CN106142127A - A kind of processing and assembling of intelligent robot joint arrangement - Google Patents

A kind of processing and assembling of intelligent robot joint arrangement Download PDF

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Publication number
CN106142127A
CN106142127A CN201610604556.0A CN201610604556A CN106142127A CN 106142127 A CN106142127 A CN 106142127A CN 201610604556 A CN201610604556 A CN 201610604556A CN 106142127 A CN106142127 A CN 106142127A
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CN
China
Prior art keywords
axle
assembling
processing
wheel
annular groove
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
Application number
CN201610604556.0A
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Chinese (zh)
Inventor
李应煌
梁娟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Funeng Robot Development Co Ltd
Original Assignee
Liuzhou Funeng Robot Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liuzhou Funeng Robot Development Co Ltd filed Critical Liuzhou Funeng Robot Development Co Ltd
Priority to CN201610604556.0A priority Critical patent/CN106142127A/en
Publication of CN106142127A publication Critical patent/CN106142127A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0283Three-dimensional joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025Harmonic drives

Abstract

The present invention relates to robot, the processing and assembling of a kind of intelligent robot joint arrangement, it housing including taking U-type groove formula, welds the first axle along U-type groove length direction on the base plate of housing;The linking arm one end in joint is fixedly mounted axle sleeve, second axle one end bearing from side plate is stretched between biside plate;Again the axle sleeve on described linking arm is set in the second axle between biside plate, taps the other end of the second axle, make described one end of the second axle through axle sleeve and the bearing interference fit on another side plate;By other bearing, the 3rd axle is installed at the linking arm other end;Described first axle, the second axle and the 3rd axle are connected with reducing gear respectively.The present invention assembles the first axle and the second axle on special housing, housing and linking arm can be driven to horizontally rotate by the rotation of the first axle, linking arm can be driven vertically to rotate by second and third axle, it is seen that the present invention realizes the three-dimensional motion of moving component by the rotation of three axles.

