WO2024119483A1 - 一种减速器 - Google Patents

一种减速器 Download PDF

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Publication number
WO2024119483A1
WO2024119483A1 PCT/CN2022/137952 CN2022137952W WO2024119483A1 WO 2024119483 A1 WO2024119483 A1 WO 2024119483A1 CN 2022137952 W CN2022137952 W CN 2022137952W WO 2024119483 A1 WO2024119483 A1 WO 2024119483A1
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WO
WIPO (PCT)
Prior art keywords
input shaft
output
teeth
impeller
ring segment
Prior art date
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PCT/CN2022/137952
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English (en)
French (fr)
Inventor
刘大猷
谢桂平
夏建敏
Original Assignee
浙江夏厦精密制造股份有限公司
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Publication of WO2024119483A1 publication Critical patent/WO2024119483A1/zh

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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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/12—Toothed members; Worms with body or rim assembled out of detachable parts
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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

Definitions

  • the invention relates to a gear reducer, in particular to a reducer with elastic gears.
  • the reduction system includes a motor and a reducer, wherein the motor drives the input component of the reducer through an input shaft, and the reducer reduces the input from the motor and transmits the reduced motion to an output shaft, which is connected to the device to be driven.
  • the flexwheel is the core component.
  • the Chinese invention patent application numbered CN113078773A "Motor with embedded reducer” discloses a motor with embedded reduction device.
  • the motor includes a housing; an input mechanism, which is arranged in the housing, and the input mechanism includes a stator and a rotor, and the stator is attached to the inner wall of the housing; a reduction device, which is arranged in the housing, and the reduction device includes an active component and a driven component, wherein the active component is located in the rotor of the input mechanism and is fixed to the rotor; and an output shaft, which is driven by the driven component of the reduction device.
  • the reducer is a harmonic reducer, which includes: a rigid wheel, which is fixedly connected to the housing; a flexible wheel, which is arranged on the inner circumference side of the rigid wheel, and the output shaft is fixedly connected to the flexible wheel; and a wave generator, which is arranged on the inner side of the flexible wheel and pressed against the inner side of the flexible wheel, the wave generator is connected to the annular input mechanism and driven by the annular input mechanism, and the wave generator is a component that makes the flexible wheel produce controllable elastic deformation.
  • the wave generator forces the cross-section of the flexible wheel to change from the original circle to an ellipse, and the teeth near the two ends of its long axis are completely meshed with the teeth of the rigid wheel, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel, and the teeth of other sections are in a transition state of meshing and disengagement.
  • the wave generator, the flexible wheel and the rigid wheel are sequentially sleeved on the input shaft from the inside to the outside.
  • the technical problem to be solved by the present invention is to provide a reducer which can improve the bearing capacity and prolong the service life of the impeller in view of the current status of the above-mentioned prior art.
  • a reducer comprising:
  • a box body having a cavity therein;
  • An input shaft which is mounted on the housing and partially located in the cavity, and is arranged to be rotatable relative to the housing around its own rotation axis;
  • a pulsator which is sleeved on the input shaft and fixedly connected to the input shaft;
  • An elastic gear is located in the cavity and is sleeved on the periphery of the input shaft.
  • One of the inner and outer sides of the elastic gear is relatively fixed to the box body, and the other of the inner and outer sides is located between the impeller and the output member.
  • the portion of the elastic gear located between the impeller and the output member is elastically deformed toward the output member along the axial direction of the input shaft under the drive of the impeller, thereby driving the output member to rotate around the axis of the input shaft.
  • the output member is an annular output toothed disc, which is sleeved on the periphery of the input shaft and has a circle of output teeth surrounding the periphery of the input shaft on the side facing the elastic gear.
  • the elastically deformed area of the elastic gear has a circle of input teeth located between the wave wheel and the output teeth. The input teeth surround the periphery of the input shaft, and the input teeth deformed with the elastic gear are meshed with the corresponding output teeth.
  • the elastic gear is continuously pressed, causing elastic deformation at the corresponding position of the elastic gear.
  • the teeth on the input teeth at this position move downward and mesh with the output teeth, while the teeth of the input teeth at other positions do not mesh with the output teeth. Therefore, during the rotation of the impeller, the teeth on the input teeth of the elastic gear mesh with the output teeth in sequence along the circumferential direction, thereby driving the output gear disc to rotate around the axis of the input shaft.
  • the elastic gear includes an inner ring segment and an outer ring segment arranged in sequence from the inside to the outside, the inner ring segment gradually tilts toward the output member from the inside to the outside, the outer ring segment is inserted on the box body, and the input teeth are arranged on the inner ring segment. Then the outer side of the elastic gear is relatively fixed to the box body.
  • the thickness of the inner ring segment except the input teeth is smaller than the thickness of the outer ring segment.
  • an assembly part fixed relatively to the box body is also included.
  • the assembly part is installed on the input shaft near the center, and the output gear disc is located at the periphery of the assembly part.
  • the second design form of the elastic gear the peripheral wall of the input shaft has an extension portion extending outward, the pulsator is located at the periphery of the extension portion, the elastic gear includes a first ring segment and a second ring segment arranged in sequence from the inside to the outside, the second ring segment gradually tilts toward the output member from the inside to the outside, parts of the first ring segment and the second ring segment are both located between the assembly part and the extension portion, and the input teeth are arranged on the second ring segment.
  • the inner side of the elastic gear is relatively fixed to the box body through the assembly part.
  • the assembly In order to reliably drive the output gear disc to rotate, the assembly is located in the housing, and a fourth bearing is arranged between the housing and the assembly, and a fifth bearing is arranged between the assembly and the input shaft.
  • the fifth bearing has a first ring and a second ring arranged from the inside to the outside, and the outer ring of the fourth bearing is relatively fixed to the output gear disc, and the inner ring of the fourth bearing and the second ring of the fifth bearing are relatively fixed to the assembly.
  • a connecting piece is arranged outside the housing, and the outer ring of the fourth bearing is located between the output gear disc and the connecting piece and is relatively fixed to the connecting piece.
  • the thickness of the second ring segment except the input tooth is smaller than the thickness of the first ring segment.
