CN103122973B - Rigid inside and outside tooth-profile-wrapped tooth reducer - Google Patents
Rigid inside and outside tooth-profile-wrapped tooth reducer Download PDFInfo
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- CN103122973B CN103122973B CN201310066037.XA CN201310066037A CN103122973B CN 103122973 B CN103122973 B CN 103122973B CN 201310066037 A CN201310066037 A CN 201310066037A CN 103122973 B CN103122973 B CN 103122973B
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- 239000003638 chemical reducing agent Substances 0.000 title abstract description 12
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- 230000033001 locomotion Effects 0.000 claims description 15
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- 238000007789 sealing Methods 0.000 claims description 6
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Abstract
The invention relates to a rigid inside and outside tooth-profile-wrapped tooth reducer which comprises a first level reducing mechanism and a second level reducing mechanism. The first level reducing mechanism comprises an eccentric wheel (101), a first turning arm bearing (5), an outer meshing curve wheel (7) and a gear pin (8), wherein the gear pin (8) is fixed on a first support (9) and is meshed with the outer meshing curve wheel (7) in an external mode. The second level reducing mechanism comprises an eccentric driving wheel (14), a second turning arm bearing (13), an inner meshing curve wheel (11) and an output disc (16), wherein the inner meshing curve wheel (11) is meshed and matched with the gear pin (8) in an internal mode, the output disc (16) is connected with an output shaft (20) of the output disc (16) in a linkage mode, the eccentric driving wheel (14) is connected with the outer meshing curve wheel (7) in a transmission mode through a pin (26), the inner meshing curve wheel (11) is connected with the output disc (16) in a transmission mode through a transmission pin (24), one side of the outer meshing curve wheel (7) is provided with a first reinforcing bracket (6), and one side of the inner meshing curve wheel (11) is further provided with a second reinforcing bracket (23). The rigid inside and outside tooth-profile-wrapped tooth reducer has the advantages of being small in the number of teeth, large in speed ratio, small in size, high in bearing and efficiency, long in service life, high in rigidity, and particularly suitable for a reducer for a heavy-load robot.
Description
Technical field
The present invention relates to a kind of industrial little tooth difference speed reducer, belong to retarder technical field.The present invention subsidizes by " national high-tech research development plan (863 Program) ".
Background technique
Retarder for robot field mainly contains two large classes: harmonic speed reducer and planet-cycloid reducer.The harmonic speed reducer of Zeng Zuowei robot transmission main device, retarded motion is realized by the resiliently deformable of flexbile gear, its resiliently deformable is larger, the elasticity return difference caused thus is also large, inevitably affects the accuracy of robot motion, transmit comparatively heavy load time, distortion flexbile gear with just take turns that to engage not be that conjugate profiles engages, it is low to protect accuracy life, can not for heavy-load robot, can only for underloading, middle underloading robot.Japan Rotary Vector(is called for short RV) retarder has compared with harmonic wave drive speed reducer that volume is little, lightweight, velocity ratio is large, rigidity is large, precision and the series of advantages such as efficiency is high, smooth running, return difference are little, kinematic accuracy is high, is suitable for heavy-load robot use.The up-to-date RV reducer of Japan makes the volume of retarder reduce further by flexible bearing outer ring, and robot body interface also diminishes thereupon, represents the trend of robot retarder to less better future development.But when retarder constancy of volume, the velocity ratio of RV retarder is along with the increase of the pinwheel number of teeth, and the size of the single tooth of cycloid and gear pin diminishes, and have impact on the further raising of retarder bearing capacity.In addition, the requirement on machining accuracy of RV retarder is high, cost is high, constrains its propagation and employment, particularly will meet two differences, 180 degree of eccentric shaft machining accuracies of arranging very difficult, and its precision directly affects transmission accuracy and the efficiency of retarder.The large speed ratio of RV retarder is from its planetary reduction gear transmission and cycloidal-pin wheel gearing down, that composite second order slows down, large reduction speed ratio can be realized with the series connection of Japan's FA retarder or the series connection of other speed reducer, but axial dimension doubly increases along with being in series of retarder, the needs of little, the high rigidity of robot retarder volume, efficient carrying can not be met.Therefore, the retarder of few number of teeth, large speed ratio, small volume, high-mechanic, high efficiency long service is the bottleneck of robot to small and exquisite efficient large carrying future development, urgently to be resolved hurrily.
