CN108980300A - Harmonic wave drive speed reducer and transmission system - Google Patents
Harmonic wave drive speed reducer and transmission system Download PDFInfo
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- CN108980300A CN108980300A CN201811182674.2A CN201811182674A CN108980300A CN 108980300 A CN108980300 A CN 108980300A CN 201811182674 A CN201811182674 A CN 201811182674A CN 108980300 A CN108980300 A CN 108980300A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 title claims abstract description 42
- 238000004891 communication Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/035—Gearboxes for gearing with endless flexible members
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
A kind of harmonic wave drive speed reducer provided by the invention and transmission system, are related to retarder technical field, comprising: wave producer；Flexible gear, flexible gear rotation are socketed on wave producer；Flexible gear includes transmission cylinder and connection ring body；Connection ring body is arranged on an end face of transmission cylinder, and connects ring body and transmission cylinder coaxial arrangement；Transmission cylinder includes first position and second position, and first position is provided with external tooth close to connection ring body, the outer wall of second position；Rigid gear, the inner ring of rigid gear are provided with the internal tooth matched with the external tooth being arranged in second position, and rigid gear is connected by meshing transmission with flexible gear；First bearing, first bearing rotation are socketed in the first position of transmission cylinder.In the above-mentioned technical solutions, each position separate design simplifies assembling interface, the quick assembling of harmonic wave drive speed reducer may be implemented.
Description
Technical field
The present invention relates to retarder technical fields, more particularly, to a kind of harmonic wave drive speed reducer and transmission system.
Background technique
Harmonic wave drive speed reducer is mainly by four wave producer, flexible gear, flexible bearing, rigid gear basic building block groups
At harmonic wave drive speed reducer is a kind of by wave producer fit on flexible bearing, so that flexible gear generates controlled elasticity and becomes
Shape, and be meshed with rigid gear and carry out the gear drive of passing movement and power.Application branch of learning: mechanical engineering (first level discipline)；
It is driven (second level subject)；Gear drive (three-level subject), Harmonic Drive Reducer are sent out using Planetary Gear Transmission principle
A kind of Novel reducer that exhibition is got up, using harmonic gear transmission principle (abbreviation harmonic drive).
Harmonic wave drive speed reducer Aeronautics and Astronautics, the energy, navigation, shipbuilding, bionic mechanical, common ordnance, lathe, instrument,
Electronic equipment, mine metallurgy, communications and transportation, hoisting machinery, Petro-Chemical Machinery, textile machine, agricultural machinery and Medical treatment device
Tool etc. obtains increasingly extensive application, especially in the servo-system of high dynamic performance, using harmonic wave drive speed reducer
Realize that transmission more shows its superiority.The power that it is transmitted is from tens watts to tens kilowatt, but powerful harmonic gear passes
It is dynamic to be chiefly used in short-term job field.
Harmonic wave drive speed reducer has small in size, speed ratio is big, torque is big and transmission accuracy is high etc. compared to planetary reduction gear
Advantage.But harmonic speed reducer quality in the prior art is irregular, precision and reliability have very big shortcoming.
Summary of the invention
The purpose of the present invention is to provide a kind of harmonic wave drive speed reducer and transmission systems, to solve to deposit in the prior art
Harmonic wave drive speed reducer precision and poor reliability the technical issues of.
A kind of harmonic wave drive speed reducer provided by the invention, comprising:
Wave producer；
Flexible gear, the flexible gear rotation are socketed on the wave producer；
The flexible gear includes transmission cylinder and connection ring body；An end face of the transmission cylinder is arranged in the connection ring body
On, and the connection ring body and the transmission cylinder are coaxially disposed；
The transmission cylinder includes first position and second position, and the first position is close to the connection ring body, and described
The outer wall at two positions is provided with external tooth；
Rigid gear, the inner ring of the rigid gear is provided with matched with the external tooth being arranged in the second position in
Tooth, the rigid gear are connected by meshing transmission with the flexible gear；
First bearing, the first bearing rotation are set in the first position of the transmission cylinder.
Further, in an embodiment of the present invention, there is the axis of the wave producer axial direction along the axis to set
The through-hole set；
The through-hole and the axis are coaxially disposed.
Further, in an embodiment of the present invention, the first bearing includes crossed roller bearing.
Further, in an embodiment of the present invention, the harmonic wave drive speed reducer further includes cricoid flexbile gear end cap；
The flexbile gear end cap is socketed on the wave producer, and the flexbile gear end cap is connected to the remote of the flexible gear
The end face of one end from the rigid gear.