  • the total number of teeth of the input teeth in one circle is Z1
  • the total number of teeth of the output teeth in one circle is Z2
  • the reduction ratio of the reducer is Z2: (Z1-Z2), wherein (Z1-Z2) ⁇ 1.
  • Z1-Z2 3
  • the pitch difference on the pitch circle of the output toothed disc is 3/Z2
  • the elastic gear fluctuates once the output toothed disc is pushed to move 3/Z2 tooth pitches.
  • Z2*3/Z2 3 which means that the output toothed disc is pushed to move 3 tooth pitches
  • the reduction ratio is Z2:3.
  • a convex portion may be provided on the surface of the impeller facing the elastic gear, or a convex portion may be provided on the surface of the elastic gear facing the impeller.
  • the impeller has at least one convex portion on the surface facing the elastic gear that causes elastic deformation of the corresponding position of the elastic gear, and the convex portion extends toward the direction of the elastic gear.
  • the two side walls of the protrusion can be in the form of arc walls or inclined walls, but preferably, the two side walls of the protrusion arranged along the circumference of the impeller are inclined walls, and the inclined walls gradually incline from the end away from the elastic gear toward the inclined wall on the opposite side.
  • the two inclined walls can be arranged symmetrically or asymmetrically.
  • the two inclined walls of the convex portion are arranged symmetrically and are both straight sections with smooth transitions. The existence of the straight section can gradually press against the elastic gear to deform the elastic gear.
  • the two inclined walls of the convex part are connected by a first arc surface, which is arched toward the elastic gear. At this time, when the convex part rotates with the impeller, the circumferential pressure on the elastic gear is smoother, thereby making the rotation of the output member more stable and reliable.
  • the impeller and the input shaft may be in the form of an integral piece or in the form of separate pieces. However, from the perspective of improving the rigidity of the impeller, it is preferred that the impeller and the input shaft are in the form of an integral piece.
  • the elastic gear In order to further make the circumferential pressure of the elastic gear smoother, there are at least three convex parts, which are arranged in sequence along the circumference of the impeller, and the inclined walls of two adjacent convex parts are connected by a second arc surface with a smooth transition, and the second arc surface is arched in the direction away from the elastic gear. Then, the elastic gear is smoothly deformed in sequence along the circumferential direction under the drive of the impeller, so that the rotation of the output member is more stable and reliable.
  • the use of 3 or more meshings in the circumferential direction enables the output member to withstand greater power and torque, and improves the bearing capacity of the reducer, compared with the background technology that the rigid wheel (output wheel) and the flexible wheel can only use two meshings.
  • the outer sleeve of the input shaft is provided with a cylindrical roller bearing, and the cylindrical roller bearing is located between the impeller and the input tooth. The existence of the cylindrical roller bearing forms a rolling friction transmission with the elastic gear, forcing the elastic gear to undergo wave deformation.
  • the advantages of the present invention are that the elastic gear in the above-mentioned reducer can undergo elastic deformation, the elastic gear, impeller and output member are arranged along the axial direction of the input shaft, the impeller rotates under the drive of the input shaft, and the part inside or outside of the elastic gear can be elastically deformed toward the output member, that is, the local deformation of the inside or outside of the elastic gear is along the axial direction of the input shaft.
  • the reducer only requires the elastic gear to undergo local elastic deformation, that is, an open structure is adopted, and only a small force is required to achieve the deformation of the elastic gear, which extends the service life and efficiency of the impeller, better meets the needs of users, overcomes the problems of short impeller life caused by the impeller needing to apply a large pressure on the flexible wheel in the radial direction in the background technology, and is beneficial to improving the bearing capacity.
  • elastic gears adopt an open structure with a deformable inner or outer ring, which creates conditions for the use of higher strength elastic materials, and high carbon alloy steel represented by Si element can be used.
  • the elastic gear is relatively fixedly connected to the housing, and when the output member is subjected to a reverse load, the output member will be self-locked, limiting the reverse rotation of the output member, thereby achieving a good self-locking effect.
  • the reducer can be used in the joints of a robot.
  • FIG1 is a schematic structural diagram of a reducer according to Embodiment 1;
  • FIG2 is a cross-sectional view of FIG1 ;
  • FIG3 is a cross-sectional view of FIG1 from another angle
  • FIG4 is an enlarged schematic diagram of the structure of part I in FIG3;
  • FIG5 is a schematic diagram of the three-dimensional exploded structure of FIG1 ;
  • FIG6 is a partial cross-sectional view of the matching structure of the pulsator, input teeth, and output teeth in FIG1;
  • FIG7 is a schematic diagram of the structure of an elastic gear
  • FIG8 is a cross-sectional view of FIG7;
  • FIG9 is a schematic diagram of the structure of the input shaft and the impeller matching each other;
  • Figure 10 is a schematic diagram of the structure of the impeller 9;
  • FIG11 is an expanded waveform diagram of the surface where the convex portion of the impeller in FIG9 is located;
  • FIG12 is a cross-sectional view of the reducer of Embodiment 2.
  • FIG13 is a schematic diagram of the structure of the elastic gear in Embodiment 2;
  • FIG. 14 is an enlarged structural schematic diagram of part II in FIG. 12 .
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the reducer of this embodiment includes a housing 1 , an input shaft 2 , a pulsator 3 , an output gear 4 (as an output member in this embodiment) and an elastic gear 5 .
  • the input shaft 2 in this embodiment extends along the up-down direction, and along its axial direction, the rotation axis of each part of the input shaft 2 is consistent.
  • the interior of the housing 1 has a cavity 10, and the top of the housing 1 has a through hole 101 connected to the cavity 10.
  • the aforementioned input shaft 2 is inserted into the through hole 101, and is partially located in the cavity 10.
  • the impeller 3 is sleeved on the input shaft 2 and is relatively fixedly connected to the input shaft 2.
  • the aforementioned impeller 3 and the input shaft 2 are an integral part, and the impeller 3, the elastic gear 5 and the output member are arranged in sequence from top to bottom along the axial direction of the input shaft 2.
