CN208845683U - Cycloid wheel, speed reducer and robot - Google Patents
Cycloid wheel, speed reducer and robot Download PDFInfo
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- CN208845683U CN208845683U CN201821564014.6U CN201821564014U CN208845683U CN 208845683 U CN208845683 U CN 208845683U CN 201821564014 U CN201821564014 U CN 201821564014U CN 208845683 U CN208845683 U CN 208845683U
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- cycloidal wheel
- gap
- bearing hole
- oil circuit
- retarder
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Abstract
本实用新型提供一种摆线轮、减速器和机器人，摆线轮的轴承孔上设置有延伸于其轴向两端之间的润滑槽，减速器包括曲轴、上述的摆线轮和滚针轴承；曲轴具有偏心部，曲轴穿过摆线轮的轴承孔，偏心部位于轴承孔内，滚针轴承滚动配合于偏心部的外周面与轴承孔的内壁面之间。减速器设置在机器人的第一部件与第二部件之间。减速器内的润滑油脂可从润滑槽到达轴承孔内壁面与滚针轴承之间的配合处进行润滑和散热。
The utility model provides a cycloid wheel, a reducer and a robot. A bearing hole of the cycloid wheel is provided with a lubricating groove extending between two axial ends of the cycloid wheel, and the reducer comprises a crankshaft, the above-mentioned cycloid wheel and a needle roller. Bearing; the crankshaft has an eccentric part, the crankshaft passes through the bearing hole of the cycloidal wheel, the eccentric part is located in the bearing hole, and the needle roller bearing is rolling fit between the outer peripheral surface of the eccentric part and the inner wall surface of the bearing hole. The reducer is arranged between the first part and the second part of the robot. The lubricating grease in the reducer can lubricate and dissipate heat from the lubricating groove to the fitting between the inner wall surface of the bearing hole and the needle roller bearing.
Description
Technical field
The utility model relates to retarding device technical fields, and in particular to a kind of Cycloidal Wheel, retarder and apply the deceleration
The robot of device.
Background technique
In existing RV retarder, pin wheel housing and Cycloidal Wheel engagement, Cycloidal Wheel make eccentric rotary relative to internal-gear,
The number of teeth of internal-gear and the number of teeth of Cycloidal Wheel are different.If the type of cycloid crop rotation eccentric rotary, Cycloidal Wheel are supported on planet
On frame and rigid disk.When Cycloidal Wheel and internal-gear engage and make eccentric rotary, the difference of the number of teeth corresponding to two gears, planet carrier
It is slowly rotated with rigid disk relative to internal-gear.
In existing RV retarder, it is arranged in the bearing hole of Cycloidal Wheel after being set with needle bearing on the eccentric part of crankshaft,
Multiple rollers of needle bearing, which are directly rolled with the inner wall of bearing hole, to be cooperated.It can not be suitable positioned at the intracorporal lubricant of retarder chamber
Benefit reaches and is lubricated and radiates at the cooperation between bearing hole inner wall and needle bearing.
Utility model content
The first of the utility model is designed to provide a kind of lubricant effect, the better Cycloidal Wheel of heat dissipation effect.
The first of the utility model is designed to provide a kind of lubricant effect, the better retarder of heat dissipation effect.
The third of the utility model is designed to provide a kind of machine with lubricant effect, the better retarder of heat dissipation effect
Device people.
The Cycloidal Wheel of the offer of the first mesh of the utility model includes centre bore and multiple bearing holes, and centre bore and bearing hole are equal
Run through Cycloidal Wheel from the thickness direction of Cycloidal Wheel, multiple bearing holes are located at centre bore outer circumferential；It is set on the inner wall of bearing hole
It is equipped with the lubrication groove of recess, lubrication groove extends the axial ends of bearing hole.
By above scheme as it can be seen that the lubrication groove for extending bearing hole axial ends is arranged on the inner wall of bearing hole, subtract
The intracorporal lubricating oil of fast device chamber or lubricating grease can then enter bearing hole from lubrication groove and reach bearing hole inner wall and needle bearing
Between cooperation at be lubricated and radiate.
Further embodiment is circumferentially extending of the lubrication groove along bearing hole.
Further embodiment is that lubrication groove is greater than 180 degree in the circumferential span of bearing hole.
