CN110067844B - Harmonic speed reducer with oil disturbing lubrication - Google Patents
Harmonic speed reducer with oil disturbing lubrication Download PDFInfo
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- CN110067844B CN110067844B CN201810058810.0A CN201810058810A CN110067844B CN 110067844 B CN110067844 B CN 110067844B CN 201810058810 A CN201810058810 A CN 201810058810A CN 110067844 B CN110067844 B CN 110067844B
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- oil
- gear
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- flexible gear
- flexible
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/048—Type of gearings to be lubricated, cooled or heated
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
- F16H57/0025—Shaft assemblies for gearings with gearing elements rigidly connected to a shaft, e.g. securing gears or pulleys by specially adapted splines, keys or methods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0457—Splash lubrication
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0467—Elements of gearings to be lubricated, cooled or heated
- F16H57/0469—Bearings or seals
- F16H57/0471—Bearing
Abstract
The invention discloses a harmonic speed reducer with oil disturbance lubrication, comprising: the rigid wheel axially penetrates through a containing hole, and the inner peripheral surface of the containing hole is provided with an inner ring tooth and a rigid wheel oil disturbing area; the output bearing is provided with an outer ring and an inner ring, and the outer ring is fixedly connected with one end of the rigid wheel; the flexible gear is provided with a bottom wall and a peripheral wall, the peripheral surface of the peripheral wall is provided with an outer ring gear and a flexible gear oil disturbing area, and the flexible gear is arranged in the accommodating hole of the rigid gear; a wave generator with an oval outline, which is forced into the peripheral wall of the flexible gear to make the peripheral wall of the flexible gear oval; a pressure plate for connecting the bottom wall of the flexible gear and the inner ring of the output bearing to move together; the oil disturbing device is provided with an annular part and a plurality of oil disturbing parts, the annular part is pressed between the bottom wall of the flexible gear and the inner ring of the output bearing to move synchronously, and the oil disturbing parts are positioned in a rigid gear oil disturbing area of the rigid gear and a flexible gear oil disturbing area of the flexible gear; thereby achieving the effects of improving lubrication, reducing abrasion, reducing volume and the like.
Description
Technical Field
The invention relates to the technical field of harmonic speed reducers, in particular to an oil disturbing lubricating harmonic speed reducer.
Background
The harmonic speed reducer is a common speed reducing mechanism, is mainly used for speed reduction output, and has the advantages of large transmission speed ratio, high bearing capacity, good transmission precision, simple structure, small volume, stable motion and the like, so the harmonic speed reducer is commonly used in various industries.
The harmonic speed reducer is mainly composed of a wave generator, a flexible gear and a rigid gear, wherein the wave generator inputs rotary power and is arranged in the flexible gear to force the flexible gear to form an ellipse, and the speed of the harmonic speed reducer is reduced and output by the tooth difference between the flexible gear and the rigid gear. However, since relative rotational movement is required between the flexspline and the ring gear, lubrication is required, and generally, lubricating oil is injected between the flexspline and the ring gear, but when the outer ring gear of the flexspline and the inner ring gear of the ring gear are engaged, the lubricating oil is squeezed out, so that the lubricating effect is more and more poor, and the wear is more and more increased.
In order to solve the above problems, some manufacturers will install an additional oil injection device to replenish the lubricant oil to the outer ring teeth of the flexible gear and the inner ring teeth of the rigid gear at any time, but this will not only increase the volume and cost, but also reduce the output efficiency due to excessive lubricant oil. In addition, as disclosed in JP2017020537, a disturbing plate is additionally provided inside the flexspline to disturb the lubricant to the wave generator with the same motion of the flexspline to lubricate the wave generator, but the disturbing plate in this patent is only used for lubricating the wave generator, and has no benefit of improving the lubrication between the outer ring teeth of the flexspline and the inner ring teeth of the rigid spline.
Disclosure of Invention
The invention aims to provide a harmonic speed reducer for oil disturbance lubrication, which achieves the effects of enhancing lubrication, reducing abrasion, reducing volume and the like.
Based on the above, the present invention mainly adopts the following technical means to achieve the above object.
