CN106230186A - A kind of set has the hollow type harmonic speed reducer of motor - Google Patents
A kind of set has the hollow type harmonic speed reducer of motor Download PDFInfo
- Publication number
- CN106230186A CN106230186A CN201610669434.XA CN201610669434A CN106230186A CN 106230186 A CN106230186 A CN 106230186A CN 201610669434 A CN201610669434 A CN 201610669434A CN 106230186 A CN106230186 A CN 106230186A
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- CN
- China
- Prior art keywords
- bearing
- flexbile gear
- motor
- speed reducer
- camshaft
- 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.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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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
-
- 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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
- F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
- F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
- F01L1/352—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear using bevel or epicyclic gear
- F01L2001/3521—Harmonic drive of flexspline type
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of set and have the hollow type harmonic speed reducer of motor, including the flexbile gear being all coaxially disposed, just wheel, rotor wave producer, fixing seat, stator, clutch shaft bearing, crossed roller bearing, support shaft, the second bearing and bearing block；Just the external tooth of wheel engages each other with the internal tooth of described flexbile gear；Rotor wave producer includes having the camshaft of oval endoporus, flexible bearing and some magnet steel；Described flexible bearing is arranged in the oval endoporus of described camshaft, and its inner ring is socketed on the outside diameter hoop face of the internal tooth of described flexbile gear；Several magnet steel described along camshaft even circumferential be fastened on the outer surface of camshaft, and diametrically opposite with flexible bearing；Stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer.The axial length of the complete machine of the present invention is shorter, compact conformation, and the driving-chain of whole reducing gear is less, transmission accuracy and in hgher efficiency.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer, particularly relating to a kind of set has the hollow type harmonic speed reducer of motor.
Background technology
Harmonic speed reducer mainly includes rotor wave producer, flexible gear and three basic building blocks of rigid gear, is by going
A kind of Novel reducer that star gear drive principle develops, owing to its gear ratio is big, compact conformation, volume are little, light weight,
Bearing capacity is strong and transmission accuracy is high, has a wide range of applications in precision drive field.The operation principle of harmonic speed reducer is: turn
Structure and the motion principle of wavelet generator are similar to cam, input to harmonic speed reducer from the high speed rotary motion in mechanism
Interior high speed shaft, rotor wave producer links with high speed shaft, transfers the motion to flexibility by the outer contour shape of himself
On wheel；Compliant wheel as its name suggests, is the flexible external gear that controlled elasticity can be occurred to deform, along with turning of rotor wave producer
Dynamic, compliant wheel does periodically elastic deformation with the outer contour of rotor wave producer, and compliant wheel external toothing has rigid gear, passes through
Number of teeth difference between compliant wheel and rigid wheel realizes the slowing effect of whole harmonic speed reducer.
According to the shape of flexbile gear, harmonic speed reducer can be divided into cup type and the big class of hollow type two.In actual application, usually,
The input of harmonic speed reducer is connected with motor by gear drive or synchronous belt pulley transmission, the function of decelerator seek to by
The high rotating speed input of motor is converted into slow-speed of revolution output, the little torque of motor is inputted simultaneously and is converted into high torque (HT) output.Full
On the premise of foot performance, the dynamical system that harmonic speed reducer and motor form constantly direction less to volume, that quality is lighter is sent out
Both wherein, are combined by exhibition, cancel middle gear drive or synchronous belt pulley transmission is a kind of relatively good scheme, example
Patent of invention if notification number is CN104061300A discloses a kind of Wave gear device, it is possible to will be scratched by simple structure
The rigidity axle sleeve of property external tooth gear is fixed with bearing inner race, and reliably seals between them.Wave gear device has
Have: rigidity internal-gear；Flexible external tooth gear；Wavegenerator；Support flexible external tooth gear and enable relative to rigidity
Internal-gear and the bearing that rotates freely；And that the flexible rigidity axle sleeve of external tooth gear and the inner ring of bearing interfixed
One weld part.First weld part is to be sealed to the all-round weld part of liquid sealing state between axle sleeve and inner ring.Axle sleeve and inner ring
Size in the axial direction can be less, they can be interfixed man-hour with less machining period and assembling.But this
The fluctuation gear drive of kind of structure there is a problem in that: the axial length of complete machine is long, and structure is the compactest, whole subtracts
The driving-chain of speed mechanism is too much, and transmission accuracy is poor.
