CN113606313B - 关节、机械臂、机器人及其谐波减速器装置 - Google Patents
关节、机械臂、机器人及其谐波减速器装置 Download PDFInfo
- Publication number
- CN113606313B CN113606313B CN202111160367.6A CN202111160367A CN113606313B CN 113606313 B CN113606313 B CN 113606313B CN 202111160367 A CN202111160367 A CN 202111160367A CN 113606313 B CN113606313 B CN 113606313B
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- CN
- China
- Prior art keywords
- sleeve
- bearing
- harmonic reducer
- stopping
- wave generator
- 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.)
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
Description
Claims (27)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210237114.2A CN114688230A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202111160367.6A CN113606313B (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202210237142.4A CN114688231A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
PCT/CN2022/095687 WO2023050846A1 (zh) | 2021-09-30 | 2022-05-27 | 关节、机械臂、机器人及其谐波减速器装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111160367.6A CN113606313B (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210237114.2A Division CN114688230A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202210237142.4A Division CN114688231A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113606313A CN113606313A (zh) | 2021-11-05 |
CN113606313B true CN113606313B (zh) | 2022-03-11 |
Family
ID=78343339
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111160367.6A Active CN113606313B (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202210237142.4A Pending CN114688231A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202210237114.2A Pending CN114688230A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210237142.4A Pending CN114688231A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
CN202210237114.2A Pending CN114688230A (zh) | 2021-09-30 | 2021-09-30 | 关节、机械臂、机器人及其谐波减速器装置 |
Country Status (2)
Country | Link |
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CN (3) | CN113606313B (zh) |
WO (1) | WO2023050846A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113847404A (zh) * | 2021-09-30 | 2021-12-28 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
CN113606313B (zh) * | 2021-09-30 | 2022-03-11 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
CN114278717A (zh) * | 2021-12-23 | 2022-04-05 | 上海非夕机器人科技有限公司 | 用于转动关节的传动结构 |
CN115056262B (zh) * | 2022-08-16 | 2023-05-09 | 库卡机器人(广东)有限公司 | 关节模组的驱动总成、机器人关节模组及机器人 |
CN117847151A (zh) * | 2024-03-04 | 2024-04-09 | 四川丹齿精工科技有限公司 | 一种精密减速箱传动结构总成 |
Citations (6)
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WO2015001582A1 (ja) * | 2013-07-01 | 2015-01-08 | 株式会社ハーモニック・ドライブ・システムズ | 中空型波動歯車装置 |
EP2929216A2 (en) * | 2012-08-21 | 2015-10-14 | Nexen Group, Inc. | Strain wave gear system |
CN108061140A (zh) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备(廊坊)有限公司 | 一种谐波减速机构 |
CN110630717A (zh) * | 2019-08-30 | 2019-12-31 | 浙江来福谐波传动股份有限公司 | 一款高扭矩高刚性长寿命谐波减速器及其加工方法 |
CN111473101A (zh) * | 2020-05-27 | 2020-07-31 | 苏州绿的谐波传动科技股份有限公司 | 一种用于关节模组的杯状谐波减速器装置 |
CN213628755U (zh) * | 2020-07-24 | 2021-07-06 | 大族激光科技产业集团股份有限公司 | 一种谐波减速器及机器人 |
Family Cites Families (20)
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JP2002021948A (ja) * | 2000-07-10 | 2002-01-23 | Harmonic Drive Syst Ind Co Ltd | ユニット型波動歯車装置 |
WO2012103786A1 (zh) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | 一种柔轮、谐波减速器及机器人关节结构 |