  • the aforementioned input shaft 2 is provided with a mounting hole 211 for inserting the output shaft of the power source therein, and the input shaft 2 rotates around its own rotation axis relative to the housing 1 under the drive of the power source, and a third bearing 18 is provided between the input shaft 2 and the housing 1.
  • the impeller 3 is provided with at least one convex portion 32 on the surface facing the elastic gear 5, which causes the corresponding position of the elastic gear 5 to undergo elastic deformation.
  • the convex portion 32 is provided on the bottom surface of the impeller 3. As shown in FIG9 , there are three convex portions 32 in this embodiment, and they are arranged in sequence along the circumference of the impeller 3. In addition, more than three convex portions 32 can also be provided.
  • the structural form of each of the aforementioned convex portions is the same, and one of the convex portions is used as an example for explanation below.
  • the convex portion 32 is arranged away from the outer peripheral edge of the elastic gear 5 and extends downward, and the two side walls of the convex portion 32 arranged along the circumference of the impeller 3 are both inclined walls 321, and the inclined wall 321 gradually inclines from the end away from the elastic gear 5 toward the inclined wall 321 on the opposite side.
  • the two inclined walls 321 of the convex portion 32 are arranged symmetrically, and are both straight sections with smooth transitions, and the angle formed by the inclined wall 321 and the plane 01 perpendicular to the input shaft 2 is the fluctuation angle ⁇ .
  • the two inclined walls 321 of the convex part 32 are smoothly connected by the first arc surface 322, and the first arc surface 322 is arched toward the elastic gear 5 (downward in the figure).
  • the inclined walls 321 of two adjacent convex parts 32 are smoothly connected by the second arc surface 323, and the second arc surface 323 is arched away from the elastic gear 5 (upward in the figure).
  • the elastic gear 5 is smoothly deformed in sequence along the circumferential direction under the drive of the impeller 3, so that the rotation of the output member is more stable and reliable.
  • the elastic gear 5 is located in the cavity 10 and is sleeved on the periphery of the input shaft 2.
  • the outer periphery of the elastic gear 5 is relatively fixedly connected to the housing 1 and can be elastically deformed.
  • the elastic gear 5 includes an inner ring segment 51 and an outer ring segment 52 arranged sequentially from the inside to the outside.
  • the inner ring segment 51 gradually tilts toward the output member (i.e., downward) from the inside to the outside, and the outer ring segment 52 is inserted on the housing 1.
  • the output member of this embodiment is an annular output toothed disc 4, which is sleeved on the periphery of the input shaft 2 and has a circle of output teeth 41 surrounding the periphery of the input shaft 2 on the side facing the elastic gear 5, and the output teeth 41 are located on the upper surface of the output member and surround the periphery of the input shaft 2.
  • the elastic deformation area of the elastic gear 5 has a circle of input teeth 511 located between the pulsator 3 and the output teeth 41, and the input teeth 511 are located on the inner side of the lower surface of the inner ring section 51 of the elastic gear 5, and surround the periphery of the input shaft 2, and are located below the above-mentioned convex portion 32, and under the action of the inclined wall 321 of the convex portion 32, the input teeth 511 can be deformed downward, so as to mesh with the corresponding output teeth 41, and in the process of the output toothed disc 4 rotating, each input tooth 511 is deformed in turn and meshes with the corresponding output teeth 41.
  • the thickness of the inner ring segment 51 except the input tooth 511 is less than the thickness of the outer ring segment 52, which is conducive to reliably driving the output member to rotate after the elastic gear is deformed.
  • a first bearing 16 is arranged between the output member and the input shaft 2, and a second bearing 17 is arranged between the output member and the inner peripheral wall of the housing 1.
  • the inclined wall 321 on the protrusion 32 continuously presses the position of the elastic gear 5 corresponding to the input tooth 511, so that the corresponding input tooth 511 moves downward and meshes with the corresponding output tooth 41, while the input teeth 511 at other positions do not mesh with the corresponding output teeth 41.
  • the input teeth 511 of the elastic gear 5 mesh with the corresponding output teeth 41 in sequence along the circumferential direction, thereby driving the output gear plate 4 to rotate around the axis of the input shaft 2.
  • the total number of teeth of one circle of input teeth 511 is Z1
  • the total number of teeth of one circle of output teeth 41 is Z2.
  • the reduction ratio of the reducer is Z2: (Z1-Z2), wherein (Z1-Z2) ⁇ 1.
  • (Z1-Z2) ⁇ 2 must be satisfied.
  • Z1-Z2 3
  • the pitch difference on the pitch circle of the output teeth 41 is 3/Z2.
  • the peripheral wall of the input shaft 2 has an extension portion 21 extending outward, and the impeller 3 is located at the periphery of the extension portion 21.
  • a cylindrical roller bearing 8 is provided at the periphery of the extension portion 21 of the input shaft 2, and the cylindrical roller bearing 8 is located between the impeller 3 and the input tooth 511.
  • the existence of the cylindrical roller bearing forms a rolling friction transmission between its bottom and the elastic gear 5, forcing the elastic gear 5 to fluctuate and deform, and a rolling friction transmission is formed between its top and the impeller 3.
  • the elastic gear 5 in the above-mentioned reducer can be elastically deformed, and the elastic gear 5, the impeller 3 and the output member (output toothed disc 4) are arranged along the axial direction of the input shaft 2.
  • the impeller 3 rotates under the drive of the input shaft 2, and the inner part of the elastic gear 5 can be elastically deformed in the direction of the output member, that is, the inner part of the elastic gear 5 is deformed along the axial direction of the output member.
  • the reducer only needs the elastic gear 5 to be elastically deformed locally, that is, an open structure is adopted.
  • the elastic gear 5 adopts an open structure with a deformable inner ring or outer ring, and adopts high-carbon alloy steel represented by Si element; in addition, the elastic gear 5 is relatively fixedly connected to the housing 1.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 12 to FIG. 14 it is a second preferred embodiment of the present invention.
  • the elastic gear 5 includes a first ring segment 53 and a second ring segment 54 arranged in sequence from the inside to the outside.