Summary of the invention
The object of the invention is for the problems referred to above, take turns with output movement the hog frame linked by increasing by two, a kind of high rigidity, few number of teeth, large speed ratio, small volume, high-mechanic, high efficiency long service is provided to be particularly suitable for heavy-load robot retarder, ensure the volume and weight effectively reducing retarder in few number of teeth, large speed ratio, efficient high-mechanic situation, and be easy to industrialization and seriation.
Technological scheme of the present invention is outer teeth profile bag tooth retarder in a kind of rigidity, includes the first support (9); Second support (10), itself and the first support (9) form a cavity volume; Input shaft (1), it is installed on the first support (9) by the first spring bearing (3); Output shaft (20), it is installed on the second support (10); And the first order reducing gear be installed in cavity volume and second level reducing gear, be characterized in: described first order reducing gear includes: eccentric wheel (101), it is located on input shaft (1); First rotary arm bearing (5), it is set on eccentric wheel (101); Outer gearing curve wheel (7), it is sheathed on the first rotary arm bearing (5); And gear pin (8), its be fixed on the first support (9) upper and with outer gearing curve wheel (7) outer gearing; Described second level reducing gear includes: eccentric gearing wheel (14), and it is installed on input shaft (1) by the second spring bearing (17); Second rotary arm bearing (13), it is set in eccentric gearing wheel (14); Internal messing curve wheel (11), it is set on the second rotary arm bearing (13), and coordinates with described gear pin (8) internal messing; And output disc (16), itself and output shaft (20) are connected; Described eccentric gearing wheel (14) is in transmission connection by pin (26) and outer gearing curve wheel (7), and described internal messing curve wheel (11) is in transmission connection by driving pin (24) and output disc (16); The quantity of described gear pin (8) be less than internal messing curve wheel (11) the number of teeth and more than the number of teeth of outer gearing curve wheel (7); The side near the first support (9) of pitch curve wheel (7) is provided with the first hog frame (6) outside, this first hog frame (6) is arranged on input shaft (1) by clutch shaft bearing (4), first hog frame (6) is provided with multiple boss (61), described outer gearing curve wheel (7) is corresponding is provided with multiple through hole (71), the boss (61) of the first hog frame (6) is taken turns (14) through through hole (71) with eccentric gearing and is fixedly connected with, and described outer gearing curve wheel (7) does not contact with described boss (61) all the time in movement process; The second hog frame (23) is also provided with in the side of internal messing curve wheel (11), this second hog frame (23) is installed in described eccentric gearing wheel (14) by the second bearing (25), described the second hog frame (23) is also provided with multiple boss (231), correspondingly be provided with multiple through hole (111) internal messing curve wheel (11) is upper, the boss (231) of the second hog frame (23) is fixedly connected with output disc (16) through through hole (111), and described internal messing curve wheel (11) does not contact with described boss (231) all the time in movement process.
As preferred version of the present invention: the boss (61,231) on described the first hog frame (6), the second hog frame (23) be all three centered by the axis of input shaft circumference be uniformly distributed.
As preferred version of the present invention: described eccentric gearing wheel (14) is provided with the convex shoulder (141) coaxial with input shaft (1), is provided with the 3rd spring bearing (15) between convex shoulder (141) and output disc (16).
As preferred version of the present invention: many one of the number of teeth of the number ratio outer gearing curve wheel (7) of described gear pin (8), many one of the quantity of the gear ratio gear pin (8) of described internal messing curve wheel (11).
As preferred version of the present invention: described output disc (16) and output shaft (20) are wholely set.
As preferred version of the present invention: described eccentric wheel (101) and input shaft (1) are wholely set.
As preferred version of the present invention: described driving pin (24) one end is fixed on output disc (16), the other end is arranged on internal messing curve wheel (11), and the end face of output disc (16) is provided with the driving pin back-up ring (22) corresponding with driving pin (24).
As preferred version of the present invention: be provided with the first Sealing shield ring (2) between the side of described the first support (9) and input shaft (1).
