CN211009798U - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN211009798U CN211009798U CN201921983469.6U CN201921983469U CN211009798U CN 211009798 U CN211009798 U CN 211009798U CN 201921983469 U CN201921983469 U CN 201921983469U CN 211009798 U CN211009798 U CN 211009798U
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Abstract
The utility model provides a harmonic speed reducer ware, it includes: the wave generator comprises a flexible bearing and more than two cams, wherein the more than two cams are arranged on the radial inner side of the flexible bearing and are arranged along the circumferential direction of the inner periphery of the flexible bearing, a motor shaft or an assembly tool is further arranged on the radial inner side of the more than two cams, when the more than two cams are assembled into the flexible bearing, the cams do not generate extrusion deformation on the inner peripheral surface of the flexible bearing, and when the motor shaft or the assembly tool is assembled into the more than two cams, the inner peripheral surface of the flexible bearing is generated by the cams. The cam can not interfere with the flexible gear or the flexible bearing during assembly, and the assembly cost can be effectively reduced; the transmission precision can be improved, and higher transmission ratio transmission can be realized under different rigid wheel forms.
Description
Technical Field
The utility model belongs to the technical field of the reduction gear, concretely relates to harmonic speed reducer ware.
Background
The reducer has the characteristics of high precision, high torque, low vibration and quick response, and is widely applied to different fields of industrial robots, mechanical equipment, aerospace, communication equipment, optical equipment and the like. Wherein the industrial robot field mainly uses harmonic speed reducer ware, RV reduction gear and planetary gear reducer ware. The harmonic reducer has the characteristics of high transmission precision, high efficiency, stable transmission, small volume and the like, and has obvious advantages when being applied to partial joints of the robot.
The harmonic reducer realizes the speed reduction function through the meshing tooth difference between the flexible gear and the rigid gear, and the meshing effect between the flexible gear and the rigid gear is mainly realized through the action of the wave generator on the flexible gear. The different contour shapes of the wave generator can cause the difference of the number of meshing teeth between the flexible gear and the rigid gear.
The wave generator in the present stage mainly comprises an elliptic cam wave generator and a cosine cam wave generator, and it can be seen from patent CN107893840A that the wave generator with multiple wave numbers can also realize different meshing tooth numbers of a flexible gear and a rigid gear, thereby affecting the speed reduction effect of the speed reducer. However, the harmonic reducer is designed in such a way that the flexible gear is unfolded by the wave generator and then meshed with the rigid gear after being deformed, so that the size of the wave generator is larger than that of the flexible gear, and interference can be generated by direct assembly.
In the prior patent CN207583964U, a wave generator capable of automatically adjusting the meshing gap can solve the interference problem in the assembly by automatically opening and closing the adjusting cam, but the given cam has a complex structure and higher cost, and the adjustment of the gap between the rigid gear teeth and the flexible gear teeth of the harmonic gear reducer by the adjusting bolt is difficult to realize, and the precision is difficult to ensure. In addition, the meshing of the flexible wheel and the rigid wheel under the special double-wave form can only be realized through the mode, and the good expansibility is not realized.
Because wave generator easily takes place to interfere with when the assembly of flexbile gear among the harmonic speed reducer among the prior art, wave generator is difficult to control at major axis direction size, is difficult to realize the meshing of many wave numbers of flexbile gear and rigid gear, holistic transmission precision low grade technical problem, consequently the utility model discloses research and design a harmonic speed reducer ware.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that easily takes place to interfere when harmonic reducer mesogenerator among the prior art assembles with the flexbile gear to a harmonic reducer is provided.
The utility model provides a harmonic speed reducer ware, it includes:
the wave generator comprises a flexible bearing and more than two cams, wherein the more than two cams are arranged on the radial inner side of the flexible bearing and are arranged in a circumferential direction of the inner periphery of the flexible bearing, a motor shaft or an assembly tool is further arranged on the radial inner side of the more than two cams, when the more than two cams are assembled into the flexible bearing, the cams do not generate extrusion deformation on the inner peripheral surface of the flexible bearing, and when the motor shaft or the assembly tool is assembled into the more than two cams, the inner peripheral surface of the flexible bearing is generated extrusion deformation through the cams.
