CN104832622A - Harmonic reducer of improved structure - Google Patents
Harmonic reducer of improved structure Download PDFInfo
- Publication number
- CN104832622A CN104832622A CN201510258484.4A CN201510258484A CN104832622A CN 104832622 A CN104832622 A CN 104832622A CN 201510258484 A CN201510258484 A CN 201510258484A CN 104832622 A CN104832622 A CN 104832622A
- Authority
- CN
- China
- Prior art keywords
- gear
- flexbile gear
- flexbile
- gear teeth
- firm wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- 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
- F16H55/08—Profiling
- F16H55/0806—Involute profile
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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
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/042—Guidance of lubricant
- F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Abstract
The invention discloses a harmonic reducer of an improved structure. The harmonic reducer comprises a flexible gear, a rigid gear, a cross cylindrical roller bearing, a cam and a flexible bearing. The flexible gear is provided with an external gear part and a transmission part, flexible gear teeth are arranged on the outer circumferential surface of the external gear part, a flexible gear arc tooth root is arranged at the position, between the roots of every two adjacent flexible gear teeth, of the external gear part, the tooth surface of each flexible gear tooth is an involute tooth surface, and a flexible gear transition arc surface is arranged between the tooth top and the involute tooth surface of each flexible gear tooth. Rigid gear teeth are arranged on the circumferential surface of a rigid gear center hole in the core of the rigid gear, a rigid gear arc tooth root is arranged at the position, between the roots of every two adjacent rigid gear teeth, of the rigid gear, the tooth surface of each rigid gear tooth is an involute tooth surface, and a rigid gear transition arc surface is arranged between the tooth top and the involute tooth surface of each flexible gear tooth. Through the structural design, the harmonic reducer has the advantage of being reasonable in design; the efficiency of meshing between the rigid gear and the flexible gear can be effectively improved, friction generated in meshing between the rigid gear and the flexible gear can be reduced, and the service life can be effectively prolonged.
Description
Technical field
The present invention relates to harmonic speed reducer technical field, particularly relate to a kind of structure improved harmonic speed reducer.
Background technique
Harmonic reducer of robot is simple by means of its structure, size is little, noise is little, velocity ratio is large, transmission accuracy is high and efficiency advantages of higher, and is widely used by the vitals as joint of robot.Since nineteen fifty-five U.S. C.W. Mai Saier has invented First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare a lot of serial kind harmonic speed reducer different with Dimensions successively, wherein use the most extensive with involute fine module gear flank profil harmonic speed reducer.Wherein, harmonic speed reducer relies on above-mentioned advantage and is widely used in the rotation portion in the joint of robot, the wide spectrum such as revolving table, mechanism hand rotary part, precision rotary table, Medical Instruments, measurement instrument, IC manufacturing installation, aerospace appts, national defence equipment (such as guided missile, radar, rocket) of machining center, especially very general in the application of industrial robot field; For industrial robot, harmonic speed reducer can greatly reduce industrial robot size, reduce noise, raise the efficiency and precision.
But for existing harmonic speed reducer, its noise still obviously and also need working life to improve further.
Summary of the invention
The object of the present invention is to provide a kind of structure improved harmonic speed reducer, reasonable in design and the meshing efficiency that can effectively improve just between wheel with flexbile gear of this structure improved harmonic speed reducer, and friction when reducing that just wheel engages with flexbile gear and can effectively increasing the service life.
For achieving the above object, the present invention is achieved through the following technical solutions.
