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1. 发明专利

CA2069072A1 CUP-TYPE HARMONIC DRIVE HAVING A SHORT, FLEXIBLE CUP MEMBER 未知
公开(公告)号：CA2069072A1
公开(公告)日：1992-11-21
申请号：CA2069072
申请日：1992-05-20
申请人： KIYOSAWA YOSHIHIDE , TAKIZAWA NOBORU , OUKURA TAKAHIRO , YAMAMOTO YOSHITO
发明人： KIYOSAWA YOSHIHIDE , TAKIZAWA NOBORU , OUKURA TAKAHIRO , YAMAMOTO YOSHITO
IPC分类号： F16H1/32 , F16H49/00 , F16H1/10
摘要： A cup-type harmonic gear drive comprises a rigid circular spline, a cup-shaped flexspline disposed inside the circular spline and a wave generator means fitted inside the flexspline for flexing the flexspline into elliptic to engage it with the circular spline and for rotating the engagement portions to thereby produce relative rotation between the splines. The flexspline has a tube, a discshaped diaphragm connected integrally to the end of said tube to define the cup bottom, and a thick boss formed on the center of the diaphragm. The diaphragm has a root portion from the boss, a thickness of which is set at least about three times the minimum thickness of the diaphragm. The outer profile of the diaphragm is defined, when viewed along a plane including the axis of the flexspline, by a plurality of curves having a different curvature. These curves are arranged from one having a larger curvature from the root protion to the tube portion of the diaphragm. Thus, the stress distribution of the flexspline can be made smooth to the extent for practical use even where a shorter flexspline is adopted.

2. 发明专利

CA2069072C CUP-TYPE HARMONIC DRIVE HAVING A SHORT, FLEXIBLE CUP MEMBER 未知
公开(公告)号：CA2069072C
公开(公告)日：2003-12-30
申请号：CA2069072
申请日：1992-05-20
申请人： KIYOSAWA YOSHIHIDE , TAKIZAWA NOBORU , OUKURA TAKAHIRO , YAMAMOTO YOSHITO
发明人： KIYOSAWA YOSHIHIDE , TAKIZAWA NOBORU , OUKURA TAKAHIRO , YAMAMOTO YOSHITO
IPC分类号： F16H1/32 , F16H49/00 , F16H1/10
摘要： A cup-type harmonic gear drive comprises a rigid circular spline, a cup-shaped flexspline disposed inside the circular spline and a wave generator means fitted inside the flexspline for flexing the flexspline into elliptic to engage it with the circular spline and for rotating the engagement portions to thereby produce relative rotation between the splines. The flexspline has a tube, a disc- shaped diaphragm connected integrally to the end of said tube to define the cup bottom, and a thick boss formed on the center of the diaphragm. The diaphragm has a root portion from the boss, a thickness of which is set at least about three times the minimum thickness of the diaphragm. The outer profile of the diaphragm is defined, when viewed along a plane including the axis of the flexspline, by a plurality of curves having a different curvature. These curves are arranged from one having a larger curvature from the root protion to the tube portion of the diaphragm. Thus, the stress distribution of the flexspline can be made smooth to the extent for practical use even where a shorter flexspline is adopted.

3. 发明专利

CA2047282A1 ATTITUDE CONTROL DEVICE AND DRILLING-DIRECTION CONTROL DEVICE 未知
公开(公告)号：CA2047282A1
公开(公告)日：1992-01-19
申请号：CA2047282
申请日：1991-07-17
申请人： KUWANA SHOJI , KIYOSAWA YOSHIHIDE , IKEDA AKIO
发明人： KUWANA SHOJI , KIYOSAWA YOSHIHIDE , IKEDA AKIO
IPC分类号： E21B44/00 , E21B7/06 , E21B44/02 , E21B47/022 , F16H49/00
摘要： An attitude control device has a plurality of harmonic drive mechanisms of the hollow type, preferably first and second harmonic drive mechanisms. First and second rotational members are connected to the outputs of the first and second harmonic drive mechanisms. These rotational members have eccentric hollow portions which rotate eccentrically around the rotational axes of the harmonic drive mechanisms. A member to be driven is placed to extend through the eccentric hollow portions such that it is supportedly contacted with the inner surfaces of the eccentric hollow portions. In operation, the eccentric hollow portions are rotated relative to each other, whereby the member to be driven is controllably oriented to a desired direction. The attitude control device can be employed as a drilling-direction control device wherein a rotational drill shaft is supported by inner surfaces of eccentric hollow portions of first and second rotational members. These rotational members are rotated by first and second harmonic drive mechanisms. By rotating the eccentric hollow portions, the rotational drilling shaft is changed in orientation from the vertical direction.

4. 发明专利

CA2047282C ATTITUDE CONTROL DEVICE AND DRILLING-DIRECTION CONTROL DEVICE 未知
公开(公告)号：CA2047282C
公开(公告)日：2001-01-30
申请号：CA2047282
申请日：1991-07-17
申请人： KUWANA SHOJI , KIYOSAWA YOSHIHIDE , IKEDA AKIO
发明人： KUWANA SHOJI , KIYOSAWA YOSHIHIDE , IKEDA AKIO
IPC分类号： E21B44/00 , E21B7/06 , E21B44/02 , E21B47/022 , F16H49/00 , F16H1/10 , E21B7/04
摘要： An attitude control device has a plurality of harmonic drive mechanisms of the hollow type, preferably first and second harmonic drive mechanisms. First and second rotational members are connected to the outputs of the first and second harmonic drive mechanisms. These rotational members have eccentric hollow portions which rotate eccentrically around the rotational axes of the harmonic drive mechanisms. A member to be driven is placed to extend through the eccentric hollow portions such that it is supportedly contacted with the inner surfaces of the eccentric hollow portions. In operation, the eccentric hollow portions are rotated relative to each other, whereby the member to be driven is controllably oriented to a desired direction. The attitude control device can be employed as a drilling-direction control device wherein a rotational drill shaft is supported by inner surfaces of eccentric hollow portions of first and second rotational members. These rotational members are rotated by first and second harmonic drive mechanisms. By rotating the eccentric hollow portions, the rotational drilling shaft is changed in orientation from the vertical direction.