Preferably, the first and second electrodes are formed of a metal,
the motor shaft or the assembly tool is abutted with the more than two cams respectively to drive the more than two cams to rotate simultaneously, and the motor shaft or the assembly tool with different sizes can generate different deformation quantities to the flexible bearing through the cams.
Preferably, the first and second electrodes are formed of a metal,
still include rigid wheel and flexbile gear, the cam cover is located the periphery of motor shaft or assembly fixture, flexible bearing housing is located the periphery of cam, flexbile gear cover is located flexible bearing's periphery, the rigid wheel cover is located the periphery of flexbile gear.
Preferably, the first and second electrodes are formed of a metal,
the radial inner side of the cam is provided with a containing groove at a central position, and the containing groove contains a part of the motor shaft or an assembler which is arranged in the containing groove.
Preferably, the first and second electrodes are formed of a metal,
every the radial inboard central point of cam puts and all is provided with the holding tank, it is a plurality of the holding tank forms the card and establishes motor shaft or assembly fixture's draw-in groove, and is a plurality of the cam respectively with motor shaft or assembly fixture joint.
Preferably, the first and second electrodes are formed of a metal,
the inner peripheral surface of the holding tank of cam and the motor shaft or the outer peripheral surface of assembly fixture form through key-type connection or pin junction's mode the joint.
Preferably, the first and second electrodes are formed of a metal,
the cross section of the cam is in a semicircular structure, and the accommodating groove in the center of the radial inner side of the cam in the semicircular structure is in a semicircular structure.
Preferably, the first and second electrodes are formed of a metal,
the two cams are arranged along the circumferential direction of the inner periphery of the flexible bearing.
Preferably, the first and second electrodes are formed of a metal,
the cross section of the cam is in a sector ring structure, and the accommodating groove in the center of the radial inner side of the cam in the sector ring structure is in a sector structure.
Preferably, the first and second electrodes are formed of a metal,
the cams are at least three arranged along the circumferential direction of the inner circumference of the flexible bearing.
The utility model provides a pair of harmonic speed reducer has following beneficial effect:
1. the utility model discloses a include the wave generator more than two cams, can make the size of single cam little, and the cam inboard still through setting up motor shaft or assembly fixture, the assembly order is that more than two cams pack into flexible bearing earlier, then the motor shaft or assembly fixture repack in the cam, more than two cams can not be to flexible bearing inner peripheral surface extrusion deformation when motor shaft or assembly fixture do not pack into the cam inside, the cam can produce extrusion deformation to flexible bearing inner peripheral surface after motor shaft or assembly fixture pack into the cam inside, can make the cam can not take place the problem of interfering with flexible wheel or flexible bearing when the assembly, can effectively reduce assembly cost; the wave generators consisting of different numbers of cams can be selected, the wave generators with different wave numbers can be formed by the number of the cams, multi-wave number meshing of the flexible gear and the rigid gear is realized, different reduction ratios can be realized, the transmission precision can be improved, and higher transmission ratio transmission can be realized under different rigid gear forms;
2. the utility model also can generate the different deformation quantities to the flexible bearing through the cam by the motor shafts or the assembly tools with different sizes, so that the motor shaft with proper size can control the deformation degree of the wave generator, thereby controlling the deformation of the flexible gear, realizing the meshing of the flexible gear and the rigid gear with different degrees according to the requirement, increasing the number of meshing teeth and improving the whole transmission precision; the motor shaft or a proper tool is matched with the cam, so that the stability of the wave generator can be ensured during assembly, the deformed profile of the wave generator is more uniform and reasonable, and the subsequent meshing of the flexible gear and the rigid gear is facilitated.
Drawings
FIG. 1 is a top internal cross-sectional view of a harmonic reducer of the present invention;
FIG. 2 is a schematic sectional view in the direction A-A of FIG. 1 (a double wave form retarder);
fig. 3 is a schematic cross-sectional view of the alternative embodiment of fig. 2 (three-wave retarder).
The reference numbers in the figures denote:
1. a motor shaft or an assembly fixture; 2. a wave generator; 3. a flexible gear; 4. a rigid wheel; 5. a rigid bearing; 6. a cam; 61. accommodating grooves; 7. a compliant bearing.
