CN113983141A - Carry on compact steering wheel of harmonic speed reducer ware - Google Patents
Carry on compact steering wheel of harmonic speed reducer ware Download PDFInfo
- Publication number
- CN113983141A CN113983141A CN202111383058.5A CN202111383058A CN113983141A CN 113983141 A CN113983141 A CN 113983141A CN 202111383058 A CN202111383058 A CN 202111383058A CN 113983141 A CN113983141 A CN 113983141A
- Authority
- CN
- China
- Prior art keywords
- output shaft
- harmonic reducer
- shell
- shaft
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 56
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 22
- 239000010959 steel Substances 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 6
- 238000010923 batch production Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Retarders (AREA)
Abstract
The invention discloses a compact steering engine carrying a harmonic reducer, which is characterized in that a motor and a main shaft of the harmonic reducer are arranged in parallel, and a shell of the harmonic reducer and a shell of a motor shell form an integrated shell space with the tops communicated; in the communication area, a driving belt wheel is arranged on an output shaft of the motor and forms belt transmission with a driven belt wheel on the top of the harmonic reducer through a synchronous belt; and a position magnetic steel and a position sensor are arranged above the harmonic reducer in the space of the shell. The structure is compact, the volume is small, the back clearance is small, the transmission precision is high, the reduction ratio is large, the cost is low, and the device is suitable for batch production.
Description
Technical Field
The invention belongs to the technical field of power transmission, and particularly relates to a compact steering engine with a harmonic reducer, which is applied to the technical fields of service robots, cloud platforms, high-grade toys and automatic control.
Background
The traditional harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small back clearance, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools.
The harmonic reducer consists of a steel wheel, a flexible wheel and a wave generator, wherein the wave generator with elliptic deformation is arranged in the metal flexible wheel with elasticity, and the wave generator rotates to force the tooth form of the flexible wheel to be periodically meshed and separated with the tooth form of the steel wheel, so that the effect of staggered tooth difference speed reduction is realized.
However, the precision manufacturing process of the traditional harmonic wave device determines that the product cannot be widely applied to the technical fields of small products related to life such as service robots, holders, high-grade toys and the like or automatic control, on one hand, the harmonic wave speed reducer in the fields has higher requirements on the volume, but the expectation on the transformation or application cost is low, and the harmonic wave speed reducer widely applied in the industrialization cannot be simply applied to the fields to form an integrated steering engine. Therefore, there is a need for a compact steering engine with a harmonic reducer, which is integrated and suitable for mass production, and has a compact structure, a small size, a small back clearance, a high transmission precision, a large reduction ratio, and a low cost.
Disclosure of Invention
The invention aims to provide a compact steering engine carrying a harmonic reducer, which has the advantages of compact structure, small volume, small back clearance, high transmission precision, large reduction ratio, low cost and suitability for batch production.
In order to solve the technical problems, the invention adopts the following technical scheme:
a compact steering engine carrying a harmonic reducer is characterized in that a motor and a main shaft of the harmonic reducer are arranged in parallel, and a harmonic reducer shell and a motor shell form an integrated shell space with the top communicated; in the communication area, a driving belt wheel is arranged on an output shaft of the motor and forms belt transmission with a driven belt wheel on the top of the harmonic reducer through a synchronous belt; and a position magnetic steel and a position sensor are arranged above the harmonic reducer in the space of the shell.
In the technical scheme, in the harmonic reducer, a driven belt wheel and a cam at the top of the harmonic reducer are integrally installed, and the cam rotates to drive a wave generator to work so as to drive the harmonic reducer to operate; one end of an output shaft which is installed together with the flexible gear is used as an output flange of the steering engine and is connected with the outside at the bottom of the space of the shell, and one end of the output shaft is positioned at the top of the space of the shell and is provided with position magnetic steel and a position sensor so as to sense the rotating angle of the output shaft and control a position closed loop and a speed closed loop.
