TWI551792B - A reduction gear with a motor - Google Patents
A reduction gear with a motor Download PDFInfo
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- TWI551792B TWI551792B TW104103095A TW104103095A TWI551792B TW I551792 B TWI551792 B TW I551792B TW 104103095 A TW104103095 A TW 104103095A TW 104103095 A TW104103095 A TW 104103095A TW I551792 B TWI551792 B TW I551792B
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Description
本發明有關於一種具有馬達之減速裝置，特別是指一種減少安裝時非同軸旋轉的可能性，減少非同軸心旋轉影響的輸出扭力及裝置壽命。 The invention relates to a speed reducing device with a motor, in particular to a possibility of reducing non-coaxial rotation during installation, reducing output torque and device life caused by non-coaxial rotation.
隨著科技的發展，現今技術越來越講究機械自動化，進而節省人力資源，同時帶予工業及人類極大的方便性。一般機械相關的領域應用，諸如機器人、機器手臂、工具機及自動化生產設備等，皆會搭配驅動元件提供以軸線方向轉動的動力。其中，驅動元件為減速裝置及馬達的配合，而諧波齒輪減速機較一般的齒輪傳動機構具有高運動精度、傳動比大、重量輕、體積小及承載力大等優點，因此諧波齒輪減速器被廣泛的運用在自動化的機械設備上。 With the development of science and technology, today's technology is paying more and more attention to mechanical automation, which saves human resources and brings great convenience to industry and human beings. General mechanical-related applications, such as robots, robotic arms, machine tools, and automated production equipment, are combined with drive components to provide power for rotation in the axial direction. Among them, the driving component is the cooperation of the speed reducing device and the motor, and the harmonic gear reducer has the advantages of high motion precision, large transmission ratio, light weight, small volume and large bearing capacity compared with the general gear transmission mechanism, so the harmonic gear reduction The device is widely used in automated machinery.
下述為兩種諧波齒輪減速器及馬達搭配的相關應用，第一件習知技術之旋轉傳動軸以同軸方式穿設中空馬達軸的中空部並向外延伸，而輸出軸感測器配置於中空馬達軸的後端開口朝後方突出的旋轉傳遞軸的後端部分；由於馬達轉子與旋轉軸為兩個分開設置的元件，因此在搭配上會有公差的問題，導致馬達轉子與旋轉軸產生非同軸心旋轉的變異性；此外，輸入與輸出角度感測器均設置於馬達轉子末端，而必須擴大整體的體積而產生體積過大的問題。 The following are related applications of two harmonic gear reducers and motors. The first conventional rotating shaft of the prior art coaxially passes through the hollow portion of the hollow motor shaft and extends outward, and the output shaft sensor configuration The rear end portion of the rotation transmission shaft protruding rearward of the rear end opening of the hollow motor shaft; since the motor rotor and the rotating shaft are two separate components, there is a problem of tolerance in the collocation, resulting in the motor rotor and the rotating shaft The variability of non-coaxial rotation is produced; in addition, both the input and output angle sensors are disposed at the end of the motor rotor, and the overall volume must be enlarged to create an oversized problem.
另一習知技術之旋轉軸通過減速機內部與波發生器同軸安裝，角度編碼器安裝在旋轉軸上與角度感應器相互對應安裝；然而其波發生器與旋轉軸為兩個獨立結合的元件，在相互搭配時會產生公差的問題，而有非同軸心旋轉的變異性，此外，其角度編碼器安裝於旋轉軸上，僅能讀取輸入的轉速。 Another conventional rotating shaft is mounted coaxially with the wave generator through the inside of the reducer, and the angle encoder is mounted on the rotating shaft and is mounted corresponding to the angle sensor; however, the wave generator and the rotating shaft are two independently combined components. In the case of mutual matching, there is a problem of tolerance, and there is variability in non-coaxial rotation. In addition, the angle encoder is mounted on the rotating shaft and can only read the input rotational speed.
為此，前述先前技術皆為各元件與旋轉軸為分離式設計，導致相互搭配時產生公差問題，而產生非同軸心旋轉的變異性之缺失。 To this end, the foregoing prior art has a separate design in which the components and the rotating shaft are separated, resulting in a tolerance problem when mating with each other, and a lack of variability in non-coaxial rotation.