A kind of structure improved harmonic speed reducer, include flexbile gear, the firm wheel matched with flexbile gear, be installed in flexbile gear and crossed cylindrical roller bearing between just having taken turns, flexbile gear is provided with outer gear portion and the transmission unit perpendicular to outer gear portion, outer gear portion and transmission unit one-body molded, the outer gear portion core of flexbile gear offers the flexbile gear center hole run through completely, the axial direction that the outer peripheral surface of outer gear portion is provided with along flexbile gear center hole extends and the flexbile gear gear teeth of circumferentially ring-type uniform intervals distribution, outer gear portion is provided with the flexbile gear circular arc tooth root in arc-shaped between the root of adjacent two flexbile gear gear teeth, the flank of tooth of each flexbile gear gear teeth is respectively involute flank, each flexbile gear circular arc tooth root is tangent with the involute flank of the both sides flexbile gear gear teeth respectively, the flexbile gear transition circle cambered surface in arc-shaped is respectively arranged with between the tooth top of each flexbile gear gear teeth and the involute flank of the corresponding flexbile gear gear teeth, each flexbile gear transition circle cambered surface is tangent with the involute flank of the corresponding flexbile gear gear teeth respectively,
The core of firm wheel offers the firm wheel center hole run through completely, the circumferential surface of firm wheel center hole is provided with along just wheel center hole axial direction extension and the firm wheel gear teeth of circumferentially ring-type uniform intervals distribution, the outer gear portion of flexbile gear is flush-mounted in just to take turns in center hole and just taken turns the gear teeth and has been meshed with the flexbile gear gear teeth, just take turns the firm wheel circular arc tooth root be provided with between the roots of adjacent two just wheel gear teeth in arc-shaped, the flank of tooth of each firm wheel gear teeth is respectively involute flank, each firm wheel circular arc tooth root is tangent with the involute flank of the just gear teeth in both sides respectively, the firm wheel transition circle cambered surface in arc-shaped is respectively arranged with between the tooth top of each firm wheel gear teeth and the involute flank of the corresponding firm wheel gear teeth, each firm wheel transition circle cambered surface is tangent with the involute flank of the corresponding firm wheel gear teeth respectively, between the tooth top of the flexbile gear gear teeth and the firm wheel circular arc tooth root of just take turns the gear teeth and firm wheel between the tooth top of the gear teeth and the flexbile gear circular arc tooth root of the flexbile gear gear teeth form oil groove respectively,
Cam is embedded with in flexbile gear center hole, cam is matched with flexbile gear center hole by flexible bearing, the cylindrical roller that crossed cylindrical roller bearing includes bearing outer ring, bearing inner race and is installed between bearing outer ring and bearing inner race, two adjacent cylindrical rollers are cross-shaped and 90 ° of angles are arranged, the bearing outer ring of crossed cylindrical roller bearing and the transmission unit of flexbile gear are spirally connected, and the bearing inner race of crossed cylindrical roller bearing is spirally connected with firm wheel.
Wherein, oil sealing is equiped with between the bearing inner race of described crossed cylindrical roller bearing and bearing outer ring.
Wherein, O type O-ring seal is installed with between the transmission unit of described flexbile gear and the bearing outer ring of described crossed cylindrical roller bearing.
Beneficial effect of the present invention is: the structure improved harmonic speed reducer of one of the present invention, it comprises flexbile gear, firm wheel, crossed cylindrical roller bearing, cam, flexbile gear arranges outer gear portion, transmission unit, outer gear portion core offers flexbile gear center hole, outer gear portion outer peripheral surface arranges the flexbile gear gear teeth, outer gear portion arranges flexbile gear circular arc tooth root between the root of adjacent two flexbile gear gear teeth, the flank of tooth of each flexbile gear gear teeth is respectively involute flank, each flexbile gear circular arc tooth root is tangent with the involute flank of the both sides flexbile gear gear teeth respectively, between the tooth top of each flexbile gear gear teeth and the involute flank of the corresponding flexbile gear gear teeth, flexbile gear transition circle cambered surface is set respectively, each flexbile gear transition circle cambered surface is tangent with the involute flank of the corresponding flexbile gear gear teeth respectively, firm wheel core is offered and is just taken turns center hole, the circumferential surface of firm wheel center hole arranges the just gear teeth, the firm wheel gear teeth are meshed with the flexbile gear gear teeth, firm wheel arranges just wheel circular arc tooth root between the root that adjacent two are just taken turns the gear teeth, the flank of tooth of each firm wheel gear teeth is respectively involute flank, each firm wheel circular arc tooth root is tangent with the involute flank of the just gear teeth in both sides respectively, arrange respectively between the tooth top of each firm wheel gear teeth and the involute flank of the corresponding firm wheel gear teeth and just take turns transition circle cambered surface, each firm wheel transition circle cambered surface is tangent with the involute flank of the corresponding firm wheel gear teeth respectively, the tooth top of the flexbile gear gear teeth and just take turns between circular arc tooth root and just taken turns between the tooth top of the gear teeth and flexbile gear circular arc tooth root and distinguish shaping oil groove, cam is matched with flexbile gear center hole by flexible bearing, the bearing outer ring of crossed cylindrical roller bearing and the transmission unit of flexbile gear are spirally connected, the bearing inner race of crossed cylindrical roller bearing is spirally connected with firm wheel.Designed by said structure, the present invention has advantage reasonable in design and effectively can improve the meshing efficiency just between wheel and flexbile gear, and minimizing has just been taken turns friction when engaging with flexbile gear and can effectively have been increased the service life.
