CN208578931U - Brachymedial sky cupuliform harmonic speed reducer - Google Patents
Brachymedial sky cupuliform harmonic speed reducer Download PDFInfo
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- CN208578931U CN208578931U CN201820837351.1U CN201820837351U CN208578931U CN 208578931 U CN208578931 U CN 208578931U CN 201820837351 U CN201820837351 U CN 201820837351U CN 208578931 U CN208578931 U CN 208578931U
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Abstract
The utility model provides a kind of brachymedial sky cupuliform harmonic speed reducer, including flexbile gear, flexbile gear includes the canister portion and ring portion of coaxial arrangement, canister portion one end outer circle wall is equipped with the external tooth being uniformly distributed circumferentially, the canister portion other end is integrally formed with the flange to extend radially outwardly, flange is located on the inside of ring portion, and with ring portion on the inside of integrally connected, flange backwards to external tooth end face and ring portion backwards to external tooth end face, the axial width of flange and the radial thickness of canister portion are consistent, the axial width of ring portion is greater than the axial width of flange, ratio≤0.5 of the internal diameter of the length and canister portion of canister portion.The structure that the utility model passes through change flexbile gear, the length for making canister portion is almost the 100% of length of flexspline, in the case where entire length of flexspline is constant, the draw ratio of flexbile gear can be increased to 0.5, breaching existing flexbile gear effective L D ratio can only control in 0.4 limitation below, to improve the torsion stiffness of flexbile gear, the rated load of the utility model is enable to effectively improve.
Description
Technical field
The utility model relates to deceleration transmission field of mechanical technique more particularly to a kind of brachymedial sky cupuliform harmonic speed reducers.
Background technique
Harmonic speed reducer is in Aeronautics and Astronautics, the energy, navigation, shipbuilding, bionic mechanical, common ordnance, lathe, instrument, electronics
Equipment, mine metallurgy, communications and transportation, hoisting machinery, Petro-Chemical Machinery, textile machine, agricultural machinery and medical instrument etc.
Aspect obtains increasingly extensive application, especially in the servo-system of high dynamic performance, is more shown using harmonic gear transmission
Its superiority out.
Harmonic speed reducer is mainly made of three basic building blocks:
(1) rigid gear (firm gear) of ring gear is had, it is equivalent to the centre wheel in planetary system；
(2) flexible gear (flexbile gear) of outer gear ring is had, it is equivalent to planetary gear；
(3) harmonic oscillator, it is equivalent to planet carrier.
Currently, the brachymedial sky cupuliform harmonic speed reducer for being applied to robot field due to small volume, be suitable for size by
The use of the running part of limit.But since brachymedial sky cupuliform harmonic speed reducer overall dimensions are limited, lead to the length dimension of flexbile gear
Be restricted, the effective L D ratio of existing flexbile gear can only control 0.4 hereinafter, and the draw ratio that limits flexbile gear will directly affect
The rated load of brachymedial sky cupuliform harmonic speed reducer.Therefore, how in the case where size-constrained, brachymedial sky cupuliform is improved as far as possible
The problem of rated load of harmonic speed reducer is urgent need to resolve.
Utility model content
There is provided a kind of brachymedial sky cupuliform harmonic speed reducers for one of purpose of the utility model, size-constrained
In the case of, the rated load of brachymedial sky cupuliform harmonic speed reducer is improved as far as possible.
To achieve the goals above, the utility model provides following technical scheme:
A kind of brachymedial sky cupuliform harmonic speed reducer provided by the utility model, including flexbile gear, the flexbile gear include coaxially setting
The canister portion and ring portion set are provided with the external tooth being uniformly distributed circumferentially on one end outer circle wall of cartridge, cartridge
The other end is wholely set the flange to extend radially outwardly, and the flange is located at the inside of the ring portion, and with the ring portion
Inside integrally connected, the flange backwards to the external tooth end face and the ring portion backwards to the external tooth end face, it is described
The axial width of flange and the radial thickness of cartridge are consistent, and the axial width of the ring portion is greater than the axial thick of the flange
Degree, ratio≤0.5 of the internal diameter of the length and cartridge of cartridge.
As preferred: the flexbile gear is located at enclosure interior, and the ring portion of the flexbile gear is by gland along axial compression described
The end of shell, and by screw or bolt also cross the gland, the shell and the ring portion formed the gland,
Being connected and fixed between the shell and the flexbile gear.
