CN106026515A - Hollow brushless motor and harmonic reducer integrated machine - Google Patents
Hollow brushless motor and harmonic reducer integrated machine Download PDFInfo
- Publication number
- CN106026515A CN106026515A CN201610672283.3A CN201610672283A CN106026515A CN 106026515 A CN106026515 A CN 106026515A CN 201610672283 A CN201610672283 A CN 201610672283A CN 106026515 A CN106026515 A CN 106026515A
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- hollow
- gear
- brushless motor
- flexbile gear
- assembly
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 36
- 238000003475 lamination Methods 0.000 claims abstract description 13
- 238000004804 winding Methods 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 claims description 4
- 241000209140 Triticum Species 0.000 claims description 4
- 235000021307 Triticum Nutrition 0.000 claims description 4
- 229910052796 boron Inorganic materials 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 4
- 229910052701 rubidium Inorganic materials 0.000 claims description 4
- IGLNJRXAVVLDKE-UHFFFAOYSA-N rubidium atom Chemical compound [Rb] IGLNJRXAVVLDKE-UHFFFAOYSA-N 0.000 claims description 4
- 238000012216 screening Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- RIMXLXBUOQMDHV-UHFFFAOYSA-N 1,2-dichloro-4-(2-chlorophenyl)benzene Chemical compound C1=C(Cl)C(Cl)=CC=C1C1=CC=CC=C1Cl RIMXLXBUOQMDHV-UHFFFAOYSA-N 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Brushless Motors (AREA)
Abstract
The invention discloses a hollow brushless motor and harmonic reducer integrated machine. The machine comprises a machine shell, a shell cover plate, a hollow spindle, a hollow brushless motor assembly, a harmonic reducer assembly, a flange cover and a controller, wherein the hollow brushless motor assembly comprises a brushless motor stator component, a brushless motor rotor component and a PCB, the brushless motor stator component comprises a stator core lamination stack and a coil winding, and the brushless motor rotor component comprises a NeFeB magnet; the harmonic reducer assembly comprises a flexible gear, a rigid gear matched with the flexible gear, and a bearing with cross roller located between the flexible gear and the rigid gear, the machine shell, the transmission portion of the flexible gear and the outer circle of the bearing with cross roller are sequentially connected in a screw joint mode, and a flange, the rigid gear and the inner circle of the bearing with cross roller are sequentially connected in a screw joint mode. Through the structural design, the machine has the advantages of being novel in design, compact in structure, small in size and low in weight, and can effectively solve the problem of routing of a robot so that the robot can rotate by any degree.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of hollow brushless electric machine, harmonic speed reducer all-in-one.
Background technology
Harmonic reducer of robot relies on its simple in construction, size is little, noise is little, gear ratio is big, transmission accuracy is high and effect
Rate advantages of higher, and be widely used by the vitals as joint of robot.Since nineteen fifty-five U.S. C.W. Mai Saier invents
Since First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare successively
The harmonic speed reducer that a lot of series kinds are different with dimensions, wherein makes with involute fine module gear flank profil harmonic speed reducer
With the most extensive.Wherein, harmonic speed reducer is widely used in the rotation portion in the joint of robot, machine by above-mentioned advantage
The rotary table of tool machining center, mechanical hand rotating part, precision rotary table, Medical Instruments, measurement instrument, IC manufacture dress
Put, the wide spectrum such as aerospace appts, national defence equipment (such as guided missile, radar, rocket), especially in industrial robot field
Apply the most universal；For industrial robot, harmonic speed reducer can be greatly reduced the size of industrial robot, reduce and make an uproar
Sound, raising efficiency and precision.
For existing robot, harmonic speed reducer is typically driven by servomotor, to realize robot
The speed-down action of transmission；But, for existing robot driving mechanism, it generally exists, and design is unreasonable, cabling is multiple
Miscellaneous and can not realize 360 degree rotate defects.
Summary of the invention
Present invention aims to the deficiencies in the prior art and a kind of hollow brushless electric machine, harmonic speed reducer one are provided
Body machine, this hollow brushless electric machine, harmonic speed reducer machine novelty, compact conformation, volume are little, lightweight, and can have
Effect ground solves robot routing problem, in order to robot realizes 360 degree of rotations.
For reaching above-mentioned purpose, the present invention is achieved through the following technical solutions.
