CN104826913A - Spinning equipment applied to machining flexible gear of harmonic wave reducer - Google Patents
Spinning equipment applied to machining flexible gear of harmonic wave reducer Download PDFInfo
- Publication number
- CN104826913A CN104826913A CN201510258556.5A CN201510258556A CN104826913A CN 104826913 A CN104826913 A CN 104826913A CN 201510258556 A CN201510258556 A CN 201510258556A CN 104826913 A CN104826913 A CN 104826913A
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- movable
- rotating shaft
- spinning
- flexbile gear
- fixed block
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- 238000009987 spinning Methods 0.000 title claims abstract description 80
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 20
- 238000003754 machining Methods 0.000 title abstract 3
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 2
- 238000010862 gear shaping Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/14—Spinning
- B21D22/16—Spinning over shaping mandrels or formers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses spinning equipment applied to machining a flexible gear of a harmonic wave reducer. The spinning equipment comprises a hydraulic machine assembly and a flexible gear spinning assembly. The hydraulic machine assembly comprises a hydraulic machine base, a lower end fixed block, an upper end fixed block, a movable block, supporting guide pillars and a hydraulic cylinder. The hydraulic cylinder drives the movable block to move through a piston rod of the hydraulic cylinder. The flexible gear spinning assembly comprises a movable spinning mechanism and a flexible gear mounting mechanism. The movable spinning mechanism comprises a movable mounting rack, a movable spinning rotating shaft and a movable pressing wheel. The movable spinning rotating shaft is driven by a hydraulic motor and is mounted on the movable mounting rack through movable bearing pedestals. The flexible gear mounting mechanism comprises a fixed mounting rack, a flexible gear mounting rotating shaft and a flexible gear mounting block. The flexible gear mounting rotating shaft is mounted on the fixed mounting rack through fixed bearing pedestals. The flexible gear mounting block comprises a flexible gear sleeving part and a mounting block fixing part. Through the structural design, the flexible gear can be effectively spun. The spinning equipment applied to machining the flexible gear of the harmonic wave reducer has the advantages of being novel in design, simple in structure and good in stability and reliability.
Description
Technical field
The present invention relates to harmonic speed reducer technical field, particularly relate to a kind of spinning machine being applied to harmonic reducer flexible wheel processing.
Background technology
Harmonic reducer of robot is simple by means of its structure, size is little, noise is little, gearratio is large, transmission accuracy is high and efficiency advantages of higher, and is widely used by the vitals as joint of robot.Since nineteen fifty-five U.S. C.W. Mai Saier has invented First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare a lot of serial kind harmonic speed reducer different with dimensions successively, wherein use the most extensive with involute fine module gear flank profil harmonic speed reducer.Wherein, harmonic speed reducer relies on above-mentioned advantage and is widely used in the rotation portion in the joint of robot, the wide spectrum such as rotary table, manipulator rotating part, precision rotary table, Medical Instruments, measurement instrument, IC manufacturing installation, aerospace appts, national defence equipment (such as guided missile, radar, rocket) of machining center, especially very general in the application of industrial robot field; For industrial robot, harmonic speed reducer can greatly reduce industrial robot size, reduce noise, raise the efficiency and precision.
For harmonic speed reducer, its core building block is the flexbile gear, the steel wheel that cooperatively interact, and as shown in Figure 1, flexbile gear generally comprises outer gear portion and the driving section perpendicular to outer gear portion, outer gear portion and driving section one-body molded.For the outer gear portion of flexbile gear, it is generally processed by the mode of thin-walled outer circumference surface gear shaping, and for ensureing the compactness extent of thin-walled portion, before by the gear shapping machine processing gear teeth, thin-walled portion must be processed by spinning mode.
Summary of the invention
The object of the present invention is to provide a kind of spinning machine being applied to harmonic reducer flexible wheel processing, this is applied to that the spinning machine of harmonic reducer flexible wheel processing is novel in design, structure is simple, reliability good and effectively can carries out rotary pressing processing to the thin-walled portion of flexbile gear.
For achieving the above object, the present invention is achieved through the following technical solutions.
Be applied to a spinning machine for harmonic reducer flexible wheel processing, include hydraulic press assembly and flexbile gear spinning assembly;
Hydraulic press assembly includes hydraulic press base, be installed in the lower end fixed block of hydraulic press base upper surface, upper end fixed block is equiped with directly over the fixed block of lower end, upper end fixed block and lower end fixed block parallel interval are arranged, relatively can be equiped with movable block between upper end fixed block with lower end fixed block up and downly, four are also equiped with respectively in the supporting cell guide vertically arranged between upper end fixed block and lower end fixed block, the upper end of each supporting cell guide is connected with upper end fixed block respectively, the bottom of each supporting cell guide is connected with lower end fixed block respectively, the corresponding each supporting cell guide of movable block offers the through hole run through completely up and down respectively, each supporting cell guide is flush-mounted in corresponding through hole respectively, the upper surface of upper end fixed block is screwed with hydraulic cylinder, the piston rod extension end of hydraulic cylinder is passed upper end fixed block down and is extended to the lower end side of upper end fixed block, the piston rod extension end of hydraulic cylinder is connected with movable block,
Flexbile gear spinning assembly includes movable spinning machine and is installed in the flexbile gear installing mechanism of movable spinning machine lower end side, movable spinning machine includes the movable frame being screwed on movable block lower surface, the lower end side of movable frame is equiped with the movable spinning rotating shaft of arranging in horizontal cross rotatably, the corresponding movable spinning rotating shaft of movable frame is screwed with hydraulic motor, the power output shaft of hydraulic motor is connected by the end of shaft coupling with movable spinning rotating shaft, the corresponding movable spinning rotating shaft of movable frame is screwed with the movable axis bearing that at least two parallel interval are arranged, movable spinning rotating shaft is flush-mounted in each movable axis bearing rotatably, the end sleeve card of movable spinning rotating shaft in hydraulic motor opposition side has the movable pressing-wheel in cylindrical shape, movable pressing-wheel and movable spinning rotating shaft coaxially arranged,
Flexbile gear installing mechanism includes the fixing and mounting bracket being screwed on lower end fixed block upper surface, the upper end side of fixing and mounting bracket is equiped with rotatably immediately below movable spinning rotating shaft installs rotating shaft with the spaced apart flexbile gear of movable spinning shaft parallel, the corresponding flexbile gear of fixing and mounting bracket installs the fixed bearing block that rotating shaft is screwed with at least two parallel interval layouts, flexbile gear is installed rotating shaft and is flush-mounted in each fixed bearing block rotatably, the end that flexbile gear installs rotating shaft is equiped with flexbile gear mounting blocks immediately below movable pressing-wheel, flexbile gear mounting blocks includes integrated flexbile gear suit portion and mounting blocks fixed part, mounting blocks fixed part is screwed on flexbile gear and installs rotating shaft, flexbile gear suit portion is cylindrical shape and to install rotating shaft coaxially arranged with flexbile gear.