Description

A kind of processing and assembling of intelligent robot joint arrangement
Technical field
The present invention relates to robot, the processing and assembling of a kind of intelligent robot joint arrangement.
Background technology
Existing robot mainly divides two big classes: Cartesian robot and prosthetic robot.Cartesian robot Mainly by some linear motion units, motor, control system and end-effector etc. is driven to form.This robot can be for not Same application, fast and easy is combined into different dimension, various stroke and wall-mounted, cantilevered, the planer-type of different band loading capability Or the Cartesian robot of the various ways such as reversely hung Yong.Prosthetic robot is mainly driven electricity by some rotary motion unit Machine, control system and end-effector etc. form.Prosthetic robot can become not with Rapid Combination unlike Cartesian robot Same dimension.For different application, such as arc welding robot, the prosthetic robot of fixing different dimensions should be selected.
At present, the kind of drive of articulated robot person joint mainly has rope pulley transmission, linkage transmission, band to pass Dynamic, Chain conveyer and gear drive etc., and these drive disk assemblies are easily deformed a bit, transmission is accurate not, as sliding in V belt translation, rope Wheel transmissions etc., certain structures is complicated, process and assemble difficulty, suitable for application in hypomegetic arc welding robot, such as connecting rod machine Structure, gear drive etc..
Summary of the invention
For above-mentioned technical problem, the present invention provides a kind of and assembles adding of intelligent robot joint arrangement simple, firm Work assembly technology.
The technical solution used in the present invention is: the processing and assembling of a kind of intelligent robot joint arrangement, it include with Lower step:
(1) taking the housing of U-type groove formula, on the biside plate of housing, correspondence offers through hole respectively, installs an axle in each through hole Hold;
(2) on the base plate of housing, the first axle is welded along U-type groove length direction;
(3) the linking arm one end in joint is fixedly mounted axle sleeve,
(4) second axle one end bearing from side plate is stretched between biside plate;
(5) again the axle sleeve on described linking arm is set in the second axle between biside plate, and makes axle sleeve pass through key and second Axle connects;Tap the other end of the second axle, make described one end of the second axle join with the bearing interference on another side plate through axle sleeve Close;
(6) by other bearing, the 3rd axle is installed at the linking arm other end;
(7) described first axle, the second axle and the 3rd axle are connected with reducing gear respectively.
As preferably, described base plate processes half slot along U-type groove length direction, with the sleeve of the external diameter such as this half slot Being welded in half slot, described first axle is bonded with this sleeve through barrel bore.
As preferably, described housing is formed in one structure.
As preferably, when process and assemble reducing gear, first in interior axle one end and hollow outer shaft one end elastic conjunction backstop Sheet, on two elliptical drive for wheel, difference process and assemble hole, arranges a ring spring in each pilot hole;Again by two ellipses Driving wheel is separately mounted on described interior outer shaft by pilot hole, and makes driving wheel connect with stop tab;Then interior axle is installed At hollow outer shaft inner chamber, and the interior axle other end is made to stretch out the hollow outer shaft other end;Then in the axial centre position of flexbile gear base substrate The circumferentially flat annular groove of turning one;An annular V groove is circumferentially processed again at flat annular groove bottom land;Outside flexbile gear base substrate Being positioned at annular groove both sides week and process an exclusive tooth respectively, the teeth groove of each tooth communicates with annular groove, and bottom land is higher than annular Groove bottom land or flush with annular groove bottom land;One end of flexbile gear green state joining the first axle, the second axle or the 3rd axle is processed into Outward-dipping breeze way;The two elliptical drive for wheel installations that will be equipped with interior outer shaft again are enclosed to flexbile gear entirely, make two Ellipse motion drivens Take turns align corresponding with two exclusive teeth;Finally the elliptical drive for wheel assembled and flexbile gear are installed to the firm wheel forming two row's internal tooths Inner ring, makes two exclusive teeth and the two corresponding engagements of row's internal tooth.
As preferably, radially it is machined with annular groove along each described pilot hole hole wall, first described ring spring is arranged at correspondence In annular groove, then elliptical drive for wheel is arranged on the axle of correspondence by pilot hole.
As preferably, described hollow outer shaft two ends are machined with receiving space respectively, and each fixedly mounts in accommodating space One bearing, described interior axle two ends are arranged on hollow outer shaft inner chamber by this two bearings.
As preferably, described stop tab includes the axial interstage sleeve with respective shaft interference fit, and interstage sleeve one end has radially extended Catch, described ring spring fixed cover is located on interstage sleeve, and described first elliptical drive for wheel and the second elliptical drive for wheel are all axial with catch Connecting, described interstage sleeve perisporium forms axially arranged several double wedges, and each double wedge is radially in the gap of ring spring.
As preferably, during processing tooth, from away from annular groove one laterally closer annular groove side feed.
As preferably, described breeze way extends to billet surface from teeth groove bottom land is axially inclined.
As preferably, the number of teeth of two exclusive teeth is unequal;The tip diameter of two exclusive teeth is unequal.
As can be known from the above technical solutions, the present invention assembles the first axle and the second axle on special housing, by the first axle Rotation can drive housing and linking arm horizontal rotation, linking arm can be driven vertically to rotate by the second axle, the 3rd axle then may be used Moving component is driven vertically to rotate, it is seen that the present invention realizes the three-dimensional motion of moving component by the rotation of three axles;Implementing During, not only processing is simple, low cost, and easy to assembly, quick.