TWM441059U (en) * | 2012-06-13 | 2012-11-11 | Harmonic Innovation Technology Co Ltd | Flexspline mounting structure of harmonic drive reducer |
CN104595425A (zh) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | 短筒柔轮谐波减速器 |
CN104942820B (zh) * | 2015-06-05 | 2017-07-14 | 上海宇航***工程研究所 | 一种空间仿人机器人手臂关节 |
CN207364221U (zh) * | 2017-11-01 | 2018-05-15 | 深圳市山卓谐波传动科技有限公司 | 一种谐波减速器 |
KR102177405B1 (ko) * | 2019-06-07 | 2020-11-12 | 하이젠모터 주식회사 | 일체형 중공 구동 모듈 |
CN110303484A (zh) * | 2019-07-04 | 2019-10-08 | 大族激光科技产业集团股份有限公司 | 关节模块和机器人 |
CN110561491B (zh) * | 2019-08-09 | 2021-04-30 | 哈尔滨工业大学(深圳) | 机械臂腕关节 |
CN211259531U (zh) * | 2019-11-27 | 2020-08-14 | 珠海市钧兴机电有限公司 | 一种新型结构谐波减速器 |
CN111005988A (zh) * | 2019-12-12 | 2020-04-14 | 中山早稻田科技有限公司 | 一种具有力感知功能的谐波减速器 |
CN111152258A (zh) * | 2019-12-12 | 2020-05-15 | 中山市北京理工大学研究院 | 一种具有力感知功能的机械集成关节 |
CN211841996U (zh) * | 2019-12-27 | 2020-11-03 | 深圳市越疆科技有限公司 | 驱动单元、机器人关节以及机器人 |
CN111113477B (zh) * | 2019-12-31 | 2021-12-31 | 深圳市优必选科技股份有限公司 | 机器人关节结构及机器人 |
CN211296392U (zh) * | 2020-03-03 | 2020-08-18 | 深圳市蓝蓝科技有限公司 | 谐波减速机和电机的一体化结构 |
CN111791261A (zh) * | 2020-07-13 | 2020-10-20 | 浙江大学昆山创新中心 | 一种协作机器人的关节模组 |
CN213511949U (zh) * | 2020-07-21 | 2021-06-22 | 尔智机器人(珠海)有限公司 | 一种组件型谐波减速器及关节 |
CN112605984A (zh) * | 2020-12-25 | 2021-04-06 | 深圳市越疆科技有限公司 | 机械臂关节的撞针式抱闸装置、机械臂关节及机械臂 |
CN113606313B (zh) * | 2021-09-30 | 2022-03-11 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
CN113847404A (zh) * | 2021-09-30 | 2021-12-28 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
-
2021
- 2021-09-30 CN CN202111160367.6A patent/CN113606313B/zh active Active
- 2021-09-30 CN CN202210237142.4A patent/CN114688231A/zh active Pending
- 2021-09-30 CN CN202210237114.2A patent/CN114688230A/zh active Pending
-
2022
- 2022-05-27 WO PCT/CN2022/095687 patent/WO2023050846A1/zh unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2929216A2 (en) * | 2012-08-21 | 2015-10-14 | Nexen Group, Inc. | Strain wave gear system |
WO2015001582A1 (ja) * | 2013-07-01 | 2015-01-08 | 株式会社ハーモニック・ドライブ・システムズ | 中空型波動歯車装置 |
CN108061140A (zh) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备(廊坊)有限公司 | 一种谐波减速机构 |
CN110630717A (zh) * | 2019-08-30 | 2019-12-31 | 浙江来福谐波传动股份有限公司 | 一款高扭矩高刚性长寿命谐波减速器及其加工方法 |
CN111473101A (zh) * | 2020-05-27 | 2020-07-31 | 苏州绿的谐波传动科技股份有限公司 | 一种用于关节模组的杯状谐波减速器装置 |
CN213628755U (zh) * | 2020-07-24 | 2021-07-06 | 大族激光科技产业集团股份有限公司 | 一种谐波减速器及机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN113606313A (zh) | 2021-11-05 |
CN114688230A (zh) | 2022-07-01 |
WO2023050846A1 (zh) | 2023-04-06 |
CN114688231A (zh) | 2022-07-01 |
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CB03 | Change of inventor or designer information |
Inventor after: Wang Zhongbin Inventor after: Ye Weizhi Inventor after: Liu Zhufu Inventor after: Liu Peichao Inventor after: Hu Wanquan Inventor before: Wang Zhongbin Inventor before: Hu Wanquan Inventor before: Ye Weizhi Inventor before: Liu Zhufu Inventor before: Liu Peichao |
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CB03 | Change of inventor or designer information | ||
CP01 | Change in the name or title of a patent holder |
Address after: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Yuejiang Technology Co.,Ltd. Address before: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
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CP01 | Change in the name or title of a patent holder |