CN108895126A - cup type harmonic speed reducer - Google Patents
cup type harmonic speed reducer Download PDFInfo
- Publication number
- CN108895126A CN108895126A CN201811182889.4A CN201811182889A CN108895126A CN 108895126 A CN108895126 A CN 108895126A CN 201811182889 A CN201811182889 A CN 201811182889A CN 108895126 A CN108895126 A CN 108895126A
- Authority
- CN
- China
- Prior art keywords
- gear
- flexbile gear
- flexbile
- speed reducer
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 238000003825 pressing Methods 0.000 description 5
- 238000009826 distribution Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of cup type harmonic speed reducers, including cam, flexible bearing, flexbile gear and firm gear.Flexible bearing is socketed on cam, and flexbile gear is socketed on flexible bearing；It is provided with external gear on the outer wall of flexbile gear, internal gear is provided on the inner wall of firm gear, flexbile gear is arranged in firm gear；Under the drive of cam, flexible deformation occurs for flexbile gear, and the engaging portion of the internal gear of the external gear and firm gear of flexbile gear successively changes, and realizes gear；Cam passes through Oldham's coupling and input axis connection；Flexbile gear is for being connected with exporting axis；The shape of flexbile gear is cup-shaped, and the open end of flexbile gear is towards input shaft.Cup type harmonic speed reducer of the invention, each module separate design, assembling interface is simplified, assemble it is more convenient, it is compact-sized, reliable, it is cheap, and, input shaft is connect with cam by Oldham's coupling, farthest allowing importation, there are certain rigging error or kinematic errors, while guaranteeing that transmission accuracy is unaffected again.
Description
Technical field
The present invention relates to transmission device technical fields, more particularly to a kind of cup type harmonic speed reducer.
Background technique
It is excellent to have that small in size, speed ratio is big, torque is big and transmission accuracy is high etc. compared to planetary reduction gear for harmonic speed reducer
Point.More good harmonic speed reducer on our times, while properties of product are excellent, price is also fairly expensive.And it is domestic
The quality of harmonic speed reducer is irregular, and precision and reliability have very big shortcoming.
Summary of the invention
The purpose of the present invention is to provide a kind of cup type harmonic speed reducers, to solve harmonic reduction existing in the prior art
The precision and reliability of device have larger shortcoming, expensive technical problem.
To achieve the goals above, the present invention uses following technical scheme：
A kind of cup type harmonic speed reducer provided by the invention, including cam, flexible bearing, flexbile gear and firm gear；
The flexible bearing is socketed on the cam, and the flexbile gear is socketed on the flexible bearing；
It is provided with external gear on the outer wall of the flexbile gear, internal gear is provided on the inner wall of the firm gear, the flexbile gear is set
It sets in the firm gear；Under the drive of the cam, flexible deformation occurs for the flexbile gear, the external gear of the flexbile gear with it is described
The engaging portion of the internal gear of firm gear successively changes, and realizes gear；
The cam passes through Oldham's coupling and input axis connection；
The flexbile gear is for being connected with exporting axis；
The shape of the flexbile gear is cup-shaped, and the open end of the flexbile gear is towards input shaft.
Further, the open end of the flexbile gear is arranged in the external gear.
Further, the flexbile gear includes transmission wall and connection wall；
The shape of the transmission wall is cylindrical shape；
The shape of the connection wall is discoid；
The connection wall is fixedly connected on one end of the transmission wall.
Further, the other end of the transmission wall is arranged in the external gear.
Further, location hole group is provided in the connection wall；
Output shaft is connect by the location hole group and drive bearing with the flexbile gear.
Further, the location hole group includes first positioning hole group and second location hole group；
The first positioning hole group is for being arranged the first positioning pin；
The second location hole group is for being arranged the second positioning pin.
Further, the first positioning hole group is distributed in a ring centered on the center of the connection wall.
Further, the second location hole group is distributed in a ring centered on the center of the connection wall.
Further, the second location hole group is compared to the first positioning hole group close to the center of the connection wall.
Further, one end of the firm gear is arranged in the cam, and the another of the firm gear is arranged in the drive bearing
One end；
The drive bearing is used to output shaft being located in the firm gear, and for connect output shaft with it is described soft
Wheel.