Accompanying drawing explanation
Utilize accompanying drawing to be further detailed the present invention below, but the embodiment in accompanying drawing does not form any limitation of the invention.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation at another visual angle of the present invention.
Fig. 3 is generalized section of the present invention.
Fig. 4 is the structural representation of firm wheel of the present invention.
Fig. 5 is the structural representation of flexbile gear of the present invention.
Fig. 6 is the structural representation of firm wheel of the present invention when engaging with flexbile gear.
Include in Fig. 1 to Fig. 6:
1---flexbile gear 11---outer gear portion
111---flexbile gear center hole 112---flexbile gear gear teeth
113---flexbile gear circular arc tooth root 114---flexbile gear transition circle cambered surface
12---transmission units 2---are just taken turns
21---just wheel center hole 22---just gear teeth
23---just wheel circular arc tooth root 24---just wheel transition circle cambered surface
3---crossed cylindrical roller bearing 31---bearing outer ring
32---bearing inner race 33---cylindrical roller
4---oil groove 5---cam
6---flexible bearing 7---oil sealing
8---O RunddichtringO.
Embodiment
Below in conjunction with concrete mode of execution, the present invention will be described.
As shown in Figures 1 to 6, a kind of structure improved harmonic speed reducer, include flexbile gear 1, the firm wheel 2 matched with flexbile gear 1, the crossed cylindrical roller bearing 3 being installed in flexbile gear 1 and just having taken turns between 2, flexbile gear 1 is provided with outer gear portion 11 and the transmission unit 12 perpendicular to outer gear portion 11, outer gear portion 11 is one-body molded with transmission unit 12, outer gear portion 11 core of flexbile gear 1 offers the flexbile gear center hole 111 run through completely, the axial direction that the outer peripheral surface of outer gear portion 11 is provided with along flexbile gear center hole 111 extends and the flexbile gear gear teeth 112 of circumferentially ring-type uniform intervals distribution, outer gear portion 11 is provided with the flexbile gear circular arc tooth root 113 in arc-shaped between the root of adjacent two flexbile gear gear teeth 112, the flank of tooth of each flexbile gear gear teeth 112 is respectively involute flank, each flexbile gear circular arc tooth root 113 is tangent with the involute flank of the both sides flexbile gear gear teeth 112 respectively, the flexbile gear transition circle cambered surface 114 in arc-shaped is respectively arranged with between the tooth top of each flexbile gear gear teeth 112 and the involute flank of the corresponding flexbile gear gear teeth 112, each flexbile gear transition circle cambered surface 114 is tangent with the involute flank of the corresponding flexbile gear gear teeth 112 respectively.