Detailed Description
As shown in fig. 1-3, the utility model provides a harmonic reducer ware, it includes:
the wave generator comprises a wave generator 2 and a flexible gear 3, wherein the wave generator 2 comprises more than two cams 6 and a flexible bearing 7, the more than two cams 6 are arranged on the radial inner side of the flexible bearing 7, the more than two cams 6 are arranged along the circumferential direction of the inner circumference of the flexible bearing 7, a motor shaft or an assembly tool 1 is further arranged on the radial inner side of the more than two cams 6, when the more than two cams 6 are assembled into the flexible bearing 7, the inner circumference of the flexible bearing 7 is not extruded and deformed by the cams 6, and when the motor shaft or the assembly tool 1 is assembled into the more than two cams 6, the inner circumference of the flexible bearing 7 is extruded and deformed by the cams 6.
The utility model discloses a include the wave generator more than two cams, can make the size of single cam little, and the cam inboard still through setting up motor shaft or assembly fixture, the assembly order is that more than two cams pack into flexible bearing earlier, then the motor shaft or assembly fixture repack in the cam, more than two cams can not be to flexible bearing inner peripheral surface extrusion deformation when motor shaft or assembly fixture do not pack into the cam inside, the cam can produce extrusion deformation to flexible bearing inner peripheral surface after motor shaft or assembly fixture pack into the cam inside, can make the cam can not take place the problem of interfering with flexible wheel or flexible bearing when the assembly, can effectively reduce assembly cost; the wave generators consisting of different numbers of cams can be selected, the wave generators with different wave numbers can be formed by the number of the cams, multi-wave number meshing of the flexible gear and the rigid gear is realized, different reduction ratios can be realized, the transmission precision can be improved, and higher transmission ratio transmission can be realized under different rigid gear forms.
The utility model discloses a cut wave generator, utilize not unidimensional motor shaft and wave generator to cooperate, the interference problem when having solved wave generator and flexbile gear assembly, the assembly mode is more convenient. Because the size of the motor shaft is controllable, the size of the wave generator for opening the flexible gear can be accurately controlled, and the meshing precision of the flexible gear and the rigid gear can also be improved. The wave generator consists of different parts after cutting, so that the number of the different parts can be selected to realize multiple wave number meshing sections of the flexible gear and the rigid gear, realize different reduction ratios and improve the transmission precision.
Preferably, the first and second electrodes are formed of a metal,
the motor shaft or the assembly tool 1 abuts against the more than two cams 6 respectively to drive the more than two cams 6 to rotate simultaneously, and the motor shaft or the assembly tool 1 with different sizes can generate different deformation quantities for the flexible bearing through the cams 6. The motor shafts or the assembly tools with different sizes can generate different deformation quantities to the flexible bearing through the cam, so that the motor shafts with proper sizes can control the deformation degree of the wave generator, the deformation of the flexible gear is controlled, the flexible gear and the rigid gear can be meshed in different degrees according to requirements, the number of meshing teeth is increased, and the integral transmission precision can be improved; the motor shaft or a proper tool is matched with the cam, so that the stability of the wave generator can be ensured during assembly, the deformed profile of the wave generator is more uniform and reasonable, and the subsequent meshing of the flexible gear and the rigid gear is facilitated.
The utility model discloses: 1. in the fig. 1, the flexible gear 3 is deformed under the action of the wave generator 2 (including the cam 6), the wave generator 2 has a large size, and the flexible gear 3 is unfolded when being assembled with the flexible gear 3, and in the novel assembling mode in the fig. 2 and 3, the small-size cam 6 is placed in the flexible bearing, and the interference problem in the assembly can be solved by utilizing the motor shaft for assembly, so that the assembly is convenient;
2. the novel assembly mode 1 provides a mode for the wave generator 2 to prop open the flexible gear, the deformation size of the flexible bearing 7 can be controlled by controlling the size of the motor shaft, so that the size of the flexible bearing 7 for propping open 3-the flexible gear is controlled, the matching between the flexible gear 3 and the rigid gear 4 is influenced, and the size of the motor shaft can be finely adjusted through requirements and can also be adjusted through other tool parts;
3. by means of the modes 1 and 2, the multi-waveform harmonic reducer as shown in fig. 3 can be realized, the cam components are changed, the cam profile is subdivided, and then the harmonic reducer with different waveforms can be obtained by matching with a flexible bearing, and the more the waveforms are, the more the teeth are meshed, the higher the transmission precision is.