As preferred version of the present invention: be provided with the second Sealing shield ring (19) between the side of described the second support (10) and output shaft (20).
The present invention compared with prior art its beneficial effect is: the present invention is meshed with same locking pin alligator by pitch curve wheel flank profil inside and outside few teeth difference, realize large speed ratio retarded motion, because double reduction shares same group of gear pin, the axial dimension of retarder reduces greatly than the simple size of connecting of the first stage decelerator of two in the past, again because outer gearing curve wheel and internal messing curve wheel Impact direction one are outside along the tangent Normal direction of gear pin and curve engagement place, one inwards, inside and outside pitch curve wheel engaging force partial offset can be realized, improve bearing capacity and the transmission efficiency of retarder, eliminate the arranged off-centre of the necessary two panels difference 180 degree of RV Key Part of Cycloid Cam Planetary Speed Reducer, also two differences, 180 degree of eccentric shaft part requirements of arranging on eccentric shaft are eliminated thus.The eccentric wheel on eccentric shaft is only located in retarder every grade deceleration of the present invention with one, double reduction only with two independently single eccentric wheel just can realize retarder stress equalization problem, therefore compared with RV retarder, structure decreases a cycloid wheel, also reduce the eccentric shaft part that must meet biased 180 degree that one section of requirement on machining accuracy is higher, this not only reduces axial dimension, alleviate the weight of retarder, and enormously simplify eccentric shaft processing technology and manufacture cost, be easy to realize industrialization.In addition, RV retarder is that planetary reduction gear transmission and few teeth difference cycloidal-pin wheel deceleration composite second order slow down, and compared with the double reduction of two few teeth differences of the present invention, identical reduction speed ratio, the number of teeth of retarder of the present invention is far less than RV retarder.Such as, the gear that RV40EQ retarder planetary reduction gear part is respectively 16 and 32 by the number of teeth forms, and cycloidal pin teeth deceleration part is by the cycloid wheel number of teeth 39, and the pin tooth number of teeth 40 is formed, and total reduction ratio is 81; Similar velocity ratio 80, the number of teeth of the present invention's internal messing curve wheel and outer gearing curve wheel is respectively 8 and 10, the pin number of teeth 9.Double reduction uses the curve wheel number of teeth 18 and the pin number of teeth 9 altogether, and the number of teeth 87 of RV double reduction, the pin number of teeth 39.The retarder of same volume, gear pin of the present invention and curve wheel can do very thick very thick, and rigidity is very strong.After particularly setting up hog frame, the rigidity of its complete machine structure is further improved, namely, same gear ratios, the present invention takes turns with output movement the hog frame linked owing to increasing by two, not only high rigidity, few, the large carrying of the number of teeth, high efficiency, and enormously simplify eccentric shaft processing technology and difficulty, reduce manufacture cost, be easy to realize industrialization, be particularly suitable for the real requirement of heavy-load robot retarder high rigidity, small volume, large carrying, high efficiency long service.
Accompanying drawing explanation
Fig. 1 is mechanism driving schematic diagram of the present invention.
Fig. 2 is the schematic diagram that internal messing curve wheel of the present invention and outer gearing curve wheel are meshed with gear pin.
Fig. 3 is specific embodiments of the invention schematic diagram.