Cup type harmonic speed reducer provided by the invention, input shaft band moving cam rotate, and flexible deformation occurs for flexbile gear, flexbile gear
The engaging portion of external gear and the internal gear of firm gear successively changes, and firm gear is fixed, is driven by flexbile gear, and power is passed
Output shaft is passed, realizes gear, the shape of flexbile gear is cup-shaped, each module separate design of this cup type harmonic speed reducer, group
Attaching mouth is simplified, so that the assembly of retarder is more convenient, it is compact-sized, reliable, enhance entire retarder system
Rigidity, it is cheap, also, connect input shaft with cam by Oldham's coupling, farthest importation is allowed to deposit
In certain rigging error or kinematic error, while guaranteeing that transmission accuracy is unaffected, solves existing harmonic speed reducer again
Precision and reliability have larger shortcoming, and expensive problem.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic cross-sectional view for cup type harmonic speed reducer that the embodiment of the present invention one provides；
Fig. 2 is a kind of partial structurtes perspective view of the explosion for cup type harmonic speed reducer that the embodiment of the present invention one provides；
Fig. 3 is a kind of partial structurtes perspective view of the explosion for cup type harmonic speed reducer that the embodiment of the present invention one provides.
Appended drawing reference：
100- cam；200- flexible bearing；300- flexbile gear；
400- firm gear；500- input shaft；600- flexbile gear pressing plate；
700- Oldham's coupling；800- drive bearing；301- is driven wall；
302- connection wall；303- first positioning hole group；304- second location hole group；
The first positioning pin of 305-；The second positioning pin of 306-.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
It is logical.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment one：
In the optinal plan of the present embodiment, as shown in Figure 1 and Figure 2, a kind of cup type harmonic reduction provided in this embodiment
Device, including cam 100, flexible bearing 200, flexbile gear 300 and firm gear 400；
Flexible bearing 200 is socketed on cam 100, and flexbile gear 300 is socketed on flexible bearing 200；
It is provided with external gear on the outer wall of flexbile gear 300, internal gear is provided on the inner wall of firm gear 400, the setting of flexbile gear 300 exists
In firm gear 400；Under the drive of cam 100, flexible deformation occurs for flexbile gear 300, and the external gear of flexbile gear 300 is interior with firm gear 400
The engaging portion of gear successively changes, and realizes gear；
Cam 100 is connect by Oldham's coupling 700 with input shaft 500；
Flexbile gear 300 is for being connected with exporting axis；
The shape of flexbile gear 300 is cup-shaped, and the open end of flexbile gear 300 is towards input shaft 500.
In the present embodiment, input shaft 500 is rotated with moving cam 100, the generation flexible deformation of flexbile gear 300, outside flexbile gear 300
The engaging portion of gear and the internal gear of firm gear 400 successively changes, and firm gear 400 is fixed, is driven by flexbile gear 300,
Output shaft is imparted power to, realizes gear, the shape of flexbile gear 300 is cup-shaped, each module of this cup type harmonic speed reducer
Separate design, assembling interface is simplified, so that the assembly of retarder is more convenient, also, passes through one group of Oldham's coupling 700
Input shaft 500 is connect with cam 100, farthest allows importation there are certain rigging error or kinematic error,
Guarantee that transmission accuracy is unaffected again simultaneously.
This cup type harmonic speed reducer simplifies the structure design of retarder, either in process of manufacture, or uses
In maintenance process, quite convenient for assembly.
Also, this cup type harmonic speed reducer is compact-sized, enhances the rigidity of entire retarder system.
Meanwhile this cup type harmonic speed reducer, high transmission accuracy, good reliability, and it is cheap.
Originally cup type harmonic speed reducer is compact-sized, is easily assembled to, very popular in automation application fields such as robots.
By connecting this cup type harmonic speed reducer, can be put while reducing motor (or the input of other power) revolving speed
Large torque power output.
Wherein, cam 100, flexible bearing 200 and Oldham's coupling 700 constitute wave producer；Wave producer may also include
Other components.
In the optinal plan of the present embodiment, the open end of flexbile gear 300 is arranged in external gear.
In the optinal plan of the present embodiment, as shown in figure 3, flexbile gear 300 includes transmission wall 301 and connection wall 302；
The shape for being driven wall 301 is cylindrical shape；
The shape of connection wall 302 is discoid；
Connection wall 302 is fixedly connected on one end of transmission wall 301.
In the present embodiment, transmission wall 301 and connection wall 302, it is preferable that be integrally formed, so that the structure of flexbile gear 300 is whole
Body is stronger.
In the present embodiment, flexbile gear 300 is closed at one end, open at one end；Transmission wall 301 has certain flexibility and strong
Degree can guarantee that stablizing for transmission carries out while flexible deformation.
In the optinal plan of the present embodiment, the other end of transmission wall 301 is arranged in external gear.
