CN206495966U - Robot harmonic speed reducer - Google Patents
Robot harmonic speed reducer Download PDFInfo
- Publication number
- CN206495966U CN206495966U CN201620972799.5U CN201620972799U CN206495966U CN 206495966 U CN206495966 U CN 206495966U CN 201620972799 U CN201620972799 U CN 201620972799U CN 206495966 U CN206495966 U CN 206495966U
- Authority
- CN
- China
- Prior art keywords
- inner ring
- mouth
- steel wheel
- speed reducer
- harmonic speed
- 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
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The utility model provides a kind of robot harmonic speed reducer, including the steel wheel with inner chamber, provided with the flexbile gear component being meshed with steel wheel in the inner chamber of described steel wheel, harmonic oscillator is provided with described flexbile gear component, described steel wheel side is provided with assembling structure, the opposite side of described steel wheel is provided with roller bearing, described roller bearing includes outer ring and the inner ring being coaxially disposed, roller structure is provided between described outer ring and inner ring, described outer ring is connected by the first connection component with steel wheel, described inner ring is connected by the second connection component with flexbile gear component, attachment structure is additionally provided with described inner ring.The utility model has small volume, lightweight, and assembles simply and easily advantage.
Description
Technical field
The utility model belongs to robot device's technical field, is related to reducing gear, is used more particularly, to a kind of robot
Harmonic speed reducer.
Background technology
Harmonic speed reducer is mainly made up of wave producer, three basic building blocks of flexible gear and rigid gear, harmonic drive
Decelerator, is that one kind makes flexible gear produce controlled elasticity deformation by wave producer, and be meshed to transmit fortune with rigid gear
The gear drive of dynamic and power.With the prosperity of science and technology, the application of robot is also increasingly wider, has technical grade, also has
Seeervice level.For service robot field, its crucial joint part is also required to apply to harmonic speed reducer, and the species of decelerator is numerous
Many, model is different, different decelerators is needed in different occasions, service robot requires small volume, and needs for one
Fixed bearing capacity ensures the operation of robot.And existing harmonic speed reducer structure construction upper volume it is larger, weight also compared with
Weight, while also there is the inconvenient defect installed, connected.
Utility model content
The purpose of this utility model be in view of the above-mentioned problems, provide a kind of robot harmonic speed reducer, with small volume,
It is lightweight, and assemble simply and easily advantage.
To reach above-mentioned purpose, the utility model employs following technical proposal：Robot harmonic speed reducer, including
Provided with the flexbile gear component being meshed with steel wheel in steel wheel with inner chamber, the inner chamber of described steel wheel, in described flexbile gear component
Provided with harmonic oscillator, described steel wheel side is provided with assembling structure, and the opposite side of described steel wheel is provided with roller bearing, described
Roller bearing include the outer ring that is coaxially disposed and inner ring, roller structure is provided between described outer ring and inner ring, described is outer
Circle is connected by the first connection component with steel wheel, and described inner ring is connected by the second connection component with flexbile gear component, described
Attachment structure is additionally provided with inner ring.
Preferably, described assembling structure includes the first assembling bulge loop being arranged on steel wheel, the first described assembling
Bulge loop is provided with least one first pilot hole/mouth.
Preferably, the first described connection component is convex including being arranged at second assembling of the steel wheel close to roller bearing side
Ring, the second described assembling bulge loop is provided with least one second pilot hole/mouth, and described outer ring is provided with and the second assembling
The first corresponding connecting hole of hole/mouth/mouth, described the second pilot hole/mouth and the first connecting hole/mouth pass through the first connector phase
It is connected.
Preferably, described outer ring is provided with annular protrusion radially, described the first connecting hole/mouth is opened up
In on annular protrusion.
Preferably, described flexbile gear component includes flexbile gear, described flexbile gear rear end is mutually nibbled provided with the interior teeth portion with steel wheel
The outer toothed portion of conjunction, the inner side of described outer toothed portion is provided with leans and is sheathed on the flexible shaft on the outside of harmonic oscillator with outer toothed portion
Hold, described flexbile gear front end be provided be connected with inner ring and thickness more than flexbile gear antetheca connecting portion.