  • the second ring segment 54 gradually tilts away from the output member (i.e., the output gear disc 4) from the inside to the outside.
  • Parts of the first ring segment 53 and the second ring segment 54 are both located between the assembly member 6 and the extension 21.
  • the outer side of the elastic gear 5 is relatively fixed to the housing 1, and the first ring segment 53 is relatively fixed to the assembly member 6.
  • the input teeth 511 are arranged on the outer side of the second ring segment 54, and the thickness of the second ring segment 54 except the input teeth 511 is less than the thickness of the first ring segment 53.
  • the pulsator 3 rotates under the drive of the input shaft 2, and can make the outer part of the elastic gear 5 elastically deform toward the output member.
  • An assembly part 6 fixed relatively to the housing 1 is arranged in the housing 1, and the assembly part 6 is installed on the input shaft 2 near the center, and the output gear disc 4 is located on the periphery of the assembly part 6.
  • a fourth bearing 61 is arranged between the assembly part 6 and the housing 1
  • a fifth bearing 62 is arranged between the assembly part 6 and the input shaft 2
  • the fifth bearing 62 has a first ring 621 and a second ring 622 arranged from the inside to the outside
  • the outer ring 611 of the fourth bearing 61 is relatively fixed to the output gear disc 4, and the inner ring 612 of the fourth bearing 61 and the second ring 622 of the fifth bearing 62 are relatively fixed to the assembly part 6.
  • a connecting member 7 is arranged outside the housing 1, and the outer ring 611 of the fourth bearing 61 is located between the output gear disc 4 and the connecting member 7, and is relatively fixed to the connecting member 7, so that the output gear disc 4 is relatively fixed to the connecting member 7, and at this time, the rotation of the output gear disc 4 can drive the connecting member 7 to rotate.
  • the connecting member 7 is connected to the external device that the reducer needs to drive, and the aforementioned reducer can be used at the joint of the robot.

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Abstract

本发明涉及一种减速器，包括有箱体(1)、输入轴(2)、波轮(3)、输出件和弹性齿轮(5)，其中，弹性齿轮(5)位于箱体(1)的容腔(10)内、且套设在输入轴(2)的***，其外周沿与箱体(1)相对固定连接，弹性齿轮(5)位于波轮(3)和输出件之间，并在波轮(3)的驱动下其局部沿着输入轴(2)的轴向朝输出件方向弹性变形，继而带动输出件绕输入轴(2)的轴线转动。与现有技术相比，本发明的减速器中弹性齿轮的变形沿着输出轴的轴向方向，由此使输出件所输出的功率相对输入轴来说是平衡的，有利于保证减速器的承载力。

Description

一种减速器 技术领域
本发明涉及一种齿轮减速器，尤其是一种具有弹性齿轮的减速器。
背景技术
目前减速***包括电机和减速器，其中电机通过输入轴驱动减速器的输入部件，减速器将来自电机的输入进行减速，并将减速后的运动传递给输出轴，该输出轴与待被驱动的设备相连。