Summary of the invention
For the deficiencies in the prior art, the hollow type harmonic wave that the invention aims to provide a kind of set to have motor subtracts
Speed device, the axial length of its complete machine is shorter, compact conformation, and the driving-chain of whole reducing gear is less, and transmission accuracy and efficiency are more
High.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of set has the hollow type harmonic speed reducer of motor, it is characterised in that: the flexbile gear that includes all being coaxially disposed, just
Wheel, rotor wave producer, fixing seat, stator, clutch shaft bearing, crossed roller bearing, support shaft, the second bearing and bearing block；
Described flexbile gear includes the flexbile gear main body of cylindrical shape, the circle extended outward the most successively from the left end of flexbile gear main body
Ring-type barrier film and the circular shaft shoulder, the circle internal tooth being arranged on the right-hand member inwall of flexbile gear main body；
Described firm wheel includes the firm wheel body of cylindrical shape, the circle external tooth being arranged on the right-hand member outer wall of firm wheel body；Institute
Stating firm wheel body to be arranged in described flexbile gear main body, the external tooth of described firm wheel engages each other with the internal tooth of described flexbile gear；
Described rotor wave producer includes having the camshaft of oval endoporus, flexible bearing and some magnet steel；Described soft
Property bearing is arranged in the oval endoporus of described camshaft, and its inner ring is socketed in the outside diameter hoop face of the internal tooth of described flexbile gear
On；Several magnet steel described along camshaft even circumferential be fastened on the outer surface of camshaft, and with flexible bearing along footpath
To relatively；
Described fixing seat is socketed on the outer wall of described camshaft by described clutch shaft bearing；
Described stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；
Described crossed roller bearing is arranged on the left end of described firm wheel body, and the outer ring of described crossed roller bearing is against institute
State the shaft shoulder of flexbile gear, and be fastened on together with the shaft shoulder on fixing seat, the inner ring of described crossed roller bearing and described firm wheel body
Fixing connection；
Described support shaft is installed in rotation on the right-hand member of described firm wheel body, and described support shaft occurs with described rotor ripple
The camshaft of device is fixing to be connected；
Described bearing block is connected on the outer wall of described support shaft by described second bearing holder (housing, cover), and described bearing block is solid with described
Reservation is fixing to be connected.
As preferably, also including encoder, read head and read head mounting seat, described encoder is fixedly installed in described
Support axle on, described read head be fastenedly connected with described read head mounting seat after again together be fixedly installed on described bearing block.
As preferably, also include that bonnet, described bonnet are installed in rotation on the right-hand member of described firm wheel body, described bonnet
Fix with described bearing block and be connected.
As preferably, the diameter of bore of described firm wheel is more than 2/3 with the ratio of the diameter of bore of described flexbile gear.
As preferably, the number of teeth of internal tooth described in the gear ratio of described external tooth lacks 2.
As preferably, described fixing seat uses aluminium alloy to be made.
As preferably, described bearing block uses aluminium alloy to be made.
As preferably, described bonnet uses aluminium alloy to be made.
As preferably, fixing even by screw between the outer ring of described crossed roller bearing, the shaft shoulder of flexbile gear and fixing seat
Connect.
As preferably, it is connected by screw is fixing between the inner ring of described crossed roller bearing with described firm wheel body.
The beneficial effects of the present invention is:
1, the rotor wave producer of the present invention includes having the camshaft of oval endoporus, flexible bearing and some magnet steel；
Described flexible bearing is arranged in the oval endoporus of described camshaft, and its inner ring is socketed in the external diameter circle of the internal tooth of described flexbile gear
On side face；Several magnet steel described along camshaft even circumferential be fastened on the outer surface of camshaft, and and flexible bearing
Diametrically opposite；Described stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；By this
Sample designs, by the rotor set of motor to the wave producer of decelerator, and stator and wave producer parallel arranged in the axial direction,
The axial length making complete machine is shorter, compact conformation so that the driving-chain of whole reducing gear is less, and transmission accuracy and efficiency are more
High.
2, the present invention uses internal tooth flexbile gear to coordinate with external circular spline, in conjunction with rotor wave producer, fixing seat, clutch shaft bearing and
The design of crossed roller bearing so that its center via size can reach more than 2/3 with the ratio of flexbile gear hole size, than
Prior art be usually no more than 1/2, have raising by a relatively large margin, it is possible to meet the design requirement of big center via.
