CN102094959A - Flexible gear, harmonic speed reducer and joint structure of robot - Google Patents
Flexible gear, harmonic speed reducer and joint structure of robot Download PDFInfo
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- CN102094959A CN102094959A CN2011100582422A CN201110058242A CN102094959A CN 102094959 A CN102094959 A CN 102094959A CN 2011100582422 A CN2011100582422 A CN 2011100582422A CN 201110058242 A CN201110058242 A CN 201110058242A CN 102094959 A CN102094959 A CN 102094959A
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Abstract
The invention discloses a flexible gear comprising an outer layer, an accumulation layer and an output shaft which are sequentially sleeved together from outside to inside, wherein the outer surface of the outer layer is provided with outer teeth; the accumulation layer comprises at least two lamellar structures capable of being radially deformed; the innermost layer of the accumulation layer is fixed on the output shaft; the outermost layers of the outer layer and the accumulation layer are connected together through connecting parts, and the layers of the accumulation layer are also connected together through connecting parts. In the invention, the deformation of the outermost layer of the flexible gear is supplied by multilayer deformation accumulation, deformation amount supplied by each middle layer can be reduced so that the length of a cylinder body is reduced, that is to say, the axial size of the flexible gear is reduced, therefore a harmonic speed reducer adopting the flexible gear can be more compact; in addition, the output shaft and the flexible gear are of an integral structure or rigid solidification without a tooth-meshed output link of an annular flexible gear, therefore the return difference of the harmonic speed reducer is favorably reduced, and the transmission efficiency is enhanced.
Description
Technical field
The present invention relates to a kind of flexbile gear, harmonic speed reducer and robot joint structure.
Background technique
The harmonic reduction transmission is that a kind of controlled elasticity that relies on flexible gear to produce is out of shape the novel mechanical transmission that comes transmitting movement and power.As depicted in figs. 1 and 2, its basic building block comprises oval-shaped wave-generator 1, the flexbile gear 2 of thin-wall barrel shape and the firm wheel 3 that fine rigidity is arranged.When wave-generator 1 rotates, force flexbile gear 2 to produce resiliently deformable, its tooth is interacted with just taking turns 3 teeth, thereby realize the purpose of transmission.
The needs that the inherent characteristics of harmonic reduction transmission needs and makes manufacture the thin walled cylinder tubbiness with flexbile gear earlier usually.When flexbile gear and wave-generator, just wheel combination join finish after, the circular end of engagement of flexbile gear will be forced by oval-shaped wave-generator and become ellipse.
In research and practice process to prior art, the present inventor finds, in the above-mentioned prior art: the output terminal of cup-shape flexspline is owing to adopt closing structure, has very high radial rigidity, be difficult to distortion, and the end of engagement of flexbile gear has radial compliance, easily deformable, therefore the thin walled cylinder that connects two ends in the flexbile gear structure must possess than length, could make that end of engagement has deformability.This further reduces to produce restriction to the whole axial dimension of harmonic speed reducer, makes that retarder is difficult to adapt to the exigent occasion of compact structure.
Summary of the invention
Must possess than length in order to solve the thin walled cylinder that connects two ends in the prior art in the flexbile gear structure, could make end of engagement have the problem of deformability, the embodiment of the invention provides a kind of flexbile gear, harmonic speed reducer and robot joint structure.
The embodiment of the invention provides a kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, but described accumulation layer comprises the stratiform structure of two-layer at least radial deformation, the innermost layer of described accumulation layer is fixed on the described output shaft, links together by joint between the outermost surface of described skin and accumulation layer and between each layer of accumulation layer.
The embodiment of the invention also provides a kind of harmonic speed reducer, comprising:
Just wheel, as above-mentioned flexbile gear and waveform generator,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
The embodiment of the invention also provides a kind of robot joint structure, comprise housing, motor and above-mentioned harmonic speed reducer, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
The embodiment of the invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle each layer provided can reduce, make that cylindrical shell length is reduced, that is the flexbile gear axial dimension reduces, so it is compact more to adopt the harmonic speed reducer of this flexbile gear to accomplish; Simultaneously output shaft does not have the tooth of ring-shape flexspline to nibble output element with flexbile gear is structure as a whole or rigidity is fixed, helps reducing the return difference of retarder, the increase transmission efficiency.