In the technical scheme, in the harmonic reducer area, the wall body of the integrated shell space is a cylindrical wall body from the bottom of the output shaft to the axial direction of the cam, a cylindrical hard limiting shell is arranged in the cylindrical wall body, and the output shaft steel wheel is fixed on the hard limiting shell; the outer wall of the output shaft is rotatably supported and connected with the inner wall of the hard limiting shell.
In the technical scheme, the output shaft is a long hollow shaft, one end of the output shaft is fixedly connected with the other hollow shaft, a hollow flexible gear bottom cover is clamped at the fixed connection position through a radial flange structure, the outer wall of the flexible gear extending upwards from the flexible gear bottom cover is contacted with the steel gear, and the inner wall of the flexible gear is contacted with the oval periphery of the cam through a flexible bearing; the cam is a hollow step shaft, the periphery of the narrow part of the step is provided with an oval periphery, a supporting bearing is arranged between the inner wall of the wide part of the step and the hollow shaft, and the inner ring of the supporting bearing is fixed on the other hollow shaft; the outer wall of the step wide part and the end part are coated with the driven belt wheel.
Among the above-mentioned technical scheme, the support bearing through two interval settings rotatably supports between output shaft outer wall and the hard spacing shell inner wall and is connected.
Among the above-mentioned technical scheme, two support bearing pass through spacing ring axial interval and set up between output shaft bottom and hard spacing shell top.
According to the technical scheme, the output shaft is provided with the through hole from the narrow to the wide three-stage step shaft and the center, the end face of the narrow end of the output shaft is provided with the threaded hole, the flexible gear is clamped between the output shaft and another hollow shaft through the flat head screw, the supporting bearings are respectively installed at the first-stage step and the second-stage step of the axial output shaft, and the shaft lever outside the third-stage step of the output shaft extends out of the outer shell and is provided with the mounting flange.
In the technical scheme, the limiting ring is a step-shaped hollow shaft and is limited by a ring axial positioning column and a ring rotating positioning column which are arranged in a sliding mode, a shaft limit first column and a shaft limit second column are arranged on the limiting ring, and a shaft limiting column is correspondingly arranged on the output shaft; a zero point inner hole is formed in the output shaft and used for being matched with the ring axial positioning column to achieve ring axial zero point positioning; a zero outer hole is formed in the hard limiting shell and used for axially limiting the shaft limiting column; a first positioning ring is radially arranged between the limiting ring and the hard limiting shell, and a second positioning ring is radially arranged between the limiting ring and the output shaft.
In the technical scheme, the steel wheel and the cam are integrally processed and formed by 304 CrMoNiA, 40CrMoNiA and 40 CrA; the flexible gear is integrally processed and formed by adopting 40CrMoNiA and 40CrA materials, and the outer shell is integrally cast and formed.
Among the above-mentioned technical scheme, the sealing washer is installed to the third step periphery of output shaft.
The invention provides a compact steering engine carrying a metal harmonic reducer. The flexible gear, the steel gear and the cam of the harmonic speed reducer are all made of metal materials, so that the speed reducer has more advantages in the aspects of torque transmission and rigidity, and the tooth form is C. A driving motor of the compact steering engine drives a synchronous belt through a driving synchronous belt pulley arranged on an output shaft of the motor to drive a driven synchronous belt pulley integrated with a cam to rotate, the cam rotates to enable waves to work, and a harmonic reducer operates. And the position sensor senses the rotating angle of the output shaft and controls a position closed loop and a speed closed loop of the compact steering engine. The compact steering engine has the advantages of compact mechanism, small volume, small back clearance, high transmission precision and large reduction ratio.
Drawings
Fig. 1 is an appearance structure schematic diagram of a compact steering engine with a harmonic reducer according to the present invention.
FIG. 2 is a schematic diagram of a control circuit installation structure of a compact steering engine with a harmonic reducer according to the present invention.
FIG. 3 is a schematic diagram of a synchronous belt transmission mechanism of a compact steering engine with a harmonic reducer according to the present invention.