Preferably, the second described connection component includes second that the second connector is opened in at least one on inner ring
Connecting hole/mouth, the side of described connecting portion is resisted against inner ring, and the opposite side of connecting portion is provided with flexible gasket, described second
Connector is sequentially passed through after flexible gasket, connecting portion to be connected with the second connecting hole/mouth.
Preferably, described flexible gasket is provided with the lead in the middle part of insertion connecting portion and inner ring, described guiding
The central axis of the central axis of post, the central axis of connecting portion and inner ring mutually coincides.
Preferably, described inner ring is provided with least one first positioning hole, described connecting portion is provided with and first
The second corresponding positioning hole of positioning hole.
Preferably, described attachment structure includes three connecting holes/mouth that at least one is arranged on inner ring.
Preferably, described outer ring inwall is provided with first annular groove, described interior ring outer wall be provided with it is first annular
The second annular groove that groove is oppositely arranged, is formed between described first annular groove and the second annular groove for setting rolling
The annular accommodating cavity of minor structure, described roller structure includes some spherical rollers, and described spherical roller is uniformly distributed in ring
Describe and put intracavitary and fill up annular accommodating cavity, the side of the annular accommodating cavity away from harmonic speed reducer is provided with the side ring shape
The sealed annular oil seal circle of accommodating cavity.
Compared with prior art, the utility model has the advantage of：Without again by gland by roller bearing and deceleration
Device is fixedly connected, without being again fixedly connected motor with steel wheel by gland, and robot can be straight
Connect and be connected with the inner ring of roller bearing, it is not only easy to assembly, quick, and greatly reduce the volume of roller bearing, reduction
The weight of roller bearing, while also ensureing that roller bearing can bear the moment of torsion of same axial load output and radial direction and curved
Square so that roller bearing can be applicable with small-sized service robot, with gearratio is big, large carrying capacity, transmission accuracy
The good characteristics such as height, efficiency high, small volume, lightweight, stable drive.
Brief description of the drawings
Fig. 1 is the connection diagram of the robot harmonic speed reducer that the utility model is provided and drive mechanism.
Fig. 2 is the front view for the robot harmonic speed reducer that the utility model is provided.
Fig. 3 is the stereogram for the robot harmonic speed reducer that the utility model is provided.
Fig. 4 is the sectional view for the robot harmonic speed reducer that the utility model is provided.
Fig. 5 is the schematic diagram of the flexible bearing retainer for the flexible bearing that the utility model is provided.
In figure, steel wheel a, harmonic oscillator c, assembling structure a1, roller bearing d, outer ring 2, roller structure 3, inner ring 1, company
The assembling bulge loop of binding structure 6, first a2, the first pilot hole/mouth a3, the second assembling bulge loop a4, the second pilot hole/mouth a5, first connect
Connect hole/mouth 41, the first connector 42, annular protrusion 22, first step structure 23, second step structure a6, sealing ring a7, flexbile gear
B, outer toothed portion b1, flexible bearing 9, connecting portion b2, the second connector 52, the second connecting hole/mouth 51, flexible gasket e, the first positioning
Hole 8, three connecting holes/mouth 61, first annular groove 21, the second annular groove 11, annular accommodating cavity 7, roller 31, annular oil seal
Circle 71, flexible bearing retainer 91, stop circle body 92, baffle plate 93, arc-shaped concave 94, stop outer ring c1, connection end c2, the 3rd
Connector m1.
