CN116538268B - Novel harmonic reducer flexspline structure and processing technology thereof - Google Patents

Novel harmonic reducer flexspline structure and processing technology thereof Download PDF

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Publication number
CN116538268B
CN116538268B CN202310781346.9A CN202310781346A CN116538268B CN 116538268 B CN116538268 B CN 116538268B CN 202310781346 A CN202310781346 A CN 202310781346A CN 116538268 B CN116538268 B CN 116538268B
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China
Prior art keywords
flexible
flexspline
die
injection molding
harmonic reducer
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CN116538268A (en
Inventor
任继华
刘辉
林玲
张雨
郭权
张志健
钟赫
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Gannan Institute Of Science And Technology
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Gannan Institute Of Science And Technology
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C45/1459—Coating annular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C45/14631—Coating reinforcements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/77—Measuring, controlling or regulating of velocity or pressure of moulding material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/78—Measuring, controlling or regulating of temperature
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C2045/0096—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor drying the moulding material before injection, e.g. by heating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C2045/1486—Details, accessories and auxiliary operations
    • B29C2045/14868—Pretreatment of the insert, e.g. etching, cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00—Other particular articles
    • B29L2031/32—Wheels, pinions, pulleys, castors or rollers, Rims
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

The invention relates to the technical field of mechanical transmission, in particular to a novel harmonic reducer flexspline structure and a processing technology thereof. The invention provides a novel harmonic reducer flexspline structure, which comprises a flexspline and a thin-wall metal ring piece, wherein the inner layer of the tooth root of the flexspline is embedded into the thin-wall metal ring piece. According to the invention, the annular metal insert is placed in the die cavity of the die in the process of manufacturing the flexible gear in an injection molding mode, so that the annular metal insert is embedded into the tooth root inner layer of the flexible gear in the injection molding process of the flexible gear, the toughness and strength of the flexible gear can be effectively improved by utilizing the annular metal insert, and the service life of the flexible gear is greatly prolonged.

Description

Novel harmonic reducer flexspline structure and processing technology thereof
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a novel harmonic reducer flexspline structure and a processing technology thereof.
Background
The harmonic reducer has wide application in a plurality of fields such as robots, aerospace, instruments and meters, precision optical equipment, medical machinery and the like, the flexible gear is a core component, the flexible gear has the structural characteristics of thin wall, and has large deformation in operation and good toughness, so the flexible gear is the element with the most complex stress in the harmonic reducer and the element with the most failure possibility in the harmonic reducer.
The processing technology of the flexible gear is divided into two parts: the first part is the processing of a flexspline blank; the second part is the machining of the gear teeth of the flexible gear; the flexible gear blank is manufactured by conventional machining methods such as finish turning, grinding, drilling and the like, the flexible gear teeth are machined by hob hobbing, the rigid gear teeth are machined by a slotting cutter, but the manufacturing technology of the domestic small-modulus gear cutter is not mature, the problems of high manufacturing cost and the like exist, and some enterprises use a high-precision slow wire cutting process to machine the flexible gear and the rigid gear teeth, but the requirement of slow wire cutting on the positioning precision of the tool is very high, so that the traditional machining mode can not meet the requirement of the industrial development of the flexible gear of the harmonic reducer, and meanwhile, some enterprises propose the machining of the flexible gear of the small-load harmonic reducer by adopting an injection molding method, but when the plastic gear runs, the flexible gear can be broken along the tooth root under the working environment of continuous deformation due to insufficient toughness or is subjected to local deformation of the plastic flexible gear caused by friction heat accumulation, so that the requirement of the life expectancy can not be met.
Disclosure of Invention
In order to overcome the above drawbacks of the prior art, the object of the present invention is: the novel harmonic reducer flexspline structure and the processing technology thereof are provided.
The technical proposal is as follows: the novel harmonic reducer flexspline structure comprises a flexspline and a thin-wall metal ring piece, wherein the inner layer of the tooth root of the flexspline is embedded into the thin-wall metal ring piece.
Further, holes are uniformly formed in the thin-wall metal annular piece.
Further, the thin-wall metal ring parts embedded in the inner layer of the tooth root of the flexible gear can be replaced by a plurality of flexible metal woven belts which are arranged at equal intervals or a plurality of annular metal wires which are arranged at equal intervals.
Further, the flexible metal braiding belt further comprises a fixing piece, wherein the fixing piece is fixedly connected with a plurality of flexible metal braiding belts which are arranged at equal intervals or a plurality of annular metal wires which are arranged at equal intervals.
A novel processing technology of a harmonic reducer flexspline structure comprises the following steps:
s1: pretreatment of raw materials
Selecting plastic particle raw materials required by flexible wheel preparation, sending into a dehumidifying dryer for drying, setting the drying temperature at 80-100 ℃ and the drying time at 2-2.5h, and transferring into an injection molding machine after heating;
s2: insert pretreatment inspection
Preparing an annular metal insert, checking whether the appearance is damaged, cracks appear and burrs are removed, and clamping and sleeving the annular metal insert on a mandrel in a die cavity of a die by using a manipulator to perform injection molding and embedding;
s3: injection molding
S3.1: injection molding temperature adjustment
Preheating a die to 60-80 ℃, adjusting the barrel temperature of the gun barrel of the injection molding machine from the gun barrel to the nozzle at the distance to be stepwise increased, wherein the starting point temperature of the gun barrel is 190-193 ℃, and the end point temperature of the nozzle is 207-210 ℃;
s3.2: injection molding
And (3) die closing, wherein the injection pressure of the injection molding machine is set to 88-92par, fluid plastic enters a die cavity of the die through a nozzle, the pressure is maintained for 2-3 seconds, the pressure is set to 48-52par, the temperature is reduced and cooled for 14-17 seconds, and the die is opened to obtain the flexible gear containing the annular metal insert.
Further, the step S2 further comprises the step of preheating the annular metal insert to 85-100 ℃ and sleeving the annular metal insert on a mandrel in the die cavity of the die.
The beneficial effects of the invention are as follows: according to the invention, the annular metal insert is placed in the die cavity of the die in the process of manufacturing the flexible gear in an injection molding mode, so that the annular metal insert is embedded into the tooth root inner layer of the flexible gear in the injection molding process of the flexible gear, the toughness and strength of the flexible gear can be effectively improved by utilizing the annular metal insert, and the service life of the flexible gear is greatly prolonged;
meanwhile, the added metal inserts can absorb heat generated when the flexible gear works and rubs, heat resistance of the flexible gear is improved, and local deformation of the plastic flexible gear caused by friction heat accumulation is avoided.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the rigid gear, the flexible gear and the wave generator of the present invention after separation.
Fig. 3 is a schematic perspective view of a flexible gear and a thin-wall metal ring member according to the present invention.
Fig. 4 is a schematic perspective view of the flexible wheel, flexible metal braid and fixing element of the present invention.
Fig. 5 is a flow chart of the processing technique of the invention.
Reference numerals: 1_rigid wheel, 1a_inner ring gear, 2_flexible wheel, 2a_tooth root, 3_wave generator, 4_thin wall metal ring piece, 4a_flexible metal braid belt, 4b_fixed piece.
Detailed Description
The invention will be further described with reference to specific examples, illustrative examples and illustrations of which are provided herein to illustrate the invention, but are not to be construed as limiting the invention.
Example 1
The utility model provides a novel harmonic reducer flexspline structure, as shown in figure 1-figure 3, including flexspline 2 and thin wall metal ring piece 4, flexspline 2 is placed to the tooth root 2a inlayer of flexspline 2 in the just piece 1, and the tooth root 2a of flexspline 2 meshes with the inner circle tooth 1a of just piece 1, installs wave generator 3 in the flexspline 2, and the even hole that opens of thin wall metal ring piece 4, the hole that opens on the thin wall metal ring piece 4 helps fluid plastic to pass this hole, and tightly inlay in the plastic layer after fluid plastic solidification, so firm thin wall metal ring piece 4 is in the plastic interlayer, avoids leading to two mutual stripping because of the reciprocal deformation of thin wall metal ring piece 4 and flexspline 2.
A novel processing technology of a harmonic reducer flexspline structure is shown in fig. 5, and specifically comprises the following steps:
s1: pretreatment of raw materials
Selecting a plastic particle raw material required by the preparation of the flexible wheel 2, wherein the raw material is DuPont DELIN 100P POM in the United states, and then, sending the DuPont DELIN 100P POM into a dehumidifying dryer for drying, wherein the drying temperature is set at 80 ℃ for 2 hours, and transferring the DuPont DELIN 100P POM into an injection molding machine after the heating is finished;
s2: insert pretreatment inspection
Preparing a thin-wall metal ring piece 4, checking whether the appearance is damaged, cracks appear and burrs are removed, ensuring that the thin-wall metal ring piece 4 is undamaged, and clamping and sleeving the metal ring piece 4 on a mandrel in a die cavity of a die by using a manipulator to be embedded in an injection molding mode;
s3: injection molding
The mould is preheated to 80 ℃, the temperature in the barrel of the injection molding machine from the barrel to the nozzle is adjusted to be increased stepwise, the temperature of the feed inlet of the barrel is set at 190 ℃, the temperature in the barrel of the barrel is set at 200 ℃, the temperature of the nozzle is set at 210 ℃ in the third section, the fluid plastic still has better fluidity when entering the mould cavity, and the thin-wall metal ring piece 4 is wrapped and covered;
the die is assembled, the injection pressure of the injection molding machine is set to 90par, fluid plastic enters the die cavity of the die through a nozzle, the pressure is maintained for 2.5 seconds, the pressure is set to 50par, the temperature is reduced and cooled for 15 seconds, the die opening speed is controlled to 20mm/s, the ejection speed is controlled to 20mm/s, and then the flexible gear 2 embedded with the thin-wall metal ring piece 4 is obtained.
Example 2
On the basis of embodiment 1, as shown in fig. 1, fig. 2 and fig. 4, including rigid gear 1, flexible gear 2, wave generator 3, thin wall metal ring 4 and mounting 4b, flexible gear 2 is placed in rigid gear 1, flexible gear 2's tooth root 2a meshes with rigid gear 1's inner circle tooth 1a, install wave generator 3 in flexible gear 2, unlike in embodiment 1, flexible metal braid 4a that flexible gear 2's tooth root 2a inlayed nine and equidistant flexible metal braid 4a or nine and equidistant ring wire that arrange, in this embodiment, only exemplify with flexible metal braid 4a, flexible metal braid 4a is the ring form, flexible metal braid 4a has stronger adaptability in thin wall metal ring 4 in comparison with thin wall metal ring 4, the sign that metal top layer and plastic contact layer break away gradually can appear in following flexible gear 2's the in-out process, and flexible metal braid 4a has better flexibility, can further promote flexible metal braid 4a and flexible braid 4a is fixed together along flexible braid 4b in flexible metal braid 4a along with nine circumference direction flexible braid 4b, flexible braid 4 is fixed together, flexible braid 4 is fixed in the fluid is fixed in flexible braid 4 is difficult to the side by the side of flexible braid is fixed.
A novel processing technology of a harmonic reducer flexspline structure is shown in fig. 5, and specifically comprises the following steps:
s1: pretreatment of raw materials
Selecting a plastic particle raw material required by the preparation of the flexible wheel 2, wherein the raw material is DuPont DELIN 100P POM in the United states, and then, sending the DuPont DELIN 100P POM into a dehumidifying dryer for drying, wherein the drying temperature is set at 85 ℃, the drying time is 1.8h, and transferring the DuPont DELIN 100P POM into an injection molding machine after the heating is finished;
s2: insert pretreatment inspection
Preparing a thin-wall metal ring piece 4, checking whether the appearance is damaged, cracks appear and burrs are removed, ensuring that the flexible metal braiding belt 4a is undamaged, preheating the flexible metal braiding belt 4a to 85 ℃ through hot air, sleeving the flexible metal braiding belt on a mandrel in a die cavity, and fusing the preheated flexible metal braiding belt 4a with fluid plastics in advance, wherein the flexible metal braiding belt 4a is clamped and sleeved on the mandrel in the die cavity by a mechanical arm so as to be embedded by injection molding;
s3: injection molding
The mould is preheated to 80 ℃, the temperature in the barrel of the injection molding machine from the barrel to the nozzle is adjusted to be increased stepwise, the temperature of the feeding port of the barrel is set at 190 ℃, the temperature in the barrel of the barrel is set at 200 ℃ in the first section, the temperature of the nozzle is set at 210 ℃ in the third section, the fluid plastic still has better fluidity when entering the mould cavity, and meanwhile, the flexible metal braiding belt 4a is wrapped and covered;
the die is assembled, the injection pressure of the injection molding machine is set to 90par, fluid plastic enters the die cavity of the die through a nozzle, the pressure is maintained for 2.5 seconds, the pressure is set to 50par, the temperature is reduced and cooled for 15 seconds, the die opening speed is controlled to 20mm/s, the ejection speed is controlled to 20mm/s, and then the flexible gear 2 embedded with the flexible metal braid 4a is obtained.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted equally without departing from the spirit and scope of the technical solution of the present invention.