5. 发明申请

WO1994012809A1 FLEXING CONTACT TYPE GEARS OF NON-PROFILE-SHIFTED TWO-CIRCULAR-ARC COMPOSITE TOOTH PROFILE 审中-公开
标题翻译：非轮廓转换双圆弧复合牙齿轮廓的弯曲接触式齿轮
公开(公告)号：WO1994012809A1
公开(公告)日：1994-06-09
申请号：PCT/JP1992001536
申请日：1992-11-24
申请人： HARMONIC DRIVE SYSTEMS INC. , ISHIKAWA, Shoichi , KIYOSAWA, Yoshihide
发明人： HARMONIC DRIVE SYSTEMS INC.
IPC分类号： F16H01/32
CPC分类号： F16H55/0833
摘要： In cup-shaped flexing contact gears (1), the respective tooth profiles of the rigid internal gear (2) and the cup-shaped flexible external gear (3) are each constructed such that the tooth face portion is formed of a straight line MA disposed in the vicinity of a datum point, a first convex circular arc AB smoothly connected thereto and a second convex circular arc BC smoothly connected to the first convex circular arc AB and having a radius of curvature larger than the first convex circular arc, while, the dedendum portion excluding the root is created by a standard rack consisting of a tooth profile formed by a curve point-symmetrical with respect to the datum point to the tooth profile at the tooth face or a curve obtained by correcting the above-mentioned curve. The curve defined by the above-described first and second convex circular arcs is an approximated curve of a similar curve obtained by subjecting to the conversion of similitude of 1/2 in the reduction ratio from the marginal point of intermeshing, which is selected on a composite curve to be described hereunder, this composite curve obtained by connecting a moving locus of teeth of the flexible external gear in a section of rotation in the vicinity of the end portion of the tooth trace on the side of a diaphragm to an envelope of moving loci obtained by overlapping on one plane of rotation the moving loci obtained by rack approximation of the external gear to the rigid internal gear in sections of rotation at the respective positions in the direction of tooth trace of the cup-shaped flexible external gear.
摘要翻译：在杯状弯曲接触齿轮（1）中，刚性内齿轮（2）和杯形柔性外齿轮（3）的各齿形分别构造成使得齿面部分由直线MA 设置在基准点附近，平滑地连接到其上的第一凸圆弧AB和平滑地连接到第一凸圆弧AB并且具有大于第一凸圆弧的曲率半径的第二凸圆弧BC，不包括根部的齿根部由标准齿条产生，该标准齿条由通过相对于齿面处的齿廓的基准点的曲线点对称形成的齿廓或通过校正上述曲线而获得的曲线构成。由上述第一和第二凸圆弧限定的曲线是通过在相互啮合的边缘点进行从缩小比例的1/2的相似转换获得的类似曲线的近似曲线，其在复合曲线，该复合曲线通过将柔性外齿轮的齿的移动轨迹在振动膜侧的齿迹的端部附近的旋转部分中移动到移动的包络线通过在一个旋转平面上重叠，通过在杯状柔性外齿轮的齿迹方向上的相应位置处的旋转部分中将通过外齿轮的齿条近似获得的移动轨迹重叠到刚性内齿轮而获得的轨迹。

6. 发明申请

WO1993015300A1 DEVICE FOR POSITIONING MEMBER AND EXCAVATING DIRECTION CONTROL DEVICE FOR EXCAVATOR EMPLOYING SAID DEVICE 审中-公开
标题翻译：用于定位成员的装置和用于使用所述装置的挖掘机的方向控制装置
公开(公告)号：WO1993015300A1
公开(公告)日：1993-08-05
申请号：PCT/JP1993000068
申请日：1993-01-20
申请人： HARMONIC DRIVE SYSTEMS INC. , SUMITOMO METAL INDUSTRIES, LTD. , MISAWA, Toshiaki , KIYOSAWA, Yoshihide , SAKATA, Jun , IKEDA, Akio
发明人： HARMONIC DRIVE SYSTEMS INC. , SUMITOMO METAL INDUSTRIES, LTD.
IPC分类号： E21B07/06
CPC分类号： E21B7/062
摘要： A positioning device capable of positioning a member in any direction with a high degree of resolution by using a hollow type harmonic gear reducer and an excavating direction control device for an excavator utilizing the positioning device. The device of the present invention is mainly constituted by a double eccentric mechanism section (10). A first annular member (12) is rotatably supported by the inner circumferential surface (11a) of a cylindrical member (11) of this mechanism section, and a second annular member (13) is rotatably supported by the circular inner circumferential surface (11b) of this first annular member. In addition, the circular inner circumferential surface (12b) of the first annular member is formed in a position deviated by a distance 'e' relative to the center of the cylindrical member, and the circular inner circumferential surface (13b) of the second annular member is also formed in a position deviated by the distance 'e' relative to the center of the circular inner circumferential surface of the first annular member. It is possible to move the center (C) of the circular inner circumferential surface (13b) of the second annular member in any direction within a range of a predetermined radius by relatively rotating these first and second annular members by employing hollow type harmonic gear reducers (8, 9).

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