有鑑於此，本發明一種具有馬達之減速裝置，其主要目的在於提供旋轉軸與馬達轉子及波發生器為一體成型同軸設置，以改善習知技術之缺失；本發明的次要目的乃在提供一種在不增加裝置體積的情況下增設第一偵測組及第二偵測組，以提供偵測輸入端及輸出端旋轉軸的旋轉角度。 In view of the above, the present invention has a motor reduction gear, the main purpose of which is to provide a coaxial arrangement of a rotating shaft and a motor rotor and a wave generator to improve the lack of the prior art; the secondary object of the present invention is to provide The first detecting group and the second detecting group are added without increasing the volume of the device to provide a rotation angle of the detecting input end and the output end rotating shaft.
為了達成前揭目的，本發明所提供之具有馬達之減速裝置包含有一本體、一旋轉制動件、一撓性外齒傳動件及一內齒傳動件，該旋轉制動件設置於本體內，且旋轉制動件具有一旋轉軸、一波發生器及一馬達，該旋轉軸穿設本體，且旋轉軸設有一第一端及一位於第一端相反側之第二端，而該波發生器包含一橢圓輪，該橢圓輪係一體成型環設於旋轉軸外周且靠近旋轉軸的第一端，而馬達包含有一環設於旋轉軸且靠近旋轉軸第二端的馬達定子，及一具有磁性的馬達轉子，該馬達轉子一體成型於旋轉軸且靠近旋轉軸第二端，且馬達轉子對應馬達定子；藉此該旋轉軸、波發生 器及馬達轉子減少產生習知技術組裝時所產生的公差問題，而能提升旋轉扭力效果。該撓性外齒傳動件係設置於橢圓輪外周，該橢圓輪帶動撓性外齒傳動件作動；及內齒傳動件係套設於撓性外齒傳動件外周，且撓性外齒傳動件與該內齒傳動件部分嚙合。如此旋轉制動件帶動撓性外齒傳動件轉動並與內齒傳動件嚙合傳動，以達到減速的效果。 In order to achieve the foregoing object, a motorized reduction device includes a body, a rotary brake member, a flexible external gear transmission member and an internal tooth transmission member. The rotary brake member is disposed in the body and rotates. The brake member has a rotating shaft, a wave generator and a motor, the rotating shaft is disposed through the body, and the rotating shaft is provided with a first end and a second end on the opposite side of the first end, and the wave generator comprises a An elliptical wheel, the elliptical wheel integral forming ring is disposed on an outer circumference of the rotating shaft and adjacent to the first end of the rotating shaft, and the motor includes a motor stator disposed on the rotating shaft and adjacent to the second end of the rotating shaft, and a magnetic motor rotor The motor rotor is integrally formed on the rotating shaft and adjacent to the second end of the rotating shaft, and the motor rotor corresponds to the motor stator; thereby the rotating shaft and the wave occur The rotor and the motor rotor reduce the tolerance problems caused by the assembly of the prior art, and can improve the rotary torque effect. The flexible external tooth transmission member is disposed on an outer circumference of the elliptical wheel, the elliptical wheel drives the flexible external tooth transmission member to operate; and the internal tooth transmission member is sleeved on the outer periphery of the flexible external tooth transmission member, and the flexible external tooth transmission member Engaged with the internal tooth drive portion. The rotating brake member drives the flexible external tooth transmission member to rotate and mesh with the internal tooth transmission member to achieve the deceleration effect.
有關本發明所提供之具有馬達之減速裝置之詳細內容及特點，將於後續的實施方式詳細說明中予以描述。然而，在技術領域中具有通常知識者應能瞭解，該等詳細說明以及實施本發明所列舉的特定實施例，僅係用於說明本發明，並非用以限制本發明之專利申請範圍。 The details and features of the motorized reduction gear provided by the present invention will be described in the detailed description of the following embodiments. However, it should be understood by those of ordinary skill in the art that the present invention is not limited to the scope of the invention.