Preferably, the first and second electrodes are formed of a metal,
still include rigid wheel 4 and flexbile gear 3, 6 covers of cam are located the periphery of motor shaft or assembly fixture 1, the flexible bearing 7 cover is located the periphery of cam 6, 3 covers of flexbile gear are located the periphery of flexible bearing 7, 4 covers of rigid wheel are located the periphery of flexbile gear 3. This is the utility model discloses an optimal structural style, rigid gear, flexbile gear and its relevant connected relation promptly can produce the drive action to the cam through motor shaft or assembly fixture effectively, and the drive cam rotates, and the cam drives flexible bearing again and rotates, and flexible bearing drives the flexbile gear again and rotates, and the external tooth of flexbile gear drives the rigid gear rotation through the internal tooth intermeshing of rigid gear again to realize driven purpose, through the reduction of drive ratio and realize the effect that the harmonic slowed down.
Preferably, the first and second electrodes are formed of a metal,
a receiving groove 61 is formed at a center position of a radially inner side of the cam 6, and the receiving groove 61 receives a portion of the motor shaft or the assembling tool 1. The containing grooves are formed in the radial inner side of the cam, so that part of a motor shaft or an assembling tool can be contained in the containing grooves, the motor shaft or the assembling tool is assembled under the combined action of the containing grooves, and the rotating transmission and driving effects are realized.
Preferably, the first and second electrodes are formed of a metal,
every the radial inboard central point of cam 6 puts and all is provided with holding tank 61, and is a plurality of holding tank 61 forms the card and establishes motor shaft or assembly fixture 1's draw-in groove, and is a plurality of cam 6 respectively with motor shaft or assembly fixture 1 joint. The motor shaft or the assembly fixture is clamped by the accommodating grooves to form a space clamping groove which is driven to rotate, and the cam and the motor shaft or the assembly fixture are clamped to realize circumferential limiting, so that the motor shaft or the assembly fixture can drive the cam to rotate.
Preferably, the first and second electrodes are formed of a metal,
the clamping is formed between the inner circumferential surface of the accommodating groove 61 of the cam 6 and the outer circumferential surface of the motor shaft or the assembly tool 1 in a key connection or pin connection mode. This is the utility model discloses a preferred joint form between cam holding tank inner peripheral surface and motor shaft or assembly fixture's the outer peripheral face can be spacing to forming circumference between cam and motor shaft or the assembly fixture through key-type connection or pin junction's mode, accomplishes rotation-driven effect.
Preferably, the first and second electrodes are formed of a metal,
the cross-sectional shape of the cam 6 is a semicircular structure, and the receiving groove 61 at the center of the radially inner side of the cam 6 in the semicircular structure is a semicircular structure. This is the preferred structural style of the cam of the utility model, as shown in fig. 2, it is the semicircular ring shape structure, can splice with another semicircular ring shape structure's cam, forms and roughly splices into a ring shape structure in the circumferential direction, basically fills up the inside circular space of flexible bearing, realizes the structural style of two wave numbers.
Preferably, the first and second electrodes are formed of a metal,
the two cams 6 are arranged in the circumferential direction of the inner periphery of the flexible bearing 7. This is the utility model discloses a further preferred number and the structural style of cam can splice roughly annular structure through two cams, basically fills up the circular space inside the flexible bearing, realizes the structural style of two wave numbers.
Preferably, the first and second electrodes are formed of a metal,
the cross section of the cam 6 is in a sector annular structure, and the accommodating groove at the center of the radial inner side of the cam 6 in the sector annular structure is in a sector structure. This is the structural style of the alternative embodiment of the cam of the present invention, as shown in fig. 3, it is a fan-ring structure, and can be spliced with the cams of another two fan-ring structures to form a circular structure roughly spliced in the circumferential direction, and basically fill the annular space inside the flexible bearing, and realize the structural style of three wave numbers.