Fig. 4 is a detailed structural diagram (cross-sectional view) of the interior of the compact steering engine with the harmonic reducer according to the present invention.
FIG. 5 is a schematic diagram of a mechanical hard limit of a compact steering engine with a harmonic reducer according to the present invention.
Fig. 6 is a schematic view of a transmission shaft in a mechanical hard limit section of the compact steering engine with the harmonic reducer (a-a section view in fig. 5).
FIG. 7 is a schematic diagram of the external drive housing with a mechanical hard stop profile for a compact steering engine with a harmonic reducer of the present invention (cross-section B-B in FIG. 5).
Fig. 8 is a mechanical hard limit explosion diagram of the compact steering engine with the harmonic reducer of the invention.
The reference numbers in the figures correspond to the following:
1. an outer housing; 2. a control circuit board; 3. a synchronous belt; 4. a driving pulley; 5. a motor; 6. a motor housing; 7. locking the compression ring; 8. a seal ring; 9. an output shaft; 10. another kind of balance bearing; 11. a hard limit housing; 12. a first positioning ring; 13. a limiting ring; 14. a second positioning ring; 15. a kind of balance bearing; 16. a flexible gear; 17. a shaft; 18. a steel wheel; 19. a positioning ring; 20. a compliant bearing; 21. a cam; 22. a support bearing; 23. a driven pulley; 24. a limiting mounting ring; 25. position magnetic steel; 26. a position sensor; 27. a ring axial locating post; 28. rotating the positioning column circularly; 29. a shaft limiting post; 30. an axle limit first post; 31. a shaft limit second column; 32. a zero outer hole; 33. and (4) a zero point inner hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A compact steering engine with a harmonic reducer according to an embodiment of the present invention is shown in fig. 1 to 8, and the present invention will be described in further detail with reference to the accompanying drawings.
The invention aims to provide a compact steering engine with a harmonic reducer.
The motor 5 is installed on the motor mount pad of motor housing 6, and interference fit has driving pulley 4 on the output shaft of motor 5, and motor 5 drives hold-in range 3 through driving pulley 4, and driven pulley 23 on the drive cam 21 rotates.
The cam 21 is provided with a supporting bearing 22 along the axial upper edge, the lower edge is provided with a flexible bearing 20, the cam and the flexible bearing 20 are combined into a wave generator, the wave generator is arranged in an elastic flexible gear 16, the wave generator rotates to force the tooth form of the flexible gear 16 and the tooth form of the steel gear 18 to be meshed and separated periodically, and further the effect of staggered tooth difference speed reduction is achieved. The flexible gear 16 and the output shaft 9 are fixed together, the output shaft 9 and the shaft 17 adopt a coaxial design, the tail end of the output shaft 17 is provided with position magnetic steel 25, and the position magnetic steel and the position sensor 26 form a position and speed control closed loop of a compact steering engine and are controlled by the control circuit board 2.
One end face of the cam 21 along the axial direction is a driven co-pulley 23, the other end of the cam 21 along the axial direction is an oval body in the radial outer part, the flexible bearing 20 is nested and installed on the outer periphery of the oval body, a supporting bearing 22 for balancing is installed inside the cam 21, and the inner ring of the supporting bearing 22 is fixed on the shaft 17.
The output shaft 9 adopts a long shaft design, adopts three-stage stepped shafts from narrow to wide, and is provided with a through hole in the center. The end face of one end of the narrow part of the output shaft 9 is provided with a threaded hole, a flexible gear 16 is clamped between the output shaft 9 and a shaft 17 by a flat head screw, a balance bearing 15 and another balance bearing 10 are respectively arranged at the first step and the second step of the axial output shaft, and the outer part (the bottom of figure 4) of the third step of the output shaft 9 extends out of the outer shell 1 and is provided with a mounting flange.