Therefore lubrication groove upwardly extend in the week of bearing hole can make enter lubricant grease covering surface it is bigger, lubrication
Effect is more abundant, and heat dissipation effect is more preferable.
Further embodiment is that lubrication groove extends along the axial screw shape of bearing hole.
Therefore the lubrication groove of spiral extension further increases the coverage area of lubricant grease, and extend spirally
Lubrication groove makes lubricant grease have better mobility, further increases lubricant effect and heat dissipation effect.
Further embodiment is that the spiral number of turns of lubrication groove are 1 circle or more.
Therefore the spiral number of turns of lubrication groove are more, the total volume of lubrication groove is bigger, and the amount of storage of lubricant grease is got over
Greatly, lubricant effect and heat dissipation effect are then better.
Further embodiment, which is that lubrication groove wriggles in the axial direction of bearing hole, to be extended.
Therefore equally there is the lubrication groove extended that wriggles increase lubricant grease coverage area and increase lubricant grease to deposit
Lubricant effect and heat dissipation effect are improved in the left and right of reserves.
Further embodiment is that lubrication groove includes the first oil circuit and the second oil circuit, and the first oil circuit and the second oil circuit are in spiral shell
Rotation shape extends between the axial ends of bearing hole, and the first oil circuit and the second oil circuit have intersection.
Further embodiment is that the first oil circuit is contrary with extending spirally for the second oil circuit.
Another further embodiment is, the first oil circuit and the second oil circuit extend spirally that direction is identical, the of the first oil circuit
One helix angle is greater than the second helix angle of the second oil circuit.
Therefore lubrication groove includes the first oil circuit and the second oil circuit being staggered, and the first oil circuit and the second oil circuit
Between the axial ends for extending bearing hole, the mobility of lubricant grease, improving radiating effect are improved.
Further embodiment is, bearing hole in the radial direction, the groove face of lubrication groove is arc surface.
Therefore arc-shaped groove face makes the lubricant grease being located in lubrication groove have better mobility.
Further embodiment is that the multiple lubrication grooves being evenly arranged in the circumferential direction of bearing hole are provided on inner wall.
Therefore while multiple lubrication grooves be set make lubricant grease maximum capacity, mobility maximizes and has more
Good lubrication and heat dissipation effect.
The retarder of the offer of the second mesh of the utility model includes Cycloidal Wheel, crankshaft and needle bearing, and Cycloidal Wheel is using upper
The Cycloidal Wheel stated；Crankshaft has eccentric part, and crankshaft passes through the bearing hole of Cycloidal Wheel, and eccentric part is located in bearing hole, needle bearing
Rolling is matched between the outer peripheral surface of eccentric part and the inner wall of bearing hole.
Further embodiment is that retarder further includes pin wheel housing, needle roller, planet carrier and rigid disk；It is provided on pin wheel housing
Through the installation position of axial ends, rigid disk and planet carrier are rotationally connected with the axial ends of installation position, at least one Cycloidal Wheel
It is arranged between rigid disk and planet carrier, multiple needle rollers are arranged between Cycloidal Wheel and pin wheel housing, and crank rotation is connected to rigidity
Between disk and planet carrier.
Further embodiment is that retarder further includes planetary gear and input shaft；Planetary gear is sleeved on crankshaft, planet
Gear is located on planet carrier；The flank of tooth end of input shaft sequentially pass through rigid disk, Cycloidal Wheel centre bore and planet carrier after with planet
Gear engagement.
By above scheme as it can be seen that the lubricant grease in installation position can enter bearing hole from lubrication groove and reach in bearing hole
At cooperation between wall surface and needle bearing, being not required in lubrication groove individually to inculcate lubricant grease be can be realized to bearing hole inner wall
Lubrication and heat dissipation between face and needle bearing at cooperation.
Further embodiment is that have the first gap between input shaft and planetary gear；Have between input shaft and planet carrier
There is the second gap；There is third space between input shaft and Cycloidal Wheel；There is the 4th gap between input shaft and rigid disk；Planet
There is the 5th gap between frame and Cycloidal Wheel；There is the 6th gap between rigid disk and Cycloidal Wheel；Retarder has lubrication channel,
Lubrication channel include the first interconnected gap, the second gap, third space, the 4th gap, the 5th gap, the 6th gap and
Lubrication groove.