在谐波减速器中，柔轮是核心部件，如号为CN113078773A中国发明专利申请《内嵌有减速器的电机》(专利申请号为202010005474.0)公开了一种内嵌有减速装置的电机。该电机包括壳体；输入机构，设置在壳体内，输入机构包括定子和转子，定子附接至壳体的内壁；减速装置，设置在壳体内，减速装置包括主动部件和从动部件，其中主动部件位于输入机构的转子内并与转子固接；以及输出轴，其由减速装置的从动部件驱动。减速器是谐波减速器，谐波减速器包括：刚轮，固定连接于壳体；柔轮，设置在刚轮的内圆周侧，输出轴与柔轮固定连接；以及波发生器，设置在柔轮的内侧并与柔轮的内侧相互压紧，波发生器与环形输入机构连接并受环形输入机构的驱动，波发生器使柔轮产生可控弹性变形的构件，当波生器装入柔轮中时，波生器迫使柔轮的剖面由原先的圆形变成椭圆形，其长轴两端附近的齿与刚轮的齿完全啮合，而短轴两端附近的齿则与刚轮完全脱开，其他区段的齿处于啮合和脱离的过过渡状态。波生器、柔轮和刚轮自内向外依次套设在输入轴上，在谐波减速器工作时，随着波发生器的旋转，柔轮的变形不断改变，使柔轮与刚轮的啮合状态也不断改变，从而使得柔轮相对刚轮沿波发生器旋转方向的相反方向的缓慢旋转，以实现减速作用。
上述专利中虽然通过刚轮(波轮)和谐波的柔轮配合实现了减速，但是需要波生器迫使柔轮的剖面由原先的圆形变成椭圆形，此时柔轮需要承受较大的力，才可在径向方向上整体被压而形成椭圆形(即封闭结构)，这就对波发生器具有较高的要求，并容易缩短波发生器的使用寿命，并降低其效率；另外，谐波减速器柔轮受环形件封闭结构的约束难以使用更高强度的材料，通常采用以Ni元素为代表的中碳合金钢，以柔轮输出时，不能承受较大的负载。
因此，需要对现有的减速器作进一步的改进。
发明内容
本发明所要解决的技术问题是针对上述现有技术的现状，提供一种能提高承载力且延长波轮使用寿命的减速器。
本发明解决上述技术问题所采用的技术方案为：一种减速器，包括有：
箱体，其内部具有容腔；
输入轴，其安装在所述箱体上，且局部位于所述容腔内，并被布置成能相对所述箱体绕自身转动轴线转动；
波轮，其套设在所述输入轴上，且与所述输入轴相对固定连接；
输出件，其与所述输入轴相连接；
其特征在于，还包括有：
弹性齿轮，其位于所述容腔内，且套设在所述输入轴的***，该弹性齿轮之内侧和外侧的其中一侧与所述箱体相对固定，其内侧和外侧中的另一侧位于所述波轮和输出件之间，并且该弹性齿轮位于所述波轮和输出件之间的部分在所述波轮的驱动下沿着所述输入轴的轴向朝所述输出件方向弹性变形，继而带动所述输出件绕所述输入轴的轴线转动。
在弹性齿轮波动变形时实现输出件转动的形式有多种，比如，可采用号为CN215733987U(专利号为ZL202122165198.7)中通过永磁体实现的形式，也可采用齿轮啮合的形式，但是从运行可靠性角度来讲，优选地，所述输出件为呈环状的输出齿盘，所述输出齿盘套设在所述输入轴的***，并在朝向所述弹性齿轮的一面具有一圈环绕在所述输入轴***的输出齿，所述弹性齿轮的弹性变形的区域具有一圈位于所述波轮和输出齿之间的输入齿，所述输入齿环绕在所述输入轴***，随弹性齿轮一起变形的输入齿与对应的输出齿相啮合。
在上述波轮转动过程中，不断地抵压弹性齿轮，从而使弹性齿轮对应位置处发生弹性变形，此位置处的输入齿上的齿向下运动而与输出齿相啮合，而其他位置处的输入齿的齿与输出齿不啮合，从而在波轮的转动过程中，弹性齿轮之输入齿上的齿沿着周向依次与输出齿啮合，从而带动输出齿盘绕输入轴的轴线转动。
弹性齿轮的结构形式有多种，可采用现有技术中的弹性齿轮，其设计形式之一：所述弹性齿轮包括有自内向外依次布置的内环段和外环段，所述内环段自内向外逐渐朝所述输出件方向倾斜，所述外环段插设在所述箱体上，所述输入齿设置在所述内环段上。则弹性齿轮的外侧与箱体相对固定。
为了使得弹性齿轮变形后具有较好的刚度，所述内环段除输入齿以外的区域的厚度小于所述外环段的厚度。另外，有利于弹性齿轮变形后可靠驱动输出件转动。
为了实现输出齿盘转动的可靠性，还包括有与所述箱体相对固定的装配件，所述装配件邻近中央的位置安装在所述输入轴上，所述输出齿盘位于所述装配件的***。
弹性齿轮的设计形式之二：所述输入轴的外周壁具有向外延伸的延伸部，所述波轮 位于所述延伸部的***，所述弹性齿轮包括有自内向外依次布置的第一环段和第二环段，所述第二环段自内向外逐渐朝所述输出件方向倾斜，所述第一环段和第二环段的部分均位于所述装配件和延伸部之间，所述输入齿设置在所述第二环段上。则弹性齿轮的内侧通过装配件与箱体相对固定。
为了可靠带动输出齿盘转动，所述装配件位于所述箱体内，且与所述箱体之间设置有第四轴承，并与所述输入轴之间设置有第五轴承，所述第五轴承具有自内向外间隔布置的第一环圈和第二环圈，所述第四轴承的外环圈与所述输出齿盘相对固定，且该第四轴承的内环圈及第五轴承的第二环圈与所述装配件相对固定。
为了方便与待减速的设备相连接，所述箱体外设置有连接件，所述第四轴承的外环圈位于所述输出齿盘和连接件之间，且与所述连接件相对固定。
为了可靠实现弹性齿轮之输入齿所在位置的变形，所述第二环段除输入齿以外的区域的厚度小于所述第一环段的厚度。
为了实现减速器之减速比的简化设计，一圈所述输入齿的总齿数为Z1，一圈所述输出齿的总齿数为Z2，所述减速器的减速比为Z2：(Z1-Z2)，其中，(Z1-Z2)≥1。当Z1-Z2＝3，所述输出齿盘之分度圆上的齿距差为3/Z2，当弹性齿轮每波动一次，即推动输出齿盘移动3/Z2个齿距，当输出齿波动数为Z2次的时候(即输入轴的转数)，Z2*3/Z2＝3，即推动输出齿盘移动了3个齿的齿距，其减速比即为Z2：3。
实现波轮转动时带动弹性齿轮变形的方式有多种，可采用在波轮朝向弹性齿轮的表面上设置凸部的形式，也可在弹性齿轮朝向波轮的表面设置凸部的形式，但是从方便弹性齿轮变形的角度来讲，优选地，所述波轮在朝向所述弹性齿轮的表面上具有至少一个使所述弹性齿轮的对应位置发生弹性变形的凸部，所述凸部朝所述弹性齿轮方向延伸。