A harmonic speed reducer with oil disturbance lubrication mainly comprises: the rigid wheel axially penetrates through a containing hole, and the inner peripheral surface of the containing hole is provided with an inner ring tooth and a rigid wheel oil disturbing area adjacent to the inner ring tooth; the output bearing is provided with an outer ring and an inner ring which can rotate relative to the outer ring, and the outer ring is fixedly connected with one end of the rigid wheel; the flexible gear is provided with a circular bottom wall and a peripheral wall which axially and annularly extends from the periphery of the bottom wall to one end, the peripheral surface of the peripheral wall is provided with an outer ring gear and a flexible gear oil disturbing area adjacent to the outer ring gear, and the flexible gear is arranged in the accommodating hole of the rigid gear; a wave generator with an oval outline, which is forced into the peripheral wall of the flexible gear to make the peripheral wall of the flexible gear oval; a pressure plate for connecting the bottom wall of the flexible gear and the inner ring of the output bearing to move together; the oil disturbing device is provided with an annular part and a plurality of oil disturbing parts which axially extend outwards from one end of the annular part, the annular part is pressed between the bottom wall of the flexible gear and the inner ring of the output bearing to move synchronously, and the oil disturbing parts are positioned in a rigid gear oil disturbing area of the rigid gear and a flexible gear oil disturbing area of the flexible gear.
Furthermore, the wave generator has a flexible bearing, an elliptical wheel and a coupling, the elliptical wheel is installed in the flexible bearing, so that the outer peripheral surface of the flexible bearing forms an ellipse, and the coupling is connected with the elliptical wheel to be used as an interface for connecting with the external rotary power.
Further, the number of the oil disturbing portions is three.
Further, the number of the oil disturbing portions is two.
Furthermore, the oil disturbing part is provided with an oil disturbing sheet and a connecting part connected between the oil disturbing sheet and the annular part.
Furthermore, at least one side surface of the oil disturbing sheet is an inclined surface.
Furthermore, at least one side surface of the oil disturbing sheet is a plane.
Further, the oil disturbing sheet is spiral.
Furthermore, a plurality of bottom wall perforations are arranged on the bottom wall of the flexible gear; the pressure plate is provided with a circular plate body and a plurality of locking pieces, a plurality of pressure plate through holes are axially formed in the plate body, the plate body is arranged in the flexible gear and is pressed against the bottom wall of the flexible gear, and the locking pieces penetrate through the bottom wall through holes and the pressure plate through holes and are locked and fixed on the end face of the inner ring of the output bearing, so that the annular part of the oil deflector is pressed between the end face of the inner ring of the output bearing and the bottom wall of the flexible gear.
Further, the oil disturbing parts are arranged on the annular part at equal angle intervals.
After the technical means is adopted, the flexible gear oil disturbing area of the flexible gear and the rigid gear oil disturbing area of the rigid gear are filled with a predetermined amount of lubricating oil before assembly, so when the wave generator is connected with external input power, the outer ring teeth of the flexible gear have two fewer teeth than the inner ring teeth of the rigid gear and have an elliptic outline, and the flexible gear can drive the inner ring of the output bearing to perform speed reduction output. When the flexible gear and the output bearing rotate in a speed-reducing output mode, the oil disturbing unit is driven simultaneously to disturb the lubricating oil in the flexible gear oil disturbing area of the flexible gear and the rigid gear oil disturbing area of the rigid gear so as to disturb the lubricating oil in the flexible gear oil disturbing area of the flexible gear and the rigid gear oil disturbing area of the rigid gear to the positions between the outer ring teeth of the flexible gear and the inner ring teeth of the rigid gear, so as to keep the lubricating degree between the outer ring teeth of the flexible gear and the inner ring teeth of the rigid gear, thereby achieving the effect of reducing the abrasion.
Drawings
Fig. 1 is an exploded perspective view of a first preferred embodiment of the present invention.
Fig. 2 is a perspective assembly view of the embodiment shown in fig. 1.
Fig. 3 is an assembled cross-sectional view of the embodiment shown in fig. 1.
FIG. 4 is a partial component assembly view of the embodiment shown in FIG. 1.
FIG. 5 is a partial component assembly view of the embodiment shown in FIG. 1.
FIG. 6 is a perspective view of a portion of the components of the embodiment shown in FIG. 1.
FIG. 7 is a perspective view of a portion of another embodiment of the present invention.
FIG. 8 is a perspective view of a portion of a component of yet another embodiment of the present invention.