In the present embodiment, one end of transmission wall 301 is arranged in connection wall 302, and the another of transmission wall 301 is arranged in external gear
One end.
In the optinal plan of the present embodiment, location hole group is provided in connection wall 302；Output shaft by location hole group and
Drive bearing 800 is connect with flexbile gear 300.
In the present embodiment, output shaft is threadedly coupled with the threaded hole on drive bearing 800, meanwhile, flexbile gear 300 passes through company
The location hole group connect on wall 302 is threadedly coupled with output shaft realization；The setting of location hole group, so that output shaft and flexbile gear 300
Assemble it is more convenient, convenient for the assembly of device entirety.
Wherein, drive bearing 800 is preferably crossed roller bearing.
In the optinal plan of the present embodiment, location hole group includes first positioning hole group 303 and second location hole group 304；
First positioning hole group 303 is for being arranged the first positioning pin 305；
Second location hole group 304 is for being arranged the second positioning pin 306.
In the present embodiment, multiple first positioning pins 305 are correspondingly arranged at each first positioning of first positioning hole group 303
In hole, flexbile gear 300 is connect with drive bearing 800, realizes transmission；Multiple second positioning pins 306 are correspondingly arranged at the second positioning
It in each second location hole of hole group 304, plays the role of positioning, so that flexbile gear 300 and the relative position of drive bearing 800 are more steady
It is fixed, enhancement device traveling comfort.
Wherein, the first positioning pin 305 can also be screw, and matchingly, first positioning hole group 303 is through-hole；Second location hole
Group 304 is pin hole used for positioning.
Also, flexbile gear pressing plate 600 is equipped between the first positioning pin 305 and the connection wall 302 of flexbile gear 300；First positioning pin
305 run through flexbile gear pressing plate 600 and flexbile gear 300, connect with drive bearing 800.
Directly flexbile gear 300 is not connect with drive bearing 800, and add flexbile gear pressing plate 600, had the following advantages that：
The contact area for increasing the first positioning pin 305 and connection wall 302, reduces the friction to connection wall 302, extends flexbile gear
300 service life；
It is more uniformly stressed flexbile gear 300；
The central axis of flexbile gear pressing plate 600 has the function of positioning, can be by the corresponding position of the connection wall 302 of flexbile gear 300
It accurately corresponds on drive bearing 800.
In the optinal plan of the present embodiment, first positioning hole group 303 centered on the center of connection wall 302 in a ring
Distribution.
In the present embodiment, multiple first positioning holes of first positioning hole group 303 are evenly distributed on connection wall 302 in a ring
On, the center of the annular is overlapped with the center of connection wall 302；Location rule of the first positioning hole group 303 in connection wall 302,
Uniformly, so that the stress of connection wall 302 more balances, be conducive to the stability of transmission.
In the optinal plan of the present embodiment, second location hole group 304 centered on the center of connection wall 302 in a ring
Distribution.
In the present embodiment, multiple second location holes of second location hole group 304 are evenly distributed on connection wall 302 in a ring
On, the center of the annular is overlapped with the center of connection wall 302；Location rule of the second location hole group 304 in connection wall 302,
Positioning action can be more stably played, so that the stability of transmission is further increased.
In the optinal plan of the present embodiment, second location hole group 304 is compared to first positioning hole group 303 close to connection wall
302 center.
In the present embodiment, second location hole group 304 is located within the distribution of first positioning hole group 303, second
Flexbile gear 300 and the stability of output shaft relative position are enhanced on the structure basis of location hole group 304.
In the optinal plan of the present embodiment, one end of firm gear 400 is arranged in cam 100, and drive bearing 800 is arranged rigid
The other end of wheel 400；
Drive bearing 800 is used to for output shaft being located in firm gear 400, and for connecting output shaft and flexbile gear 300.
In the present embodiment, drive bearing 800 is set in the inside of the other end of firm gear 400；By drive bearing 800,
Enable output shaft fixed-axis rotation in firm gear 400, structure is simple, compact, convenient for assembly.
Embodiment two：
In the optinal plan of the present embodiment, a kind of cup type harmonic speed reducer provided in this embodiment, including cam 100,
Flexible bearing 200, flexbile gear 300 and firm gear 400；
Flexible bearing 200 is socketed on cam 100, and flexbile gear 300 is socketed on flexible bearing 200；
It is provided with external gear on the outer wall of flexbile gear 300, internal gear is provided on the inner wall of firm gear 400, the setting of flexbile gear 300 exists
In firm gear 400；Under the drive of cam 100, flexible deformation occurs for flexbile gear 300, and the external gear of flexbile gear 300 is interior with firm gear 400
The engaging portion of gear successively changes, and realizes gear；
Cam 100 is connect by Oldham's coupling 700 with input shaft 500；
Flexbile gear 300 is for being connected with exporting axis；
The shape of flexbile gear 300 is cup-shaped, and the open end of flexbile gear 300 is towards input shaft 500.