The motor 5 and the harmonic reducer are arranged in parallel and are both positioned in the steering engine outer shell 1, so that the space is compact and the arrangement is reasonable.
The steel wheel 18 and the cam 21 are integrally machined and formed by using 304 CrMoNiA and 40 CrA. The flexible gear 16 is integrally processed and formed by materials such as 40CrMoNiA, 40CrA and the like, and the outer shell 1 is integrally cast and formed.
On the other hand, the cam 21 is in a stepped shaft shape, the driven pulley 23 is arranged at one end with a wide diameter, the elliptical cam is arranged at the end with a narrow diameter, the flexible bearing 20 is installed in a nested mode, the inner ring of the supporting bearing 22 on the cam 21 is fixed on the shaft 17, the flexible bearing 20 is installed on the inner ring of the flexible gear 16, and the inner ring of the flexible gear 16 is provided with a limiting check ring which can control the axial position of the flexible bearing 20. The steel wheel 18 is fixed on the hard limit shell 11 by a flat head screw and is positioned and fixed with an inner hole of the hard limit shell 11, and one type of balance bearing 15 and the other type of balance bearing 10 are arranged with the output shaft 9 in an interference fit manner. The end face of one end of the output shaft 9 can be preferably provided with an output mounting flange, the mounting flange is provided with a threaded hole and locked with the flange of the shaft 17 through a flat head screw, and a bottom cover for fixing the flexible gear 16 is tightly pressed between the two flanges.
The other end (polished rod end) of the shaft 17 is provided with a limiting installation ring 24, the limiting installation ring 24 is clamped and fixedly installed with position magnetic steel 25, a position sensor 26 is installed on the outer shell 1, and a control circuit board 2 is installed on the outer shell above the position sensor 26.
The balance bearing 15 and the balance bearing 10 are the same as the support bearing 22 in structure and both play a role of balance support.
A limiting ring 13 is arranged between a balance bearing 15 and another balance bearing 10 for mechanical hard limiting, the limiting ring 13 is limited by a ring axial positioning column 27 and a ring rotating positioning column 28, a shaft limit first column 30 and a shaft limit second column 31 are arranged on the limiting ring 13, and a shaft limit column 29 is arranged on an output shaft 9. A zero point inner hole 33 is formed in the output shaft 9 and used for being matched with the ring axial positioning column 27 to achieve the zero point positioning of the ring axial direction; the hard limit shell 11 is provided with a zero outer hole 32 for axially limiting the shaft limit column 29.
A first retaining ring 12 is disposed radially between the stop collar 13 and the hard stop housing 11 and a second retaining ring 14 is disposed radially between the stop collar 13 and the output shaft 9.
And a sealing ring 8 is arranged on the periphery of a third step of the output shaft 9, and is locked to the hard limiting shell 11 through a locking compression ring 7 by using a countersunk screw, so that the sealing property and integrity of the steering engine are ensured, the assembly and production are convenient, and the reliability is high. And a mounting flange is arranged outside the third step shaft end of the output shaft 9 and used for integrally fixing the steering engine.
It will be understood that modifications and variations can be resorted to by those skilled in the art, and that all such modifications and variations are intended to be within the scope of the invention as claimed.
Claims (10)
1. A compact steering engine carrying a harmonic reducer is characterized in that a motor and a main shaft of the harmonic reducer are arranged in parallel, and a harmonic reducer shell and a motor shell form an integrated shell space with the top communicated; in the communication area, a driving belt wheel is arranged on an output shaft of the motor and forms belt transmission with a driven belt wheel on the top of the harmonic reducer through a synchronous belt; and a position magnetic steel and a position sensor are arranged above the harmonic reducer in the space of the shell.
2. The compact steering engine with the harmonic reducer according to claim 1, wherein the harmonic reducer is provided with a driven pulley and a cam at the top of the harmonic reducer, which are integrally mounted, and the rotation of the cam drives a wave generator to work so that the harmonic reducer operates; one end of an output shaft which is installed together with the flexible gear is used as an output flange of the steering engine and is connected with the outside at the bottom of the space of the shell, and one end of the output shaft is positioned at the top of the space of the shell and is provided with position magnetic steel and a position sensor so as to sense the rotating angle of the output shaft and control a position closed loop and a speed closed loop.