Detailed description of the invention
The present invention is described more detail below, and illustrative examples and explanation in this present invention are used for explaining the present invention, But it is not as a limitation of the invention.
A kind of processing and assembling of intelligent robot joint arrangement, it comprises the following steps:
Taking the housing of U-type groove formula, described housing is made up of biside plate and a most longitudinally disposed base plate of vertical horizontally set, And housing is formed in one structure, easy to process, it is connected firmly, on the biside plate of housing, correspondence offers through hole respectively, often One bearing is installed, to assemble the second axle in one through hole.Owing to the housing of U-type groove formula has opening at three masks, will not the company of obstruction Connect the rotation of arm, it is ensured that linking arm moves safely and steadly.
The base plate of housing welds the first axle along U-type groove length direction;Specifically, first on described base plate along U-shaped Slot length direction processing half slot, with the sleeve weld of the external diameter such as this half slot in half slot, described first axle passes sleeve Inner chamber is bonded with this sleeve, thus axle can be avoided to be directly welded on base plate, prevents from damaging the first axle, and the design of half slot On the one hand processing is simple, convenient, is on the other hand easy to welding, is connected firmly.The linking arm one end in joint is fixedly mounted axle sleeve, By other bearing, the 3rd axle is installed at the linking arm other end, fixing connection robot motion's parts on described 3rd axle, this Sample moving component directly can be driven by the 3rd axle and vertically rotate around the 3rd axle, and this vertical range of rotation is less;Meanwhile, second Axle drives linking arm vertically to rotate around this second axle, thus drives moving component the most vertically to rotate around this second axle;Perpendicular While direct rotary turns, the first axle can drive the housing water surface to rotate, housing drive linking arm, then by linking arm drive moving component around First axle horizontal rotation, thus realize moving component on a large scale or the three-dimensional motion of little scope.
Second axle one end bearing from side plate is stretched between biside plate;Again by the axle sleeve on described linking arm from two It is set between side plate on the second axle, and makes axle sleeve pass through key and the connection of the second axle;Then tap the other end of the second axle, make Described one end of two axles is through axle sleeve and the bearing interference fit on another side plate, thus is connected across on biside plate by the second axle, And linking arm one end is between biside plate, and rotated by the linking arm that rotarily drives of the second axle, it is achieved linking arm and motion The purpose that parts vertically rotate around this second axle;Even by described first axle, the second axle and the 3rd axle respectively with reducing gear finally Connect.
When process and assemble reducing gear, first in interior axle one end and hollow outer shaft one end elastic conjunction stop tab;Interior outer shaft Can be driven respectively by two motors, it is possible to driven respectively by two different drive mechanisms by a motor;Stop tab can make Driving wheel is arranged on the appointment position of axle, it is to avoid driving wheel moves axially.Difference process and assemble hole on two elliptical drive for wheel, Elliptical drive for wheel can be arranged on the axle of correspondence by pilot hole;Two elliptical drive for wheel can drive the gear of the different number of teeth, Elliptical drive for wheel is as the wave producer of harmonic speed reducer.During as wave producer, can divide in the periphery of described elliptical drive for wheel It is furnished with axially arranged several rollers, the flexbile gear of two different numbers of teeth thus can be driven to rotate, thus export different drive ratios Power.
One ring spring is set in each pilot hole;In implementation process, radially add along each described pilot hole hole wall Work has annular groove, described ring spring to be arranged in the annular groove of correspondence, and elliptical drive for wheel is fixedly mounted on correspondence by corresponding ring spring On axle;So on the one hand, elliptical drive for wheel can be avoided directly to contact with corresponding axle and damage elliptical drive for wheel, on the other hand circle The elastic force of spring can make assembling convenient;Meanwhile, elliptical drive for wheel and respective shaft even can use the mode of matched in clearance to carry out , there is wear phenomenon in transmission, it is to avoid both contacts, and once the effect of attrition transmission of axle Yu ring spring, only need to change ring spring i.e. Can, save maintenance and maintenance cost.In the present invention, ring spring is the elasticity part with radical elasticity, in the effect of its elastic force Under, elliptical drive for wheel can be fixed on axle, it is ensured that axle drives elliptical drive for wheel to rotate.By two elliptical drive for wheel by assembling Hole is separately mounted on described interior outer shaft, and makes driving wheel connect with stop tab;Stop tab includes and respective shaft interference fit Axially interstage sleeve, makes stop tab rotate with axle, and interstage sleeve one end has radially extended catch, and described ring spring fixed cover is located on interstage sleeve, can Making ring spring directly not contact with axle, it is to avoid to damage ring spring, described first elliptical drive for wheel and the second elliptical drive for wheel are all and catch Axially connect, prevent driving wheel from moving axially;Described interstage sleeve perisporium forms axially arranged several double wedges, and each double wedge is radially Stretch in the gap of ring spring, thus block ring spring, so can ensure that ring spring rotates along with axle.