A kind of hollow brushless electric machine, harmonic speed reducer all-in-one, include machine case, and the inside of machine case offers
Front and back completely through housing containing cavity, the rearward end of machine case be screwed with lid be loaded at the open rearward end of housing containing cavity
Housing cover, the centre position of housing cover offer before and after completely through cover plate through hole, the housing containing cavity of machine case
Being embedded with hollow spindle the most rotatably, the leading section of hollow spindle extends to the front of machine case, hollow spindle
Rearward end stretch in the cover plate through hole of housing cover；
It is embedded with in the housing containing cavity of machine case and is positioned at the hollow brushless electric machine assembly that hollow spindle is peripheral, machine case
Front is equiped with and is positioned at hollow brushless electric machine assembly front and is positioned at the harmonic speed reducer assembly that hollow spindle is peripheral, hollow
Brushless electric machine assembly includes brushless motor stator assembly, be positioned at inside brushless motor stator assembly and with brushless motor stator group
The brushless electric motor rotor assembly that part matches, brushless motor stator assembly includes the stacked stator core being laminated by stalloy
Sheet, being wound in the coil windings of stator core lamination, brushless electric motor rotor assembly includes and is installed in inside stator core lamination
And set is stuck in the nd-fe-b magnet that hollow spindle is peripheral, the interior rear end side in brushless motor stator assembly of housing containing cavity is embedded with
PCB, PCB is electrically connected with the coil windings of brushless motor stator assembly by wire；
Harmonic speed reducer assembly includes the crossed-circle just taken turns, be installed between flexbile gear and firm wheel that flexbile gear matches with flexbile gear
Post roller bearing, flexbile gear is provided with outer gear portion and is perpendicular to the driving section of outer gear portion, outer gear portion and driving section one
Molding, the outer gear portion core of flexbile gear offer completely through flexbile gear centre bore, the outer circumference surface of outer gear portion is provided with edge
The axis direction flexbile gear centre bore extends and the flexbile gear gear teeth of the most ring-type uniform intervals distribution, and just the core of wheel offers
Completely through just take turns centre bore, just the periphery of wheel centre bore is provided with and extends and in circle along just wheel centre bore axis direction
The just gear teeth that Zhou Huanzhuan uniform intervals is distributed, the outer gear portion of flexbile gear is flush-mounted in just taking turns centre bore and has just taken turns the gear teeth and flexbile gear
The gear teeth are meshed, and hollow spindle is matched with flexbile gear centre bore through flexbile gear centre bore and hollow spindle by flexible bearing, machine
Device housing, the driving section of flexbile gear, the outer ring of crossed cylindrical roller bearing are spirally connected successively, and just the front of wheel is equiped with and is set in sky
The ring flange that heart main shaft is peripheral, ring flange, just wheel, the inner ring of crossed cylindrical roller bearing are spirally connected successively；
This hollow brushless electric machine, harmonic speed reducer all-in-one also include controller, and controller is by wire and PCB electricity
Connect.
Wherein, the peripheral set card axle sleeve of described hollow spindle, described nd-fe-b magnet is set in axle sleeve overcoat and rubidium ferrum boron
Magnet is connected by flat key spline with axle sleeve.
Wherein, described nd-fe-b magnet periphery is set with wheat and draws screening glass.
The invention have the benefit that the hollow brushless electric machine of one of the present invention, harmonic speed reducer all-in-one, its bag
Include machine case, housing cover, be embedded in hollow spindle in the housing containing cavity of machine case, be positioned at the hollow of hollow spindle periphery
Brushless electric machine assembly, machine case front installing harmonic speed reducer assembly, hollow brushless electric machine assembly includes that brushless electric machine is fixed
Sub-component, brushless electric motor rotor assembly, brushless motor stator assembly includes stator core lamination, coil windings, and brushless electric machine turns
Sub-component includes nd-fe-b magnet, is embedded in PCB, PCB electricity in brushless motor stator assembly rear end side in housing containing cavity
Road plate is electrically connected with coil windings by wire；Harmonic speed reducer assembly includes flexbile gear, just wheel, crossed cylindrical roller bearing, soft
Wheel arranges outer gear portion, driving section, in the outer gear portion of flexbile gear is flush-mounted in the just wheel centre bore of just wheel and just the wheel gear teeth and flexbile gear
The gear teeth are meshed, and hollow spindle is matched with flexbile gear centre bore through flexbile gear centre bore and hollow spindle by flexible bearing, machine
Device housing, the driving section of flexbile gear, the outer ring of crossed cylindrical roller bearing are spirally connected successively, and just the front of wheel is equiped with and is set in sky
The ring flange that heart main shaft is peripheral, ring flange, just wheel, the inner ring of crossed cylindrical roller bearing are spirally connected successively；This hollow brushless electric machine,
Harmonic speed reducer all-in-one also includes controller, and controller is electrically connected with PCB by wire.Set by said structure
Meter, the present invention has modern design, compact conformation, volume advantage little, lightweight, and can efficiently solve robot cabling
Problem, in order to robot realizes 360 degree of rotations.