Description of drawings
In order to be illustrated more clearly in the technological scheme in the embodiment of the invention, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.Wherein
Fig. 1 has shown a kind of plan view of harmonic speed reducer in the prior art;
Fig. 2 has shown the side sectional view of Fig. 1;
Fig. 3 has shown the embodiment of the invention one flexbile gear side structure sectional view;
Fig. 4 has shown the embodiment of the invention one flexbile gear plan view;
Fig. 5 has shown the embodiment of the invention two flexbile gear side structure sectional views;
Fig. 6 has shown the embodiment of the invention two flexbile gear plan views;
Fig. 7 has shown the embodiment of the invention three flexbile gear side structure sectional views;
Fig. 8 has shown the embodiment of the invention three flexbile gear plan views;
Fig. 9 has shown the embodiment of the invention four flexbile gear side structure sectional views;
Figure 10 has shown the embodiment of the invention four flexbile gear plan views;
Figure 11 has shown the embodiment of the invention five flexbile gear side structure sectional views;
Figure 12 has shown the embodiment of the invention five flexbile gear plan views;
Figure 13 has shown the embodiment of the invention six flexbile gear accumulation layer plan views;
Figure 14 has shown 61 kinds of mode of execution flexbile gears of embodiment of the invention plan view;
Figure 15 has shown the embodiment of the invention six another kind of mode of execution flexbile gear plan views.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technological scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment who is obtained under the creative work prerequisite.
A kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, but described accumulation layer comprises the stratiform structure of two-layer at least radial deformation, the innermost layer of described accumulation layer is fixed on the described output shaft, links together by joint between the outermost surface of described skin and accumulation layer and between each layer of accumulation layer.
Be evenly distributed to few three joints between described skin and the accumulation layer and between each layer of accumulation layer.
Embodiment one
The embodiment of the invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises the two-layer at least coaxial cylinders that is parallel to each other, described accumulation layer is enclosed within on the described output shaft, links together by joint between described skin and the accumulation layer and between each layer of accumulation layer.
Three joints that evenly distribute between described skin and the accumulation layer and on the annulus between each layer of accumulation layer, described joint successively alternately is connected the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 3 and Figure 4, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, three identical joints evenly distribute on the formed annulus of one end of one end of described first layer cylinder 21 and skin 1, one of them joint is first joint 31, described second layer cylinder 22 is positioned at described first layer cylinder 21, three identical joints evenly distribute on the annulus that described first layer cylinder 21 forms away from an end of end of first joint 31 and second layer cylinder 22, one of them joint is second joint 32, three identical joints evenly distribute on the annulus that described second layer cylinder 22 forms away from an end of end of second joint 32 and the 3rd layer of cylinder 23, one of them joint is the 3rd joint 33, three identical joints evenly distribute on the annulus that described the 3rd layer of cylinder 23 forms away from an end of end of the 3rd joint 33 and the 4th layer of cylinder 24, one of them joint is the 4th joint 34, three identical joints evenly distribute on the annulus that described the 4th layer of cylinder 24 forms away from an end of end of the 4th joint 34 and layer 5 cylinder 25, one of them joint is the 5th joint 35, described layer 5 cylindrical sleeve and be fixed on the output shaft 3.
The medial axis of described first joint 31, second joint 32, the 3rd joint 33, the 4th joint 34 and the 5th joint 35 is being projected on same the straight line on the same horizontal plane.
The angle of the medial axis of described joint between formed three straight lines of the projection on the same horizontal plane is 120 degree.
The embodiment of the invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle each layer provided can reduce, make that cylindrical shell length is reduced, that is the flexbile gear axial dimension reduces, so it is compact more to adopt the harmonic speed reducer of this flexbile gear to accomplish; Simultaneously output shaft does not have the tooth of ring-shape flexspline to nibble output element with flexbile gear is structure as a whole or rigidity is fixed, helps reducing the return difference of retarder, the increase transmission efficiency.
Embodiment two
The embodiment of the invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises the two-layer at least coaxial cylinders that is parallel to each other, described accumulation layer is enclosed within on the described output shaft, links together by joint between described skin and the accumulation layer and between each layer of accumulation layer.
Four joints that evenly distribute between described skin and the accumulation layer and on the annulus between each layer of accumulation layer, described joint successively alternately is connected the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 5 and Figure 6, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, four identical joints evenly distribute on the formed annulus of one end of one end of described first layer cylinder 21 and skin 1, one of them joint is first joint 41, described second layer cylinder 22 is positioned at described first layer cylinder 21, four identical joints evenly distribute on the annulus that described first layer cylinder 21 forms away from an end of end of first joint 41 and second layer cylinder 22, one of them joint is second joint 42, four identical joints evenly distribute on the annulus that described second layer cylinder 22 forms away from an end of end of second joint 42 and the 3rd layer of cylinder 23, one of them joint is the 3rd joint 43, four identical joints evenly distribute on the annulus that described the 3rd layer of cylinder 23 forms away from an end of end of the 3rd joint 43 and the 4th layer of cylinder 24, one of them joint is the 4th joint 44, four identical joints evenly distribute on the annulus that described the 4th layer of cylinder 24 forms away from an end of end of the 4th joint 44 and layer 5 cylinder 25, one of them joint is the 5th joint 45, described layer 5 cylindrical sleeve and be fixed on the output shaft 3.