10‧‧‧本體 10‧‧‧ Ontology
20‧‧‧旋轉制動件 20‧‧‧Rotary brakes
22‧‧‧旋轉軸 22‧‧‧Rotary axis
222‧‧‧第一端 222‧‧‧ first end
224‧‧‧第二端 224‧‧‧ second end
226‧‧‧軸向長度 226‧‧‧ axial length
228‧‧‧線路孔 228‧‧‧Line hole
24‧‧‧波發生器 24‧‧‧ Wave Generator
242‧‧‧橢圓輪 242‧‧‧Elliptical wheel
244‧‧‧撓型軸承 244‧‧‧flex bearing
26‧‧‧馬達 26‧‧‧Motor
260‧‧‧馬達定子 260‧‧‧Motor stator
262‧‧‧馬達轉子 262‧‧‧Motor rotor
264‧‧‧馬達外殼 264‧‧‧Motor housing
264a‧‧‧末端 End of 264a‧‧
264b‧‧‧前端 264b‧‧‧ front end
268‧‧‧軸向長度 268‧‧‧ axial length
30‧‧‧撓性外齒傳動件 30‧‧‧Flexible external gear transmission
40‧‧‧內齒傳動件 40‧‧‧ internal gear transmission
60‧‧‧第一偵測組 60‧‧‧First detection group
62‧‧‧第一編碼器 62‧‧‧First encoder
64‧‧‧第一感測器 64‧‧‧First sensor
70‧‧‧滾柱軸承 70‧‧‧roller bearing
72‧‧‧內環 72‧‧‧ Inner Ring
74‧‧‧外環 74‧‧‧ outer ring
80‧‧‧第二偵測組 80‧‧‧Second detection group
82‧‧‧第二編碼器 82‧‧‧Second encoder
84‧‧‧第二感測器 84‧‧‧Second sensor
100‧‧‧機械手臂 100‧‧‧ Robotic arm
110‧‧‧電線 110‧‧‧Wire
200‧‧‧減速裝置 200‧‧‧Reducing device
第1圖係本發明減速裝置的較佳實施例的剖視圖；第2圖為剖視圖主要揭示本發明較佳實施例之減速裝置的輸入端感測器及輸入端編碼器的配置關係態樣；第3圖為剖視圖主要揭示本發明較佳實施例之減速裝置安裝於機械手臂外殼內的實施態樣；第4圖為剖視圖主要揭示本發明減速裝置安裝在另一機械手臂外殼內的實施態樣。 1 is a cross-sectional view of a preferred embodiment of a reduction gear transmission of the present invention; and FIG. 2 is a cross-sectional view mainly showing a configuration relationship of an input end sensor and an input end encoder of the reduction gear transmission according to a preferred embodiment of the present invention; 3 is a cross-sectional view mainly showing an embodiment in which the reduction gear of the preferred embodiment of the present invention is mounted in the outer casing of the robot; and FIG. 4 is a cross-sectional view mainly showing an embodiment in which the reduction gear of the present invention is mounted in another mechanical arm casing.
本發明前述所提之各項目的，以及其他之特徵，優點，由以下之詳細說明，所附申請專利範圍，以及各圖式，將可得到更進一步之瞭解，其中： 請參閱第1圖，其係本發明較佳實施例，本發明為一種具有馬達之減速裝置，其包含有一本體10、一旋轉制動件20、一撓性外齒傳動件30、一內齒傳動件40、一第一偵測組60、一滾柱軸承70及一第二偵測組80。該旋轉制動件20設置於本體10內，且旋轉制動件20具有一旋轉軸22、一波發生器24及一馬達26。 The above-mentioned and other features and advantages of the present invention will become more apparent from the following detailed description. Please refer to FIG. 1 , which is a deceleration device with a motor, comprising a body 10 , a rotating brake member 20 , a flexible external tooth transmission member 30 , and an internal tooth drive The component 40, a first detecting group 60, a roller bearing 70 and a second detecting group 80. The rotary brake member 20 is disposed in the body 10, and the rotary brake member 20 has a rotary shaft 22, a wave generator 24 and a motor 26.
該旋轉軸22穿設本體10，且旋轉軸22設有一第一端222及一位於第一端222相反側之第二端224，該波發生器24包含一橢圓輪242及一撓型軸承244，該橢圓輪242係一體成型環設於旋轉軸22外周且靠近旋轉軸22的第一端222，撓型軸承244套設橢圓輪242。 The rotating shaft 22 is disposed through the body 10, and the rotating shaft 22 is provided with a first end 222 and a second end 224 on the opposite side of the first end 222. The wave generator 24 includes an elliptical wheel 242 and a flex bearing 244. The elliptical wheel 242 is integrally formed on the outer circumference of the rotating shaft 22 and adjacent to the first end 222 of the rotating shaft 22, and the flexible bearing 244 is sleeved with the elliptical wheel 242.