As preferred: the shell is provided with the groove for accommodating the ring portion towards the end of the gland, described
Ring portion is located in the groove, has the protrusion with the matching grooves on the gland, and the protrusion compresses the ring portion
In the groove.
As preferred: the one end of the shell far from the ring portion is connected with firm gear by first bearing, the firm gear
The inner peripheral wall of the outer tooth engagement of internal tooth and the flexbile gear, the flexbile gear is rotatably connected to cam by flexible bearing, described convex
Wheel is coaxially connected with input coupling band.
As preferred: the outer ring of the first bearing is connect by screw or bolt with the shell, the first axle
The inner ring held is connect by screw or bolt with the firm gear.
As preferred: one end of the input coupling band is fixedly connected with the cam, described to input the another of coupling band
End is rotatablely connected with the gland.
As preferred: it has been wholely set limit outer ring on the input coupling band, through-hole is provided on the cam, it is described
Input coupling band protrudes into the through-hole, and one end of the limit outer ring and the cam pushes against, and by also cross described
The screw or bolt of limit outer ring and cam form being connected and fixed between cam and the limit outer ring.
As preferred: the inner ring of the flexible bearing is compressed by positioning retainer ring and the limit outer ring, the positioning gear
Circle is connected and fixed by screw or bolt with the cam.
As preferred: be provided with second bearing between the input coupling band and the gland, the second bearing it is outer
Ring is pressed on the gland by outer race gland, and the outer race gland and the gland pass through screw or bolt
Fixed, the inner ring of the second bearing is pressed on the gland by bearing inner ring gland, the bearing inner ring gland and institute
Gland is stated to fix by screw or bolt.
As preferred: the coupling hole of the input coupling band is splined hole or the circular hole with flat key slot.
The beneficial effects of the utility model are: structure of the utility model by change flexbile gear, makes to undertake biography as main
The length for passing the canister portion of transmission twisting force is almost the 100% of length of flexspline, can in the case where entire length of flexspline is constant
To increase the draw ratio of flexbile gear to 0.5, breaching existing flexbile gear effective L D ratio can only be controlled in 0.4 limitation below, from
And the torsion stiffness of flexbile gear is improved, so that the rated load of brachymedial sky cupuliform harmonic speed reducer is effectively improved.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the utility model embodiment；
Fig. 2 is the structural schematic diagram of flexbile gear in the utility model embodiment.
In figure:
1, shell；2, gland；3, flexbile gear；31, canister portion；32, ring portion；33, flange；34, external tooth；35, the first mounting hole；4,
First bearing；5, firm gear；6, flexible bearing；7, cam；8, coupling band is inputted；81, outer ring is limited；9, positioning retainer ring；10, second
Bearing；11, outer race gland；12, bearing inner ring gland.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It fall within the protection scope of the utility model.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", 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, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
As shown in Figure 1, the utility model embodiment provides a kind of brachymedial sky cupuliform harmonic speed reducer, including shell 1, pressure
Lid 2 and flexbile gear 3.
As shown in Fig. 2, flexbile gear 3 includes the canister portion 31 and ring portion 32 of coaxial arrangement.Canister portion 31 is the thin-walled knot of uniform wall thickness
Structure, after flexbile gear 3 and harmonic oscillator (harmonic oscillator generally includes cam 7 and flexible bearing 6) are assembled into together, canister portion 31
Radial deformation can be generated with the rotation of cam 7.
Be provided with the external tooth 34 being uniformly distributed circumferentially on one end outer circle wall of canister portion 31, form outer gear ring, for
In firm gear 5 ring gear engagement, harmonic oscillator rotation during, flexbile gear 3 generate flexible deformation, cause firm gear 5 with it is soft
3 tooth tips are taken turns with respect to side set to transmit power and movement.
The other end of canister portion 31 is wholely set the flange 33 to extend radially outwardly.Flange 33 is located at the inside of ring portion 32,
And the inside integrally connected with ring portion 32.I.e. canister portion 31 and ring portion 32 are connected by flange 33, and specifically, canister portion 31 is turned over
Side 33 and ring portion 32 are structure as a whole.Entire flexbile gear 3 can be process in such a way that blank is by punching press, can also be passed through
Other existing metal working process are integrally machined, as long as can make canister portion 31 that there is enough elasticity can generate
Radial flexible deformation transmits power and movement, and guarantees that canister portion 31 has enough torsion stiffness.