[ notation ] to show
Oil-disturbing lubricated harmonic speed reducer 100
Flexible bearing 11 elliptical wheel 12
Bottom wall 21 bottom wall perforation 211
Flexspline oil disturbance area 222
Ring teeth 32 in the accommodation hole 31
Rigid wheel oil disturbing area 33
Output bearing 40
The annular portion 51 interferes with the oil portion 52
Locking part 62
And a lubricating oil 90.
Detailed Description
To further understand and appreciate the features and characteristics of the present invention, the following embodiments are illustrated in the drawings:
referring to fig. 1 to fig. 6, an oil-disturbing and lubricating harmonic reducer 100 according to a preferred embodiment of the present invention mainly includes a wave generator 10, a flexspline 20, a rigid spline 30, an output bearing 40, an oil-disturbing unit 50, and a pressing plate 60, wherein:
referring to fig. 1 to 3, the wave generator 10 has a flexible bearing 11, an elliptical wheel 12 and a coupling 13. The elliptical wheel 12 is installed in the flexible bearing 11, so that the outer circumference of the flexible bearing 11 forms an elliptical shape, and the coupling 13 is connected with the elliptical wheel 12 to serve as an interface for connecting with external rotation power.
Referring to fig. 1 to 3, the flexspline 20 has a circular bottom wall 21 and a peripheral wall 22 extending from the periphery of the bottom wall 21 to one end in an axial ring shape, the bottom wall 21 has a plurality of bottom wall through holes 211, and the peripheral surface of the peripheral wall 22 has an outer ring tooth 221 adjacent to the free end and a flexspline oil-disturbing area 222 adjacent to the outer ring tooth 221.
Referring to fig. 1 to 3, the rigid wheel 30 axially penetrates through a containing hole 31, and an inner circumferential surface of the containing hole 31 has an inner ring tooth 32 adjacent to an end surface and a rigid wheel oil disturbing area 33 adjacent to the inner ring tooth 32.
Referring to fig. 1 to 3, the output bearing 40 has an outer ring 41 and an inner ring 42 installed inside the outer ring 41, and the inner ring 42 can rotate relative to the outer ring 41.
Referring to fig. 1 to 3 and 6, the oil deflector 50 includes an annular portion 51 and a plurality of oil deflector portions 52 extending axially outward from one end of the annular portion 51 at equal angles, in the embodiment, three oil deflector portions 52 are provided, each oil deflector portion 52 includes an oil deflector 521 and a connecting portion 522 connected between the oil deflector 521 and the annular portion 51, and at least one side surface of the oil deflector 521 is an inclined surface.
Referring to fig. 1 to 3, the pressing plate 60 has a circular plate body 61 and a plurality of locking members 62, the plate body 61 is axially formed with a plurality of pressing plate through holes 611, and the locking members 62 are screws.
Therefore, the above description is the description of the components of the oil-disturbing lubricated harmonic reducer 100 according to a preferred embodiment of the present invention, and the assembling manner and the using characteristics thereof are described as follows:
first, as shown in fig. 3, the end face of the outer ring 41 of the output bearing 40 is fixed to the end face of the ring gear 30 away from the inner ring gear 32, the ring portion 51 of the oil deflector 50 abuts against the end face of the inner ring 42 of the output bearing 40, the wave generator 10 is pressed into the peripheral wall 22 of the flexspline 20, the peripheral wall 22 of the flexspline 20 is made to flex into an elliptical shape, the flexspline 20 is placed into the accommodating hole 31 of the ring gear 30, the plate body 61 of the pressure plate 60 is placed into the flexspline 20 and pressed against the bottom wall 21 of the flexspline 20, the locking member 62 is passed through the bottom wall through hole 211 and the pressure plate through hole 611 and locked to the end face of the inner ring 42 of the output bearing 40, the ring portion 51 of the oil deflector 50 is locked by the pressure plate 60 and pressed between the end face of the inner ring 42 of the output bearing 40 and the bottom wall 21 of the flexspline 20, and moves together with the flexspline 20 and the inner ring 42 of the output bearing 40, the oil-disturbing portion 52 of the oil-disturbing device 50 is located between the flexible oil-disturbing portion 222 of the flexible wheel 20 and the rigid wheel oil-disturbing portion 33 of the rigid wheel 30.
As shown in fig. 4 to 5, a predetermined amount of the lubricating oil 90 is filled between the flexible oil disturbing area 222 of the flexible gear 20 and the rigid gear oil disturbing area 33 of the rigid gear 30 before assembly.