Preferably, the first and second electrodes are formed of a metal,
the number of the cams 6 is three, which are arranged in the circumferential direction of the inner periphery of the flexible bearing 7. This is the utility model discloses a further preferred number and the structural style of cam can splice roughly annular structure through three cam, basically fills up the circular space inside the flexible bearing, realizes the structural style of three wave number.
Preferred embodiments:
as shown in fig. 2 and 3: the multi-wave-number combination cam 6 (two wave numbers in figure 2 and three wave numbers in figure 3) is placed in the flexible bearing to realize multi-wave-number meshing of the flexible gear 3 and the rigid gear 4, the number of meshing teeth is large, and large reduction ratio and transmission precision are realized. When the multi-wave-array combination cam 6 is placed in the flexible bearing 7, the assembly is more convenient and faster as the size is smaller and the interference with the bearing does not exist; the deformation of the flexible bearing 7 and the flexible gear 3 in different degrees can be realized through the size change of the motor shaft or the assembly tool 1, the meshing depth of the flexible gear 3 and the rigid gear 4 can be conveniently adjusted according to the size of the rigid gear 4, and the transmission performance of the speed reducer can be improved.
As shown in fig. 2 and 3, assuming that the difference between the numbers of teeth of the flexible gear 3 and the rigid gear 4 is N, and the number of teeth of the rigid gear is N, the reduction ratio is N/| N |, when the flexible gear 3 is input and the rigid gear 4 is output. When the cam 6 is changed from the structure of fig. 2 to the structure of fig. 3, the number of meshing teeth between the flexible gear 3 and the rigid gear 4 is increased, and the increase of the number of meshing teeth improves the overall transmission performance.
In fig. 1, the wave generator 2 is arranged in the flexible gear 3, and in order to expand the flexible gear 3 and the rigid gear 4 to be meshed, the wave generator 2 is larger in size and interferes with the flexible gear 3. In the fig. 2 and 3, the cam 6 in the wave generator 2 is redesigned to be a sectional cam with a smaller size, the cam 6 is directly placed in the flexible bearing 7, and then the motor shaft 1 or an assembly tool is used for unfolding the cam, so that the assembly is more convenient.
The size of the flexible gear 3 is controlled by the size of different motor shafts or assembling tools 1, the size of the motor shafts or the assembling tools 1 controls the deformation sizes of the flexible bearings 7 and the flexible gears 3, the flexible gears 3 and the rigid gears 4 are meshed in different degrees, and the size of the motor shafts or the assembling tools 1 can be adjusted according to the size of the rigid gears 4 to control the variable of the flexible gears 3.
Can reduce the assembly degree of difficulty of wave generator and flexbile gear through above utility model design to steerable flexbile gear and the meshing degree of depth and the meshing number of teeth of rigid gear, thereby realize better transmission performance. The deformation degree of the flexible gear adjusted through the motor shaft can be adjusted through other tools, and the change of the size can be controlled more accurately through the tools.
The utility model solves the following technical problems
1. The cams with different wave numbers are matched with the flexible gear bearing, and the problem of interference cannot be caused during matching due to the fact that the size of the cam is small, and assembling cost can be reduced.
2. The motor shaft or the proper tool is matched with the cam, so that the assembly is more convenient.
3. The motor shaft with proper size can control the deformation degree of the wave generator, so as to control the deformation of the flexible gear and realize the meshing of the flexible gear and the rigid gear in different degrees according to the requirement.
4. The motor shaft or a proper tool is matched with the cam, so that the stability of the wave generator can be ensured during assembly, the deformed profile of the wave generator is more uniform and reasonable, and the subsequent meshing of the flexible gear and the rigid gear is facilitated.
5. The number of the cams can form wave generators with different wave numbers, so that the flexible gear and the rigid gear can be meshed in different degrees, different reduction ratios can be realized, and the transmission precision can be improved.