Further, the core of firm wheel 2 offers the firm wheel center hole 21 run through completely, the circumferential surface of firm wheel center hole 21 is provided with along just wheel center hole 21 axial direction extension and the firm wheel gear teeth 22 of circumferentially ring-type uniform intervals distribution, the outer gear portion 11 of flexbile gear 1 is flush-mounted in just to take turns in center hole 21 and just taken turns the gear teeth 22 and has been meshed with the flexbile gear gear teeth 112, firm wheel 2 is provided with the firm wheel circular arc tooth root 23 in arc-shaped between the root of adjacent two firm wheel gear teeth 22, the flank of tooth of each firm wheel gear teeth 22 is respectively involute flank, each firm wheel circular arc tooth root 23 is tangent with the involute flank of the just gear teeth 22 in both sides respectively, the firm wheel transition circle cambered surface 24 in arc-shaped is respectively arranged with between the tooth top of each firm wheel gear teeth 22 and the involute flank of the corresponding firm wheel gear teeth 22, each firm wheel transition circle cambered surface 24 is tangent with the involute flank of the corresponding firm wheel gear teeth 22 respectively, between the tooth top of the flexbile gear gear teeth 112 and the firm wheel circular arc tooth root 23 of just take turns the gear teeth 22 and firm wheel between the tooth top of the gear teeth 22 and the flexbile gear circular arc tooth root 113 of the flexbile gear gear teeth 112 form oil groove 4 respectively.
Further, cam 5 is embedded with in flexbile gear center hole 111, cam 5 is matched with flexbile gear center hole 111 by flexible bearing 6, the cylindrical roller 33 that crossed cylindrical roller bearing 3 includes bearing outer ring 31, bearing inner race 32 and is installed between bearing outer ring 31 and bearing inner race 32, adjacent two cylindrical rollers 33 are cross-shaped and 90 ° of angles are arranged, the bearing outer ring 31 of crossed cylindrical roller bearing 3 is spirally connected with the transmission unit 12 of flexbile gear 1, the bearing inner race 32 of crossed cylindrical roller bearing 3 with just take turns 2 and be spirally connected.
Need point out further, outer gear portion 11 and the transmission unit 12 of flexbile gear 1 are arranged vertically, in assembly process of the present invention, crossed cylindrical roller bearing 3 is connected to the transmission unit 12 of flexbile gear 1 and just takes turns between 2, be specially: the transmission unit of flexbile gear 1 12 is spirally connected with the bearing outer ring 31 of crossed cylindrical roller bearing 3, the bearing inner race 32 of crossed cylindrical roller bearing 3 with just take turns 2 and be spirally connected; Above-mentioned assembly structure form can harmonic reduction retarder monnolithic case size make harmonic speed reducer overall structure simply compact effectively, installs easy to connect; By the supporting role of crossed cylindrical roller bearing 3, the present invention can effectively reduce axial-radial and beat, and then improves overall mechanical strength.
Need to explain further, flexbile gear circular arc tooth root 113, just wheel circular arc tooth root 23, flexbile gear transition circle cambered surface 114 and just wheel transition circle cambered surface 24 is respectively in arc-shaped, the flexbile gear gear teeth 112 of this shape and structure design, just the wheel gear teeth 22 effectively can be avoided occurring that root is cut and pushed up when just wheel 2 engages with flexbile gear 1 and cut phenomenon.
In addition, between the tooth top of the flexbile gear gear teeth 112 and the firm wheel circular arc tooth root 23 of just take turns the gear teeth 22 and firm oil groove 4 of taking turns between the tooth top of the gear teeth 22 and the flexbile gear circular arc tooth root 113 of the flexbile gear gear teeth 112 be convenient to hold harmonic wave lubricant oil or harmonic wave lubricating grease, and then the lubrication effect that can effectively improve just between wheel 2 and flexbile gear 1 reducing rubs, generates heat and noise, and increase the service life.
Comprehensive above-mentioned situation is known, is designed by said structure, and the present invention has advantage reasonable in design and effectively can improve the meshing efficiency just between wheel 2 and flexbile gear 1, and friction when reducing that just wheel 2 engages with flexbile gear 1 and can effectively increasing the service life.