Fig. 4 be internal messing curve wheel of the present invention and outer gearing curve wheel be meshed with gear pin by line of force schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
As Fig. 1---shown in Fig. 4, outer teeth profile bag tooth retarder embodiment in a kind of rigidity of the present invention, include the first support 9 and the second support 10, first, second support 9,10 forms a cavity volume; First support is provided with the eccentric input shaft 1 of band, and this input shaft 1 is installed on the first support 9 by the first spring bearing 3; Second support 10 is provided with output shaft 20, part output shaft 20 being positioned at cavity volume is output disc 16, output shaft 20 is installed on the second support 10 by the 4th spring bearing 18, be provided with first order reducing gear and second level reducing gear in cavity volume, first order reducing gear by eccentric wheel 101, the first rotary arm bearing 5 be located on eccentric wheel 101, be sheathed on the outer gearing curve wheel 7 on the first rotary arm bearing 5 and be fixed on the first support 9 and form with the gear pin 8 of outer gearing curve wheel 7 outer gearing; Second level reducing gear takes turns 14 by the eccentric gearing that is installed on by the second spring bearing 17 on input shaft 1, be set in eccentric gearing takes turns the second rotary arm bearing 13 on 14, to be set on the second rotary arm bearing 13 and the internal messing curve wheel 11 coordinated with described gear pin 8 internal messing and output disc 16, pin 26, driving pin 24 form; The side near the first support 9 of pitch curve wheel 7 is provided with the first hog frame 6 outside, this first hog frame 6 is arranged on input shaft 1 by clutch shaft bearing 4, first hog frame 6 is provided with multiple boss 61, described outer gearing curve wheel 7 is corresponding is provided with multiple through hole 71, the boss 61 of the first hog frame 6 is taken turns 14 through through hole 71 with eccentric gearing and is fixedly connected with, and described outer gearing curve wheel 7 does not contact with described boss 61 all the time in movement process; The second hog frame 23 is also provided with in the side of internal messing curve wheel 11, this second hog frame 23 is installed on described eccentric gearing wheel 14 by the second bearing 25, the second described hog frame 23 is also provided with multiple boss 231, correspondingly on internal messing curve wheel 11 be provided with multiple through hole 111, the boss 231 of the second hog frame 23 is fixedly connected with output disc 16 through through hole 111, and described internal messing curve wheel 11 does not contact with described boss 231 all the time in movement process.
Boss 61,231 on above-mentioned first hog frame 6, second hog frame 23 be all three centered by the axis of input shaft circumference be uniformly distributed.
In diagram, eccentric gearing wheel 14 is provided with the convex shoulder 141 coaxial with input shaft 1, is provided with the 3rd spring bearing 15 between convex shoulder 141 and output disc 16.By setting up convex shoulder 141 and the 3rd spring bearing 15, stability and the reliability of output disc and eccentric gearing wheel 14 operation can be improved.
The running of the embodiment of the present invention is as follows: input shaft 1 drives outer gearing curve wheel 7 to be meshed with gear pin 8 by eccentric wheel 101 through spring bearing 3 and the first rotary arm bearing 5 and realizes primary speed-down; Retarded motion is passed to eccentric gearing wheel 14 (eccentric gearing wheel 14 link with the first hog frame 6) on the second spring bearing 17 by the pin 26 on outer gearing curve wheel 7, eccentric gearing is taken turns 14 and driven internal messing curve wheel 11 to be again meshed with gear pin 8 through the second rotary arm bearing 13 to realize double reduction, driving pin 24 on internal messing curve wheel 11 passes motion to output disc 16 on the 3rd spring bearing 15 and the 4th spring bearing 18 and output shaft 20(output disc 16 and the second hog frame 23 and links), retarded motion is exported away.
In the present embodiment, internal messing curve wheel, gear pin and the outer gearing curve wheel number of teeth differ 1 respectively, and namely double reduction every grade is all that a tooth difference is slowed down.
In illustrated embodiment, driving pin 24 one end is fixed on output disc 16, and the other end is arranged on internal messing curve wheel 11, and the end face of output disc 16 is provided with the driving pin back-up ring 22 corresponding with driving pin 24.One end of such driving pin is transmitted that pin back-up ring 22 stops, the other end is stopped by the second hog frame 23, thus can really can not depart from away from axial in running by driving pin 24, and the two ends of pivot pin 26 are owing to there being the gear of the 3rd spring bearing 15 and the first hog frame 6, therefore also can not from axially departing from away in running.
In figure, be also provided with between the side and input shaft 1 of the first support 9 between the side of the first Sealing shield ring 2, second support 10 and output shaft 20 and be provided with the second Sealing shield ring 19.
In the present embodiment, each spring bearing adopts ball bearing usually, and each rotary arm bearing adopts roller bearing usually.But selecting of each bearing is not limited to this.
In above-described embodiment, on gear pin, sleeve can also be added again thus make internal messing curve wheel 11, outer gearing curve wheel 7 elder generation and engagement sleeves, thus make by slippage cooperation cooperation of rolling in movement process, making kinetic friction force less; Pin, driving pin can add sleeve or be made up of the cam pin identical with eccentric wheel, being coordinated to make into roll by slippage by sleeve thus when making transmission and coordinate, thus making frictional force less.Input shaft also can adopt hollow type.