Then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end;As excellent Choosing, described interior axle is arranged on hollow outer shaft inner chamber by bearing;Specifically, described hollow outer shaft two ends are machined with receiving respectively Space, fixedly mounts a described bearing in each receiving space, and described interior axle two ends are arranged on hollow by this two bearings Outer shaft inner chamber;In installing during axle, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, then from hollow The bearing of the outer shaft other end passes.As preferably, first vertically being placed by hollow outer shaft, its described one end is above, then The other end described in interior axle is placed in the bearing centre hole of one end described in hollow outer shaft, and then one end described in internal axle applies downward Pressure so that it is the other end penetrates inner chamber, then passes from the bearing centre hole of the hollow outer shaft other end;The interior axle other end is from hollow When the bearing centre hole of the axle other end passes, the bearing of the hollow outer shaft other end is applied pressure from bottom to top, prevents this bearing Because of interior axial under pressure disengage it from outer shaft.
In implementation process, the end face of bearing not only can be saved space with outer shaft end face, and keep away in transmission process Exempt to interfere with miscellaneous part;Two ends described in interior axle are arranged in two bearings, the most not only make interior outer shaft can occur relatively and turn Dynamic, it is ensured that interior outer shaft has higher axiality;And it is more firm that interior axle can be made to support, transmission is more steady.The phase of interior outer shaft Motion can be used this sample loading mode, when interior axle is rotated by driven by motor, outer shaft can be made not rotate, only by Ellipse motion driven wheel drive Outer gear rotates, thus exports power;When outer shaft is rotated by driven by motor, interior axle can be made not rotate, only by Ellipse motion driven The pinion rotation of the wheel drive additionally different numbers of teeth, thus output and the power of outer shaft different drive ratios, it is seen that the present invention can realize The transmission of different drive ratios.In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different number of teeth, therefore, When interior axle is rotated by driven by motor, outer shaft can be made not rotate, only be rotated by the first Ellipse motion driven wheel drive first row external tooth, and this Time second row external tooth and internal tooth be still within engagement, owing to outer shaft does not has driving force, second row external tooth will not drive flexbile gear Rotate, and it rotates with flexbile gear under the effect of engagement force;In like manner, when outer shaft is rotated by driven by motor, interior axle can be made not turn Dynamic, only by the pinion rotation of the second Ellipse motion driven wheel drive additionally different numbers of teeth, thus output and the first different transmission of driving wheel The power of ratio, it is seen that the present invention can realize the transmission of different drive ratios.
In implementation process, the axial centre position of the flexbile gear base substrate circumferentially flat annular groove of turning one, then at flat ring Connected in star bottom land circumferentially processes an annular V groove, is then positioned at annular groove side in flexbile gear base substrate periphery and processes an exclusive tooth, It is positioned at annular groove opposite side in flexbile gear base substrate periphery and processes another exclusive tooth;In the course of processing, should be from away from annular groove One laterally closer annular groove side feed, and the teeth groove of each tooth communicates with annular groove, and teeth groove bottom land also should be made higher than ring Connected in star bottom land or flush with annular groove bottom land;The chip in the course of processing so can be made to flow into annular V groove, provide for processing Convenient;Meanwhile, when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove, it is ensured that the lubricating oil at tooth More clean;Annular V groove can facilitate chip and waste residue to flow into bottom land along the cell wall tilted, and prevents chip and waste residue etc. from splashing.
Two elliptical drive for wheel that will be equipped with interior outer shaft are installed to flexbile gear, make two elliptical drive for wheel and two toothrows to reply Just, each driving wheel is i.e. made to be positioned at the flexbile gear inner ring that tooth is corresponding, in flexbile gear transmission process, owing to wheel body is sent out in elliptical wave Being deformed during the driving of raw device, its output one end can be deformed, and transmission may be caused steady not, and then make first Axle, the second axle or the 3rd through-drive are steady not, and are processed one end of flexbile gear green state joining the first axle, the second axle or the 3rd axle The buffering becoming outward-dipping can alleviate above-mentioned deformation, it is ensured that the transmission of the first axle, the second axle or the 3rd axle is more steady.Finally will dress The elliptical drive for wheel prepared and flexbile gear are installed to form two row's internal tooths and are just taken turns inner ring, make two exclusive teeth corresponding with two row's internal tooths Engagement.
The breeze way of the present invention is from the axially inclined billet surface that extends to of teeth groove bottom land, and described inclination extends to straight-line extension Or be to extend to recessed arc so that near being relatively large in diameter of the first axle, the second axle or the 3rd axle side;Owing to wheel body is passing Produce during Dong is radially enlarged deformation, and it has the wheel body made near the first axle, the second axle or the 3rd axle side to produce The trend that radial deformation increases, therefore during transmission power, near the first axle, the second axle or the 3rd axle side big straight The deformation effect that footpath buffer part is subject to is less, thus ensures the stationarity of the transmission of flange.In the present invention, described two exclusive teeth The number of teeth unequal, thus provide two kinds of different gear ratios, to meet the transmission requirement of robot;The outside circle of two exclusive teeth Diameter is unequal, and the outside circle also determining two row's internal tooths is unequal, and when assembling, the external tooth that tip diameter is less should be close Assembly direction, it is less with tip diameter that the less external tooth of such tip diameter may pass through the bigger internal tooth of tip diameter Internal tooth engages, it is ensured that assembling process does not interfere phenomenon.
The technical scheme provided the embodiment of the present invention above is described in detail, specific case used herein Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help to understand this The principle of inventive embodiments;Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.