Embodiment
As shown in Figures 1 to 5, this programme includes being provided with the steel wheel a with inner chamber, steel wheel a inner chamber and nibbled with steel wheel a phases
Harmonic oscillator c is provided with the flexbile gear component of conjunction, flexbile gear component, steel wheel a sides are provided with assembling structure a1, steel wheel a opposite side
Provided with roller bearing d, roller bearing d includes outer ring 2 and the inner ring 1 being coaxially disposed, and roller knot is provided between outer ring 2 and inner ring 1
Structure 3, outer ring 2 is connected by the first connection component with steel wheel a, and inner ring 1 is connected by the second connection component with flexbile gear component, inner ring
Attachment structure 6 is additionally provided with 1, attachment structure 6 includes three connecting holes/mouth 61 that at least one is arranged on inner ring 1.This programme
Without by gland be fixedly connected roller bearing d and decelerator again, without again by gland by motor M and steel
Wheel a is fixedly connected, and robot directly can be connected with roller bearing d inner ring 1, not only easy to assembly, quick, and
And greatly reduce the volume of roller bearing, reduce the weight of roller bearing.
Specifically, assembling structure a1 includes the first assembling bulge loop a2 being arranged on steel wheel a, and first assembles on bulge loop a2
Provided with least one first pilot hole/mouth a3, the motor in this programme is directly assembled by the 3rd connector m1 with first
The first pilot hole/mouth a3 on bulge loop a2 is fixedly connected, and is eliminated original gland structure, is reduced the volume of harmonic speed reducer
While alleviate its weight, can be applied to service humanoid robot.
Specifically, the first connection component includes being arranged at second assembling bulge loops of the steel wheel a close to roller bearing d sides
A4, the second assembling bulge loop a4 is provided with least one second pilot hole/mouth a5, and outer ring 2 is provided with and the second pilot hole/mouth a5 phases
Corresponding first connecting hole/mouth 41, the second pilot hole/mouth a5 and the first connecting hole/mouth 41 are fixedly connected with by the first connector 42,
Second pilot hole/mouth a5 and the first connecting hole/mouth 41 use screwed hole/mouth, and the first connector 42 uses attachment screw or company
Connect screw rod.
Because the thickness of outer ring 2 of traditional roller bearing is smaller, if directly offered on outer ring 2 first connecting hole/
Mouth 41 is easily caused the damage of outer ring 2, therefore the outer ring 2 of this programme connects provided with annular protrusion 22 radially, first
Hole/mouth 41 is connect to be opened on annular protrusion 22.First step structure 23, the second assembling are provided between annular protrusion 22 and outer ring 2
Between bulge loop a4 and steel wheel a provided with match with first step structure 23 and second step structure a6, the phase of first step structure 23
Match somebody with somebody and second step structure a6 between be provided with sealing ring a7.The energy when first step structure 23 and second step structure a6 coordinate
Enough improve the sealing property of roller bearing connection.
Further say, flexbile gear component includes flexbile gear b, flexbile gear b rear ends are provided with the external tooth being meshed with steel wheel a interior teeth portion
Portion b1, outer toothed portion b1 inner side are soft provided with being leant with outer toothed portion b1 and being sheathed on the flexible bearing 9 on the outside of harmonic oscillator c
Wheel b front ends are provided with to be connected and thickness is more than the connecting portion b2 of flexbile gear b antethecas with inner ring 1, in order to prevent connecting portion b2 damage,
Scheme is thickeied to connecting portion b2 thickness.
Specifically, flexible bearing 9 includes flexible inner ring and flexible outer ring, and ring is provided between flexible inner ring and flexible outer ring
Flexible bearing retainer 91 is provided with shape chamber, annular chamber, flexible bearing retainer 91 is close to roller bearing d side provided with stop
Circle body 92, stops that circle body 92 is vertically arranged provided with some and stop circle body 92 and annular chamber is divided into multiple for placing ball
Accommodation space baffle plate 93, the side adjacent with ball of baffle plate 93 be arc-shaped concave 94；Harmonic oscillator c, which is provided with, to be prevented
Only stop that circle body 92 comes off the stop outer ring c1 of annular chamber, stopping that outer ring c1 front end is provided with is used to connect drive mechanism output end
Connection end c2, connection end c2 be fixedly connected or be connected on the c2 of end by screw and motor M output shaft
Top wire hole is opened up, motor M output shaft is fixed by push rod.