該馬達26包含有一環設於旋轉軸22且靠近旋轉軸22第二端224的馬達定子260、一具有磁性的馬達轉子262及一馬達外殼264，該馬達轉子262一體成型於旋轉軸22的中段且靠近旋轉軸22的第二端224，且馬達轉子262對應馬達定子260。該馬達外殼264設於旋轉軸22外，且旋轉軸22可相對馬達外殼264轉動，而馬達轉子262位於馬達外殼264內。 The motor 26 includes a motor stator 260 disposed on the rotating shaft 22 and adjacent to the second end 224 of the rotating shaft 22, a magnetic motor rotor 262 and a motor housing 264 integrally formed in the middle of the rotating shaft 22. And near the second end 224 of the rotating shaft 22, and the motor rotor 262 corresponds to the motor stator 260. The motor housing 264 is disposed outside of the rotating shaft 22, and the rotating shaft 22 is rotatable relative to the motor housing 264, and the motor rotor 262 is located within the motor housing 264.
旋轉軸22定義一軸向長度226，而該馬達轉子262定義一軸向長度268該旋轉軸22的軸向長度226與馬達轉子262的軸向長度268比例範圍係0.25至0.4之間。 The rotating shaft 22 defines an axial length 226, and the motor rotor 262 defines an axial length 268 which is between 0.25 and 0.4 in axial extent 226 of the rotating shaft 22 and the axial length 268 of the motor rotor 262.
該撓性外齒傳動件30，係套設於橢圓輪242且一端靠抵撓型軸承244外環，而橢圓輪242係靠抵撓型軸承244內環。該內齒傳動件40為剛性材質，且內齒傳動件40係套設撓性外齒傳動件30，且撓性外齒傳動件30與該內齒傳動件40部分嚙合。該撓性外齒傳動件30與內齒傳動件40具有相同模數，且撓性外齒傳動件30與內齒傳動件40的齒數差為2。 The flexible external tooth transmission member 30 is sleeved on the elliptical wheel 242 and has an outer ring of the abutting bearing 244 at one end, and the elliptical wheel 242 is abutted against the inner ring of the flexing bearing 244. The internal tooth drive member 40 is of a rigid material, and the internal tooth drive member 40 is sleeved with a flexible external tooth drive member 30, and the flexible external tooth drive member 30 is partially engaged with the internal tooth drive member 40. The flexible external tooth transmission member 30 has the same modulus as the internal tooth transmission member 40, and the difference in the number of teeth between the flexible external tooth transmission member 30 and the internal tooth transmission member 40 is two.
其中，該橢圓輪242作動時以長軸端的區域推抵撓性外齒傳動件30的部分外齒與內齒傳動件40的內齒完全嚙合，而使外齒傳動件30沿著圓周方向旋轉作動。 Wherein, when the elliptical wheel 242 is actuated, a portion of the outer tooth of the flexible external tooth transmission member 30 is fully engaged with the inner tooth of the internal tooth transmission member 40, and the external tooth transmission member 30 is rotated in the circumferential direction. Actuate.
該滾柱軸承70包含有一內環72及一外環74，該內環72一端抵於內齒傳動件40，而另一端抵於撓性外齒傳動件30，而外環74一端連接撓性外齒傳動件30；該第一偵測組60包含一第一編碼器62及至少一第一感測器64，該第一編碼器62設置於旋轉軸22的第二端224外周，而第一感測器64係設置於馬達外殼264之末端264a，該第一感測器64的數量總合為偶數，且該第一感測器64為對稱環設於馬達外殼264之末端264a(請參閱第二圖所示具有四個第一感測器64且兩兩相對設置)，該第一感測器64係對應該第一編碼器62，該第一感測器64用以讀取旋轉軸22的角度位移及轉速。 The roller bearing 70 includes an inner ring 72 and an outer ring 74. One end of the inner ring 72 abuts the internal tooth drive member 40, and the other end abuts the flexible external tooth drive member 30, and the outer ring 74 is connected at one end to the flexible end. The first detecting unit 60 includes a first encoder 62 and at least one first sensor 64. The first encoder 62 is disposed on the outer circumference of the second end 224 of the rotating shaft 22, and the first A sensor 64 is disposed at the end 264a of the motor casing 264. The number of the first sensors 64 is an even number, and the first sensor 64 is a symmetric ring disposed at the end 264a of the motor casing 264 (please Referring to the second figure, there are four first sensors 64 corresponding to each other. The first sensor 64 corresponds to the first encoder 62, and the first sensor 64 is used for reading the rotation. The angular displacement and rotational speed of the shaft 22.