凸部的两个侧壁可以采用弧形壁的形式，也可采用倾斜壁的形式，但是优选地，所述凸部沿着所述波轮周向布置的两个侧壁均为倾斜壁，所述倾斜壁自远离所述弹性齿轮的一端逐渐朝对向侧的倾斜壁方向倾斜。
两个倾斜壁可对称布置，也可非对称布置，为了更均匀地实现弹性齿轮的变形，所述凸部的两个倾斜壁对称布置，且均为平滑过渡的平直段。平直段的存在，可逐渐对抵压弹性齿轮，而使弹性齿轮变形。
为了使得凸部的两个倾斜面顺滑过渡，所述凸部的两个倾斜壁之间通过第一圆弧面圆滑过渡连接，所述第一圆弧面朝弹性齿轮方向拱起。此时凸部随着波轮一起转动的过程中，对弹性齿轮周向方向的抵压更加地顺畅，继而使得输出件的转动更加地稳定可靠。
波轮和输入轴可采用一体件的形式，也可采用分体件的形式，但是从提高波轮的刚度角度来讲，优选地，所述波轮和输入轴为一体件。
为了进一步对弹性齿轮周向方向的抵压更加地顺畅，所述凸部至少有三个，且沿着所述波轮的周向依次布置，相邻两个凸部的倾斜壁通过第二圆弧面圆滑过渡连接，所述 第二圆弧面朝背离所述弹性齿轮方向拱起。则弹性齿轮在前述波轮的驱动下，沿着周向方向顺畅地依次变形，从而使得输出件的转动更加地稳定可靠。此外，采用沿周向方向上3处及3处以上的啮合(每个凸部对应一处啮合)，相对于背景技术中刚轮(输出轮)与柔轮只能采用两处啮合来讲，使输出件能够承受更大的功率和扭矩，提高了减速器的承载力。为了减少摩擦损耗，所述输入轴的***套设有圆柱滚子轴承，所述圆柱滚子轴承位于所述波轮和输入齿之间。圆柱滚子轴承的存在，与弹性齿轮之间形成滚动摩擦传动，迫使弹性齿轮发生波动变形。
与现有技术相比，本发明的优点在于：上述减速器中的弹性齿轮可发生弹性变形，弹性齿轮、波轮和输出件沿着输入轴的轴向布置，波轮在输入轴的带动下转动，且可使弹性齿轮内侧或者外侧的局部朝输出件的方向弹性变形，即弹性齿轮内侧或者外侧的局部变形沿着输入轴的轴向方向，也就是说，该减速器仅仅需要弹性齿轮的局部产生弹性变形即可，即采用开放性结构，此时仅需要较小的力来实现弹性齿轮的变形即可，延长了波轮的使用寿命和效率，更能满足用户的需求，克服了背景技术中波轮需对柔轮在径向方向上的施加较大的压力所带来的波轮寿命短等问题，有利于提高承载力。
此外，相对柔轮来说，弹性齿轮采用内环或者外环可变形的开放结构，为使用更高强度的弹性材料创造了条件，可采用以Si元素为代表的高碳合金钢。
另外，弹性齿轮与箱体相对固定连接的方式，当输出件受到反向负载时，会使输出件产生自锁，限制输出件反向转动，取得了很好的自锁效果。
该减速器可用于机器人的关节处。
附图说明
图1为本实施例1的减速器的结构示意图；
图2为图1的剖视图；
图3为图1的另一角度的剖视图；
图4为图3中I部的放大结构示意图；
图5为图1的立体分解结构示意图；
图6为图1中波轮、输入齿、输出齿相配合结构的局部剖面图；
图7为弹性齿轮的结构示意图；
图8为图7的剖视图；
图9为输入轴和波轮相配合的结构示意图；
图10为9中波轮的结构示意图；
图11为图9中波轮中凸部所在面的展开波形图；
图12为本实施例2的减速器的剖视图；
图13为本实施例2中的弹性齿轮的结构示意图；
图14为图12中II部的放大结构示意图。
具体实施方式
以下结合附图实施例对本发明作进一步详细描述。
实施例1：
如图1至图11所示，为本发明的第1个优选实施例。该实施例的减速器包括有箱体1、输入轴2、波轮3、输出齿盘4(本实施例中作为输出件)和弹性齿轮5。
其中，本实施例中的输入轴2沿着上下方向延伸，且沿着其轴向方向，该输入轴2各处的转动轴线相一致。箱体1的内部具有容腔10，箱体1的顶部具有与容腔10相连通的穿孔101。如图2和图3所示，前述的输入轴2穿设在穿孔101内，且局部位于容腔10内。波轮3套设在输入轴2上，且与输入轴2相对固定连接。如图2、图3、图9和图10所示，前述的波轮3和输入轴2为一体件，且波轮3、弹性齿轮5和输出件沿着输入轴2的轴向自上而下依次布置。前述输入轴2的开设有供动力源的输出轴***其中的安装孔211，输入轴2在动力源的驱动下相对箱体1绕自身转动轴线转动，输入轴2与箱体1之间设置有第三轴承18。
波轮3在朝向弹性齿轮5的表面上设置有至少一个使弹性齿轮5的对应位置发生弹性变形的凸部32，则凸部32设置在波轮3的底面上。如图9所示，本实施例中的凸部32有三个，且沿着波轮3的周向依次布置。此外，还可以设置三个以上的凸部32。前述各个凸部的结构形式相同，以下以其中一个凸部为例进行说明。凸部32远离弹性齿轮5的外周沿布置，且朝下延伸，且该凸部32沿着波轮3周向布置的两个侧壁均为倾斜壁321，倾斜壁321自远离弹性齿轮5的一端逐渐朝对向侧的倾斜壁321方向倾斜。如图11所示，在本实施例中凸部32的两个倾斜壁321对称布置，且均为平滑过渡的平直段，倾斜壁321与输入轴2相垂直的平面01所成的夹角为波动角α。为了使得凸部的两个倾斜面顺滑过渡，凸部32的两个倾斜壁321之间通过第一圆弧面322圆滑过渡连接，第一圆弧面322朝弹性齿轮5方向(图中为朝下)拱起。而相邻两个凸部32的倾斜壁321通过第二圆弧面323圆滑过渡连接，第二圆弧面323朝背离弹性齿轮5方向(图中为朝上)拱起。在凸部32随着波轮3一起转动的过程中，弹性齿轮5在前述波轮3的驱动下，沿着周向方向顺畅地依次变形，从而使得输出件的转动更加地稳定可靠。
如图2、图3、图7和图8所示，弹性齿轮5位于容腔10内，且套设在输入轴2的***，该弹性齿轮5的外周沿与箱体1相对固定连接，且可发生弹性变形。具体地，弹性齿轮5包括有自内向外依次布置的内环段51和外环段52，内环段51自内向外逐渐朝输出件方向(即朝下)倾斜，外环段52插设在箱体1上。
为了在弹性齿轮5波动变形时带动输出件转动，本实施例的输出件为呈环状的输出齿盘4，输出齿盘4套设在输入轴2的***，并在朝向弹性齿轮5的一面具有一圈环绕 在输入轴2***的输出齿41，则输出齿41位于输出件的上表面上，且环绕在输入轴2的***。弹性齿轮5的弹性变形的区域具有一圈位于波轮3和输出齿41之间的输入齿511，则该输入齿511位于弹性齿轮5的内环段51的下表面的内侧上，且环绕在输入轴2的***，并位于上述凸部32之下，则在凸部32的倾斜壁321的作用下，输入齿511可向下变形，从而与对应的输出齿41相啮合，则在输出齿盘4转动的过程中，各个输入齿511依次变形与对应的输出齿41相啮合。
