gear device - In a flat wave gear device, there is determined a rack-approximated movement locus Lc1 of a flexible externally toothed gear with respect to an S-side rigid internally toothed gear accompanying rotation of a wave generator. (ρ | 06-16-2011 |
| 20110133382 | WAVE TYPE LINEAR MOTION MECHANISM AND HOLDING MECHANISM - In a wave linear motion mechanism ( | 06-09-2011 |
| 20110116962 | GEARED MOTOR ASSEMBLY - A geared motor assembly comprises a rotation-transmitting shaft for transferring output rotation of a reducer on the front side of a motor to an output shaft sensor on the rear side of the motor. A front end portion of the rotation-transmitting shaft is securely bonded to a rotation output member of the reducer by an adhesive that exhibits flexibility or elasticity after hardening, and a rear end portion of the rotation-transmitting shaft is rotatably supported by a sensor cover via a bearing in a position adjacent to the output shaft sensor. The rotation-transmitting shaft can be supported in a state free of axial runout by deformation of the adhesive and by the bearing. Consequently, the rotation angle position of the rotation output member can be detected with precision by the output shaft sensor in a position adjacent to the bearing. | 05-19-2011 |
| 20110111622 | ELECTRIC WIRING STRUCTURE OF HOLLOW ROTATOR - A relay connector is secured to a hollow hole forming member provided with a hollow hole in a hollow rotator so as to be coaxially located in the hollow hole in order to draw out an electric wire group from the side of one end surface in the direction of a rotation central axis line of the hollow rotator to the side of the other end surface by using the hollow hole passing through in the direction of the rotation central axis line in the hollow rotator. A first connection section is formed on one end of the direction of the rotation central axis line of the relay connector and a second connection section is formed on the other end thereof. A first electric wire side connector attached to the end of a first electric wire group is electrically and detachably connected to the first connection section and a second electric wire side connector attached to the end of a second electric wire group is electrically and detachably connected to the second connection section. | 05-12-2011 |
| 20110067504 | COMPLEX SENSOR AND ROBOT HAND - A complex sensor comprises a touch sensor and a proximity sensor. The touch sensor comprises a flexible pressure-sensitive sheet covering a fingertip portion. The pressure-sensitive sheet comprises a front surface film and a rear surface film composed of a flexible conductive material, an intermediate film which is sandwiched between the films in a state in which the intermediate film is electrically connected and which is composed of pressure-sensitive conductive rubber, and first to fourth electrode terminals formed on the front surface and rear surface films. The size of a load acting on the pressure-sensitive sheet and the center position of the load can be detected based on the terminal voltage. A through-hole is formed in the pressure-sensitive sheet such that the sensing surface of the proximity sensor is exposed, thus the approach of a holding object can be detected. | 03-24-2011 |
| 20110054820 | METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF WAVE GEAR DEVICE - A positioning system ( | 03-03-2011 |
| 20100319484 | Wave Gear Device - A bending state known as “coning,” in which the amount of bending of the flexspline gradually decreases in accordance with the distance from the open end of the spline, occurs in cup-type or “silk hat”-type wave gear devices. A tooth profile in which the tooth depth is kept constant and in which the bottom lands and top lands are parallel to each other along the tooth trace direction is used as the basic tooth profile for the circular spline and the flexspline of the wave gear device. A taper surface is formed on a part of the top land near the open end of the flexspline in the basic tooth profile, whereby a modified tooth profile is obtained. The modified tooth profile is employed as the tooth profile for both of the splines. Both of the splines can be caused to mesh together without generating coning-induced interference. Both of the splines can also be subjected to gear cutting by a simple process using a typical machining mechanism. | 12-23-2010 |