In a word; above-described embodiment is described the preferred implementation of outer teeth profile bag tooth retarder in rigidity of the present invention; not the design of inventing and scope are limited; under the prerequisite not departing from the present invention program; the various external form modification that those skilled in the art make technological scheme of the present invention and improvement, all should fall into the protection domain of outer teeth profile bag tooth retarder in the present invention.
Claims (9)
1. an outer teeth profile bag tooth retarder in rigidity, includes
First support (9);
Second support (10), itself and the first support (9) form a cavity volume;
Input shaft (1), it is installed on the first support (9) by the first spring bearing (3);
Output shaft (20), it is installed on the second support (10);
And the first order reducing gear be installed in cavity volume and second level reducing gear; It is characterized in that:
Described first order reducing gear includes:
Eccentric wheel (101), it is located on input shaft (1);
First rotary arm bearing (5), it is set on eccentric wheel (101);
Outer gearing curve wheel (7), it is sheathed on the first rotary arm bearing (5);
And gear pin (8), its be fixed on the first support (9) upper and with outer gearing curve wheel (7) outer gearing;
Described second level reducing gear includes:
Eccentric gearing wheel (14), it is installed on input shaft (1) by the second spring bearing (17);
Second rotary arm bearing (13), it is set in eccentric gearing wheel (14);
Internal messing curve wheel (11), it is set on the second rotary arm bearing (13), and coordinates with described gear pin (8) internal messing;
And output disc (16), itself and output shaft (20) are connected;
Described eccentric gearing wheel (14) is in transmission connection by pin (26) and outer gearing curve wheel (7), and described internal messing curve wheel (11) is in transmission connection by driving pin (24) and output disc (16);
The quantity of described gear pin (8) be less than internal messing curve wheel (11) the number of teeth and more than the number of teeth of outer gearing curve wheel (7);
The side near the first support (9) of pitch curve wheel (7) is provided with the first hog frame (6) outside, this first hog frame (6) is arranged on input shaft (1) by clutch shaft bearing (4), first hog frame (6) is provided with multiple boss (61), described outer gearing curve wheel (7) is corresponding is provided with multiple through hole (71), the boss (61) of the first hog frame (6) is taken turns (14) through through hole (71) with eccentric gearing and is fixedly connected with, and described outer gearing curve wheel (7) does not contact with described boss (61) all the time in movement process; The second hog frame (23) is also provided with in the side of internal messing curve wheel (11), this second hog frame (23) is installed in described eccentric gearing wheel (14) by the second bearing (25), described the second hog frame (23) is also provided with multiple boss (231), correspondingly be provided with multiple through hole (111) internal messing curve wheel (11) is upper, the boss (231) of the second hog frame (23) is fixedly connected with output disc (16) through through hole (111), and described internal messing curve wheel (11) does not contact with described boss (231) all the time in movement process.
2. outer teeth profile bag tooth retarder in rigidity according to claim 1, is characterized in that: the boss (61,231) on described the first hog frame (6), the second hog frame (23) is all three and circumference is uniformly distributed centered by the axis of input shaft (1).
3. outer teeth profile bag tooth retarder in rigidity according to claim 1, it is characterized in that: described eccentric gearing wheel (14) is provided with the convex shoulder (141) coaxial with input shaft (1), is provided with the 3rd spring bearing (15) between convex shoulder (141) and output disc (16).
4. outer teeth profile bag tooth retarder in rigidity according to claim 1, it is characterized in that: many one of the number of teeth of the number ratio outer gearing curve wheel (7) of described gear pin (8), many one of the quantity of the gear ratio gear pin (8) of described internal messing curve wheel (11).
5. outer teeth profile bag tooth retarder in rigidity according to claim 1, is characterized in that: described output disc (16) and output shaft (20) are wholely set.
6. interior outer teeth profile bag tooth retarder according to claim 1, is characterized in that: described eccentric wheel (101) and input shaft (1) are wholely set.