In the present embodiment, input shaft 500 is rotated with moving cam 100, the generation flexible deformation of flexbile gear 300, outside flexbile gear 300
The engaging portion of gear and the internal gear of firm gear 400 successively changes, and firm gear 400 is fixed, is driven by flexbile gear 300,
Output shaft is imparted power to, realizes gear, the shape of flexbile gear 300 is cup-shaped, each module of this cup type harmonic speed reducer
Separate design, assembling interface is simplified, so that the assembly of retarder is more convenient, also, passes through one group of Oldham's coupling 700
Input shaft 500 is connect with cam 100, farthest allows importation there are certain rigging error or kinematic error,
Guarantee that transmission accuracy is unaffected again simultaneously.
Also, this cup type harmonic speed reducer is compact-sized, enhances the rigidity of entire retarder system.
Meanwhile this cup type harmonic speed reducer, high transmission accuracy, good reliability, and it is cheap.
In the optinal plan of the present embodiment, one end of firm gear 400 is arranged in cam 100, and drive bearing 800 is arranged rigid
The other end of wheel 400；
Drive bearing 800 is used to for output shaft being located in firm gear 400, and for connecting output shaft and flexbile gear 300.
In the present embodiment, drive bearing 800 is set in the inside of the other end of firm gear 400；By drive bearing 800,
Enable output shaft fixed-axis rotation in firm gear 400, structure is simple, compact, convenient for assembly.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of cup type harmonic speed reducer, which is characterized in that including cam, flexible bearing, flexbile gear and firm gear；
The flexible bearing is socketed on the cam, and the flexbile gear is socketed on the flexible bearing；
It is provided with external gear on the outer wall of the flexbile gear, internal gear is provided on the inner wall of the firm gear, the flexbile gear setting exists
In the firm gear；Under the drive of the cam, flexible deformation, the external gear of the flexbile gear and the firm gear occur for the flexbile gear
The engaging portion of internal gear successively change, realize gear；
The cam passes through Oldham's coupling and input axis connection；
The flexbile gear is for being connected with exporting axis；
The shape of the flexbile gear is cup-shaped, and the open end of the flexbile gear is towards input shaft.
2. cup type harmonic speed reducer according to claim 1, which is characterized in that the flexbile gear is arranged in the external gear
Open end.
3. cup type harmonic speed reducer according to claim 1, which is characterized in that the flexbile gear includes transmission wall and connection
Wall；
The shape of the transmission wall is cylindrical shape；
The shape of the connection wall is discoid；
The connection wall is fixedly connected on one end of the transmission wall.
4. cup type harmonic speed reducer according to claim 3, which is characterized in that the external gear is arranged in the transmission wall
The other end.
5. cup type harmonic speed reducer according to claim 3, which is characterized in that be provided with location hole in the connection wall
Group；
Output shaft is connect by the location hole group and drive bearing with the flexbile gear.
6. cup type harmonic speed reducer according to claim 5, which is characterized in that the location hole group includes first positioning hole
Group and second location hole group；
The first positioning hole group is for being arranged the first positioning pin；
The second location hole group is for being arranged the second positioning pin.
7. cup type harmonic speed reducer according to claim 6, which is characterized in that the first positioning hole group is with the connection
It is distributed in a ring centered on the center of wall.
8. cup type harmonic speed reducer according to claim 6, which is characterized in that the second location hole group is with the connection
It is distributed in a ring centered on the center of wall.
9. cup type harmonic speed reducer according to claim 6, which is characterized in that the second location hole group is compared to described
First positioning hole group is close to the center of the connection wall.
