Harmonic speed reducer for robots
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United States of America Patent
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Dec 31, 2013
Grant Date -
Nov 18, 2010
app pub date -
May 14, 2010
filing date -
May 15, 2009
priority date (Note) -
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status (Latency Note)
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Abstract
A harmonic speed reducer for robots is provided with a frame, an annular circular spline, a cylindrical flexspline, and an elliptical wave generator. The frame has internal threads each tapped parallel to the center axis line, the threads each extending from a circular spline mounting seat to the inside of the frame. The internal thread in the circular spline mounting seat has a peripheral edge portion at an opening thereof with a recess. The recess is formed so as to have a diameter larger than a diameter of the internal thread.
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