Therefore, when the coupling 13 of the wave generator 10 is connected to an external input power, the flexible gear 20 drives the inner ring 42 of the output bearing 40 to perform a speed reduction output because the outer ring teeth 221 of the flexible gear 20 have two less teeth than the inner ring teeth 32 of the rigid gear 30 and have an elliptical profile. When the flexspline 20 and the output bearing 40 rotate at a reduced speed, the oil deflector 50 is driven simultaneously, so that the oil disturbing portion 52 disturbs in the flexspline oil disturbing area 222 of the flexspline 20 and the rigid spline oil disturbing area 33 of the rigid spline 30, so as to disturb the lubricating oil 90 in the flexspline oil disturbing area 222 of the flexspline 20 and the rigid spline oil disturbing area 33 of the rigid spline 30 between the outer ring teeth 221 of the flexspline 20 and the inner ring teeth 32 of the rigid spline 30, so as to maintain the lubrication degree between the outer ring teeth 221 of the flexspline 20 and the inner ring teeth 32 of the rigid spline 30, thereby achieving the effect of reducing the abrasion.
Because the oil deflector 50 is utilized to disturb the existing lubricating oil 90 between the flexible gear 20 and the rigid gear 30 to the space between the inner ring teeth 32 and the outer ring teeth 221, oil injection equipment does not need to be additionally arranged from the outside, and the cost and the volume can be reduced.
Because the structure of the original harmonic speed reducer is not required to be changed, the effect of replenishing lubricating oil to the space between the outer ring gear and the inner ring gear at any time can be achieved only by adding the oil disturbing device, and the invention is suitable for the existing harmonic speed reducer.
In addition, as shown in fig. 7, there may be two oil-disturbing portions 52 of the oil-disturbing device 50, and at least one side surface of the oil-disturbing piece 521 of the oil-disturbing portion 52 is a plane.
As shown in fig. 8, the oil deflector 521 of the oil deflector 50 may be spiral.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and all equivalent variations of those skilled in the art according to the present invention should fall within the scope of the present invention.
Claims (10)
1. The utility model provides a disturb lubricated harmonic speed reducer machine of oil, its characterized in that mainly contains:
the rigid wheel axially penetrates through a containing hole, and the inner peripheral surface of the containing hole is provided with an inner ring tooth and a rigid wheel oil disturbing area adjacent to the inner ring tooth;
the output bearing is provided with an outer ring and an inner ring which can rotate relative to the outer ring, and the outer ring is fixedly connected with one end of the rigid wheel;
the flexible gear is provided with a circular bottom wall and a peripheral wall which axially and annularly extends from the periphery of the bottom wall to one end, the peripheral surface of the peripheral wall is provided with an outer ring gear and a flexible gear oil disturbing area adjacent to the outer ring gear, and the flexible gear is arranged in the accommodating hole of the rigid gear;
a wave generator with an oval outline, which is forced into the peripheral wall of the flexible gear to make the peripheral wall of the flexible gear oval;
a pressure plate for connecting the bottom wall of the flexible gear and the inner ring of the output bearing to move together;
the oil disturbing device is provided with an annular part and a plurality of oil disturbing parts which axially extend outwards from one end of the annular part, the annular part is pressed between the bottom wall of the flexible gear and the inner ring of the output bearing to move synchronously, and the oil disturbing parts are positioned in a rigid gear oil disturbing area of the rigid gear and a flexible gear oil disturbing area of the flexible gear.
2. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the wave generator has a flexible bearing, an elliptical wheel and a coupling, the elliptical wheel is installed in the flexible bearing, so that the outer peripheral surface of the flexible bearing forms an ellipse, and the coupling is connected with the elliptical wheel.
3. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the number of the oil disturbing parts is three.
4. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the number of the oil disturbing parts is two.
5. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the oil disturbing part is provided with an oil disturbing sheet and a connecting part connected between the oil disturbing sheet and the annular part.
6. The oil-disturbed lubricated harmonic reducer according to claim 5, wherein: at least one side surface of the oil disturbing sheet is an inclined surface.
7. The oil-disturbed lubricated harmonic reducer according to claim 5, wherein: at least one side surface of the oil disturbing sheet is a plane.