The medial axis of described first joint 41, second joint 42, the 3rd joint 43, the 4th joint 44 and the 5th joint 45 is being projected on same the straight line on the same horizontal plane.
It is 90 degree that the projection of described joint medial axis on same horizontal plane forms four angles between straight line.
The embodiment of the invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle each layer provided can reduce, make that cylindrical shell length is reduced, that is the flexbile gear axial dimension reduces, so it is compact more to adopt the harmonic speed reducer of this flexbile gear to accomplish; Simultaneously output shaft does not have the tooth of ring-shape flexspline to nibble output element with flexbile gear is structure as a whole or rigidity is fixed, helps reducing the return difference of retarder, the increase transmission efficiency.
Embodiment three
The embodiment of the invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises the two-layer at least coaxial cylinders that is parallel to each other, described accumulation layer is enclosed within on the described output shaft, links together by joint between described skin and the accumulation layer and between each layer of accumulation layer.
Six joints that evenly distribute between described skin and the accumulation layer and on the annulus between each layer of accumulation layer, described joint alternately is connected the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 7 and Figure 8, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, six identical joints evenly distribute on the formed annulus of one end of one end of described first layer cylinder 21 and skin 1, one of them joint is first joint 51, described second layer cylinder 22 is positioned at described first layer cylinder 21, six identical joints evenly distribute on the annulus that described first layer cylinder 21 forms away from an end of end of first joint 51 and second layer cylinder 22, one of them joint is second joint 52, six identical joints evenly distribute on the annulus that described second layer cylinder 22 forms away from an end of end of second joint 52 and the 3rd layer of cylinder 23, one of them joint is the 3rd joint 53, six identical joints evenly distribute on the annulus that described the 3rd layer of cylinder 23 forms away from an end of end of the 3rd joint 53 and the 4th layer of cylinder 24, one of them joint is the 4th joint 54, six identical joints evenly distribute on the annulus that described the 4th layer of cylinder 24 forms away from an end of end of the 4th joint 54 and layer 5 cylinder 25, one of them joint is the 5th joint 55, described layer 5 cylindrical sleeve and be fixed on the output shaft 3.
The medial axis of described first joint 51, second joint 52, the 3rd joint 53, the 4th joint 54 and the 5th joint 55 is being projected on same the straight line on the same horizontal plane.
It is 60 degree that the projection of the medial axis of described joint on same horizontal plane forms six angles between straight line.
The embodiment of the invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle each layer provided can reduce, make that cylindrical shell length is reduced, that is the flexbile gear axial dimension reduces, so it is compact more to adopt the harmonic speed reducer of this flexbile gear to accomplish; Simultaneously output shaft does not have the tooth of ring-shape flexspline to nibble output element with flexbile gear is structure as a whole or rigidity is fixed, helps reducing the return difference of retarder, the increase transmission efficiency.
Embodiment four
The embodiment of the invention provides a kind of flexbile gear, comprise skin 1, accumulation layer 2 and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises the two-layer at least coaxial cylinders that is parallel to each other, described accumulation layer is enclosed within on the described output shaft, links together by joint between described skin and the accumulation layer and between each layer of accumulation layer.
Four joints that evenly distribute between described skin and the accumulation layer and on the annulus between each layer of accumulation layer, described joint alternately is connected the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as Fig. 9 and shown in Figure 10, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, four identical joints evenly distribute on the formed annulus of one end of one end of described first layer cylinder 21 and skin 1, one of them joint is first joint 61, described second layer cylinder 22 is positioned at described first layer cylinder 21, four identical joints evenly distribute on the annulus that described first layer cylinder 21 forms away from an end of end of first joint 61 and second layer cylinder 22, one of them joint is second joint 62, four identical joints evenly distribute on the annulus that described second layer cylinder 22 forms away from an end of end of second joint 62 and the 3rd layer of cylinder 23, one of them joint is the 3rd joint 63, four identical joints evenly distribute on the annulus that described the 3rd layer of cylinder 23 forms away from an end of end of the 3rd joint 63 and the 4th layer of cylinder 24, one of them joint is the 4th joint 64, four identical joints evenly distribute on the annulus that described the 4th layer of cylinder 24 forms away from an end of end of the 4th joint 64 and layer 5 cylinder 25, one of them joint is the 5th joint 65, described layer 5 cylindrical sleeve and be fixed on the output shaft 3.