为了使得弹性齿轮变形后具有较好的刚度，内环段51除输入齿511以外的区域的厚度小于外环段52的厚度，有利于弹性齿轮变形后可靠驱动输出件转动。前述输出件与输入轴2之间设置有第一轴承16，输出件与箱体1的内周壁之间设置有第二轴承17。
由于上述弹性齿轮5上的输入齿511位于波轮3上的凸部32和输出齿盘4之间，在上述波轮3转动过程中，凸部32上的倾斜壁321不断地抵压弹性齿轮5对应输入齿511的位置，从而使对应的输入齿511向下运动而与对应的输出齿41相啮合，而其他位置处的输入齿511与所对应的输出齿41不啮合，在波轮3的转动过程中，弹性齿轮5的输入齿511沿着周向依次与对应输出齿41啮合，从而带动输出齿盘4绕输入轴2的轴线转动。
为了实现减速器之减速比的简化设计，一圈输入齿511的总齿数为Z1，一圈输出齿41的总齿数为Z2，减速器的减速比为Z2：(Z1-Z2)，其中，(Z1-Z2)≥1，但是为了实现避免因弹性齿轮5与输出齿盘4单边啮合所带来的负载力相对不优的问题，需满足(Z1-Z2)≥2。在本实施例中，Z1-Z2＝3，输出齿41之分度圆上的齿距差为3/Z2，当输入齿每波动一次，即推动输出齿移动3/Z2个齿距，当输出齿波动数为Z2次的时候(即输入轴的转数)，Z2*3/Z2＝3，即推动输出齿移动了3个齿的齿距，其减速比即为Z2：3。
输入轴2的外周壁具有向外延伸的延伸部21，波轮3位于延伸部21的***，为了减少摩擦损耗，输入轴2之延伸部21的***套设有圆柱滚子轴承8，圆柱滚子轴承8位于波轮3和输入齿511之间。圆柱滚子轴承的存在，其底部与弹性齿轮5之间形成滚动摩擦传动，迫使弹性齿轮5发生波动变形，其顶部与波轮3之间形成滚动摩擦传动。
上述减速器中的弹性齿轮5可发生弹性变形，弹性齿轮5、波轮3和输出件(输出齿盘4)沿着输入轴2的轴向布置，波轮3在输入轴2的带动下转动，且可使弹性齿轮5内侧局部朝输出件的方向弹性变形，即弹性齿轮5内侧局部变形沿着输出件的轴向方向，也就是说，该减速器仅仅需要弹性齿轮5的局部产生弹性变形即可，即采用开放性结构，此时较小的力即可实现弹性齿轮5的变形，延长了波轮3的使用寿命和效率，更能满足用户的需求，克服了背景技术中波轮3需对柔轮在径向方向上的施加较大的压力所带来的波轮寿命短等问题。此外，相对柔轮来说，弹性齿轮5采用内环或者外环可变形的开放结构，采用以Si元素为代表的高碳合金钢；另外，弹性齿轮5与箱体1相对固定连接的方式，当输出件受到反向负载时，会使输出件产生自锁，限制输出件反向转动，取 得了很好的自锁效果。
实施例2：
如图12至图14所示，为本发明的第2个优选实施例。
该实施例与上述实施例1的区别仅在于：弹性齿轮5的具体结构不同，具体地，弹性齿轮5包括有自内向外依次布置的第一环段53和第二环段54，第二环段54自内向外逐渐朝远离输出件(即输出齿盘4)方向倾斜，第一环段53和第二环段54的部分均位于装配件6和延伸部21之间，弹性齿轮5的外侧与箱体1相对固定，则第一环段53与装配件6相对固定。输入齿511设置在第二环段54的外侧上，第二环段54除输入齿511以外的区域的厚度小于第一环段53的厚度。波轮3在输入轴2的带动下转动，且可使弹性齿轮5外侧的局部朝输出件的方向弹性变形。
箱体1内设置有与该箱体1相对固定的装配件6，装配件6邻近中央的位置安装在输入轴2上，输出齿盘4位于装配件6的***。具体地，装配件6与箱体1之间设置有第四轴承61，并与输入轴2之间设置有第五轴承62，第五轴承62具有自内向外间隔布置的第一环圈621和第二环圈622，第四轴承61的外环圈611与输出齿盘4相对固定，且该第四轴承61的内环圈612及第五轴承62的第二环圈622与装配件6相对固定。另外，箱体1外设置有连接件7，第四轴承61的外环圈611位于输出齿盘4和连接件7之间，且与连接件7相对固定，如此，输出齿盘4与连接件7相对固定，此时，输出齿盘4转动可带动连接件7转动。连接件7与减速器需要驱动的外接设备相连接，前述的减速器可用在机器人的关节处。
在本发明的说明书及权利要求书中使用了表示方向的术语，诸如“前”、“后”、“上”、“下”、“左”、“右”、“侧”、“顶”、“底”等，用来描述本发明的各种示例结构部分和元件，但是在此使用这些术语只是为了方便说明的目的，是基于附图中显示的示例方位而确定的。由于本发明所公开的实施例可以按照不同的方向设置，所以这些表示方向的术语只是作为说明而不应视作为限制，比如“上”、“下”并不一定被限定为与重力方向相反或一致的方向。

Claims (17)

  1. 一种减速器，包括有：
    箱体(1)，其内部具有容腔(10)；
    输入轴(2)，其安装在所述箱体(1)上，且局部位于所述容腔(10)内，并被布置成能相对所述箱体(1)绕自身转动轴线转动；
    波轮(3)，其套设在所述输入轴(2)上，且与所述输入轴(2)相对固定；
    输出件，其与所述输入轴(2)相连接；
    其特征在于，还包括有：
    弹性齿轮(5)，其位于所述容腔(10)内，且套设在所述输入轴(2)的***，该弹性齿轮之内侧和外侧的其中一侧与所述箱体(1)相对固定，其内侧和外侧中的另一侧位于所述波轮(3)和输出件之间，并且该弹性齿轮(5)位于所述波轮(3)和输出件之间的部分在所述波轮(3)的驱动下沿着所述输入轴(2)的轴向朝所述输出件方向弹性变形，继而带动所述输出件绕所述输入轴(2)的轴线转动。
  2. 根据权利要求1所述的减速器，其特征在于：所述输出件为呈环状的输出齿盘(4)，所述输出齿盘(4)套设在所述输入轴(2)的***，并在朝向所述弹性齿轮(5)的一面具有一圈环绕在所述输入轴(2)***的输出齿(41)，所述弹性齿轮(5)的弹性变形的区域具有一圈位于所述波轮(3)和输出齿(41)之间的输入齿(511)，所述输入齿(511)环绕在所述输入轴(2)***，随弹性齿轮(5)一起变形的输入齿(511)与对应的输出齿(41)相啮合。