Accompanying drawing explanation
Below with accompanying drawing, the present invention is further detailed, but the embodiment in accompanying drawing is not constituted this
Bright any restriction.
Fig. 1 is the structural representation of the present invention.
Include in FIG:
11 machine case 111 housing containing cavities
12 housing cover 121 cover plate through holes
2 hollow spindle 3 hollow brushless electric machine assembly
31 stator core lamination 321 nd-fe-b magnets
322 axle sleeve 323 flat keys
324 wheats draw screening glass 33 PCB
4 harmonic speed reducer assembly 41 flexbile gears
411 outer gear portion 4111 flexbile gear centre bores
412 driving sections 42 are just taken turns
421 have just taken turns centre bore 43 crossed cylindrical roller bearing
44 flexible bearing 5 ring flanges
6 deep groove ball bearing 7 oil sealings.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention will be described.
As it is shown in figure 1, a kind of hollow brushless electric machine, harmonic speed reducer all-in-one, include machine case 11, machine case
The inside of 11 offer before and after completely through housing containing cavity 111, the rearward end of machine case 11 is screwed with lid and is loaded on housing
Housing cover 12 at the open rearward end of containing cavity 111, the centre position of housing cover 12 offer before and after completely through lid
Plate through hole 121, is embedded with hollow spindle 2 rotatably in the housing containing cavity 111 of machine case 11, hollow spindle 2
Leading section extends to the front of machine case 11, and the rearward end of hollow spindle 2 stretches to the cover plate through hole 121 of housing cover 12
In.
Further, it is embedded with in the housing containing cavity 111 of machine case 11 and is positioned at the hollow brushless of hollow spindle 2 periphery
Motor assembly 3, the front of machine case 11 is equiped with and is positioned at hollow brushless electric machine assembly 3 front and is positioned at hollow spindle 2
Peripheral harmonic speed reducer assembly 4, hollow brushless electric machine assembly 3 includes brushless motor stator assembly, is positioned at brushless electric machine calmly
The brushless electric motor rotor assembly matched inside sub-component and with brushless motor stator assembly, brushless motor stator assembly includes
The stator core lamination 31 being laminated by stalloy, the coil windings being wound in stator core lamination 31, brushless electric motor rotor
Assembly includes and is installed in inside stator core lamination 31 and overlaps the nd-fe-b magnet 321 being stuck in hollow spindle 2 periphery, and housing holds
Putting the interior rear end side in brushless motor stator assembly in chamber 111 and be embedded with PCB 33, PCB 33 is by wire and nothing
The coil windings electrical connection of brush motor stator module.
Further, harmonic speed reducer assembly 4 includes just wheel 42 that flexbile gear 41 matches with flexbile gear 41, is installed in
Crossed cylindrical roller bearing 43 between flexbile gear 41 and just wheel 42, flexbile gear 41 is provided with outer gear portion 411 and is perpendicular to external tooth
The driving section 412 in wheel portion 411, outer gear portion 411 is one-body molded with driving section 412, and outer gear portion 411 core of flexbile gear 41 is offered
Have completely through flexbile gear centre bore 4111, the outer circumference surface of outer gear portion 411 is provided with the axle along flexbile gear centre bore 4111
Line direction extends and the flexbile gear gear teeth of the most ring-type uniform intervals distribution, just the core of wheel 42 offer completely through firm wheel
Centre bore 421, just the periphery of wheel centre bore 421 is provided with along the just extension of wheel centre bore 421 axis direction and circumferentially ring
The just gear teeth of shape uniform intervals distribution, the outer gear portion 411 of flexbile gear 41 be flush-mounted in just in wheel centre bore 421 and just the wheel gear teeth with
The flexbile gear gear teeth are meshed, and hollow spindle 2 passes through flexible bearing 44 and flexbile gear center through flexbile gear centre bore 4111 and hollow spindle 2
Matching in hole 4111, machine case 11, the driving section 412 of flexbile gear 41, the outer ring of crossed cylindrical roller bearing 43 are spirally connected, just successively
The front of wheel 42 is equiped with the ring flange 5 being set in hollow spindle 2 periphery, ring flange 5, just take turns 42, crossed cylindrical roller axle
Hold the inner ring of 43 to be spirally connected successively.
It addition, this hollow brushless electric machine, harmonic speed reducer all-in-one also include controller, controller by wire with
PCB 33 electrically connects.