Further, in an embodiment of the present invention, it is provided on the flexbile gear end cap for accommodating the flexible gear
The first annular recess, the flexible gear is arranged in first annular recess.
Further, in an embodiment of the present invention, the slot bottom of the first annular recess of the flexbile gear end cap and described soft
The end face of the connection ring body of property gear is respectively arranged with corresponding counter sink and through-hole；
The flexbile gear end cap and the flexible gear are fixed by multiple screws, and are fixed on the first bearing together
On outer ring.
Further, in an embodiment of the present invention, the harmonic wave drive speed reducer further includes cricoid firm gear end cap；
The firm gear end cap is socketed on the wave producer, and the firm gear end cap is connected to the remote of the rigid gear
The end face of one end from the flexible gear.
Further, in an embodiment of the present invention, it is provided on the firm gear end cap for accommodating the rigid gear
The second annular recess, the rigid gear is arranged in second annular recess.
Further, in an embodiment of the present invention, the slot bottom of the second annular recess of the firm gear end cap and it is described just
Property gear the end face of one end far from the flexible gear be respectively arranged with corresponding counter sink and through-hole；
The firm gear end cap and the rigid gear are fixed by multiple screws, and are fixed on the first bearing together
On inner ring.
The present invention also provides a kind of transmission systems, including the harmonic wave drive speed reducer.
In the above-mentioned technical solutions, the knot of the transmission cylinder using connection ring and with first position and second position
First position and wave producer can be carried out rotation socket, utilize the external tooth and rigidity of second position by structure when assembly
The internal tooth of gear is engaged assembly, and each position separate design simplifies assembling interface, harmonic wave drive speed reducer may be implemented
Quick assembling.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the cross-sectional view of harmonic wave drive speed reducer provided by one embodiment of the present invention；
Fig. 2 is the explosive view of harmonic wave drive speed reducer provided by one embodiment of the present invention；
Fig. 3 is the first schematic perspective view of wave producer provided by one embodiment of the present invention；
Fig. 4 is the second schematic perspective view of wave producer provided by one embodiment of the present invention；
Fig. 5 is the first schematic perspective view of flexible gear provided by one embodiment of the present invention；
Fig. 6 is the second schematic perspective view of flexible gear provided by one embodiment of the present invention.
Appended drawing reference: 1- wave producer；2- flexible gear；3- rigid gear；4- first bearing；5- firm gear end cap；6- is soft
Take turns end cap；11- axis；12- through-hole；13- flexible bearing；14- second bearing；15- 3rd bearing；21- transmission cylinder；22- connection
Ring body；23- first position；24- second position.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Fig. 1 is the cross-sectional view of harmonic wave drive speed reducer provided by one embodiment of the present invention；Fig. 2 is one implementation of the present invention
The explosive view for the harmonic wave drive speed reducer that example provides；Fig. 3 is the first solid of wave producer 1 provided by one embodiment of the present invention
Structural schematic diagram；Fig. 4 is the second schematic perspective view of wave producer 1 provided by one embodiment of the present invention；Fig. 5 is this hair
First schematic perspective view of the flexible gear 2 that bright one embodiment provides；Fig. 6 is provided by one embodiment of the present invention soft
Second schematic perspective view of property gear 2.As shown in figures 1 to 6, a kind of harmonic wave drive speed reducer provided in this embodiment, packet
It includes:
Wave producer 1；
Flexible gear 2, the rotation of flexible gear 2 are socketed on the wave producer 1；
The flexible gear 2 includes transmission cylinder 21 and connection ring body 22；The connection ring body 22 is arranged in the transmission cylinder
On 21 end face, and the connection ring body 22 and the transmission cylinder 21 are coaxially disposed；
The transmission cylinder 21 includes first position 23 and second position 24, and the first position 23 is close to the connection ring body
22, the outer wall of the second position 24 is provided with external tooth；
Rigid gear 3, the inner ring of the rigid gear 3 is provided with to be matched with the external tooth being arranged in the second position 24
Internal tooth, the rigid gear 3 is connected by meshing transmission with the flexible gear 2；
First bearing 4, the rotation of first bearing 4 are set in the first position 23 of the transmission cylinder 21.In the structure
In, first bearing 4 and transmission cylinder 21 are not directly contacted with.
Following for the working principle for capableing of the more detailed understanding harmonic wave drive speed reducer, now using a kind of specific
The course of work it is illustrated.
It, can be main using wave producer 1 in carrying out deceleration use process according to the harmonic wave drive speed reducer of above structure
The dynamic, fixation of rigid gear 3 and 2 output form of flexible gear carry out transmission cooperation to complete decelerating operation.