Claims (10)

1. a processing and assembling for intelligent robot joint arrangement, it comprises the following steps:
(1) taking the housing of U-type groove formula, on the biside plate of housing, correspondence offers through hole respectively, installs an axle in each through hole Hold;
(2) on the base plate of housing, the first axle is welded along U-type groove length direction;
(3) the linking arm one end in joint is fixedly mounted axle sleeve,
(4) second axle one end bearing from side plate is stretched between biside plate;
(5) again the axle sleeve on described linking arm is set in the second axle between biside plate, and makes axle sleeve pass through key and second Axle connects;Tap the other end of the second axle, make described one end of the second axle join with the bearing interference on another side plate through axle sleeve Close;
(6) by other bearing, the 3rd axle is installed at the linking arm other end;
(7) described first axle, the second axle and the 3rd axle are connected with reducing gear respectively.
The processing and assembling of intelligent robot joint arrangement the most according to claim 1, it is characterised in that: at described base plate On process half slot along U-type groove length direction, with the sleeve weld of the external diameter such as this half slot in half slot, described first axle is worn Cross barrel bore bonded with this sleeve.
The processing and assembling of intelligent robot joint arrangement the most according to claim 1, it is characterised in that: described housing is Integrated formed structure.
4., according to the processing and assembling of intelligent robot joint arrangement described in any one in claims 1 to 3, its feature exists In: during at process and assemble reducing gear, first in interior axle one end and hollow outer shaft one end elastic conjunction stop tab, drive at two ellipses On driving wheel, difference process and assemble hole, arranges a ring spring in each pilot hole;Again by two elliptical drive for wheel by assembling Hole is separately mounted on described interior outer shaft, and makes driving wheel connect with stop tab;Then interior axle is arranged on hollow outer shaft inner chamber, And make the interior axle other end stretch out the hollow outer shaft other end;Then flat in the circumferentially turning one of the axial centre position of flexbile gear base substrate Annular groove;An annular V groove is circumferentially processed again at flat annular groove bottom land;It is positioned at annular groove two in flexbile gear base substrate periphery Side processes an exclusive tooth respectively, and the teeth groove of each tooth communicates with annular groove, and bottom land higher than annular groove bottom land or with annular Groove bottom land flushes;Outward-dipping breeze way is processed in one end of flexbile gear green state joining the first axle, the second axle or the 3rd axle; The two elliptical drive for wheel installations that will be equipped with interior outer shaft again are enclosed to flexbile gear entirely, make two elliptical drive for wheel and two exclusive teeth to reply Just;Finally the elliptical drive for wheel assembled and flexbile gear are installed to form two row's internal tooths and just take turns inner ring, make two exclusive teeth with Two row's internal tooth correspondence engagements.
The processing and assembling of intelligent robot joint arrangement the most according to claim 4, it is characterised in that: along each described Pilot hole hole wall is radially machined with annular groove, is first arranged at by described ring spring in the annular groove of correspondence, then by elliptical drive for wheel by dress Distribution is arranged on the axle of correspondence.
6. the processing and assembling of intelligent robot joint arrangement as claimed in claim 4, it is characterised in that: described hollow outer shaft Two ends are machined with receiving space respectively, and each accommodates one bearing of fixed installation in space, described interior axle two ends by this two Bearing is arranged on hollow outer shaft inner chamber.
7. the processing and assembling of intelligent robot joint arrangement as claimed in claim 4, it is characterised in that: described stop tab bag Including the axial interstage sleeve with respective shaft interference fit, interstage sleeve one end has radially extended catch, and described ring spring fixed cover is located on interstage sleeve, Described first elliptical drive for wheel and the second elliptical drive for wheel all axially connect with catch, and described interstage sleeve perisporium forms axially arranged Several double wedges, each double wedge is radially in the gap of ring spring.
8. the processing and assembling of intelligent robot joint arrangement as claimed in claim 4, it is characterised in that: during processing tooth, from Away from annular groove one laterally closer annular groove side feed.
9. the processing and assembling of as claimed in claim 4 intelligent robot joint arrangement, it is characterised in that: described breeze way from Teeth groove bottom land is axially inclined extends to billet surface.
10. the processing and assembling of intelligent robot joint arrangement as claimed in claim 4, it is characterised in that: two exclusive teeth The number of teeth is unequal;The tip diameter of two exclusive teeth is unequal.
CN201610604556.0A 2016-07-29 2016-07-29 A kind of processing and assembling of intelligent robot joint arrangement Pending CN106142127A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610604556.0A CN106142127A (en) 2016-07-29 2016-07-29 A kind of processing and assembling of intelligent robot joint arrangement