Flange 33 is backwards to the end face of external tooth 34 with ring portion 32 backwards to the end face of external tooth 34.The length of i.e. entire canister portion 31
The 100% of almost entire 3 length of flexbile gear, canister portion 31 is the main component for undertaking transmitting transmission torsion, in entire 3 length of flexbile gear
In the case where constant, the effective L D ratio of flexbile gear 3 can be increased, improve the torsion stiffness of flexbile gear 3, to make practical new using this
The transmission efficiency of the brachymedial sky cupuliform harmonic speed reducer for the flexbile gear 3 that type embodiment provides can be effectively improved.
The axial width of flange 33 is consistent with the radial thickness of canister portion 31, and the axial width of ring portion 32 is greater than the axis of flange 33
To thickness.Ring portion 32 is the component for connecting with other parts, it is necessary to assure has preferable rigidity, it is therefore desirable to be had than cylinder
To avoid it flexible deformation occurs for portion 31 and the thicker thickness of flange 33.
Transition is carried out by flange 33 identical with 31 thickness of canister portion between canister portion 31 and ring portion 32, to avoid in canister portion 31
It is directly connected to, causes during canister portion 31 transmits torsion because of thickness difference, stress concentrates on canister portion between ring portion 32
31 and ring portion 32 junction.
The ratio (i.e. the effective L D ratio of flexbile gear 3)≤0.5 of the internal diameter of the length and canister portion 31 of canister portion 31, breaches existing
3 effective L D ratio of flexbile gear can only control in 0.4 limitation below, to improve the torsion stiffness of flexbile gear 3, make brachymedial sky cupuliform
The rated load of harmonic speed reducer is effectively improved.
Optionally embodiment, as shown in Figure 1, flexbile gear 3 is located inside shell 1, the ring portion 32 of flexbile gear 3 passes through gland
2 form pressure also cross gland 2, shell 1 and ring portion 32 in the end of shell 1, and by screw or bolt along axial compression
Being connected and fixed between lid 2, shell 1 and flexbile gear 3.
Specifically, shell 1 is provided with the groove for accommodating ring portion 32 towards the end of gland 2, and ring portion 32 is located at groove
It is interior, there is the protrusion with matching grooves, ring portion 32 is pressed in groove by protrusion on gland 2.It is provided in the ring portion 32 of flexbile gear 3
At least three first mounting holes 35 being uniformly distributed circumferentially are also equipped with the mounting hole one with ring portion 32 on shell 1 and gland 2
One corresponding second mounting hole and third mounting hole.First mounting hole 35 is through-hole, and the second mounting hole is threaded hole, third installation
Hole is countersunk head through-hole.The second mounting hole, shape are screwed in after screw or screw bolt passes third mounting hole and the first mounting hole 35
At the fixation between flexbile gear 3 and shell 1, gland 2.
Optionally embodiment, the one end of shell 1 far from ring portion 32 are connected with firm gear 5 by first bearing 4, i.e., just
It relatively rotates and connects between wheel 5 and shell 1.Specifically optionally, the outer ring of first bearing 4 passes through screw or bolt and shell 1
The inner ring of connection, first bearing 4 is connect by screw or bolt with firm gear 5, ensure that the stability of connection.First bearing 4
Using biserial intelligence ball bearing.
It is provided with the internal tooth being uniformly distributed circumferentially on the circumferential inner wall of firm gear 5, forms ring gear, is used for and flexbile gear 3
Outer gear ring engagement, the internal tooth in firm gear 5 is identical as 34 modulus of external tooth on flexbile gear 3, the internal tooth gear ratio flexbile gear 3 in firm gear 5
On 34 number of teeth of external tooth it is more.34 number of teeth of external tooth more two on internal tooth gear ratio flexbile gear 3 in the present embodiment, in firm gear 5.Certainly
The different demands of the speed transmission ratio of harmonic speed reducer can also be arranged to the internal tooth number of teeth in firm gear 5 and the external tooth on flexbile gear 3
The quantity difference of 34 numbers of teeth is other values.
The internal tooth of firm gear 5 is engaged with the external tooth 34 of flexbile gear 3, and the inner peripheral wall of flexbile gear 3 is rotatably connected to by flexible bearing 6
Cam 7, cam 7 are coaxially connected with input coupling band 8.Coupling band 8 is inputted for defeated with the power of power device (such as motor)
Rotational power is transferred to cam 7 by axis connection out, and firm gear 5 or shell and power output axis connection thus may be implemented
Deceleration transmission between power input shaft and power output shaft.When power output shaft and cage connection (i.e. power output shaft with it is soft
3 connection of wheel), when firm gear 5 is kept fixed, realize reversed deceleration transmission；When power output shaft is connect with firm gear 5, shell keeps solid
When fixed (i.e. flexbile gear 3 is kept fixed), deceleration transmission in the same direction is realized.