8. The oil-disturbed lubricated harmonic reducer according to claim 5, wherein: the oil disturbing sheet is spiral.
9. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the bottom wall of the flexible gear is provided with a plurality of bottom wall through holes; the pressure plate is provided with a circular plate body and a plurality of locking pieces, a plurality of pressure plate through holes are axially formed in the plate body, the plate body is arranged in the flexible gear and is pressed against the bottom wall of the flexible gear, and the locking pieces penetrate through the bottom wall through holes and the pressure plate through holes and are locked and fixed on the end face of the inner ring of the output bearing, so that the annular part of the oil deflector is pressed between the end face of the inner ring of the output bearing and the bottom wall of the flexible gear.
10. The oil-disturbed lubricated harmonic reducer according to claim 1, characterized in that: the oil disturbing parts are arranged on the annular part at equal angle intervals.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058810.0A CN110067844B (en) | 2018-01-22 | 2018-01-22 | Harmonic speed reducer with oil disturbing lubrication |
| KR1020180012628A KR101962567B1 (en) | 2018-01-22 | 2018-02-01 | Harmonic reducer where oil is disturbed and lubricated |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058810.0A CN110067844B (en) | 2018-01-22 | 2018-01-22 | Harmonic speed reducer with oil disturbing lubrication |
| KR1020180012628A KR101962567B1 (en) | 2018-01-22 | 2018-02-01 | Harmonic reducer where oil is disturbed and lubricated |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110067844A CN110067844A (en) | 2019-07-30 |
| CN110067844B true CN110067844B (en) | 2021-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810058810.0A Active CN110067844B (en) | 2018-01-22 | 2018-01-22 | Harmonic speed reducer with oil disturbing lubrication |
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| KR (1) | KR101962567B1 (en) |
| CN (1) | CN110067844B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923019B (en) * | 2019-12-05 | 2022-10-28 | 上银科技股份有限公司 | Harmonic speed reducer device |
| CN114263706B (en) * | 2022-03-02 | 2022-05-17 | 常州长浪齿轮箱有限公司 | Flat double gear case |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470608Y (en) * | 2001-02-25 | 2002-01-09 | 吴声震 | Non-leakage speed-reducer for pot |
| JP4877804B2 (en) * | 2007-03-08 | 2012-02-15 | 株式会社ハーモニック・ドライブ・システムズ | Lubricating method and rotary table device for wave gear reducer |
| TWI571574B (en) * | 2015-06-16 | 2017-02-21 | Hiwin Tech Corp | Lubrication Harmonic Reducer |
| US20170051820A1 (en) * | 2015-07-08 | 2017-02-23 | Hiwin Technologies Corp. | Lubricated harmonic drive |
| CN106481763A (en) * | 2015-08-27 | 2017-03-08 | 上银科技股份有限公司 | Screw lubrication formula harmonic wave speed reducing machine |
| TWI592590B (en) * | 2015-12-30 | 2017-07-21 | Hiwin Tech Corp | Harmonic reducer with lubrication holder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101898008B1 (en) * | 2015-01-13 | 2018-09-12 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Wave gear device |
-
2018
- 2018-01-22 CN CN201810058810.0A patent/CN110067844B/en active Active
- 2018-02-01 KR KR1020180012628A patent/KR101962567B1/en active IP Right Grant
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470608Y (en) * | 2001-02-25 | 2002-01-09 | 吴声震 | Non-leakage speed-reducer for pot |
| JP4877804B2 (en) * | 2007-03-08 | 2012-02-15 | 株式会社ハーモニック・ドライブ・システムズ | Lubricating method and rotary table device for wave gear reducer |
| TWI571574B (en) * | 2015-06-16 | 2017-02-21 | Hiwin Tech Corp | Lubrication Harmonic Reducer |
| US20170051820A1 (en) * | 2015-07-08 | 2017-02-23 | Hiwin Technologies Corp. | Lubricated harmonic drive |
| CN106481763A (en) * | 2015-08-27 | 2017-03-08 | 上银科技股份有限公司 | Screw lubrication formula harmonic wave speed reducing machine |
| TWI592590B (en) * | 2015-12-30 | 2017-07-21 | Hiwin Tech Corp | Harmonic reducer with lubrication holder |
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| Publication number | Publication date |
|---|---|
| KR101962567B1 (en) | 2019-03-26 |
| CN110067844A (en) | 2019-07-30 |
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