3, the fixing seat of the present invention, bearing block, bonnet all use the light materials such as aluminium alloy to manufacture, difficulty of processing with
Cost will not increase, but the weight of complete machine can be allowed to reduce.
Accompanying drawing explanation
Fig. 1 is the front view that the set of the embodiment of the present invention 1 has the hollow type harmonic speed reducer of motor；
Fig. 2 be in Fig. 1 A-A to cut-away view；
Fig. 3 is the cut-away view of the flexbile gear of the embodiment of the present invention 1；
Fig. 4 is the flexbile gear of the embodiment of the present invention 1, just wheel and the assembling structural representation of rotor wave producer.
In figure, 1, flexbile gear；11, flexbile gear main body；12, barrier film；13, the shaft shoulder；14, internal tooth；2, just take turns；21, firm wheel body；
22, external tooth；3, rotor wave producer；31, camshaft；311, oval endoporus；32, flexible bearing；33, magnet steel；4, fixing seat；
5, clutch shaft bearing；6, stator；7, crossed roller bearing；71, the outer ring of crossed roller bearing；72, the inner ring of crossed roller bearing；
8, support shaft；9, the second bearing；10, bearing block；20, encoder；30, read head；40, read head mounting seat；50, bonnet.
Detailed description of the invention
Below, in conjunction with accompanying drawing and detailed description of the invention, the present invention is described further:
Embodiment 1:
With reference to Fig. 1-Fig. 4, the present embodiment provides a kind of set to have the hollow type harmonic speed reducer of motor, including the most coaxially setting
The flexbile gear 1 put, just take turns 2, rotor wave producer 3, fixing seat 4, clutch shaft bearing 5, stator 6, crossed roller bearing 7, support shaft 8,
Second bearing 9 and bearing block 10；
Described flexbile gear 1 includes the flexbile gear main body 11 of cylindrical shape, stretches out the most successively from the left end of flexbile gear main body 11
The circular barrier film 12 gone out and the circular shaft shoulder 13, the circle internal tooth 14 being arranged on the right-hand member inwall of flexbile gear main body 11；
Described firm wheel 2 includes the firm wheel body 21 of cylindrical shape, outside the circle being arranged on the right-hand member outer wall of firm wheel body 21
Tooth 22；Described firm wheel body 21 is arranged in described flexbile gear main body 11, the external tooth 22 of described firm wheel 2 and the internal tooth of described flexbile gear 1
14 engage each other；The diameter of bore of described firm wheel 2 is more than 2/3 with the ratio of the diameter of bore of described flexbile gear 1；
Described rotor wave producer 3 includes having the camshaft 31 of oval endoporus 311, flexible bearing 32 and some magnet steel
33；Described flexible bearing 32 is arranged in the oval endoporus 311 of described camshaft 31, and its inner ring is socketed in described flexbile gear 1
On the outside diameter hoop face of internal tooth 14；Several magnet steel 33 described along camshaft 31 even circumferential be fastened on outside camshaft 31
On surface and diametrically opposite with flexible bearing 32；
Described fixing seat 4 is socketed on the outer wall of described camshaft 31 by described clutch shaft bearing 5；
Described stator 6 is securedly mounted in fixing seat 4, and radially aligned with the magnet steel 33 of rotor wave producer 3；Stator
6 with rotor wave producer 3 be parallel arranged in the axial direction, be conducive to shortening decelerator complete machine axial length, make structure more
Compact；
Described crossed roller bearing 7 is arranged on the left end of described firm wheel body 21, the outer ring 71 of described crossed roller bearing
Against the shaft shoulder 13 of described flexbile gear 1, and it is fastened on together with the shaft shoulder 13 on fixing seat 4, the inner ring 72 of described crossed roller bearing 7
Fix with described firm wheel body 21 and be connected；
Described support shaft 8 is installed in rotation on the right-hand member of described firm wheel body 21, described support shaft 8 and described rotor ripple
The camshaft 31 of generator 3 is fixing to be connected；
Described bearing block 10 is socketed on the outer wall of described support shaft 8 by described second bearing 9, described bearing block 10 with
Described fixing seat 4 is fixing to be connected.
As preferably, also include that encoder 20, read head 30 and read head mounting seat 40, described encoder 20 fixedly mount
In described support shaft 8, described read head 30 be fastenedly connected with described read head mounting seat 40 after again together be fixedly installed in institute
State on bearing block 10.Encoder 20 and read head 30 form the feedback of status module of motor, can feed back motor in work in time
The kinestates such as the speed of (i.e. rotor wave producer) and position.