As preferred embodiment, overflow for preventing harmonic wave lubricant oil or harmonic wave lubricating grease, the present invention is equiped with oil sealing 7 between the bearing inner race 32 and bearing outer ring 31 of crossed cylindrical roller bearing 3, and is installed with O type O-ring seal 8 between the transmission unit 12 of flexbile gear 1 and the bearing outer ring 31 of crossed cylindrical roller bearing 3.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (3)
1. a structure improved harmonic speed reducer, it is characterized in that: include flexbile gear (1), the firm wheel (2) matched with flexbile gear (1), the crossed cylindrical roller bearing (3) being installed in flexbile gear (1) and just having taken turns between (2), flexbile gear (1) is provided with outer gear portion (11) and the transmission unit (12) perpendicular to outer gear portion (11), outer gear portion (11) is one-body molded with transmission unit (12), outer gear portion (11) core of flexbile gear (1) offers the flexbile gear center hole (111) run through completely, the axial direction that the outer peripheral surface of outer gear portion (11) is provided with along flexbile gear center hole (111) extends and the flexbile gear gear teeth (112) of circumferentially ring-type uniform intervals distribution, outer gear portion (11) is provided with the flexbile gear circular arc tooth root (113) in arc-shaped between the root of adjacent two flexbile gear gear teeth (112), the flank of tooth of each flexbile gear gear teeth (112) is respectively involute flank, each flexbile gear circular arc tooth root (113) is tangent with the involute flank of the both sides flexbile gear gear teeth (112) respectively, the flexbile gear transition circle cambered surface (114) in arc-shaped is respectively arranged with between the tooth top of each flexbile gear gear teeth (112) and the involute flank of the corresponding flexbile gear gear teeth (112), each flexbile gear transition circle cambered surface (114) is tangent with the involute flank of the corresponding flexbile gear gear teeth (112) respectively,
The core of firm wheel (2) offers the firm wheel center hole (21) of running through completely, the circumferential surface of firm wheel center hole (21) is provided with and extends and the firm wheel gear teeth (22) of circumferentially ring-type uniform intervals distribution along just taking turns center hole (21) axial direction, the outer gear portion (11) of flexbile gear (1) is flush-mounted in just takes turns in center hole (21) and just the gear teeth (22) have been meshed with the flexbile gear gear teeth (112), firm wheel (2) is provided with the firm wheel circular arc tooth root (23) in arc-shaped between the root of adjacent two just gear teeth (22), the flank of tooth of each firm wheel gear teeth (22) is respectively involute flank, each firm wheel circular arc tooth root (23) is tangent with the involute flank of the just gear teeth (22) in both sides respectively, the firm wheel transition circle cambered surface (24) in arc-shaped is respectively arranged with between the tooth top of each firm wheel gear teeth (22) and the involute flank of the corresponding firm wheel gear teeth (22), each firm wheel transition circle cambered surface (24) is tangent with the involute flank of the corresponding firm wheel gear teeth (22) respectively, between the firm wheel circular arc tooth root (23) of the tooth top of the flexbile gear gear teeth (112) and the just gear teeth (22) and just form oil groove (4) respectively between the tooth top of the gear teeth (22) and the flexbile gear circular arc tooth root (113) of the flexbile gear gear teeth (112),
Cam (5) is embedded with in flexbile gear center hole (111), cam (5) is matched with flexbile gear center hole (111) by flexible bearing (6), crossed cylindrical roller bearing (3) includes bearing outer ring (31), bearing inner race (32) and the cylindrical roller (33) be installed between bearing outer ring (31) and bearing inner race (32), two adjacent cylindrical rollers (33) are arranged in cross-shaped and 90 ° of angles, the bearing outer ring (31) of crossed cylindrical roller bearing (3) and the transmission unit (12) of flexbile gear (1) are spirally connected, the bearing inner race (32) of crossed cylindrical roller bearing (3) with just take turns (2) and be spirally connected.