Specifically, the second connection component includes the second company that the second connector 52 is opened in at least one on inner ring 1
Hole/mouth 51 is connect, connecting portion b2 side is resisted against inner ring 1, and connecting portion b2 opposite side is provided with flexible gasket e, the second connector
52 sequentially pass through flexible gasket e, connecting portion b2 after be connected with the second connecting hole/mouth 51.Second connecting hole/mouth 51 connects by second
Fitting 52 is detachably connected with flexbile gear b, and the second connector 52 uses attachment screw or connecting screw rod, in order to prevent flexbile gear b's
Along bad, close to the side of the second connector 52 flexible gasket e is set in flexbile gear b connecting portion b2.Opened up simultaneously on inner ring 1
Three connecting holes/the mouth 61 that directly can be connected with robot, compared with traditional roller bearing, without being incited somebody to action again by gland
Roller bearing and decelerator are fixedly connected, and robot directly can be connected with inner ring 1, not only easy to assembly, quick,
And greatly reduce the volume of roller bearing, reduce the weight of roller bearing so that roller bearing can be applicable with it is small
On the service robot of type, above-mentioned robot can be specifically the machinery behaviour that mechanical arm or other needs are connected with decelerator
Control mechanism.
Specifically, lead e1s of the flexible gasket e provided with insertion connecting portion b2 and the middle part of inner ring 1, lead e1's
The central axis of central axis, connecting portion b2 central axis and inner ring 1 is mutually coincided, it is possible to increase inner ring 1 and flexbile gear b is installed
When axiality, not only increase installation effectiveness while also improving installation progress.
Further in order to which the inner ring 1 for improving the roller bearing in the installation accuracy of roller bearing, this programme is provided with energy
The location structure of installation accuracy is enough improved, location structure includes the first positioning hole 8 that at least one is uniformly distributed on inner ring 1,
Flexbile gear b is provided with second positioning hole corresponding with the positioning hole 8 on inner ring 1, can be determined during installation by alignment pin by first
Position hole and the second positioning hole are positioned, it is ensured that installing the roller bearing d and flexbile gear b of connection has good axiality.
Specifically, the roller bearing in this programme is four spot contact bearings, and the roller bearing d inwall of outer ring 2 is provided with the
One annular groove 21, the outer wall of inner ring 1 is provided with the second annular groove 11 being oppositely arranged with first annular groove 21, first annular recessed
The annular accommodating cavity 7 for setting roller structure 3 is formed between the annular groove 11 of groove 21 and second, roller structure 3 includes some
Spherical roller 31, spherical roller 31 is uniformly distributed in annular accommodating cavity 7 and fills up annular accommodating cavity 7 so that bearing is in tool
Have and be axially and radially respectively provided with higher bearing capacity while smaller size smaller.
In order to improve the sealing property of roller bearing, annular side of the accommodating cavity 7 away from harmonic speed reducer is provided with the side
The annular sealed annular oil seal circle 71 of accommodating cavity 7.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement or using similar to described specific embodiment
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although more having used steel wheel a, harmonic oscillator c, assembling structure a1, roller bearing d, outer ring 2, roller herein
Structure 3, inner ring 1, the assembling bulge loop of attachment structure 6, first a2, the first pilot hole/mouth a3, the second assembling bulge loop a4, the second assembling
Hole/mouth a5, the first connecting hole/mouth 41, the first connector 42, annular protrusion 22, first step structure 23, second step structure
It is a6, sealing ring a7, flexbile gear b, outer toothed portion b1, flexible bearing 9, connecting portion b2, the second connector 52, the second connecting hole/mouth 51, soft
Property pad e, the first positioning hole 8, three connecting holes/mouth 61, first annular groove 21, the second annular groove 11, annular accommodating cavity
7th, roller 31, annular oil seal circle 71, flexible bearing retainer 91, stop circle body 92, baffle plate 93, arc-shaped concave 94, stop outer ring
The terms such as c1, connection end c2, the 3rd connector m1, but it is not precluded from the possibility using other terms.Use these terms
Just for the sake of more easily describing and explaining essence of the present utility model, any additional limitation is construed as all
Disagreed with the utility model spirit.