10. cup type harmonic speed reducer according to claim 5, which is characterized in that the firm gear is arranged in the cam
The other end of the firm gear is arranged in one end, the drive bearing；
The drive bearing is used to for output shaft being located in the firm gear, and for connecting output shaft and the flexbile gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182889.4A CN108895126A (en) | 2018-10-11 | 2018-10-11 | cup type harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182889.4A CN108895126A (en) | 2018-10-11 | 2018-10-11 | cup type harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108895126A true CN108895126A (en) | 2018-11-27 |
Family
ID=64360251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811182889.4A Pending CN108895126A (en) | 2018-10-11 | 2018-10-11 | cup type harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108895126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439985A (en) * | 2019-09-09 | 2019-11-12 | 苏州绿的谐波传动科技股份有限公司 | A kind of perpendicular type harmonic speed reducer device with bevel gear |
| CN113958684A (en) * | 2021-11-17 | 2022-01-21 | 珠海格力电器股份有限公司 | Harmonic reducer and control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100084005A (en) * | 2009-01-15 | 2010-07-23 | 서울산업대학교 산학협력단 | Two stage plastic harmonic drive |
| CN205534039U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Lightweight harmonic gear reduction gear |
| CN106246869A (en) * | 2016-05-25 | 2016-12-21 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN207715678U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic speed reducer suitable for printing machinery |
| CN207715651U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reduction device assembly |
| CN207715681U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic speed reducer |
| CN207715683U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | Harmonic speed reducer |
| CN108591416A (en) * | 2018-03-16 | 2018-09-28 | 大族激光科技产业集团股份有限公司 | a kind of harmonic speed reducer |
| CN208966953U (en) * | 2018-10-11 | 2019-06-11 | 北京中研华飞科技有限公司 | Cup type harmonic speed reducer |
-
2018
- 2018-10-11 CN CN201811182889.4A patent/CN108895126A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100084005A (en) * | 2009-01-15 | 2010-07-23 | 서울산업대학교 산학협력단 | Two stage plastic harmonic drive |
| CN205534039U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Lightweight harmonic gear reduction gear |
| CN106246869A (en) * | 2016-05-25 | 2016-12-21 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN207715678U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic speed reducer suitable for printing machinery |
| CN207715651U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reduction device assembly |
| CN207715681U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic speed reducer |
| CN207715683U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | Harmonic speed reducer |
| CN108591416A (en) * | 2018-03-16 | 2018-09-28 | 大族激光科技产业集团股份有限公司 | a kind of harmonic speed reducer |
| CN208966953U (en) * | 2018-10-11 | 2019-06-11 | 北京中研华飞科技有限公司 | Cup type harmonic speed reducer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439985A (en) * | 2019-09-09 | 2019-11-12 | 苏州绿的谐波传动科技股份有限公司 | A kind of perpendicular type harmonic speed reducer device with bevel gear |
| CN113958684A (en) * | 2021-11-17 | 2022-01-21 | 珠海格力电器股份有限公司 | Harmonic reducer and control method thereof |
| CN113958684B (en) * | 2021-11-17 | 2023-06-02 | 珠海格力电器股份有限公司 | Harmonic reducer and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866250A (en) | Robot wrist structure and robot | |
| CN108895126A (en) | cup type harmonic speed reducer | |
| CN110030359A (en) | A kind of harmonic speed reducer and robot articular driver | |
| CN109551513A (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN103742610A (en) | 2K-V speed reducer | |
| CN106426264B (en) | A kind of robot wrist with built-in transmission shaft | |
| CN208966953U (en) | Cup type harmonic speed reducer | |
| WO2019120035A1 (en) | Rolling cycloid planetary transmission mechanism | |
| CN208966980U (en) | The Oldham's coupling wave producer of cup type harmonic speed reducer | |
| CN206230539U (en) | The hollow wrist transmission device of robot and the hollow wrist of robot | |
| CN106602820B (en) | Multiple degrees of freedom all-in-one machine | |
| CN110121610A (en) | A kind of transmission decelerating device | |
| CN209579545U (en) | Flexible mechanical arm based on Spherical Gear Transmission | |
| CN109732641A (en) | A kind of submissive joint of bifurcation formula variation rigidity and operating method | |
| CN105626842A (en) | Eliminate backlash subassembly | |
| CN205704153U (en) | Electronic devices and components put together machines people | |
| CN209273478U (en) | The joint rotary position-limit mechanism of anthropomorphic robot | |
| CN208496993U (en) | A kind of multi-joint mechanical arm | |
| CN205478868U (en) | Universal connection head and use universal link mechanism of this universal connection head | |
| CN209228958U (en) | A kind of planetary reducer structure | |
| CN208997219U (en) | A kind of synchronous pulley swelled diaphragm coupling | |
| CN211104079U (en) | Mechanical arm and robot | |
| CN213381628U (en) | Industrial robot wrist structure | |
| CN210106502U (en) | Novel planet wheel transmission device | |
| CN209954671U (en) | Transmission device for robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |