JOINT, MECHANICAL ARM AND ROBOT, AND HARMONIC REDUCER DEVICE AND MOUNTING METHOD THEREFOR

Title:

JOINT, MECHANICAL ARM AND ROBOT, AND HARMONIC REDUCER DEVICE AND MOUNTING METHOD THEREFOR

Document Type and Number:

WIPO Patent Application WO/2023/051714

Kind Code:

A1

Abstract:

A harmonic reducer device, comprising a flexspline (10b), a circular spline (60b) meshing with the flexspline (10b), and a wave generator (20b), wherein the wave generator (20b) comprises a sleeve (21b) for power input, and a wave generator main body (22b) arranged on the sleeve (21b). The harmonic reducer device further comprises an end cover (90b) and an output bearing (70b), which are arranged opposite each other; and further comprises a first stop structure (30b) and a second stop structure (40b), which stop the sleeve (21b), wherein projections of a power output end of the wave generator (20b) and of the second stop structure (40b) on an axis of the sleeve (21b) at least partially overlap. By means of the harmonic reducer device, the projections of the power output end of the wave generator (20b) and of the second stop structure (40b) on the axis of the sleeve (21b) at least partially overlap in a way which breaks through convention, such that the requirement for further miniaturization of the harmonic reducer device is achieved directly by changing the axial dimension of the harmonic reducer device without changing the radial dimension of the circular spline (60b), thus satisfying market demands. Further provided are a joint comprising the harmonic reducer device, and a mechanical arm, a robot and a method for mounting the mechanical arm and the robot.

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Inventors:

WANG ZHONGBIN (CN)
YE WEIZHI (CN)
LIU ZHUFU (CN)
LIU PEICHAO (CN)
HU WANQUAN (CN)

Application Number:

PCT/CN2022/122688

Publication Date:

April 06, 2023

Filing Date:

September 29, 2022

Export Citation:

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Assignee:

SHENZHEN YUEJIANG TECH CO LTD (CN)

International Classes:

F16H49/00; B25J9/10; F16H57/021; F16H57/023; F16H57/029; F16H57/035

Foreign References:

CN113847404A	2021-12-28
CN113606313A	2021-11-05
CN211259531U	2020-08-14
CN108381535A	2018-08-10
CN107339402A	2017-11-10
US20020135241A1	2002-09-26
CN111113477A	2020-05-08
CN207229700U	2018-04-13

Attorney, Agent or Firm:

SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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