The medial axis of described first joint 61, the 3rd joint 63 and the 5th joint 65 is being projected on same the straight line on the same horizontal plane.
The medial axis of described second joint 62 and the 4th joint 64 is being projected on same the straight line on the same horizontal plane.
It is 45 degree that the projection of described joint on same horizontal plane forms eight angles between straight line.
The embodiment of the invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle each layer provided can reduce, make that cylindrical shell length is reduced, that is the flexbile gear axial dimension reduces, so it is compact more to adopt the harmonic speed reducer of this flexbile gear to accomplish; Simultaneously output shaft does not have the tooth of ring-shape flexspline to nibble output element with flexbile gear is structure as a whole or rigidity is fixed, helps reducing the return difference of retarder, the increase transmission efficiency.
Embodiment five
The embodiment of the invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises the two-layer at least coaxial cylinders that is parallel to each other, described accumulation layer is enclosed within on the described output shaft, links together by joint between described skin and the accumulation layer and between each layer of accumulation layer.
Be evenly distributed to few three joints between described skin and the accumulation layer and on the annulus between each layer of accumulation layer, described joint successively alternately is connected the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial circles that is parallel to each other and is nested together, tube is as Figure 11 and shown in Figure 12, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, six identical joints evenly distribute on the formed annulus of one end of one end of described first layer cylinder 21 and skin 1, one of them joint is first joint 71, described second layer cylinder 22 is positioned at described first layer cylinder 21, six identical joints evenly distribute on the annulus that described first layer cylinder 21 forms away from an end of end of first joint 71 and second layer cylinder 22, one of them joint is second joint 72, six identical joints evenly distribute on the annulus that described second layer cylinder 22 forms away from an end of end of second joint 72 and the 3rd layer of cylinder 23, one of them joint is the 3rd joint 73, three identical joints evenly distribute on the annulus that described the 3rd layer of cylinder 23 forms away from an end of end of the 3rd joint 73 and the 4th layer of cylinder 24, one of them joint is the 4th joint 74, three identical joints evenly distribute on the annulus that described the 4th layer of cylinder 24 forms away from an end of end of the 4th joint 74 and layer 5 cylinder 25, one of them joint is the 5th joint 75, described layer 5 cylindrical sleeve and be fixed on the output shaft 3.
The medial axis of described first joint 71, second joint 72, the 3rd joint 73, the 4th joint 74 and the 5th joint 75 is being projected on same the straight line on the same horizontal plane.
It is 60 degree that the projection of described joint on same horizontal plane forms six angles between straight line.
Embodiment six
A kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, but described accumulation layer comprises the stratiform structure of two-layer at least radial deformation, the innermost layer of described accumulation layer is fixed on the described output shaft, links together by joint between the outermost surface of described skin and accumulation layer and between each layer of accumulation layer.
As shown in figure 13, but layered body is the irregular figure of oval, square or other radial deformations.
Another kind of mode of execution as shown in figure 14, connects by circular-arc joint between the described accumulation layer lamina.
Another kind of mode of execution, as shown in figure 15, described accumulation layer lamina and joint are stepped.
Embodiment seven
A kind of harmonic speed reducer is characterized in that: comprising:
Just wheel, as embodiment one to embodiment's six described flexbile gear and waveform generators,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
Embodiment eight
A kind of robot joint structure, comprise housing, motor and as embodiment's seven described harmonic speed reducers, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
The embodiment of the invention couples together each accumulation layer, skin and output shaft by joint.Linkage structure need guarantee not limit ability and the energy of deformation effectively transmission from inside to outside between each layer that each accumulation layer produces radial deformation.Linkage structure between two-layer arranges that at one end the other end is decontroled and made it free deformation; Linkage structure interlaced arrangement between each layer makes the distortion of one deck in the inner part between the adjacent accumulation layer to be delivered in the outer part one deck by linkage structure.Joint between each layer leaves the space on circumference when arranging, linkage structure itself should possess certain width simultaneously, with torsional strength and the rigidity that transmitting torque is provided.Perhaps joint can also be full of whole circumference, because flexbile gear is operated in the moderate finite deformation state, and bears alternating stress, for improving its fatigue strength, big fillet should be left in linkage structure and each layer connecting part, reduces stress and concentrates.
What deserves to be mentioned is that among the above embodiment, different structure characteristic (for example above-mentioned multiple Placement) can be used in combination mutually, is not limited to shown in each accompanying drawing.