3. The compact steering engine with the harmonic reducer according to claim 1, wherein in the harmonic reducer area, the wall body of the integrated shell space is a cylindrical wall body from the bottom of the output shaft to the axial direction of the cam, a cylindrical hard limiting shell is arranged in the cylindrical wall body, and the steel wheel of the output shaft is fixed on the hard limiting shell; the outer wall of the output shaft is rotatably supported and connected with the inner wall of the hard limiting shell.
4. The compact steering engine with the harmonic reducer according to claim 1, wherein the output shaft is a long hollow shaft, one end of the output shaft is fixedly connected with another hollow shaft, a hollow flexible gear bottom cover is clamped at the fixed connection position through a radial flange structure, the outer wall of the flexible gear extending upwards from the flexible gear bottom cover is in contact with the steel gear, and the inner wall of the flexible gear is in contact with the elliptical periphery of the cam through a flexible bearing; the cam is a hollow step shaft, the periphery of the narrow part of the step is provided with an oval periphery, a supporting bearing is arranged between the inner wall of the wide part of the step and the hollow shaft, and the inner ring of the supporting bearing is fixed on the other hollow shaft; the outer wall of the step wide part and the end part are coated with the driven belt wheel.
5. The compact steering engine with the harmonic reducer as claimed in claim 1, wherein the outer wall of the output shaft is rotatably supported and connected with the inner wall of the hard limiting shell through two supporting bearings arranged at intervals.
6. The compact steering engine with the harmonic reducer as claimed in claim 5, wherein the two support bearings are axially spaced by a spacing ring between the bottom of the output shaft and the top of the hard spacing housing.
7. The compact steering engine with the harmonic reducer according to claim 1, wherein the output shaft is provided with three stages of shafts from narrow to wide, a through hole is formed in the center of each shaft, a threaded hole is formed in an end face of one end of a narrow portion of the output shaft, the flexible gear is clamped between the output shaft and another hollow shaft through a flat head screw, support bearings are respectively installed on a first stage step and a second stage step of the output shaft along the axial direction, and a shaft lever outside a third stage step of the output shaft extends out of the outer shell and is provided with an installation flange.
8. The compact steering engine with the harmonic reducer according to claim 1, wherein the limiting ring is a stepped hollow shaft, the limiting ring is limited by a ring axial positioning column and a ring rotating positioning column which are arranged in a sliding manner, a shaft limit first column and a shaft limit second column are mounted on the limiting ring, and the limiting column is correspondingly mounted on the output shaft; a zero point inner hole is formed in the output shaft and used for being matched with the ring axial positioning column to achieve ring axial zero point positioning; a zero outer hole is formed in the hard limiting shell and used for axially limiting the shaft limiting column; a first positioning ring is radially arranged between the limiting ring and the hard limiting shell, and a second positioning ring is radially arranged between the limiting ring and the output shaft.
9. The compact steering engine with the harmonic reducer according to claim 1, wherein the steel wheel and the cam are integrally formed by 304 CrMoNiA and 40 CrA; the flexible gear is integrally processed and formed by adopting 40CrMoNiA and 40CrA materials, and the outer shell is integrally cast and formed.