| 20100229395 | METHOD FOR MANUFACTURING RIGID INTERNAL GEAR OF WAVE GEAR DEVICE - A method for manufacturing a rigid internal gear of a wave gear device in which an internally toothed portion formed with internal teeth and a gear main body portion are joined integrally, the method including preforming an internal teeth-forming ring or disc for forming the internally toothed portion by using a first aluminum alloy powder; manufacturing a forging in which the internal teeth-forming ring or disc is placed in a forging die and is integrally formed on its outer side with the gear main body portion using a second aluminum alloy powder, the first aluminum alloy powder being harder and having higher abrasion resistance than the second aluminum alloy powder; and applying post-processing including cutting teeth to the forging. | 09-16-2010 |
| 20100212446 | WAVE GEAR DEVICE - In a cup-type or “silk hat”-type wave gear device ( | 08-26-2010 |
| 20100183392 | MOTOR WITH CUTTING TOOL MOUNTING HOLE - A tool holder plate ( | 07-22-2010 |
| 20100175503 | Wave Generator for Wave Gear Device - The flexible bearing of the wave generator for a wave gear device is a deep-groove ball bearing in which an outer race and an inner race form an annular flexible bearing ring capable of bending in a radial direction. A ball diameter Da is set to be 5 to 15% greater than that of each model of the currently available product, and dimensions of orbital plane radii ro, ri of the inner and outer races are set so that the ratio ro/Da of the orbital plane radius ro of the inner race and the ball diameter Da, as well as the ratio ri/Da of the orbital plane radius ri of the outer race and the ball diameter Da, are both 0.8 to 2% less than those ratios in each model of the currently available product. When the ball diameter and the orbital plane radii are thus set, it is possible to substantially extend the service life of the flexible bearing. | 07-15-2010 |
| 20100172004 | Drive Control Method for Galvano-Scanner - A galvano-scanner system ( | 07-08-2010 |
| 20100065678 | SELF-PROPELLED WHEEL APPARATUS OF AIRCRAFT - In a self-propelled wheel apparatus of an aircraft, a drive mechanism composed of a wave gear drive and a motor is coaxially linked to an axle of a wheel via a one-way clutch, and rotational force in the reverse direction of the aircraft is transmitted to the wheel axle via the one-way clutch. When the aircraft moves forward, the link between the wheel axle and an output shaft of the wave gear drive is cut off by the one-way clutch, and motor rotational force is transmitted to the wheel axle, causing the wheel to rotate, only when the aircraft moves backward. | 03-18-2010 |
| 20100065333 | DRILL BIT SHAFT STRUCTURE FOR EXCAVATION APPARATUS - The drill bit shaft structure for an excavation apparatus has a thin-walled shaft portion formed on a hollow drill bit shaft. The thin-walled shaft portion has a thinner wall than that of shaft portions of the hollow drill bit shaft adjacent to both ends of the thin-walled shaft portion. A cylindrical body provided with an adjustable joining structure is disposed so as to envelop the thin-walled shaft portion. Both ends of the cylindrical body are connected to the shaft portions of the hollow drill bit shaft adjacent to the both ends of the thin-walled shaft portion. The direction of excavation is controlled by bending the thin-walled shaft portion and the cylindrical body. | 03-18-2010 |
| 20090320643 | COMPOSITE WAVE GEAR DRIVE - In a composite wave gear drive, a flexspline (having a number of teeth Nf) is disposed on the inner side of first and second circular splines (numbers of teeth Nc | 12-31-2009 |
| 20090293659 | WAVE-GEAR-TYPE LINEAR-ACTUATION MECHANISM - A wave-gear-type linear-actuation mechanism comprises a flat-type wave gear; a lead screw that is a structural component of the wave gear and is formed on an outer peripheral surface of a first circular spline; and a linear-actuation cylinder threaded onto the lead screw, a linear-actuation cylinder | 12-03-2009 |
| 20090284815 | METHOD FOR ADJUSTING GALVANO SCANNER SYSTEM - In a galvano scanner system ( | 11-19-2009 |