As shown in the figures 1 and 2, wave producer 1 is typically provided with the cam being rotatably assorted with flexible gear 2, using cam and
The flexible bearing 13 of thin-walled is assembled with flexible gear 2, is socketed in the rotation of flexible gear 2 on the wave producer 1,
Wherein, the cam of wave producer 1 is usually oval, and when assembly, cam can be first packed into the flexible bearing of thin-walled
In 13, then the two is packed into together in flexible gear 2.
At this point, the shape of flexible gear 2 can be become ellipse by original circle, in the length of elliptical flexible gear 2
The external tooth at axis both ends and the internal tooth of the rigid gear 3 matched are then in fully engaged state, i.e. the external tooth of flexible gear 2 and just
Property gear 3 internal tooth along tooth height engage, this is region of engagement, and the internal tooth and external tooth for generally having 30% or so are in meshing state；It is in
The external tooth at the short axle both ends of elliptical flexible gear 2 is in fully unmated state with the internal tooth of the rigid gear 3 matched, referred to as
It disengages；The external tooth of flexible gear 2 between 1 long axis of wave producer and short axle, along the different sections of 2 perimeter of flexible gear,
Some is gradually backed out the between cog of the external tooth of rigid gear 3, is in half disengaged condition, is referred to as to nibble out.
When work, when wave producer 1 is active, cam thereon rotates in flexible gear 2, makes flexible gear nearby
2 and the flexible bearing 13 of thin-walled deform (controllable flexible deformation), at this moment the external tooth of the second position 24 of flexible gear 2 is just
Enter (engagement) during deformation or exit the between cog of the internal tooth of (nibble from) rigid gear 3, in the cam of wave producer 1
Internal tooth and external tooth are in fully engaged state at long axis, and internal tooth and external tooth are at completely disengaged shape at the short axle of cam
State.When wave producer 1 rotates in flexible gear 2, flexible gear 2 is forced to generate continuous flexible deformation, at this time wave producer 1
Continuous rotation, just make the external tooth of flexible gear 2 it is engaging-in, engage, nibble out, disengage these four cycle of states and back and forth constantly change
Become respective original meshing state.This phenomenon is referred to as side set movement, and exactly this side set moves, can will be defeated as retarder
The high-speed rotation entered becomes slowly running for output.
And the flexible gear 2 of this harmonic wave drive speed reducer provided herein uses connection ring and with first
The structure of the transmission cylinder 21 of position 23 and second position 24 utilizes the external tooth and rigid teeth of second position 24 when assembly
The internal tooth of wheel 3 is engaged assembly, and each position separate design simplifies assembling interface, harmonic wave drive speed reducer may be implemented
Quick assembling.
In addition, the structure of the wave producer 1, which is used, is socketed with 14 He of second bearing in the outer wall rotation of the axis 11
3rd bearing 15 makes the second bearing 14 and the 3rd bearing 15 be located at the two sides of the flexible bearing 13, passes through
15 two bearings of second bearing 14 and 3rd bearing form support to 11 both ends of axis with hollow through-hole 12, and by cam
It is integrally formed being designed for formula with the axis 11, in this case the structure for being integrated cam and axis 11 is just guaranteeing letter
On the basis of changing processing link, reducing cost, the rigidity of wave producer 1 is improved, namely improve entire harmonic drive reduction
The rigidity of device.
Further, in an embodiment of the present invention, the axis 11 of the wave producer 1 has the axis along the axis 11
To the through-hole 12 of setting；
The through-hole 12 is coaxially disposed with the axis 11.
When being applied in the automatic fields such as robot due to harmonic wave drive speed reducer in the prior art, it is often necessary to
A large amount of control, communication and power cable are installed, a large amount of control, communication and power cable will cause and match in the structure cooperated again
The many and diverse problem of line, so, in order to easily collect harness, i.e., hollow through-hole is provided in the axial direction of the axis 11
12, control, communication and power cable are passed through using through-hole 12, the collection of harness is realized, keeps overall structure simply clean and tidy.
This is applied to the flexible gear 2 on harmonic wave drive speed reducer and just innovatively sets using the structure of " hat-type "
Meter is made up of hollow transmission cylinder 21 and connection ring body 22, have very with " cup type " structure design in the prior art
It is different, so structure is configured, can so that corresponding matching wave producer 1 use hollow 11 structure of axis,
Axial through-hole 12 can be set on the axis 11 of wave producer 1, and then pass through control using the through-hole 12 of axis 11, lead to
Letter and power cable, realize the collection of harness, keep overall structure simply clean and tidy.