At the foregoing description, only the present invention is carried out exemplary description, but those skilled in the art carry out various modifications to the present invention after reading present patent application under the situation that does not break away from the spirit and scope of the present invention.
Claims (12)
1. flexbile gear, it is characterized in that: comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, but described accumulation layer comprises the stratiform structure of two-layer at least radial deformation, the innermost layer of described accumulation layer is fixed on the described output shaft, links together by joint between the outermost surface of described skin and accumulation layer and between each layer of accumulation layer.
2. flexbile gear according to claim 1 is characterized in that: be evenly distributed to few three joints between described skin and the accumulation layer outermost surface and between each layer of accumulation layer.
3. flexbile gear according to claim 2 is characterized in that: three joints that evenly distribute between described skin and the accumulation layer outermost surface and between each layer of accumulation layer, described joint successively alternately is connected the edge between each layer.
4. flexbile gear according to claim 3 is characterized in that: the medial axis of the described joint formed angle of the projection on same horizontal plane is 120 degree.
5. flexbile gear according to claim 2 is characterized in that: four joints that evenly distribute between described skin and the accumulation layer outermost surface and between each layer of accumulation layer, described joint successively alternately is connected the edge between each layer.
6. flexbile gear according to claim 5 is characterized in that: the medial axis of the described joint formed angle of the projection on same horizontal plane is 90 degree.
7. flexbile gear according to claim 2 is characterized in that: six joints that evenly distribute between described skin and the accumulation layer and between each layer of accumulation layer, described joint successively alternately is connected the edge between each layer.
8. flexbile gear according to claim 7 is characterized in that: the medial axis of the described joint formed angle of the projection on same horizontal plane is 60 degree.
9. according to the described any flexbile gear of claim 1 to 8, it is characterized in that: layered structure is a cylinder.
10. flexbile gear according to claim 9 is characterized in that: described cylinder is parallel to each other and coaxial setting.
11. a harmonic speed reducer is characterized in that: comprising:
Just wheel, as weighing 1 to 10 any described flexbile gear and waveform generator,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
12. robot joint structure, comprise housing, motor and as power 11 described harmonic speed reducers, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110058242.2A CN102094959B (en) | 2011-03-11 | 2011-03-11 | Flexible gear, harmonic speed reducer and joint structure of robot |
| PCT/CN2012/070541 WO2012103786A1 (en) | 2011-02-01 | 2012-01-18 | Flexspline, harmonic reducer and robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110058242.2A CN102094959B (en) | 2011-03-11 | 2011-03-11 | Flexible gear, harmonic speed reducer and joint structure of robot |
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| Publication Number | Publication Date |
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| CN102094959A true CN102094959A (en) | 2011-06-15 |
| CN102094959B CN102094959B (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110058242.2A Active CN102094959B (en) | 2011-02-01 | 2011-03-11 | Flexible gear, harmonic speed reducer and joint structure of robot |
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| Country | Link |
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| CN (1) | CN102094959B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| CN103671727A (en) * | 2013-11-28 | 2014-03-26 | 苏州绿的谐波传动科技有限公司 | Precision harmonic reducer |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
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| JPS59205038A (en) * | 1983-05-04 | 1984-11-20 | Matsushita Electric Ind Co Ltd | Motive power transmission device of flexural engagement type |
| DE3736540A1 (en) * | 1987-10-28 | 1989-05-24 | Gerhard Dr Huber | Compensating arrangement for epicyclic mechanisms |
| JPH08296703A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Flexible spline for harmonic type decelerating mechanism |
| JPH08296704A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Harmonic type decelerating mechanism |
| CN1436637A (en) * | 2003-03-13 | 2003-08-20 | 重庆大学 | Electrically resonant transverse joint of robot |
| CN201982606U (en) * | 2011-03-11 | 2011-09-21 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and robot joint structure |
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| JPS59205038A (en) * | 1983-05-04 | 1984-11-20 | Matsushita Electric Ind Co Ltd | Motive power transmission device of flexural engagement type |
| DE3736540A1 (en) * | 1987-10-28 | 1989-05-24 | Gerhard Dr Huber | Compensating arrangement for epicyclic mechanisms |
| JPH08296703A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Flexible spline for harmonic type decelerating mechanism |
| JPH08296704A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Harmonic type decelerating mechanism |
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| CN201982606U (en) * | 2011-03-11 | 2011-09-21 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and robot joint structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| CN103671727A (en) * | 2013-11-28 | 2014-03-26 | 苏州绿的谐波传动科技有限公司 | Precision harmonic reducer |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| CN112706188B (en) * | 2019-10-24 | 2023-09-19 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102094959B (en) | 2014-03-12 |
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