As preferably, also include that bonnet 50, described bonnet 50 are installed in rotation on the right-hand member of described firm wheel body 21, institute
State that bonnet 50 is fixing with described bearing block 10 to be connected.Complete machine is acted the effect sealing and protecting by bonnet 50.
As preferably, the number of teeth of internal tooth 14 described in the gear ratio of described external tooth 22 lacks 2.Outside described crossed roller bearing
Enclose 71, connect by screw is fixing between the shaft shoulder 13 of flexbile gear 1 and fixing seat 4.The inner ring 72 of described crossed roller bearing and institute
State and connect by screw is fixing between firm wheel body 21.
The present embodiment realizes the installation of rotor wave producer 3 by clutch shaft bearing 5, it is ensured that rotor wave producer 3 is in certainly
By the state rotated, it is ensured that the realization of deceleration；Set has the center of maximum via of the hollow type harmonic speed reducer of motor
Size is determined by the size of the endoporus just taking turns 2, therefore, is ensureing that rigidity enough and connects under reliable fastening premise, as far as possible
It is designed as maximum, usually, it is ensured that just the size of the endoporus of wheel 2 and the ratio of the hole size of flexbile gear 1 are on 2/3.
It addition, described fixing seat 4, bearing block 10, bonnet 50 all use aluminium alloy to be made, difficulty of processing is with cost not
Can increase, but the weight of complete machine can be allowed to reduce.
Then, the operation principle of harmonic speed reducer of the present invention is elaborated.
As shown in Figure 1 and Figure 4, rotor wave producer 3 is fastened together with support shaft 8, and by clutch shaft bearing 5 He
Second bearing 9 is articulated in fixing seat 4 and bearing block 10 respectively, it is ensured that rotor wave producer 3 is in the state rotated freely；Rotor
Being additionally provided with magnet steel 33 on wave producer 3, therefore, rotor wave producer 3 has the function of rotor.When motor driver to
Being passed through controlled current flow in stator 6, electric energy is ultimately converted to mechanical energy by electromagnetic field transmission, drives rotor wave producer 3 to rotate
Get up.Meanwhile, encoder 20 and the motor condition feedback module of read head 30 composition, motor (i.e. rotor ripple can be detected in time
Generator 3) speed and the kinestate such as position, and feed back to motor driver.Motor driver is then according to these feedback coefficients
According to, control to be passed through the electric current in stator 6 in time, and then control the startup of rotor wave producer 3, rotating speed, position and stop, it is achieved
The controllable rotating motion of rotor wave producer 3.
Rotor wave producer 3 has the function of wave producer simultaneously, to realize the retarded motion of harmonic gear.Flexible bearing
32 are arranged in the oval endoporus 311 of camshaft 31, and Internal and external cycle all produces ovalizing deflection, and flexbile gear 1 is socketed in inner ring, also
Producing ovalizing deflection, form major axis a and short axle b, so, the internal tooth 14 of flexbile gear 1 is just certain at short axle b with the external tooth 22 of just wheel 2
Scope is in engagement, and is in disengaged condition in major axis a certain limit.When being passed through controlled current flow in stator 6, electric energy passes through
Electromagnetic field transmission is ultimately converted to mechanical energy, and drives rotor wave producer 3 to rotate, and at this moment the internal tooth 14 of flexbile gear 1 is with just
The position of engagement of the external tooth 22 of wheel 2 is the most circumferentially moved.Usually, few 2 of the number of teeth of the gear ratio flexbile gear 1 of 2 has just been taken turns.Therefore,
When the position of engagement is circumferentially moved, producing relative rotary motion because of number of teeth difference between flexbile gear 1 and just wheel 2, this rotation is transported
Dynamic finally by just take turns 2 export by the inner ring of crossed roller bearing to outside by driving side parts, it is achieved whole mechanism
Deceleration.
In a word, together with harmonic speed reducer has been incorporated into by the present invention with motor so that the structure of whole reducing gear is very
Compact, volume is less, and quality is lighter.
For a person skilled in the art, can technical scheme as described above and design, make other each
Plant corresponding change and deformation, and all these changes and deforms the protection model that all should belong to the claims in the present invention
Within enclosing.