Thus, the structure design of this " hat-type " is also the structure basis of the wave producer 1 of hollow structure, only will
Flexible gear 2 is arranged to the structure of this " hat-type ", can realize and axial lead to is arranged on the axis 11 of wave producer 1
Hole 12, to be used to cabling.
Further, in an embodiment of the present invention, the first bearing 4 includes crossed roller bearing.It needs to illustrate
It is that other than using crossed roller bearing, those skilled in the art can also replace other bearing arrangements according to demand.
Further, in an embodiment of the present invention, the harmonic wave drive speed reducer further includes cricoid flexbile gear end cap 6；
The flexbile gear end cap 6 is socketed on the wave producer 1, and the flexbile gear end cap 6 is connected to the flexible gear 2
Far from the rigid gear 3 one end end face.
So can be used to protect and fix flexible gear 2 using the flexbile gear end cap 6, flexible gear 2 can also be made sharp
It is sequentially connected with flexbile gear end cap 6 and outer connection mechanism.
Further, in an embodiment of the present invention, it is provided on the flexbile gear end cap 6 for accommodating the flexible gear
2 the first annular recess, the flexible gear 2 are arranged in first annular recess.
So the flexible gear 2 can be placed in first annular recess when being assembled,
In, the shape of first annular recess is adapted with flexible gear 2, the receiving flexible gear 2 that can be intact, so just
Connection flexible gear 2 that can be firm, and form with flexible gear 2 connection of fastening.
Further, in an embodiment of the present invention, the slot bottom of the first annular recess of the flexbile gear end cap 6 and described soft
The end face of the connection ring body 22 of property gear 2 is respectively arranged with corresponding counter sink and through hole；
The flexbile gear end cap 6 and the flexible gear 2 are fixed by multiple screws, and are fixed on the first bearing together
On 4 outer ring.
Wherein, in the connection type of flexbile gear end cap 6 and flexible gear 2, cooperated by the way of threaded connection
Connection can either guarantee to assemble intensity, additionally it is possible to easy to disassemble and assembly.
When being assembled, it can be arranged circumferentially bolt along flexbile gear end cap 6 or flexible gear 2, made whole
Body uniform force, improves service life.
Further, in an embodiment of the present invention, the harmonic wave drive speed reducer further includes cricoid firm gear end cap 5；
The firm gear end cap 5 is socketed on the wave producer 1, and the firm gear end cap 5 is connected to the rigid gear 3
Far from the flexible gear 2 one end end face.
So can be used to protect and fix rigid gear 3 using the firm gear end cap 5, rigid gear 3 can also be made sharp
It is sequentially connected with firm gear end cap 5 and outer connection mechanism.
Further, in an embodiment of the present invention, it is provided on the firm gear end cap 5 for accommodating the rigid gear
3 the second annular recess, the rigid gear 3 are arranged in second annular recess.
So the rigid gear 3 can be placed in second annular recess when being assembled,
In, the shape of second annular recess is adapted with rigid gear 3, the receiving rigid gear 3 that can be intact, so just
Connection rigid gear 3 that can be firm, and form with rigid gear 3 connection of fastening.
Further, in an embodiment of the present invention, the slot bottom of the second annular recess of the firm gear end cap 5 and it is described just
Property gear 3 the end face of one end far from the flexible gear 2 be respectively arranged with corresponding counter sink and through hole；
The firm gear end cap 5 and the rigid gear 3 are fixed by multiple screws, and are fixed on the first bearing together
On 4 inner ring.
Wherein, in the connection type of firm gear end cap 5 and rigid gear 3, cooperated by the way of threaded connection
Connection can either guarantee to assemble intensity, additionally it is possible to easy to disassemble and assembly.
When being assembled, it can be arranged circumferentially bolt along firm gear end cap 5 or rigid gear 3, made whole
Body uniform force, improves service life.
The present invention also provides a kind of transmission systems, including the harmonic wave drive speed reducer.
Due to the specific structure of the harmonic wave drive speed reducer, the principle of work and power with technical effect in detailed hereinbefore, herein
Just it repeats no more.
So any technology contents about the harmonic wave drive speed reducer, can refer to above for the harmonic wave
The record of gearing speed-reducer.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of harmonic wave drive speed reducer characterized by comprising
Wave producer；
Flexible gear, the flexible gear rotation are socketed on the wave producer；
The flexible gear includes transmission cylinder and connection ring body；The connection ring body is arranged on an end face of the transmission cylinder,
And the connection ring body and the transmission cylinder are coaxially disposed；
The transmission cylinder includes first position and second position, and the first position is close to the connection ring body, and described second
The outer wall of position is provided with external tooth；
Rigid gear, the inner ring of the rigid gear are provided with the internal tooth matched with the external tooth being arranged in the second position,
The rigid gear is connected by meshing transmission with the flexible gear；
First bearing, the first bearing rotation are set in the first position of the transmission cylinder.