2. the structure improved harmonic speed reducer of one according to claim 1, is characterized in that: be equiped with oil sealing (7) between the bearing inner race (32) of described crossed cylindrical roller bearing (3) and bearing outer ring (31).
3. the structure improved harmonic speed reducer of one according to claim 2, is characterized in that: be installed with O type O-ring seal (8) between the transmission unit (12) of described flexbile gear (1) and the bearing outer ring (31) of described crossed cylindrical roller bearing (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510258484.4A CN104832622A (en) | 2015-05-20 | 2015-05-20 | Harmonic reducer of improved structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510258484.4A CN104832622A (en) | 2015-05-20 | 2015-05-20 | Harmonic reducer of improved structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104832622A true CN104832622A (en) | 2015-08-12 |
Family
ID=53810714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510258484.4A Pending CN104832622A (en) | 2015-05-20 | 2015-05-20 | Harmonic reducer of improved structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104832622A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN106352053A (en) * | 2016-09-19 | 2017-01-25 | 浙江琦星电子有限公司 | Manipulator joint reducing mechanism |
| CN107956807A (en) * | 2017-11-29 | 2018-04-24 | 安徽辰物智能科技有限公司 | A kind of motor gear engaging mechanism |
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| CN109279439A (en) * | 2017-07-19 | 2019-01-29 | 欧瑞康纺织有限及两合公司 | Up- coiler |
| CN110159728A (en) * | 2019-06-24 | 2019-08-23 | 杨庆华 | A kind of harmonic speed reducer |
| CN110998139A (en) * | 2017-08-21 | 2020-04-10 | 谐波传动系统有限公司 | Wave gear device with lubricant mixing prevention part |
| CN113864421A (en) * | 2021-09-29 | 2021-12-31 | 珠海格力电器股份有限公司 | Wave generator subassembly and have its harmonic speed reducer ware |
| AU2019395569B2 (en) * | 2018-12-11 | 2022-06-30 | Aici Technology (Ningbo) Co., Ltd | Double-flexspline harmonic reducer with limitable deformation |
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| DE3815118A1 (en) * | 1988-05-04 | 1989-11-16 | Festo Kg | Stress wave gearing |
| CN2779164Y (en) * | 2005-02-23 | 2006-05-10 | 张国林 | Composite tooth shaped cylindrical gear |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN106352053A (en) * | 2016-09-19 | 2017-01-25 | 浙江琦星电子有限公司 | Manipulator joint reducing mechanism |
| CN109279439A (en) * | 2017-07-19 | 2019-01-29 | 欧瑞康纺织有限及两合公司 | Up- coiler |
| CN110998139A (en) * | 2017-08-21 | 2020-04-10 | 谐波传动系统有限公司 | Wave gear device with lubricant mixing prevention part |
| CN110998139B (en) * | 2017-08-21 | 2022-09-13 | 谐波传动系统有限公司 | Wave gear device with lubricant mixing prevention part |
| CN107956807A (en) * | 2017-11-29 | 2018-04-24 | 安徽辰物智能科技有限公司 | A kind of motor gear engaging mechanism |
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| AU2019395569B2 (en) * | 2018-12-11 | 2022-06-30 | Aici Technology (Ningbo) Co., Ltd | Double-flexspline harmonic reducer with limitable deformation |
| CN110159728A (en) * | 2019-06-24 | 2019-08-23 | 杨庆华 | A kind of harmonic speed reducer |
| CN113864421A (en) * | 2021-09-29 | 2021-12-31 | 珠海格力电器股份有限公司 | Wave generator subassembly and have its harmonic speed reducer ware |
| CN113864421B (en) * | 2021-09-29 | 2023-08-25 | 珠海格力电器股份有限公司 | Wave generator assembly and harmonic reducer with same |
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Application publication date: 20150812 |
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| RJ01 | Rejection of invention patent application after publication |