Further embodiment is that retarder includes at least two Cycloidal Wheels, has the 7th gap between adjacent Cycloidal Wheel；
Lubrication channel include the first interconnected gap, the second gap, third space, the 4th gap, the 5th gap, the 6th gap,
7th gap and lubrication groove.
Therefore be interconnected between multiple gaps and lubrication groove, the lubricant grease added from retarder outside can lead to
It crosses at the cooperation that lubrication channel reaches between bearing hole inner wall and needle bearing.
The utility model third purpose provide robot include the first component and relative to the first component rotation second
Component, robot further include such as above-mentioned retarder, and retarder is connected between the first component and second component.
By above scheme as it can be seen that the retarder setting with more preferable lubricant effect and more preferable heat dissipation effect is in two, robot
Joint between arm can effectively improve machine human reriability and prolong the service life.
Detailed description of the invention
Fig. 1 is the structure chart of the utility model Cycloidal Wheel first embodiment.
Fig. 2 is the expansion floor map of the utility model Cycloidal Wheel first embodiment axis bearing bore inner wall.
Fig. 3 is the expansion floor map of the utility model Cycloidal Wheel second embodiment axis bearing bore inner wall.
Fig. 4 is the expansion floor map of the utility model Cycloidal Wheel 3rd embodiment axis bearing bore inner wall.
Fig. 5 is the expansion floor map of the utility model Cycloidal Wheel fourth embodiment axis bearing bore inner wall.
Fig. 6 is the expansion floor map of the 5th embodiment axis bearing bore inner wall of the utility model Cycloidal Wheel.
Fig. 7 is the expansion floor map of the utility model Cycloidal Wheel sixth embodiment axis bearing bore inner wall.
Fig. 8 is the cross-sectional view of the utility model retarder embodiment.
Fig. 9 is the partial sectional view of the utility model retarder embodiment.
The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.
Specific embodiment
Referring to Fig. 1 and Fig. 2, Fig. 1 is the structure chart of the utility model Cycloidal Wheel first embodiment, and Fig. 2 is the utility model
The expansion floor map of Cycloidal Wheel first embodiment axis bearing bore inner wall.Cycloidal Wheel 1 provided by the utility model is one kind
For constituting the component of the RV retarder with Cycloidal Wheel deceleration mechanism, the periphery of Cycloidal Wheel 1 is the tooth for engaging with needle roller
Face, the middle part of Cycloidal Wheel 1 have the centre bore 10 through 1 thickness direction of Cycloidal Wheel, and centre bore 10 for input shaft for passing through；Pendulum
Line wheel 1 is provided with three bearing holes 11 being evenly arranged on the circumferential position of centre bore 10, and bearing hole 11 is through Cycloidal Wheel 1
Thickness direction, bearing hole 11 have inner wall 110, are placed with the needle bearing being set on crankshaft, and crankshaft in bearing hole 11
Eccentric part be located in bearing hole 11, between the inner wall 110 of eccentric part and bearing hole 11 by needle bearing realize rotation match
It closes.
Be provided on the inner wall 110 of bearing hole 11 recess, extend lubrication groove between 11 axial ends of bearing hole
12.In Fig. 2, X-direction is the circumferential direction of bearing hole 11, and Y direction is the axial direction of bearing hole 11.Lubrication groove 12 extends in the shape of a spiral
Between the axial ends of bearing hole 11, and lubrication groove 12 all has a notch on the end face at the both ends of Cycloidal Wheel, that is, exists
In plane outspread drawing, lubrication groove 12 favours X-direction and favours Y direction, and the extension line of lubrication groove 12 is with Y-axis side
To elongation and with X-direction elongation straight line.In X-direction (in the circumferential direction of bearing hole 11), lubrication groove 12
Extend across 360 degree.To guarantee to all have the space of storage lubricant grease on any one circumferential position of inner wall 110.
Illustrate in conjunction with the expansion plane that Fig. 3, Fig. 3 are the utility model Cycloidal Wheel second embodiment axis bearing bore inner wall
Figure.The equal lubrication groove 12 of multiple tracks helix angle is set on inner wall 110, and per pass lubrication groove 12 is in the circumferential direction of bearing hole 11
On extend across 360 degree, so that the circulation of lubricant grease be made to be multiplied.