One end of optionally embodiment, input coupling band 8 is fixedly connected with cam 7, inputs the another of coupling band 8
End is rotatablely connected with gland 2.It, can be steadily with 7 turns of moving cam in this way after input shaft is connect with input coupling band 8
It is dynamic.
Optionally embodiment inputs on coupling band 8 and has been wholely set limit outer ring 81, is provided on cam 7 logical
Hole, input coupling band 8 protrude into through-hole, and one end of limit outer ring 81 and cam 7 pushes against, and by also cross limit outer ring 81
Form cam 7 the screw or bolt of cam 7 and limit being connected and fixed between outer ring 81, that is, formed input coupling band 8 with
Being stably connected between cam 7.
The inner ring of optionally embodiment, flexible bearing 6 is compressed by positioning retainer ring 9 and limit outer ring 81, positioning
Retaining ring 9 is connected and fixed by screw or bolt with cam 7.Positioning retainer ring 9 has the inner hole isometrical with the through-hole of cam 7, with
It just, will not morning excessively any obstruction when power input shaft is inserted into input coupling band 8.
Optionally embodiment inputs between coupling band 8 and gland 2 and is provided with second bearing 10, to input connection
Axle sleeve 8 can be rotated swimmingly relative to gland 2.
Specifically, the outer ring of second bearing 10 is pressed on gland 2 by outer race gland 11, outer race gland 11
Fixation is formed by the axial screw for screwing in the two or bolt with gland 2.The inner ring of second bearing 10 passes through bearing inner ring pressure
Lid 12 is pressed on gland 2, and bearing inner ring gland 12 and gland 2 are formed admittedly by the axial screw for screwing in the two or bolt
It is fixed.
Optionally embodiment, the coupling hole of input coupling band 8 are splined hole or the circular hole with flat key slot.In axis
It holds and also sets up inner hole on inner ring gland 12, so that power input shaft can be successfully from the inner hole passed through on bearing inner ring gland 12
It is connect with the splined hole on input coupling band 8 or the circular hole with flat key slot.
It is defeated with the input coupling band 8 of brachymedial sky cupuliform harmonic speed reducer provided by the embodiment of the utility model and power below
Enter axis connection (not shown), for firm gear 5 is connect with power output shaft (not shown), illustrates provided by the embodiment of the utility model
The course of work of brachymedial sky cupuliform harmonic speed reducer.
At work, by motor or other are dynamic for brachymedial sky cupuliform harmonic speed reducer provided by the embodiment of the utility model
Power device drives power input shaft to be rotated, and cam 7 synchronizes rotation with power input shaft, and radial change occurs for flexbile gear 3
Shape is engaged by the external tooth 34 of flexbile gear 3 with the dislocation of the internal tooth of firm gear 5, is generated firm gear 5 and is rotated with the retrieval in the same direction of cam 7, and
It rotation is transferred to power output shaft, realizes deceleration co-rotating transmission, is i.e. the rotation direction of power output shaft and power input shaft
Rotation direction is identical, and the velocity of rotation of power output shaft is reduced compared to the velocity of rotation of power input shaft.
Since compared to the prior art, brachymedial sky cupuliform harmonic speed reducer provided by the embodiment of the utility model passes through change
The structure of flexbile gear 3 makes the length as the canister portion 31 for mainly undertaking transmitting transmission twisting force be almost 3 length of flexbile gear
100%, in the case where entire 3 length of flexbile gear is constant, the draw ratio of flexbile gear 3 can be increased to 0.5, breach existing flexbile gear
3 effective L D ratios can only be controlled in 0.4 limitation below, to improve the torsion stiffness of flexbile gear 3, subtract brachymedial sky cupuliform harmonic wave
The rated load of fast device is effectively improved.
It should be noted that in the absence of conflict, the feature in embodiment in the utility model can be mutual
In conjunction with.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.
Claims (10)
1. a kind of brachymedial sky cupuliform harmonic speed reducer, it is characterised in that: including flexbile gear (3), the flexbile gear (3) includes coaxial arrangement
Canister portion (31) and ring portion (32), be provided with the external tooth being uniformly distributed circumferentially on one end outer circle wall of cartridge (31)
(34), the other end of cartridge (31) is wholely set the flange (33) to extend radially outwardly, and the flange (33) is located at institute
The inside of ring portion (32), and the inside integrally connected with the ring portion (32) are stated, the flange (33) is backwards to the external tooth (34)
End face backwards to the external tooth (34) of end face and the ring portion (32), the axial width of the flange (33) and the cylinder
The radial thickness in portion (31) is consistent, and the axial width of the ring portion (32) is greater than the axial width of the flange (33), the cylinder
Ratio≤0.5 of the internal diameter of the length and cartridge (31) in portion (31).