1. Solves the problem of interference when the wave generator is assembled with the flexible gear
2. Solves the problem of size control of the wave generator in the direction of the long axis of the cam
3. Solves the problem of multi-wave number meshing of a flexible gear and a rigid gear
4. Can realize convenient assembly methods through above, can improve holistic transmission precision.
Has the advantages that:
the scheme can realize that the wave generator and the flexible gear are more convenient and faster to assemble, namely, the interference problem caused by the fact that the size of the wave generator is larger than that of the flexible gear cannot occur, and the assembly cost is reduced;
the deformation degree of the wave generator can be controlled by controlling the size of the motor shaft or the assembly tool, so that the deformation of the flexible gear is controlled, and the meshing control of the flexible gear and the rigid gear is realized;
the wave generator composed of different number of cams can be selected to realize multi-wave number meshing of the flexible gear and the rigid gear, the transmission precision can be improved, and higher transmission ratio transmission can be realized under different rigid gear forms.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A harmonic reducer, comprising:
the wave generator (2), the wave generator (2) comprises a flexible bearing (7) and more than two cams (6), the more than two cams (6) are arranged on the radial inner side of the flexible bearing (7), more than two cams (6) are arranged along the circumferential direction of the inner circumference of the flexible bearing (7), the radial inner sides of the more than two cams (6) are also provided with motor shafts or assembly tools (1), when more than two cams (6) are fitted into the flexible bearing (7), the cams (6) do not press and deform the inner peripheral surface of the flexible bearing (7), and when the motor shaft or the assembly tool (1) is assembled into more than two cams (6), the inner circumferential surface of the flexible bearing (7) is extruded and deformed by the cams (6).
2. The harmonic reducer of claim 1, wherein:
the motor shaft or the assembly tool (1) is respectively abutted against the more than two cams (6) to simultaneously drive the more than two cams (6) to rotate, and the motor shaft or the assembly tool (1) with different sizes can generate different deformation quantities to the flexible bearing through the cams (6).
3. The harmonic reducer of claim 2 wherein:
still include rigid wheel (4) and flexbile gear (3), cam (6) cover is located the periphery of motor shaft or assembly fixture (1), flexible bearing (7) cover is located the periphery of cam (6), flexbile gear (3) cover is located the periphery of flexible bearing (7), rigid wheel (4) cover is located the periphery of flexbile gear (3).
4. The harmonic reducer of claim 3 wherein:
the radial inner side center position of the cam (6) is provided with an accommodating groove (61), and the accommodating groove (61) accommodates part of the motor shaft or the assembling tool (1) arranged in the accommodating groove.
5. The harmonic reducer of claim 4 wherein:
every the radial inboard central point of cam (6) puts and all is provided with holding tank (61), and is a plurality of holding tank (61) form the card and establish the draw-in groove of motor shaft or assembly fixture (1), and is a plurality of cam (6) respectively with motor shaft or assembly fixture (1) joint.
6. The harmonic reducer of claim 5 wherein:
the clamping connection is formed between the inner circumferential surface of the accommodating groove (61) of the cam (6) and the outer circumferential surface of the motor shaft or the assembly tool (1) in a key connection or pin connection mode.
7. The harmonic reducer of any one of claims 4-6 wherein:
the cross section of the cam (6) is in a semicircular ring structure, and the accommodating groove (61) in the center of the radial inner side of the cam (6) in the semicircular ring structure is in a semicircular structure.
8. The harmonic reducer of claim 7 wherein:
the two cams (6) are arranged along the circumferential direction of the inner periphery of the flexible bearing (7).
9. The harmonic reducer of any one of claims 4-6 wherein:
the cross section of the cam (6) is in a fan-shaped ring structure, and the accommodating groove in the center of the radial inner side of the cam (6) in the fan-shaped ring structure is in a fan-shaped structure.
10. The harmonic reducer of claim 9, wherein:
the cams (6) are at least three arranged along the circumferential direction of the inner periphery of the flexible bearing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921983469.6U CN211009798U (en) | 2019-11-15 | 2019-11-15 | Harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921983469.6U CN211009798U (en) | 2019-11-15 | 2019-11-15 | Harmonic speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112128343A (en) * | 2020-10-29 | 2020-12-25 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112128343A (en) * | 2020-10-29 | 2020-12-25 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
| CN112128343B (en) * | 2020-10-29 | 2021-10-08 | 珠海格力电器股份有限公司 | Speed reducer and robot with same |
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