Claims (10)
1. a set has the hollow type harmonic speed reducer of motor, it is characterised in that: the flexbile gear that includes all being coaxially disposed, just wheel,
Rotor wave producer, fixing seat, stator, clutch shaft bearing, crossed roller bearing, support shaft, the second bearing and bearing block；
Described flexbile gear include cylindrical shape flexbile gear main body, from the left end of flexbile gear main body extend outward the most successively circular
Barrier film and the circular shaft shoulder, be arranged on the right-hand member inwall of flexbile gear main body one circle internal tooth；
Described firm wheel includes the firm wheel body of cylindrical shape, the circle external tooth being arranged on the right-hand member outer wall of firm wheel body；Described just
Wheel body is arranged in described flexbile gear main body, and the external tooth of described firm wheel engages each other with the internal tooth of described flexbile gear；
Described rotor wave producer includes having the camshaft of oval endoporus, flexible bearing and some magnet steel；Described flexible shaft
Hold in the oval endoporus being arranged on described camshaft, on the outside diameter hoop face of the internal tooth that its inner ring is socketed in described flexbile gear；Institute
State several magnet steel along camshaft even circumferential be fastened on the outer surface of camshaft, and with flexible bearing radially phase
Right；
Described fixing seat is socketed on the outer wall of described camshaft by described clutch shaft bearing；
Described stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；
Described crossed roller bearing is arranged on the left end of described firm wheel body, and the outer ring of described crossed roller bearing is against described soft
The shaft shoulder of wheel, and be fastened on together with the shaft shoulder on fixing seat, the inner ring of described crossed roller bearing is fixed with described firm wheel body
Connect；
Described support shaft is installed in rotation on the right-hand member of described firm wheel body, described support shaft and described rotor wave producer
Camshaft is fixing to be connected；
Described bearing block is connected on the outer wall of described support shaft by described second bearing holder (housing, cover), described bearing block and described fixing seat
Fixing connection.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: also include coding
Device, read head and read head mounting seat, described encoder is fixedly installed in described support shaft, described read head and described reading
Head mounting seat is fixedly installed on described bearing block after being fastenedly connected the most together.
Set the most according to claim 1 and 2 has the hollow type harmonic speed reducer of motor, it is characterised in that: after also including
Lid, described bonnet is installed in rotation on the right-hand member of described firm wheel body, and described bonnet is fixing with described bearing block to be connected.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: described firm wheel interior
Bore dia is more than 2/3 with the ratio of the diameter of bore of described flexbile gear.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: the tooth of described external tooth
Fewer than the number of teeth of described internal tooth 2 of number.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: described fixing seat is adopted
It is made with aluminium alloy.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: described bearing block is adopted
It is made with aluminium alloy.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: described bonnet uses
Aluminium alloy is made.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: described crossed roller
Connect by screw is fixing between the outer ring of bearing, the shaft shoulder of flexbile gear and fixing seat.
Set the most according to claim 1 has the hollow type harmonic speed reducer of motor, it is characterised in that: the described intersection rolls
It is connected by screw is fixing between the inner ring of sub-bearing with described firm wheel body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669434.XA CN106230186B (en) | 2016-08-15 | 2016-08-15 | It is a kind of to gather the hollow type harmonic speed reducer for having motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669434.XA CN106230186B (en) | 2016-08-15 | 2016-08-15 | It is a kind of to gather the hollow type harmonic speed reducer for having motor |
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| Publication Number | Publication Date |
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| CN106230186A true CN106230186A (en) | 2016-12-14 |
| CN106230186B CN106230186B (en) | 2019-05-24 |
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| CN113682399A (en) * | 2021-09-30 | 2021-11-23 | 深圳鹏行智能研究有限公司 | Power module and power equipment |
| CN113788083A (en) * | 2021-09-30 | 2021-12-14 | 深圳鹏行智能研究有限公司 | Power module and power equipment |
| CN114245768A (en) * | 2019-08-01 | 2022-03-25 | 睿信科机器人股份有限公司 | Robot joint and robot |
| CN114291183A (en) * | 2022-01-26 | 2022-04-08 | 深圳鹏行智能研究有限公司 | Power module and power equipment |
| CN117847173A (en) * | 2024-01-19 | 2024-04-09 | 上海进顺机电技术有限公司 | Parallel high-efficiency composite flexible-tube type harmonic reducer with built-in outer rotor motor |
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| CN114245768A (en) * | 2019-08-01 | 2022-03-25 | 睿信科机器人股份有限公司 | Robot joint and robot |
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