Claims (10)
1. a kind of robot harmonic speed reducer, including the steel wheel with inner chamber（a）, described steel wheel（a）Inner chamber in be provided with
With steel wheel（a）Harmonic oscillator is provided with the flexbile gear component being meshed, described flexbile gear component（c）, it is characterised in that it is described
Steel wheel（a）Side is provided with assembling structure（a1）, described steel wheel（a）Opposite side be provided with roller bearing（d）, described Roller Shaft
Hold（d）Including the outer ring being coaxially disposed（2）And inner ring（1）, described outer ring（2）And inner ring（1）Between be provided with roller structure
（3）, described outer ring（2）Pass through the first connection component and steel wheel（a）It is connected, described inner ring（1）Pass through the second connection component
It is connected with flexbile gear component, described inner ring（1）On be additionally provided with attachment structure（6）.
2. robot harmonic speed reducer according to claim 1, it is characterised in that：Described assembling structure（a1）Including
It is arranged at steel wheel（a）On first assembling bulge loop（a2）, described first assembling bulge loop（a2）Provided with least one the first dress
Distribution/mouth（a3）.
3. robot harmonic speed reducer according to claim 2, it is characterised in that：The first described connection component includes
It is arranged at steel wheel（a）Close to roller bearing（d）Second assembling bulge loop of side（a4）, described second assembling bulge loop（a4）On set
There is at least one second pilot hole/mouth（a5）, described outer ring（2）It is provided with and the second pilot hole/mouth（a5）Corresponding
One connecting hole/mouth（41）, described the second pilot hole/mouth（a5）With the first connecting hole/mouth（41）Pass through the first connector（42）
It is fixedly connected with.
4. robot harmonic speed reducer according to claim 3, it is characterised in that：Described outer ring（2）It is provided with edge
The annular protrusion of radial direction（22）, described the first connecting hole/mouth（41）It is opened in annular protrusion（22）On.
5. robot harmonic speed reducer as claimed in any of claims 1 to 4, it is characterised in that：Described is soft
Wheel assembly includes flexbile gear（b）, described flexbile gear（b）Rear end is provided with and steel wheel（a）The outer toothed portion that is meshed of interior teeth portion（b1）, institute
The outer toothed portion stated（b1）Inner side be provided with and outer toothed portion（b1）Lean and be sheathed on harmonic oscillator（c）The flexible bearing in outside
（9）, described flexbile gear（b）Front end is provided with and inner ring（1）It is connected and thickness is more than flexbile gear（b）The connecting portion of antetheca（b2）.
6. robot harmonic speed reducer according to claim 5, it is characterised in that：The second described connection component includes
Second connector（52）Inner ring is opened in at least one（1）On the second connecting hole/mouth（51）, described connecting portion（b2）'s
Side is resisted against inner ring（1）, connecting portion（b2）Opposite side be provided with flexible gasket（e）, described the second connector（52）Successively
Through flexible gasket（e）, connecting portion（b2）Afterwards with the second connecting hole/mouth（51）It is connected.
7. robot harmonic speed reducer according to claim 6, it is characterised in that：Described flexible gasket（e）On set
There is insertion connecting portion（b2）And inner ring（1）The lead at middle part（e1）, described lead（e1）Central axis, connecting portion
（b2）Central axis and inner ring（1）Central axis mutually coincide.
8. robot harmonic speed reducer according to claim 7, it is characterised in that：Described inner ring（1）Provided with extremely
Few first positioning hole（8）, described connecting portion（b2）It is provided with and the first positioning hole（8）The second corresponding positioning hole.
9. robot harmonic speed reducer as claimed in any of claims 1 to 4, it is characterised in that：Described company
Binding structure（6）Inner ring is arranged at including at least one（1）On three connecting holes/mouth（61）.
