公开(公告)号：US11292125B2

公开(公告)日：2022-04-05

申请号：US16083472

申请日：2016-10-31

Applicant: SHENZHEN LLMACHINECO., LTD

Inventor： Jun Tan ,  Xianhong Cao

IPC: F16H1/32 ,  B25J9/10 ,  F16H57/021 ,  F16C23/10 ,  F16H21/18 ,  F16H57/04 ,  F16C9/02 ,  F16H1/24

Abstract: A low-back-clearance robot speed reducer includes a wheel holder (16), a pin gear shell (1), a first cycloidal wheel (6), a roller pin (8), a second cycloidal wheel (11), a gland (2), an elastic member (9), a first cross-shaped slider (5), a second cross-shaped slider (13) and a crankshaft (10). The first cycloidal wheel (6) and the second cycloidal wheel (11) are in a phase relation of 180 degrees and have a multi-point engagement transmission relationship with the pin gear shell (1) and the roller pin (8). The first cross-shaped slider (5) and the second cross-shaped slider (13) form a double cross-shaped slider structure, in which the groove profile of the sliders is of a trapezoidal groove structure. A clearance is automatically axially compensated by the elastic member (9). The center of rotation of the crankshaft (10) is coaxial with the wheel holder (16) and the gland (2).

公开(公告)号：US11002353B2

公开(公告)日：2021-05-11

申请号：US16138701

申请日：2018-09-21

Applicant: SHENZHEN LLMACHINECO., LTD

Inventor： Jun Tan ,  Xianhong Cao

IPC: F16H1/32 ,  F16H49/00 ,  F16H57/00 ,  F01L1/352

Abstract: A cycloidal pin wheel harmonic transmission device includes camshaft, flexible bearing, flexible wheel, roller pins and rigid wheel. The flexible bearing is mounted on the camshaft with elliptical shape. The flexible wheel has inner ring cooperated with outer ring of the flexible bearing, and outer teeth surface contacted with each roller pin. The roller pins are evenly disposed inside semicircular groove of the rigid wheel. The flexible wheel is fixedly connected with inner ring and the rigid wheel is fixedly connected with outer ring of the main bearing. Both teeth height and root have cycloidal teeth profiles reduces the risk of breakage failure, possible to obtain larger engagement without deep engaging distance. Teeth width is large, used for the engagement, the surface specific pressure is small. It is possible to withstand large torque to reduce the amount of deformation of the flexible wheel, and to greatly improve the longevity.