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US 10,648,550 B2Granted
Harmonic driving device
AssigneeIndustrial Technology Research Institute
InventorsKun-Ju Xie, Jui-Tang Tseng, Ching-Huei Wu
Life of this patent
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Abstract
A harmonic driving device comprises a wave generator, a rigid wheel having an internal gear furnished therein, and a flexible wheel having an external gear furnished therein further comprising a cup-shaped which is composed of a main body and a bottom, a plurality of holes are disposed on the cup-shaped.
Claims19
A harmonic driving device, comprising:
- a wave generator;
- a rigid wheel, having an internal gear furnished therein;
- and
- a flexible wheel, being in cup-shape having an external gear furnished thereon, and further having a main body and a bottom part connected to a first end of the main body, the first end being an end of the flexible wheel closer to the rigid wheel;
- wherein, the cup-shaped flexible wheel further has a plurality of holes furnished thereon, the plural holes allowing for stiffness of the flexible wheel to be adjusted flexibly and for induced stress to be distributed evenly.
2 more elements
A harmonic driving device, comprising:
- a wave generator;
- a rigid wheel, having an internal gear furnished therein;
- a flexible wheel, being in cup-shape having an external gear furnished thereon, and further having a main body and a bottom part connected to a first end of the main body, the first end being an end of the flexible wheel closer to the rigid wheel;
- a first drive shaft, connected to the wave generator;
- and
- a second drive shaft, connected to the bottom of the flexible wheel;
- wherein, the rigid wheel is fixedly stationed at a specific position, while allowing one shaft selected from the first drive shaft and the second drive shaft to be used as a power input shaft and the other to be used as a power output shaft;
- and
- wherein, the cup-shaped flexible wheel further has a plurality of holes furnished thereon, the plural holes allowing for stiffness of the flexible wheel to be adjusted flexibly and for induced stress to be distributed evenly.
6 more elements
Dependencies are inferred from the claim text.