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 PDFInfo
- 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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- China
- Prior art keywords
- axle
- assembling
- processing
- wheel
- annular groove
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
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
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.
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 |
Applications Claiming Priority (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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142127A true CN106142127A (en) | 2016-11-23 |
Family
ID=58060946
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610604556.0A Pending CN106142127A (en) | 2016-07-29 | 2016-07-29 | A kind of processing and assembling of intelligent robot joint arrangement |
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Citations (8)
| 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 |
-
2016
- 2016-07-29 CN CN201610604556.0A patent/CN106142127A/en active Pending
Patent Citations (8)
| 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 |
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