| 20090260469 | FLEXSPLINE AND WAVE GEAR DEVICE - In a flexspline of a wave gear device, an annular flange thereof is constructed from a first annular part bent at a right angle from an outer peripheral edge of a diaphragm, and a second annular part caused to inwardly protrude at a uniform width from a leading end of the first annular part. It is possible for the annular flange to be disposed within the region where the diaphragm is formed, as viewed in the direction of an axis of the device. An outer diameter can be reduced to a greater extent than with a “silk hat”-shaped flexspline; and when a hollow wave gear device is manufactured, a hollow diameter can be more readily increased than in a case where a cup-shaped flexspline is used. | 10-22-2009 |
| 20090249918 | Finger Joint Mechanism - A finger joint mechanism ( | 10-08-2009 |
| 20090243599 | MULTIPLE-ROTATION ABSOLUTE ENCODER - A multiple-rotation absolute encoder attached to an actuator provided with a motor and a reduction gear comprises a multiple-rotation value counter for counting a multiple-rotation value representing a number of rotations of a rotating shaft of the motor from a predetermined origin; a memory part for storing a reduction ratio R of the reduction gear; and a counter-controlling part for setting a range of the count value of the multiple-rotation value counter from zero rotations to (R−1) rotations on the basis of the reduction ratio R stored and maintained in the memory part, resetting the count value to zero when the rotating shaft makes a single rotation in a forward direction from a state in which the count value is (R−1), and setting the count value to (R−1) when the rotating shaft makes a single rotation in a reverse direction from a state in which the count value is zero. The rotation-angle position within a single rotation of the output shaft can be specified without the multiple-rotation value counter overflowing, even when the actuator rotates continuously in one direction. | 10-01-2009 |
| 20090218181 | SERVO MOTOR BRAKE DEVICE - A small-sized, lightweight servo motor brake device ( | 09-03-2009 |
| 20090200979 | METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF AN ACTUATOR - The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θ | 08-13-2009 |
| 20090139358 | Method For Setting Gear Tooth Profile In Flat Wave Gear Device On Side Where Gears Have Same Number Of teeth - In a flat wave gear device in which a flexible externally toothed gear and the rigid internally toothed gear have the same number of teeth, an arcuate tooth profile is imparted to a flexible externally toothed gear, a contact point C between tooth profiles of a flexible externally toothed gear and a D-side rigid internally toothed gear is determined from an arc center A of the arcuate tooth profile of the flexible externally toothed gear and from a momentary center S of relative movement between the gears, and a main part of a tooth profile to be formed in the D-side rigid internally toothed gear is calculated based on the contact point. The tooth profile of the D-side rigid internally toothed gear can be accurately designed; therefore, meshing between the gears can occur with zero backlash, ratcheting torque can be increased, and continuous meshing can occur across a wide range of the movement locus of the tooth profiles of both gears. The load capability of the flat wave gear device can accordingly be increased. | 06-04-2009 |
| 20090139357 | Method For Setting Nonpositive Deflection, Maximum Meshable Tooth Profile In Flat Wave Gear Device - In a flat wave gear device, there is determined a rack-approximated movement locus Lc | 06-04-2009 |
| 20090114054 | FINGER UNIT FOR ROBOT HAND AND METHOD OF ASSEMBLING THE SAME - A multi-joint finger unit ( | 05-07-2009 |
| 20090025500 | WAVE GEAR DEVICE - A wave gear device is proposed having an anti-ratcheting mechanism having a simple configuration, wherein a center through-hole is formed in a cylinder hub of a wave generator, a small-diameter shaft end portion of a rotating input shaft is concentrically inserted in the center through-hole, and the two members are fastened by a fastening bolt, and a friction ring is concentrically sandwiched between the small-diameter shaft end portion and the cylinder hub and pressed in the radial direction with a prescribed force, whereby when transmission torque from the rotating input shaft to the wave generator | 01-29-2009 |
| 20080297867 | METHOD FOR ADJUSTING DRIVE CHARACTERISTICS OF SCANNER DRIVER OF GALVANOMETRIC SCANNER - A scanner driver of a galvanometric scanner system includes an analog drive circuit; a control unit | 12-04-2008 |