  3. 根据权利要求2所述的减速器，其特征在于：所述弹性齿轮(5)包括有自内向外依次布置的内环段(51)和外环段(52)，所述内环段(51)自内向外逐渐朝所述输出件方向倾斜，所述外环段(52)插设在所述箱体(1)上，所述输入齿(511)设置在所述内环段(51)上。
  4. 根据权利要求3所述的减速器，其特征在于：所述内环段(51)除输入齿(511)以外的区域的厚度小于所述外环段(52)的厚度。
  5. 根据权利要求2所述的减速器，其特征在于：还包括有与所述箱体(1)相对固定的装配件(6)，所述装配件(6)邻近中央的位置安装在所述输入轴(2)上，所述输出齿盘(4)位于所述装配件(6)的***。
  6. 根据权利要求5所述的减速器，其特征在于：所述输入轴(2)的外周壁具有向外延伸的延伸部(21)，所述波轮(3)位于所述延伸部(21)的***，所述弹性齿轮(5)包括有自内向外依次布置的第一环段(53)和第二环段(54)，所述第二环段(54)自内向外逐渐朝远离所述输出件方向倾斜，所述第一环段(53)和第二环段(54)的部分均位于所述装配件(6)和延伸部(21)之间，所述输入齿(511)设置在所述第二环段(54)上。
  7. 根据权利要求5所述的减速器，其特征在于：所述装配件(6)位于所述箱体(1)内，且与所述箱体(1)之间设置有第四轴承(61)，并与所述输入轴(2)之间设置有第五轴承(62)，所述第五轴承(62)具有自内向外间隔布置的第一环圈(621)和第二环圈(622)，所述 第四轴承(61)的外环圈(611)与所述输出齿盘(4)相对固定，且该第四轴承(61)的内环圈(612)及第五轴承(62)的第二环圈(622)与所述装配件(6)相对固定。
  8. 根据权利要求7所述的减速器，其特征在于：所述箱体(1)外设置有连接件(7)，所述第四轴承(61)的外环圈(611)位于所述输出齿盘(4)和连接件(7)之间，且与所述连接件(7)相对固定。
  9. 根据权利要求6所述的减速器，其特征在于：所述第二环段(54)除输入齿(511)以外的区域的厚度小于所述第一环段(53)的厚度。
  10. 根据权利要求2所述的减速器，其特征在于：一圈所述输入齿(511)的总齿数为Z1，一圈所述输出齿(41)的总齿数为Z2，所述减速器的减速比为Z2：(Z1-Z2)，其中，(Z1-Z2)≥1。
  11. 根据权利要求1至10中任一项权利要求所述的减速器，其特征在于：所述波轮(3)在朝向所述弹性齿轮(5)的表面上具有至少一个使所述弹性齿轮(5)的对应位置发生弹性变形的凸部(32)，所述凸部(32)朝所述弹性齿轮(5)方向延伸。
  12. 根据权利要求11所述的减速器，其特征在于：所述凸部(32)沿着所述波轮(3)周向布置的两个侧壁均为倾斜壁(321)，所述倾斜壁(321)自远离所述弹性齿轮(5)的一端逐渐朝对向侧的倾斜壁(321)方向倾斜。
  13. 根据权利要求12所述的减速器，其特征在于：所述凸部(32)的两个倾斜壁(321)对称布置，且均为平滑过渡的平直段。
  14. 根据权利要求13所述的减速器，其特征在于：所述凸部(32)的两个倾斜壁(321)之间通过第一圆弧面(322)圆滑过渡连接，所述第一圆弧面(322)朝弹性齿轮(5)方向拱起。
  15. 根据权利要求11所述的减速器，其特征在于：所述波轮(3)和输入轴(2)为一体件。
  16. 根据权利要求11所述的减速器，其特征在于：所述凸部(32)至少有三个，且沿着所述波轮(3)的周向依次布置，相邻两个凸部(32)的倾斜壁(321)通过第二圆弧面(323)圆滑过渡连接，所述第二圆弧面(323)朝背离所述弹性齿轮(5)方向拱起。
  17. 根据权利要求10所述的减速器，其特征在于：所述输入轴(2)的***套设有圆柱滚子轴承(8)，所述圆柱滚子轴承(8)位于所述波轮(3)和输入齿(511)之间。
PCT/CN2022/137952 2022-12-05 2022-12-09 一种减速器 WO2024119483A1 (zh)

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JP2008030747A (ja) * 2007-09-11 2008-02-14 Ogino Kogyo Kk ステアリング装置
CN105275764A (zh) * 2014-07-01 2016-01-27 谢盛华 谐波动力机
CN208331177U (zh) * 2018-06-11 2019-01-04 廊坊市钦纵传动科技有限公司 平面谐波减速器
CN209444758U (zh) * 2018-10-29 2019-09-27 广东省机械研究所 一种直驱式谐波减速器传动装置
CN110822056A (zh) * 2019-11-26 2020-02-21 北京工业大学 一种平面差齿啮合的短筒谐波减速器
CN113078773A (zh) * 2020-01-03 2021-07-06 北京智能大艾机器人科技有限公司 内嵌有减速装置的电机
JP2022096226A (ja) * 2020-12-17 2022-06-29 ナブテスコ株式会社 減速機構

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008030747A (ja) * 2007-09-11 2008-02-14 Ogino Kogyo Kk ステアリング装置
CN105275764A (zh) * 2014-07-01 2016-01-27 谢盛华 谐波动力机
CN208331177U (zh) * 2018-06-11 2019-01-04 廊坊市钦纵传动科技有限公司 平面谐波减速器
CN209444758U (zh) * 2018-10-29 2019-09-27 广东省机械研究所 一种直驱式谐波减速器传动装置
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