US 12,234,903 B2
Strain wave gearing and actuator
Masaru Kobayashi, Azumino (JP)
Assigned to HARMONIC DRIVE SYSTEMS INC., Tokyo (JP)
Appl. No. 18/576,392
Filed by HARMONIC DRIVE SYSTEMS INC., Tokyo (JP)
PCT Filed Sep. 21, 2021, PCT No. PCT/JP2021/034641
§ 371(c)(1), (2) Date Jan. 4, 2024,
PCT Pub. No. WO2023/047469, PCT Pub. Date Mar. 30, 2023.
Prior Publication US 2024/0309945 A1, Sep. 19, 2024
Int. Cl. F16H 49/00 (2006.01); F16H 57/02 (2012.01); G01L 5/12 (2006.01)
CPC F16H 49/001 (2013.01) [F16H 57/02 (2013.01); G01L 5/12 (2013.01); F16H 2049/003 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A strain wave gearing comprising:
a rigid internally toothed gear;
a flexible externally toothed gear that is disposed inside the internally toothed gear;
a wave generator that is disposed inside the externally toothed gear, the wave generator causing the externally toothed gear to flex into a non-circular shape and partially mesh with the internally toothed gear;
a device housing that rotatably supports the wave generator; and
a detection mechanism that, in order to calculate thrust generated between the wave generator and the externally toothed gear, detects displacement produced in the wave generator in the direction of an axis by the thrust,
wherein
the wave generator is provided with a cylindrical hub that is linked to an external rotating shaft so as to rotate integrally with the rotating shaft while being capable of moving relatively in the direction of the axis,
the device housing is provided with a cylindrical housing portion that surrounds the hub, and
the detection mechanism is disposed between the hub and the cylindrical housing and detects the displacement produced in the hub in the direction of the axis.