2. brachymedial sky cupuliform harmonic speed reducer according to claim 1, it is characterised in that: the flexbile gear (3) is located at shell
(1) internal, the ring portion (32) of the flexbile gear (3) passes through gland (2) along axial compression in the end of the shell (1), and passes through
Screw or bolt form the gland (2), described also cross the gland (2), the shell (1) and the ring portion (32)
Being connected and fixed between shell (1) and the flexbile gear (3).
3. brachymedial sky cupuliform harmonic speed reducer according to claim 2, it is characterised in that: the shell (1) is towards described
The end of gland (2) is provided with the groove for accommodating the ring portion (32), and the ring portion (32) is located in the groove, described
There is the protrusion with the matching grooves, the protrusion compresses the ring portion (32) in the groove on gland (2).
4. brachymedial sky cupuliform harmonic speed reducer according to claim 3, it is characterised in that: the shell (1) is far from described
One end of ring portion (32) is connected with firm gear (5) by first bearing (4), the internal tooth of the firm gear (5) and the flexbile gear (3) it is outer
The inner peripheral wall of tooth (34) engagement, the flexbile gear (3) is rotatably connected to cam (7) by flexible bearing (6), the cam (7)
It is coaxially connected with input coupling band (8).
5. brachymedial sky cupuliform harmonic speed reducer according to claim 4, it is characterised in that: outside the first bearing (4)
Ring passes through screw or bolt and institute by the screw inner ring that perhaps bolt connect the first bearing (4) with the shell (1)
State firm gear (5) connection.
6. brachymedial sky cupuliform harmonic speed reducer according to claim 5, it is characterised in that: input coupling band (8)
One end is fixedly connected with the cam (7), and the other end of input coupling band (8) and the gland (2) are rotatablely connected.
7. brachymedial sky cupuliform harmonic speed reducer according to claim 6, it is characterised in that: on the input coupling band (8)
It has been wholely set limit outer ring (81), through-hole is provided on the cam (7), the input coupling band (8) protrudes into the through-hole
Interior, one end of limit outer ring (81) and the cam (7) pushes against, and by also cross the limit outer ring (81) and convex
The screw or bolt for taking turns (7) form being connected and fixed between cam (7) and limit outer ring (81).
8. brachymedial sky cupuliform harmonic speed reducer according to claim 7, it is characterised in that: the flexible bearing (6) it is interior
Ring by positioning retainer ring (9) and the limit outer ring (81) compression, the positioning retainer ring (9) pass through screw or bolt with it is described
Cam (7) is connected and fixed.
9. brachymedial sky cupuliform harmonic speed reducer according to claim 8, it is characterised in that: the input coupling band (8) with
It is provided with second bearing (10) between the gland (2), the outer ring of the second bearing (10) passes through outer race gland (11)
It is pressed on the gland (2), the outer race gland (11) is fixed with the gland (2) by screw or bolt, institute
The inner ring for stating second bearing (10) is pressed on the gland (2) by bearing inner ring gland (12), the bearing inner ring gland
(12) it is fixed with the gland (2) by screw or bolt.
10. the brachymedial sky cupuliform harmonic speed reducer according to any one of claim 4 to 9, it is characterised in that: described defeated
The coupling hole for entering coupling band (8) is splined hole or the circular hole with flat key slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820837351.1U CN208578931U (en) | 2018-05-31 | 2018-05-31 | Brachymedial sky cupuliform harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820837351.1U CN208578931U (en) | 2018-05-31 | 2018-05-31 | Brachymedial sky cupuliform harmonic speed reducer |
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| CN208578931U true CN208578931U (en) | 2019-03-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043631A (en) * | 2019-05-23 | 2019-07-23 | 泉州市微柏工业机器人研究院有限公司 | A kind of change wall thickness harmonic reducer flexible wheel |
-
2018
- 2018-05-31 CN CN201820837351.1U patent/CN208578931U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043631A (en) * | 2019-05-23 | 2019-07-23 | 泉州市微柏工业机器人研究院有限公司 | A kind of change wall thickness harmonic reducer flexible wheel |
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