10. The compact steering engine with the harmonic reducer as claimed in claim 1, wherein a sealing ring is mounted on the periphery of the third step of the output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383058.5A CN113983141A (en) | 2021-11-22 | 2021-11-22 | Carry on compact steering wheel of harmonic speed reducer ware |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383058.5A CN113983141A (en) | 2021-11-22 | 2021-11-22 | Carry on compact steering wheel of harmonic speed reducer ware |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113983141A true CN113983141A (en) | 2022-01-28 |
Family
ID=79749600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111383058.5A Pending CN113983141A (en) | 2021-11-22 | 2021-11-22 | Carry on compact steering wheel of harmonic speed reducer ware |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113983141A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101220836A (en) * | 2007-12-25 | 2008-07-16 | 中国电子科技集团公司第四十五研究所 | Accurate mechanical bearing and aerostatic bearing associated shafting |
| KR200491507Y1 (en) * | 2018-11-29 | 2020-04-20 | 하이윈 테크놀로지스 코포레이션 | Reducer |
| CN212509416U (en) * | 2020-03-16 | 2021-02-09 | 无锡巨蟹智能驱动科技有限公司 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
| WO2021062635A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Joint structure and robot |
| WO2021170004A1 (en) * | 2020-02-24 | 2021-09-02 | 长城汽车股份有限公司 | Variable compression ratio driving structure and assembly method therefor, engine, and vehicle |
| CN113404837A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Carry on light-duty steering wheel of harmonic speed reducer machine |
-
2021
- 2021-11-22 CN CN202111383058.5A patent/CN113983141A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101220836A (en) * | 2007-12-25 | 2008-07-16 | 中国电子科技集团公司第四十五研究所 | Accurate mechanical bearing and aerostatic bearing associated shafting |
| KR200491507Y1 (en) * | 2018-11-29 | 2020-04-20 | 하이윈 테크놀로지스 코포레이션 | Reducer |
| WO2021062635A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Joint structure and robot |
| WO2021170004A1 (en) * | 2020-02-24 | 2021-09-02 | 长城汽车股份有限公司 | Variable compression ratio driving structure and assembly method therefor, engine, and vehicle |
| CN212509416U (en) * | 2020-03-16 | 2021-02-09 | 无锡巨蟹智能驱动科技有限公司 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
| CN113404837A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Carry on light-duty steering wheel of harmonic speed reducer machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106230186B (en) | It is a kind of to gather the hollow type harmonic speed reducer for having motor | |
| WO2018028204A1 (en) | Pitch-circle differential speed-reduction device | |
| WO2006076321A2 (en) | High reduction ratio electric hub drive | |
| CN109968398B (en) | Ultra-thin type external rotor harmonic speed reduction all-in-one | |
| CN111425580A (en) | Harmonic reducer and driver | |
| CN110966370B (en) | Elastic planetary friction transmission device | |
| CN113983141A (en) | Carry on compact steering wheel of harmonic speed reducer ware | |
| CN114017618B (en) | Be suitable for every single move driven control harmonic reducer for cloud platform and cloud platform | |
| CN113404835A (en) | Carry on harmonic speed reducer machine directly drive steering wheel | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN214007959U (en) | Harmonic reducer and driver | |
| CN214007958U (en) | Toothless harmonic speed reducer and driver | |
| CN212959708U (en) | Planet brake speed reducer | |
| CN115264007A (en) | Multistage cycloidal speed reducer | |
| CN212985959U (en) | Carry on harmonic speed reducer machine directly drive steering wheel | |
| CN210770053U (en) | Cycloidal pin gear speed reducing mechanism | |
| RU185563U1 (en) | ELECTROMECHANICAL DRIVE | |
| CN113669419A (en) | Speed reducing mechanism with variable speed reducing ratio | |
| CN111946796A (en) | Multistage gear drive's harmonic speed reducer ware and robot | |
| CN114017617B (en) | Compact harmonic reducer for monitoring cradle head and cradle head | |
| CN220060391U (en) | Pure rolling wave tooth speed reducer driven by multiple rollers | |
| CN114017616B (en) | Flat harmonic reducer for monitoring cradle head and cradle head | |
| CN114017619B (en) | Harmonic reducer for monitoring cradle head suitable for horizontal rotation driving and cradle head | |
| CN114017621B (en) | Flat harmonic reducer for monitoring cradle head and cradle head | |
| CN209762147U (en) | compact gear transmission mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |