US 11,906,026 B2
Frictional wave reducer
Sang Wan Joo, Gyeonggi-do (KR)
Assigned to C AND M ROBOTICS CO., LTD., Gyeonggi-Do (KR)
Appl. No. 17/417,716
Filed by C AND M ROBOTICS CO., LTD., Seoul (KR)
PCT Filed Mar. 5, 2021, PCT No. PCT/KR2021/002716
§ 371(c)(1), (2) Date Jun. 23, 2021,
PCT Pub. No. WO2021/177766, PCT Pub. Date Sep. 10, 2021.
Claims priority of application No. 10-2020-0028288 (KR), filed on Mar. 6, 2020; and application No. 10-2020-0072464 (KR), filed on Jun. 15, 2020.
Prior Publication US 2023/0258255 A1, Aug. 17, 2023
Int. Cl. F16H 49/00 (2006.01); B25J 17/00 (2006.01); F16C 17/04 (2006.01); B25J 9/10 (2006.01)
CPC F16H 49/001 (2013.01) [B25J 9/1025 (2013.01); B25J 17/00 (2013.01); F16C 17/04 (2013.01); F16H 2049/003 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A frictional wave reducer comprising:
a wave generator having a conic pressurizing face on the outermost side;
a toothless flex spline having a conic friction tube in which the wave generator is accommodated with the conic pressurizing face inscribed in the conic friction tube;
a toothless circular spline accommodating the toothless flex spline and having an internal conic friction face in which the conic friction tube is inscribed at a plurality of axially symmetrical points to form an internal friction wheel with the toothless flex spline;
a pressurizing means for generating frictional force between the conic friction tube and the internal conic friction face by pressurizing the wave generator in an axial direction,
wherein the pressurizing means includes a plug which pressurizes the wave generator by means of a thrust bearing; and
an intermediate plate for motor mounting which is combined with one end of the circular spline in the axial direction and accommodates the plug,
wherein an outer circumferential face of the plug and an inner circumferential face of the intermediate plate are combined with each other through screw joining such that pressurizing force applied by the plug to the wave generator is controllable.