該第二偵測組80包含有一第二編碼器82及該至少一第二感測器84，該至少一第二感測器84環設於馬達外殼264的前端264b，該第二編碼器82設置於滾柱軸承70之外環74的一端，且第二編碼器82係對應該第二感測器84，而該第二感測器84的數量總和為偶數，該第二感測器84為對稱環設於馬達外殼264的前端264b(由於第二感測器84的設置方式與第一感測器64的設置方式相同，因此在此不再重複繪製圖式，此部分僅參考第2圖的內容，即能輕易地得推知第二感測器84的排列方式)，該第二感測器84用以讀取滾柱軸承70的位移角度及轉速。 The second detecting unit 80 includes a second encoder 82 and the at least one second sensor 84. The at least one second sensor 84 is disposed at the front end 264b of the motor housing 264. The second encoder 82 is disposed. The second encoder 82 is disposed at one end of the outer ring 74 of the roller bearing 70, and the second encoder 82 corresponds to the second sensor 84, and the total number of the second sensors 84 is an even number. The second sensor 84 is provided. The symmetrical ring is disposed on the front end 264b of the motor casing 264 (since the second sensor 84 is disposed in the same manner as the first sensor 64, the drawing is not repeated here, and only the second part is referred to in this section. The content of the figure, that is, the arrangement of the second sensor 84 can be easily inferred, and the second sensor 84 is used to read the displacement angle and the rotational speed of the roller bearing 70.
另外，請參閱第3、4圖，本發明能夠安裝於機械手臂100中，為了讓機械的電線110能夠穿過本發明減速裝置200，因此於本發明的旋轉 軸22軸向貫設一線路孔228，配合圖式所揭示，機械手臂100的電線110能從機械手臂100的一端由旋轉軸22的線路孔228穿過至機械手臂100的另一端。 In addition, referring to Figures 3 and 4, the present invention can be mounted in the robot arm 100, so that the mechanical wire 110 can pass through the reduction gear 200 of the present invention, so the rotation of the present invention The shaft 22 is axially disposed with a line hole 228. As disclosed in the drawings, the wire 110 of the robot arm 100 can pass from the line hole 228 of the rotating shaft 22 to the other end of the robot arm 100 from one end of the robot arm 100.
綜上所述，本發明透過該旋轉軸22、橢圓輪242及馬達轉子26為一體成型的結構能減少三者在相互結合上的公差及非同軸心配置產生的偏心旋轉問題，而使橢圓輪242能夠平均穩定地向撓性外齒傳動件30施力，令撓性外齒傳動件30與內齒傳動件40確實地相互嚙合，以提升撓性外齒傳動件30及內齒傳動件40的使用壽命、提升本發明整體剛性表現及減少非同軸心旋轉影響的輸出扭力及裝置壽命。另外，由於第二偵測組80之第二編碼器82及第一偵測組60之第一編碼器62分別設置於滾柱軸承70的外環74及旋轉軸22上，以同時準確量測到旋轉軸22及滾柱軸承70的轉速及角度，且不需要額外增加體積來達此功效。 In summary, the structure of the present invention through the rotating shaft 22, the elliptical wheel 242 and the motor rotor 26 can reduce the tolerance of the three joints and the eccentric rotation caused by the non-coaxial arrangement, and the elliptical wheel The 242 can uniformly and stably apply force to the flexible external tooth transmission member 30, so that the flexible external tooth transmission member 30 and the internal tooth transmission member 40 are surely engaged with each other to lift the flexible external tooth transmission member 30 and the internal tooth transmission member 40. The service life, the overall rigidity of the present invention and the output torque and device life that reduce the effects of non-coaxial rotation. In addition, since the second encoder 82 of the second detecting group 80 and the first encoder 62 of the first detecting group 60 are respectively disposed on the outer ring 74 and the rotating shaft 22 of the roller bearing 70, the accurate measurement is simultaneously performed. The rotation speed and angle of the rotating shaft 22 and the roller bearing 70 are not required to increase the volume to achieve this effect.
最後，必須再次說明，本創作於前揭實施例中所揭露的構成元件，僅為舉例說明，並非用來限制本案之範圍，其他等效元件的替代或變化，亦應為本案之申請專利範圍所涵蓋。 Finally, it must be explained again that the constituent elements disclosed in the foregoing embodiments are merely illustrative and are not intended to limit the scope of the present invention. Alternatives or variations of other equivalent elements should also be the scope of patent application of the present application. Covered.