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Application Number Priority Date Filing Date Title
CN201610604556.0A CN106142127A (en) 2016-07-29 2016-07-29 A kind of processing and assembling of intelligent robot joint arrangement

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CN106142127A true CN106142127A (en) 2016-11-23

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB190917081A (en) * 1909-07-22 1910-05-05 Robert Owen Harper Improvements in and connected with Brakes for Motor Vehicles.
EP0822356A1 (en) * 1996-07-31 1998-02-04 Teijin Seiki Company Limited Transmission gear
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device
US20110245006A1 (en) * 2010-04-06 2011-10-06 Canon Kabushiki Kaisha Strain wave gearing and robotic arm
CN102616296A (en) * 2012-03-31 2012-08-01 浙江工业大学 Six-wheel-leg type serial-parallel hybrid robot
CN202629022U (en) * 2012-06-19 2012-12-26 中国重汽集团济南动力有限公司 Novel structure for axially positioning main shaft gear in double-countershaft speed changing box
JP2013194836A (en) * 2012-03-21 2013-09-30 Honda Motor Co Ltd Harmonic drive gearing and walking assisting device
JP2014084989A (en) * 2012-10-26 2014-05-12 Canon Inc Wave gear device, driving apparatus, and robot equipment

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB190917081A (en) * 1909-07-22 1910-05-05 Robert Owen Harper Improvements in and connected with Brakes for Motor Vehicles.
EP0822356A1 (en) * 1996-07-31 1998-02-04 Teijin Seiki Company Limited Transmission gear
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device
US20110245006A1 (en) * 2010-04-06 2011-10-06 Canon Kabushiki Kaisha Strain wave gearing and robotic arm
JP2013194836A (en) * 2012-03-21 2013-09-30 Honda Motor Co Ltd Harmonic drive gearing and walking assisting device
CN102616296A (en) * 2012-03-31 2012-08-01 浙江工业大学 Six-wheel-leg type serial-parallel hybrid robot
CN202629022U (en) * 2012-06-19 2012-12-26 中国重汽集团济南动力有限公司 Novel structure for axially positioning main shaft gear in double-countershaft speed changing box
JP2014084989A (en) * 2012-10-26 2014-05-12 Canon Inc Wave gear device, driving apparatus, and robot equipment

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Application publication date: 20161123