Referring to fig. 4, Fig. 4 is that the expansion plane of the utility model Cycloidal Wheel 3rd embodiment axis bearing bore inner wall is illustrated
Figure.The lubrication groove 13 being arranged on inner wall 110 includes the first oil circuit 131 and the second oil circuit 132, the first oil circuit 131 and upper one
12 set-up mode of lubrication groove is identical in embodiment, and the first oil circuit 131 and the second oil circuit 132 extend bearing hole 11(Fig. 1 and show)
Axial ends between, and 360 degree are extended across in X-direction (in the circumferential direction of bearing hole 11), the second oil circuit 132 and first
Extending spirally for oil circuit 131 is contrary, therefore the first oil circuit 131 and the second oil circuit 132 have intersection on inner wall 110
133.Therefore, it can be flowed out from the lubricant grease that the notch of the first oil circuit 131 enters from the notch of the second oil circuit 132, to improve
Mobility of the lubricant grease in lubrication groove 13.
Illustrate referring to the expansion plane that Fig. 5, Fig. 5 are the utility model Cycloidal Wheel fourth embodiment axis bearing bore inner wall
Figure.The lubrication groove 14 being arranged on inner wall 110 includes the first oil circuit 141, the second oil circuit 142 and third oil circuit 143, the first oil
Road 141, the second oil circuit 142 and third oil circuit 143 extend bearing hole 11(Fig. 1 and show) axial ends between, the first oil circuit
141 the first helix angle (inclination angle relative to X-direction), the second helix angle of the second oil circuit 142 and third oil
Between the third helix angle on road 143, it is each unequal, there is intersection 144 between the first oil circuit 141 and the second oil circuit 142, the
There is intersection 145 between one oil circuit 141 and third oil circuit 143.
Illustrate referring to the expansion plane that Fig. 6, Fig. 6 are the utility model Cycloidal Wheel fourth embodiment axis bearing bore inner wall
Figure.The lubrication groove 15 being arranged on inner wall 110 includes multiple first oil circuits 151 and multiple second oil circuits 152, multiple first oil
Be parallel to each other between road 151, the hand of spiral between the first oil circuit 151 and the second oil circuit 152 on the contrary, inner wall 110 expansion
On plan view, in staggeredly mesh arrangement between multiple first oil circuits 151 and multiple second oil circuits 152.
Illustrate referring to the expansion plane that Fig. 7, Fig. 7 are the utility model Cycloidal Wheel sixth embodiment axis bearing bore inner wall
Figure.Lubrication groove 16 wriggles in the Y-axis direction on inner wall 110 to be extended bearing hole 11(Fig. 1 and shows) axis both ends between, and
In X-direction (circumferential direction of bearing hole 11), the leap angle of lubrication groove 16 is 180 degree；It can be provided on internal perisporium 110 pair
Claim two lubrication grooves 16 of arrangement to realize circumferential 360 degree of all standing lubrication.
It is the cross-sectional view of the utility model retarder embodiment referring to Fig. 8, Fig. 8.Retarder include above-mentioned Cycloidal Wheel 1,
Pin wheel housing 2, needle roller 21, planet carrier 3, rigid disk 4, crankshaft 5, planetary gear 6, needle bearing 7 and input shaft 8.2 middle part of pin wheel housing
With through the installation position of its axial ends, rigid disk 4 is installed in rotation on pin wheel housing 2 by first bearing 91 and position
Axial first end in installation position, planet carrier 3 are installed in rotation on pin wheel housing 2 by second bearing 92 and are located at installation position
Axial second end, the axial first end of crankshaft 5 is installed in rotation on planet carrier 3 by 3rd bearing 93, the axis of crankshaft 5
It is installed in rotation on rigid disk 4 to second end by fourth bearing 94, planetary gear 6 is fixed on axial the first of crankshaft 5
End is held, and planetary gear 6 is located in the recess 31 of planet carrier 3.