Claims (3)

1. The utility model provides a novel harmonic reducer flexspline structure, is including rigid gear (1), flexspline (2) and ripples generator (3), places flexspline (2) in rigid gear (1), and tooth root (2 a) and the inner circle tooth (1 a) meshing of rigid gear (1) of flexspline (2), installs ripples generator (3) in flexspline (2), its characterized in that:
the flexible gear also comprises a thin-wall metal ring piece (4), and the inner layer of the tooth root (2 a) of the flexible gear (2) is embedded into the thin-wall metal ring piece (4);
holes are uniformly formed in the thin-wall metal circular ring piece (4);
the thin-wall metal ring piece (4) embedded in the inner layer of the tooth root (2 a) of the flexible gear (2) is replaced by a plurality of flexible metal woven belts (4 a) which are arranged at equal intervals or a plurality of annular metal wires which are arranged at equal intervals;
the flexible metal braiding belt also comprises a fixing piece (4 b), wherein the fixing piece (4 b) is fixedly connected with a plurality of flexible metal braiding belts (4 a) which are arranged at equal intervals or a plurality of annular metal wires which are arranged at equal intervals.
2. A novel processing technology of a harmonic reducer flexspline structure is characterized in that: the novel harmonic reducer flexspline structure suitable for the harmonic reducer disclosed in claim 1 comprises the following steps:
s1: pretreatment of raw materials
Selecting a plastic particle raw material required by the preparation of the flexible wheel (2), sending the plastic particle raw material into a dehumidifying dryer for drying, setting the drying temperature to be 80-100 ℃ and the drying time to be 2-2.5 hours, and transferring the plastic particle raw material into an injection molding machine after heating;
s2: insert pretreatment inspection
Preparing an annular metal insert, checking whether the appearance is damaged, cracks appear and burrs are removed, and sleeving the annular metal insert on a mandrel in a die cavity of a die to be injection-molded and embedded;
s3: injection molding
S3.1: injection molding temperature adjustment
Preheating a die to 60-80 ℃, adjusting the barrel temperature of the gun barrel of the injection molding machine from the gun barrel to the nozzle at the distance to be stepwise increased, wherein the starting point temperature of the gun barrel is 190-193 ℃, and the end point temperature of the nozzle is 207-210 ℃;
s3.2: injection molding
And (3) die closing, wherein the injection pressure of the injection molding machine is set to 88-92par, fluid plastic enters a die cavity of the die through a nozzle, the pressure is maintained for 2-3 seconds, the pressure is set to 48-52par, the temperature is reduced and cooled for 14-17 seconds, and the die is opened to obtain the flexible gear (2) containing the annular metal insert.
3. The novel harmonic reducer flexspline structure processing technology as set forth in claim 2, wherein: step S2 further comprises the step of preheating the annular metal insert with hot air to 85-100 ℃ and sleeving the annular metal insert on a mandrel in a die cavity of the die.
CN202310781346.9A 2023-06-29 2023-06-29 Novel harmonic reducer flexspline structure and processing technology thereof Active CN116538268B (en)

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CN116538268B true CN116538268B (en) 2023-10-24

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201475284U (en) * 2009-08-20 2010-05-19 无锡富佑工程塑料有限公司 Plastic gear with embedded piece structure
CN102889344A (en) * 2012-09-14 2013-01-23 苏州绿的谐波传动科技有限公司 Short barrel high-load hollow harmonic speed reducer
CN205226277U (en) * 2015-10-23 2016-05-11 比亚迪股份有限公司 Harmonic reducer
CN107559403A (en) * 2016-06-30 2018-01-09 比亚迪股份有限公司 A kind of harmonic reducer flexible wheel and its manufacture method
CN110388441A (en) * 2019-08-05 2019-10-29 爱磁科技（深圳）有限公司 Power sensing type harmonic wave speed reducing machine
CN111373173A (en) * 2017-11-29 2020-07-03 谐波传动系统有限公司 Wave gear device
CN115638227A (en) * 2022-10-31 2023-01-24 珠海格力电器股份有限公司 Flexible gear and harmonic reducer

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201475284U (en) * 2009-08-20 2010-05-19 无锡富佑工程塑料有限公司 Plastic gear with embedded piece structure
CN102889344A (en) * 2012-09-14 2013-01-23 苏州绿的谐波传动科技有限公司 Short barrel high-load hollow harmonic speed reducer
CN205226277U (en) * 2015-10-23 2016-05-11 比亚迪股份有限公司 Harmonic reducer
CN107559403A (en) * 2016-06-30 2018-01-09 比亚迪股份有限公司 A kind of harmonic reducer flexible wheel and its manufacture method
CN111373173A (en) * 2017-11-29 2020-07-03 谐波传动系统有限公司 Wave gear device
CN110388441A (en) * 2019-08-05 2019-10-29 爱磁科技（深圳）有限公司 Power sensing type harmonic wave speed reducing machine
CN115638227A (en) * 2022-10-31 2023-01-24 珠海格力电器股份有限公司 Flexible gear and harmonic reducer

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