The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 31, 2026
Filed:
Feb. 14, 2023
Harmonic Drive Systems Inc., Tokyo, JP;
Manabu Kino, Azumino, JP;
HARMONIC DRIVE SYSTEMS INC., Tokyo, JP;
Abstract
A strain wave gearing () is configured to have a unitized structure having a main bearing () that supports an internally toothed gear () and an externally toothed gear () in a manner that allows relative rotation, and an output flange () that is linked to the externally toothed gear (). The externally toothed gear () 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 () is incorporated into a robot joint part or the like. A strain gauge () of a torque sensor () is attached to an outward-facing end surface portion of the output flange () linked to the externally toothed gear (). The torque sensor () is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (), and elements such as the strain gauge () are not exposed to oil, grease, or the like.