7. outer teeth profile bag tooth retarder in rigidity according to claim 1, it is characterized in that: described driving pin (12) one end is fixed on output disc (16), the other end is arranged on internal messing curve wheel (11), and the end face of output disc (16) is provided with the driving pin back-up ring (22) corresponding with driving pin (24).
8. outer teeth profile bag tooth retarder in rigidity according to claim 1, is characterized in that: be provided with the first Sealing shield ring (2) between the side of described the first support (9) and input shaft (1).
9. outer teeth profile bag tooth retarder in rigidity according to claim 1, is characterized in that: be provided with the second Sealing shield ring (19) between the side of described the second support (10) and output shaft (20).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066037.XA CN103122973B (en) | 2013-03-02 | 2013-03-02 | Rigid inside and outside tooth-profile-wrapped tooth reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066037.XA CN103122973B (en) | 2013-03-02 | 2013-03-02 | Rigid inside and outside tooth-profile-wrapped tooth reducer |
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| Publication Number | Publication Date |
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| CN103122973A CN103122973A (en) | 2013-05-29 |
| CN103122973B true CN103122973B (en) | 2015-06-03 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9206881B2 (en) | 2013-03-02 | 2015-12-08 | Zhejiang Hengfengtai Reducer Mfg.Co., Ltd | Rigid speed reducer with internal and external tooth profile tooth-enveloping |
| CN104888976A (en) * | 2015-06-20 | 2015-09-09 | 罗名杨 | Differential speed change mechanism applied to centrifugal machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87206444U (en) * | 1987-04-14 | 1988-01-27 | 国营陕西前进机械厂 | Movable teeth resonance speed retardation device |
| RU2386065C1 (en) * | 2008-12-08 | 2010-04-10 | Валерий Александрович Мухин | Planetary reducer (versions) |
| CN101806352A (en) * | 2010-05-09 | 2010-08-18 | 浙江恒丰泰减速机制造有限公司 | Multifunctional positioning and driving mechanism |
| CN102242795A (en) * | 2011-07-21 | 2011-11-16 | 浙江恒丰泰减速机制造有限公司 | Precision cycloid decelerator |
| CN203130926U (en) * | 2013-03-02 | 2013-08-14 | 浙江恒丰泰减速机制造有限公司 | Rigid speed reducer with internal tooth profile and external tooth profile wrapping teeth |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101725673B (en) * | 2010-02-01 | 2011-12-07 | 重庆大学 | Filter speed reducer |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87206444U (en) * | 1987-04-14 | 1988-01-27 | 国营陕西前进机械厂 | Movable teeth resonance speed retardation device |
| RU2386065C1 (en) * | 2008-12-08 | 2010-04-10 | Валерий Александрович Мухин | Planetary reducer (versions) |
| CN101806352A (en) * | 2010-05-09 | 2010-08-18 | 浙江恒丰泰减速机制造有限公司 | Multifunctional positioning and driving mechanism |
| CN102242795A (en) * | 2011-07-21 | 2011-11-16 | 浙江恒丰泰减速机制造有限公司 | Precision cycloid decelerator |
| CN203130926U (en) * | 2013-03-02 | 2013-08-14 | 浙江恒丰泰减速机制造有限公司 | Rigid speed reducer with internal tooth profile and external tooth profile wrapping teeth |
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Address after: 325000 Wenzhou economic and Technological Development Zone, Zhejiang Binhai Road, No. 1489 Patentee after: Hengfengtai precision machinery Limited by Share Ltd Address before: 325000 Wenzhou Province Economic and Technological Development Zone, Binhai District, Binhai Road, No., No. ten, No. 1489 Patentee before: Zhejiang Hengfengtai Reducer MFG Co., Ltd |
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Denomination of invention: Rigid inside and outside tooth-profile-wrapped tooth reducer Effective date of registration: 20200622 Granted publication date: 20150603 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY Co.,Ltd. Registration number: Y2020330000377 |
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Date of cancellation: 20220308 Granted publication date: 20150603 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY CO.,LTD. Registration number: Y2020330000377 |
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Denomination of invention: Rigid internal and external tooth profile wrap gear reducer Effective date of registration: 20220314 Granted publication date: 20150603 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY CO.,LTD. Registration number: Y2022980002601 |
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