The middle part of crankshaft 5 has one or more eccentric parts 51, and there are two eccentric parts 51 for the tool of crankshaft 5 in the present embodiment, partially
Center portion 51 is between planet carrier 3 and rigid disk 4, and the setting of Cycloidal Wheel 1 corresponding with 51 quantity of eccentric part is in planet carrier 3 and rigidity
Between disk 4, bearing hole 11(Fig. 1 that Cycloidal Wheel 1 is arranged in eccentric part 51 shows) in, and the inner wall 110 of bearing hole 11 and bias
Needle bearing 7 is provided between the outer peripheral surface in portion 51, multiple needle rollers of needle bearing 7 and the inner wall 110 of bearing hole 11 roll
Cooperation, and the outer peripheral surface of multiple needle rollers of needle bearing 7 and eccentric part 51 rolls and cooperates.1 outer peripheral surface of Cycloidal Wheel and pin wheel housing 2 it
Between be provided with multiple needle rollers 21.There is input shaft 8 first end of the flank of tooth to sequentially pass through rigid disk 4, two Cycloidal Wheels 1 and planet carriers
It is engaged simultaneously after 3 with multiple planetary gears 6.
It is the partial sectional view of the utility model retarder embodiment in conjunction with Fig. 8 and Fig. 9, Fig. 9.Retarder has lubrication logical
Road flows to each key cooperation place in retarder from the lubricating oil or lubricating grease of external world's implantation by lubrication channel.Input shaft
There is the first gap 81 between 8 and planetary gear 6；There is the second gap 82 between input shaft 8 and planet carrier 3；Input shaft 8 and pendulum
There is third space 83 between line wheel 1；There is the 4th gap 84 between input shaft 8 and rigid disk 4；Planet carrier 3 and Cycloidal Wheel 1 it
Between have the 5th gap 85；There is the 6th gap 86 between rigid disk 4 and Cycloidal Wheel 1, have the 7th between adjacent Cycloidal Wheel 1
Gap 87.Lubrication channel includes the first interconnected gap 81, the second gap 82, third space 83, the 4th gap the 84, the 5th
Gap 85, the 6th gap 86 and lubrication groove 12.
First gap 81 and the 4th gap 84 are connected to outside, and lubricating oil, lubricating grease can be from the first gaps 81 or the 4th
It is added in retarder, and can be reached in lubrication groove 12 by lubrication channel in gap 84, reach the inner wall 110 of bearing hole 11
It is lubricated and radiates at cooperation between (Fig. 1 shows) and needle bearing 7.
Retarder provided by the utility model is applied in robot, the first component that robot is mutually rotatablely connected and the
Two components, the first component are first mechanical arm, and second component is second mechanical arm, and retarder is arranged in first mechanical arm and second
Between mechanical arm.Driving motor is provided in first mechanical arm, driving motor is connected on the input shaft 8 of retarder, the first machine
Ring flange on tool arm and pin wheel housing 2 is fixedly mounted, and second mechanical arm is fixedly connected with planet carrier 3.The joint of robot is adopted
Hoisting machine human reriability and the service life of robot can be extended with the retarder with more preferable lubrication and heat dissipation effect.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, it is not limited to this reality
With novel, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (17)
1. Cycloidal Wheel, including centre bore and multiple bearing holes, the centre bore and the bearing hole are from the thickness of the Cycloidal Wheel
It spends direction and runs through the Cycloidal Wheel, multiple bearing holes are located at the centre bore outer circumferential；
It is characterized by:
The lubrication groove of recess is provided on the inner wall of the bearing hole, the lubrication groove extends axial the two of the bearing hole
End.
2. Cycloidal Wheel according to claim 1, it is characterised in that:
Circumferentially extending of the lubrication groove along the bearing hole.
3. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
The lubrication groove extends along the axial screw shape of the bearing hole.
4. Cycloidal Wheel according to claim 3, it is characterised in that:
The spiral number of turns of the lubrication groove are 1 circle or more.
5. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
The lubrication groove wriggles in the axial direction of the bearing hole to be extended.
6. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
Span of the lubrication groove in the circumferential direction of the bearing hole is greater than 180 degree.
7. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
The lubrication groove includes the first oil circuit and the second oil circuit, and first oil circuit and second oil circuit extend in the shape of a spiral
In the axial ends of the bearing hole, first oil circuit and second oil circuit intersection.
8. Cycloidal Wheel according to claim 7, it is characterised in that:
First oil circuit is contrary with extending spirally for second oil circuit.
9. Cycloidal Wheel according to claim 7, it is characterised in that
First oil circuit and second oil circuit extend spirally that direction is identical, and the first helix angle of first oil circuit is big
In the second helix angle of second oil circuit.
10. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
The bearing hole in the radial direction, the groove face of the lubrication groove is arc surface.