It should further be noted that as it is shown in figure 1, the peripheral set card axle sleeve 322 of hollow spindle 2, nd-fe-b magnet 321 is set in
Axle sleeve 322 overcoat and nd-fe-b magnet 321 are connected by flat key 323 spline with axle sleeve 322.It addition, nd-fe-b magnet 321 is peripheral
It is set with wheat and draws screening glass 324.
In work process of the present invention, controller is the coil being wound in stator core lamination 31 by PCB 33
Winding power, field drives nd-fe-b magnet 321 produced by brushless motor stator assembly rotates, and nd-fe-b magnet 321 carries again
Dynamic hollow spindle 2 rotates, and hollow spindle 2 and flexible bearing 44 form wave producer, and the hollow spindle 2 of high-speed rotation is sent out by ripple
Raw device drives flexbile gear 41 and flexbile gear 41 becomes oval, and flexbile gear 41 matches to merge with just wheel 42 and realizes harmonic reduction；Wherein, originally
The blind flange of invention is as motion and clutch end, and blind flange takes turns 42 synchronous axial system with firm.
Need to be explained further, the stator core lamination 31 of the present invention can be adhered to housing containing cavity 111 by binding agent
Inwall, is equiped with deep groove ball bearing 6 respectively between machine case 11 and hollow spindle 2 and between blind flange and hollow spindle 2；
It addition, for ensureing deep groove ball bearing 6, the sealing of harmonic speed reducer assembly 4, the present invention is in machine case 11 and hollow spindle 2
Between, be equiped with oil sealing 7 between blind flange and hollow spindle 2, between the outer ring of crossed cylindrical roller bearing 43 and inner ring respectively.
Summary situation understand, designed by said structure, the present invention has the following advantages, particularly as follows: 1, for machine
For device people, power line and holding wire can pass hollow brushless electric machine assembly 3 and harmonic speed reducer by hollow spindle 2
Assembly 4, and then the problem of robot cabling can be efficiently solved, and so that robot realizes 360 degree of rotations；2, size
It is greatly reduced, weight saving, thus reduces the overall dimensions of each key of robot, add the payload of robot, increase
The motor of Jia Liao robot, decelerator, the life-span of robot body；3, compact conformation, rigidity is big, and precision is high；4, stable movement
Property is greatly increased, and vibrates little；5, noise is little；6, mechanical efficiency is high, generates heat little.
Above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention's
Thought, the most all will change, and this specification content should not be construed as the present invention
Restriction.
Claims (3)
1. a hollow brushless electric machine, harmonic speed reducer all-in-one, it is characterised in that: include machine case (11), machine shell
The inside of body (11) offer before and after completely through housing containing cavity (111), the rearward end of machine case (11) is screwed with lid
It is loaded on the housing cover (12) at the open rearward end of housing containing cavity (111), before the centre position of housing cover (12) offers
After completely through cover plate through hole (121), in the housing containing cavity (111) of machine case (11), setting-in is free rotatably
Heart main shaft (2), the leading section of hollow spindle (2) extends to the front of machine case (11), and the rearward end of hollow spindle (2) is stretched
Enter to the cover plate through hole (121) of housing cover (12)；
The hollow brushless electric machine being positioned at hollow spindle (2) peripheral it is embedded with total in the housing containing cavity (111) of machine case (11)
Becoming (3), the front of machine case (11) is equiped with and is positioned at hollow brushless electric machine assembly (3) front and is positioned at hollow spindle
(2) peripheral harmonic speed reducer assembly (4), hollow brushless electric machine assembly (3) include brushless motor stator assembly, be positioned at brushless
The brushless electric motor rotor assembly matched inside motor stator component and with brushless motor stator assembly, brushless motor stator assembly
The coil windings include the stator core lamination (31) being laminated by stalloy, being wound in stator core lamination (31), nothing
Brush motor rotor assembly includes and is installed in stator core lamination (31) inner side and overlaps the rubidium ferrum boron being stuck in hollow spindle (2) periphery
Magnet (321), in housing containing cavity (111), the rear end side in brushless motor stator assembly is embedded with PCB (33), PCB
Circuit board (33) is electrically connected with the coil windings of brushless motor stator assembly by wire；
Harmonic speed reducer assembly (4) includes just wheel (42) that flexbile gear (41) matches with flexbile gear (41), is installed in flexbile gear (41)
And the just crossed cylindrical roller bearing (43) between wheel (42), outside flexbile gear (41) is provided with outer gear portion (411) and is perpendicular to
The driving section (412) of gear part (411), outer gear portion (411) is one-body molded with driving section (412), the external gear of flexbile gear (41)
Portion (411) core offer completely through flexbile gear centre bore (4111), the outer circumference surface of outer gear portion (411) be provided with along
The axis direction of flexbile gear centre bore (4111) extends and the flexbile gear gear teeth of the most ring-type uniform intervals distribution, just takes turns the core of (42)
Portion offer completely through just take turns centre bore (421), the periphery just having taken turns centre bore (421) is provided with along just taking turns centre bore
(421) axis direction extends and the just gear teeth of the most ring-type uniform intervals distribution, and the outer gear portion (411) of flexbile gear (41) is embedding
Being loaded in just taking turns centre bore (421) and just the wheel gear teeth have been meshed with the flexbile gear gear teeth, hollow spindle (2) passes flexbile gear centre bore
And hollow spindle (2) is matched with flexbile gear centre bore (4111) by flexible bearing (44), machine case (11), flexbile gear (4111)
(41) driving section (412), the outer ring of crossed cylindrical roller bearing (43) are spirally connected successively, and just the front of wheel (42) is equiped with set
It is loaded on the ring flange (5) that hollow spindle (2) is peripheral, ring flange (5), just wheel (42), the inner ring of crossed cylindrical roller bearing (43)
It is spirally connected successively；
This hollow brushless electric machine, harmonic speed reducer all-in-one also include controller, and controller passes through wire and PCB
(33) electrical connection.