10. robot harmonic speed reducer as claimed in any of claims 1 to 4, it is characterised in that：Described is outer
Circle（2）Inwall is provided with first annular groove（21）, described inner ring（1）Outer wall is provided with and first annular groove（21）It is oppositely arranged
The second annular groove（11）, described first annular groove（21）With the second annular groove（11）Between formed for set rolling
Minor structure（3）Annular accommodating cavity（7）, described roller structure（3）Including some spherical rollers（31）, described spherical roller
（31）It is uniformly distributed in annular accommodating cavity（7）It is interior and by annular accommodating cavity（7）Fill up, the annular accommodating cavity（7）Away from harmonic wave
The side of decelerator is provided with the side ring shape accommodating cavity（7）Sealed annular oil seal circle（71）.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016103534936 | 2016-05-25 | ||
| CN201610353493.6A CN105864363A (en) | 2016-05-25 | 2016-05-25 | Harmonic reducer for service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206495966U true CN206495966U (en) | 2017-09-15 |
Family
ID=56635047
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610353493.6A Pending CN105864363A (en) | 2016-05-25 | 2016-05-25 | Harmonic reducer for service robot |
| CN201620992698.4U Active CN206092897U (en) | 2016-05-25 | 2016-08-30 | Harmonic speed reducer utensils roller bearing |
| CN201610768273.XA Active CN106246869B (en) | 2016-05-25 | 2016-08-30 | Harmonic reducer for robot |
| CN201620972799.5U Active CN206495966U (en) | 2016-05-25 | 2016-08-30 | Robot harmonic speed reducer |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610353493.6A Pending CN105864363A (en) | 2016-05-25 | 2016-05-25 | Harmonic reducer for service robot |
| CN201620992698.4U Active CN206092897U (en) | 2016-05-25 | 2016-08-30 | Harmonic speed reducer utensils roller bearing |
| CN201610768273.XA Active CN106246869B (en) | 2016-05-25 | 2016-08-30 | Harmonic reducer for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN105864363A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108422442A (en) * | 2018-06-07 | 2018-08-21 | 睿尔曼智能科技（北京）有限公司 | A kind of ultra-small integrated servo joint |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108895126A (en) * | 2018-10-11 | 2018-11-27 | 北京中研华飞科技有限公司 | cup type harmonic speed reducer |
| CN112431908A (en) * | 2020-12-09 | 2021-03-02 | 东莞市国森科精密工业有限公司 | Harmonic speed reducer |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002339990A (en) * | 2001-05-22 | 2002-11-27 | Harmonic Drive Syst Ind Co Ltd | Lightweight bearing, and wave motive gear device |
| CN102042365A (en) * | 2011-01-28 | 2011-05-04 | 青岛创想机器人制造有限公司 | Single row crossed roller bearing harmonic speed reducer |
| CN202833879U (en) * | 2012-09-18 | 2013-03-27 | 华创机器人制造有限公司 | Robot combined type harmonic wave reducer |
| CN105864363A (en) * | 2016-05-25 | 2016-08-17 | 浙江来福谐波传动股份有限公司 | Harmonic reducer for service robot |
-
2016
- 2016-05-25 CN CN201610353493.6A patent/CN105864363A/en active Pending
- 2016-08-30 CN CN201620992698.4U patent/CN206092897U/en active Active
- 2016-08-30 CN CN201610768273.XA patent/CN106246869B/en active Active
- 2016-08-30 CN CN201620972799.5U patent/CN206495966U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106246869B (en) * | 2016-05-25 | 2020-12-01 | 浙江来福谐波传动股份有限公司 | Harmonic reducer for robot |
| CN108422442A (en) * | 2018-06-07 | 2018-08-21 | 睿尔曼智能科技（北京）有限公司 | A kind of ultra-small integrated servo joint |
| CN108422442B (en) * | 2018-06-07 | 2019-06-25 | 睿尔曼智能科技（北京）有限公司 | A kind of ultra-small integrated servo joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105864363A (en) | 2016-08-17 |
| CN106246869A (en) | 2016-12-21 |
| CN206092897U (en) | 2017-04-12 |
| CN106246869B (en) | 2020-12-01 |
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