2. harmonic wave drive speed reducer according to claim 1, which is characterized in that the axis of the wave producer has along institute
State the through-hole of axis being axially arranged；
The through-hole and the axis are coaxially disposed.
3. harmonic wave drive speed reducer according to claim 1, which is characterized in that the first bearing includes crossed roller axis
It holds.
4. harmonic wave drive speed reducer according to any one of claim 1-3, which is characterized in that further include cricoid flexbile gear
End cap；
The flexbile gear end cap is socketed on the wave producer, and the flexbile gear end cap is connected to the separate institute of the flexible gear
State the end face of one end of rigid gear.
5. harmonic wave drive speed reducer according to claim 4, which is characterized in that be provided on the flexbile gear end cap for holding
Receive the first annular recess of the flexible gear, the flexible gear is arranged in first annular recess.
6. harmonic wave drive speed reducer according to claim 5, which is characterized in that the first annular recess of the flexbile gear end cap
Slot bottom and the end face of connection ring body of the flexible gear be respectively arranged with corresponding counter sink and through-hole；
The flexbile gear end cap and the flexible gear are fixed by multiple screws, and are fixed on the outer ring of the first bearing together
On.
7. harmonic wave drive speed reducer according to any one of claim 1-3, which is characterized in that further include cricoid firm gear
End cap；
The firm gear end cap is socketed on the wave producer, and the firm gear end cap is connected to the separate institute of the rigid gear
State the end face of one end of flexible gear.
8. harmonic wave drive speed reducer according to claim 7, which is characterized in that be provided on the firm gear end cap for holding
Receive the second annular recess of the rigid gear, the rigid gear is arranged in second annular recess.
9. harmonic wave drive speed reducer according to claim 8, which is characterized in that the second annular recess of the firm gear end cap
Slot bottom and the rigid gear far from the flexible gear one end end face be respectively arranged with corresponding counter sink and
Through-hole；
The firm gear end cap and the rigid gear are fixed by multiple screws, and are fixed on the inner ring of the first bearing together
On.
10. a kind of transmission system, which is characterized in that including harmonic wave drive speed reducer as claimed in any one of claims 1-9 wherein.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182674.2A CN108980300A (en) | 2018-10-11 | 2018-10-11 | Harmonic wave drive speed reducer and transmission system |
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| CN201811182674.2A CN108980300A (en) | 2018-10-11 | 2018-10-11 | Harmonic wave drive speed reducer and transmission system |
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Cited By (6)
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| CN109723799A (en) * | 2019-01-16 | 2019-05-07 | 南京信息工程大学 | A kind of combined harmonic retarder |
| CN112780754A (en) * | 2021-01-20 | 2021-05-11 | 清华大学 | Rod-shaped device |
| CN112780753A (en) * | 2021-01-20 | 2021-05-11 | 清华大学 | Rod-shaped device |
| CN114110125A (en) * | 2021-11-12 | 2022-03-01 | 珠海格力电器股份有限公司 | Harmonic reducer with self-energized sensor system |
| CN114321320A (en) * | 2022-01-19 | 2022-04-12 | 无锡巨蟹智能驱动科技有限公司 | Enclosed harmonic drive, applications and methods |
| WO2023108528A1 (en) * | 2021-12-13 | 2023-06-22 | 上海非夕机器人科技有限公司 | Speed reducer, reduction drive system, and robot joint and robot comprising reduction drive system |
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| CN107843424A (en) * | 2017-12-20 | 2018-03-27 | 中山市沃尔达智能装备有限公司 | A kind of harmonic reduction machine detecting device and its control method |
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| CN112780754A (en) * | 2021-01-20 | 2021-05-11 | 清华大学 | Rod-shaped device |
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| CN114110125A (en) * | 2021-11-12 | 2022-03-01 | 珠海格力电器股份有限公司 | Harmonic reducer with self-energized sensor system |
| CN114110125B (en) * | 2021-11-12 | 2024-01-23 | 珠海格力电器股份有限公司 | Harmonic reducer with self-powered sensor system |
| WO2023108528A1 (en) * | 2021-12-13 | 2023-06-22 | 上海非夕机器人科技有限公司 | Speed reducer, reduction drive system, and robot joint and robot comprising reduction drive system |
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