The hollow brushless electric machine of one the most according to claim 1, harmonic speed reducer all-in-one, it is characterised in that: described sky
Peripheral set card axle sleeve (322) of heart main shaft (2), described nd-fe-b magnet (321) is set in axle sleeve (322) overcoat and rubidium ferrum boron magnetic
Ferrum (321) is connected by flat key (323) spline with axle sleeve (322).
The hollow brushless electric machine of one the most according to claim 2, harmonic speed reducer all-in-one, it is characterised in that: described rubidium
Ferrum boron magnets (321) periphery is set with wheat and draws screening glass (324).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672283.3A CN106026515B (en) | 2016-08-16 | 2016-08-16 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672283.3A CN106026515B (en) | 2016-08-16 | 2016-08-16 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106026515A true CN106026515A (en) | 2016-10-12 |
| CN106026515B CN106026515B (en) | 2018-07-27 |
Family
ID=57128039
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|---|---|---|---|
| CN201610672283.3A Active CN106026515B (en) | 2016-08-16 | 2016-08-16 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253573A (en) * | 2016-10-18 | 2016-12-21 | 中国电子科技集团公司第二十研究所 | The motor integrating of integration reducer |
| CN106961181A (en) * | 2017-05-15 | 2017-07-18 | 中国电子科技集团公司第二十研究所 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN108857462A (en) * | 2018-07-25 | 2018-11-23 | 深圳市科益展自动化有限公司 | The hollow harmonic wave platform of processing mobile phone product |
| CN109538735A (en) * | 2019-01-14 | 2019-03-29 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109707826A (en) * | 2019-01-14 | 2019-05-03 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN110303484A (en) * | 2019-07-04 | 2019-10-08 | 大族激光科技产业集团股份有限公司 | Joint module and robot |
| CN114069955A (en) * | 2021-11-22 | 2022-02-18 | 无锡巨蟹智能驱动科技有限公司 | Carry on compact power component of harmonic speed reducer ware |
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| CN105846610A (en) * | 2016-03-22 | 2016-08-10 | 沈阳艾克申机器人技术开发有限责任公司 | Continuous-rotation high-angular position accuracy digital motor |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253573A (en) * | 2016-10-18 | 2016-12-21 | 中国电子科技集团公司第二十研究所 | The motor integrating of integration reducer |
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| CN106961181A (en) * | 2017-05-15 | 2017-07-18 | 中国电子科技集团公司第二十研究所 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN108857462A (en) * | 2018-07-25 | 2018-11-23 | 深圳市科益展自动化有限公司 | The hollow harmonic wave platform of processing mobile phone product |
| CN108857462B (en) * | 2018-07-25 | 2023-09-12 | 科益展智能装备有限公司 | Hollow harmonic platform for processing mobile phone parts |
| CN109538735A (en) * | 2019-01-14 | 2019-03-29 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109707826A (en) * | 2019-01-14 | 2019-05-03 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN110303484A (en) * | 2019-07-04 | 2019-10-08 | 大族激光科技产业集团股份有限公司 | Joint module and robot |
| CN114069955A (en) * | 2021-11-22 | 2022-02-18 | 无锡巨蟹智能驱动科技有限公司 | Carry on compact power component of harmonic speed reducer ware |
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| CN106026515B (en) | 2018-07-27 |
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