10‧‧‧本體 10‧‧‧ Ontology
20‧‧‧旋轉制動件 20‧‧‧Rotary brakes
22‧‧‧旋轉軸 22‧‧‧Rotary axis
222‧‧‧第一端 222‧‧‧ first end
224‧‧‧第二端 224‧‧‧ second end
226‧‧‧軸向長度 226‧‧‧ axial length
228‧‧‧線路孔 228‧‧‧Line hole
24‧‧‧波發生器 24‧‧‧ Wave Generator
242‧‧‧橢圓輪 242‧‧‧Elliptical wheel
244‧‧‧撓型軸承 244‧‧‧flex bearing
26‧‧‧馬達 26‧‧‧Motor
260‧‧‧馬達定子 260‧‧‧Motor stator
262‧‧‧馬達轉子 262‧‧‧Motor rotor
264‧‧‧馬達外殼 264‧‧‧Motor housing
264a‧‧‧末端 End of 264a‧‧
264b‧‧‧前端 264b‧‧‧ front end
268‧‧‧軸向長度 268‧‧‧ axial length
30‧‧‧撓性外齒傳動件 30‧‧‧Flexible external gear transmission
40‧‧‧內齒傳動件 40‧‧‧ internal gear transmission
60‧‧‧第一偵測組 60‧‧‧First detection group
62‧‧‧第一編碼器 62‧‧‧First encoder
64‧‧‧第一感測器 64‧‧‧First sensor
70‧‧‧滾柱軸承 70‧‧‧roller bearing
72‧‧‧內環 72‧‧‧ Inner Ring
74‧‧‧外環 74‧‧‧ outer ring
80‧‧‧第二偵測組 80‧‧‧Second detection group
82‧‧‧第二編碼器 82‧‧‧Second encoder
84‧‧‧第二感測器 84‧‧‧Second sensor
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104103095A TWI551792B (en) | 2015-01-29 | 2015-01-29 | A reduction gear with a motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104103095A TWI551792B (en) | 2015-01-29 | 2015-01-29 | A reduction gear with a motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201627589A TW201627589A (en) | 2016-08-01 |
| TWI551792B true TWI551792B (en) | 2016-10-01 |
Family
ID=57181730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW104103095A TWI551792B (en) | 2015-01-29 | 2015-01-29 | A reduction gear with a motor |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI551792B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI650497B (en) * | 2017-12-18 | 2019-02-11 | 國立虎尾科技大學 | Hollow harmonic gearbox structure |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109114173B (en) * | 2017-06-23 | 2020-11-03 | 台达电子工业股份有限公司 | Speed reducer with power source |
| EP3418605B1 (en) | 2017-06-23 | 2020-02-19 | Delta Electronics, Inc. | Speed reducing device having power source |
| TWM615879U (en) * | 2020-08-19 | 2021-08-21 | 盟英科技股份有限公司 | Drive system and motor actuator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1592073A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | End face harmonic motor |
| CN102594010A (en) * | 2011-01-11 | 2012-07-18 | 精工爱普生株式会社 | Electric machine device, actuator using the same, motor, robot, and robot hand |
| JP2014074451A (en) * | 2012-10-04 | 2014-04-24 | Harmonic Drive Syst Ind Co Ltd | Hollow wave gear unit |
| US20140157925A1 (en) * | 2012-12-12 | 2014-06-12 | Harmonic Drive Systems Inc. | Wave gear unit with input bearings |
| TW201437518A (en) * | 2013-03-19 | 2014-10-01 | Harmonic Drive Systems | Wave gear device and hollow rotating actuator |
-
2015
- 2015-01-29 TW TW104103095A patent/TWI551792B/en active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1592073A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | End face harmonic motor |
| CN102594010A (en) * | 2011-01-11 | 2012-07-18 | 精工爱普生株式会社 | Electric machine device, actuator using the same, motor, robot, and robot hand |
| JP2014074451A (en) * | 2012-10-04 | 2014-04-24 | Harmonic Drive Syst Ind Co Ltd | Hollow wave gear unit |
| US20140157925A1 (en) * | 2012-12-12 | 2014-06-12 | Harmonic Drive Systems Inc. | Wave gear unit with input bearings |
| TW201437518A (en) * | 2013-03-19 | 2014-10-01 | Harmonic Drive Systems | Wave gear device and hollow rotating actuator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI650497B (en) * | 2017-12-18 | 2019-02-11 | 國立虎尾科技大學 | Hollow harmonic gearbox structure |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201627589A (en) | 2016-08-01 |
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