11. Cycloidal Wheel according to claim 1 or 2, it is characterised in that:
The multiple lubrication grooves being evenly arranged in the circumferential direction of the bearing hole are provided on the inner wall.
12. retarder, including Cycloidal Wheel, crankshaft and needle bearing, it is characterised in that:
The Cycloidal Wheel uses the described in any item Cycloidal Wheels of the claims 1 to 11；
The crankshaft has eccentric part, and the crankshaft passes through the bearing hole of the Cycloidal Wheel, and the eccentric part is located at described
In bearing hole, the needle bearing roll the outer peripheral surface and the bearing hole that are matched with the eccentric part the inner wall it
Between.
13. retarder according to claim 12, it is characterised in that:
The retarder further includes pin wheel housing, needle roller, planet carrier and rigid disk；
It is provided on the pin wheel housing through the installation position of axial ends, the rigid disk and the planet carrier are rotationally connected with institute
The axial ends of installation position is stated, at least one described Cycloidal Wheel is arranged between the rigid disk and the planet carrier, Duo Gesuo
It states needle roller to be arranged between the Cycloidal Wheel and the pin wheel housing, the crank rotation is connected to the rigid disk and the planet
Between frame.
14. retarder according to claim 13, it is characterised in that:
The retarder further includes planetary gear and input shaft；
The planetary gear is sleeved on the crankshaft, and the planetary gear is located on the planet carrier；
The flank of tooth end of the input shaft sequentially pass through the rigid disk, the Cycloidal Wheel the centre bore and the planet carrier after
It is engaged with the planetary gear.
15. retarder according to claim 14, it is characterised in that:
There is the first gap between the input shaft and the planetary gear；
There is the second gap between the input shaft and the planet carrier；
There is third space between the input shaft and the Cycloidal Wheel；
There is the 4th gap between the input shaft and the rigid disk；
There is the 5th gap between the planet carrier and the Cycloidal Wheel；
There is the 6th gap between the rigid disk and the Cycloidal Wheel；
The retarder has lubrication channel, and the lubrication channel includes between interconnected first gap, described second
Gap, the third space, the 4th gap, the 5th gap, the 6th gap and the lubrication groove.
16. retarder according to claim 15, it is characterised in that:
The retarder includes at least two Cycloidal Wheels, has the 7th gap between the adjacent Cycloidal Wheel；
The lubrication channel includes interconnected first gap, second gap, the third space, the described 4th
Gap, the 5th gap, the 6th gap, the 7th gap and the lubrication groove.
17. robot, including the first component and relative to the second component of first component rotation, it is characterised in that:
The robot further includes such as the described in any item retarders of the claims 12 to 16, and the retarder is connected to institute
It states between the first component and the second component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821564014.6U CN208845683U (en) | 2018-09-25 | 2018-09-25 | Cycloid wheel, speed reducer and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821564014.6U CN208845683U (en) | 2018-09-25 | 2018-09-25 | Cycloid wheel, speed reducer and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208845683U true CN208845683U (en) | 2019-05-10 |
Family
ID=66374436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821564014.6U Expired - Fee Related CN208845683U (en) | 2018-09-25 | 2018-09-25 | Cycloid wheel, speed reducer and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208845683U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108980305A (en) * | 2018-09-25 | 2018-12-11 | 珠海格力电器股份有限公司 | Cycloid wheel, speed reducer and robot |
| WO2020073496A1 (en) * | 2018-10-12 | 2020-04-16 | 珠海格力电器股份有限公司 | Speed reducer, geared motor, and robot |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| WO2022134598A1 (en) * | 2020-12-21 | 2022-06-30 | 珠海格力电器股份有限公司 | Heat dissipation device and robot having same |
-
2018
- 2018-09-25 CN CN201821564014.6U patent/CN208845683U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108980305A (en) * | 2018-09-25 | 2018-12-11 | 珠海格力电器股份有限公司 | Cycloid wheel, speed reducer and robot |
| WO2020073496A1 (en) * | 2018-10-12 | 2020-04-16 | 珠海格力电器股份有限公司 | Speed reducer, geared motor, and robot |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| WO2022134598A1 (en) * | 2020-12-21 | 2022-06-30 | 珠海格力电器股份有限公司 | Heat dissipation device and robot having same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190510 |