Wherein, be embedded with guide pin bushing respectively in each through hole of described movable block, each described supporting cell guide is flush-mounted in corresponding guide pin bushing respectively.
Beneficial effect of the present invention is: a kind of spinning machine being applied to harmonic reducer flexible wheel processing of the present invention, it comprises hydraulic press assembly, flexbile gear spinning assembly, hydraulic press assembly comprises hydraulic press base, lower end fixed block, upper end fixed block, movable block, supporting cell guide, hydraulic cylinder, each supporting cell guide is flush-mounted in the corresponding through hole of movable block respectively, hydraulic cylinder is installed on upper end fixed block upper surface, and hydraulic cylinder drives movable block action by its piston rod; Flexbile gear spinning assembly comprises movable spinning machine, flexbile gear installing mechanism, movable spinning machine comprises the movable frame being screwed on movable block lower surface, the rotating shaft of movable frame lower end side installing activity spinning, movable spinning rotating shaft is by fluid motor-driven and be installed on movable frame by movable axis bearing, movable spinning rotating shaft cover card movable pressing-wheel; Flexbile gear installing mechanism comprises the fixing and mounting bracket being screwed on lower end fixed block upper surface, fixing and mounting bracket upper end side is installed flexbile gear and is installed rotating shaft immediately below movable spinning rotating shaft, flexbile gear is installed rotating shaft and is installed on fixing and mounting bracket by fixed bearing block, flexbile gear mounting blocks is installed in the end that flexbile gear installs rotating shaft immediately below movable pressing-wheel, flexbile gear mounting blocks comprises flexbile gear suit portion, mounting blocks fixed part, and mounting blocks fixed part is screwed on flexbile gear and installs rotating shaft.Designed by said structure, the present invention can complete the rotary pressing processing of flexbile gear thin-walled portion effectively, and namely the present invention has modern design, structure is simple and reliability is good.
Accompanying drawing explanation
Utilize accompanying drawing to be further detailed the present invention below, but the embodiment in accompanying drawing does not form any limitation of the invention.
Fig. 1 is the structural representation of flexbile gear.
Fig. 2 is structural representation of the present invention.
Fig. 3 is the structural representation of flexbile gear spinning assembly of the present invention.
Include in Fig. 1 to Fig. 3:
1---hydraulic press assembly 11---hydraulic press base
12---lower end fixed block 13---upper end fixed block
14---movable block 15---supporting cell guide
16---hydraulic cylinder 2---flexbile gear spinning assembly
21---movable spinning machine 211---movable frame
212---movable spinning rotating shaft 213---hydraulic motor
214---shaft coupling 215---movable axis bearing
216---movable pressing-wheel 22---flexbile gear installing mechanism
221---fixing and mounting bracket 222---flexbile gear installs rotating shaft
223---fixed bearing block 224---flexbile gear mounting blocks
2241---flexbile gear suit portion 2242---mounting blocks fixed part
10---flexbile gear 101---outer gear portion
102---driving section.
Detailed description of the invention
Below in conjunction with concrete embodiment, the present invention will be described.
As shown in Figures 2 and 3, a kind of spinning machine being applied to harmonic reducer flexible wheel processing, includes hydraulic press assembly 1 and flexbile gear spinning assembly 2.
Wherein, hydraulic press assembly 1 includes hydraulic press base 11, be installed in the lower end fixed block 12 of hydraulic press base 11 upper surface, upper end fixed block 13 is equiped with directly over lower end fixed block 12, upper end fixed block 13 and lower end fixed block 12 parallel interval are arranged, relatively can be equiped with movable block 14 between upper end fixed block 13 with lower end fixed block 12 up and downly, four are also equiped with respectively in the supporting cell guide 15 vertically arranged between upper end fixed block 13 and lower end fixed block 12, the upper end of each supporting cell guide 15 is connected with upper end fixed block 13 respectively, the bottom of each supporting cell guide 15 is connected with lower end fixed block 12 respectively, the corresponding each supporting cell guide 15 of movable block 14 offers the through hole run through completely up and down respectively, each supporting cell guide 15 is flush-mounted in corresponding through hole respectively, the upper surface of upper end fixed block 13 is screwed with hydraulic cylinder 16, the piston rod extension end of hydraulic cylinder 16 is passed upper end fixed block 13 down and is extended to the lower end side of upper end fixed block 13, the piston rod extension end of hydraulic cylinder 16 is connected with movable block 14.
Further, flexbile gear spinning assembly 2 includes movable spinning machine 21 and is installed in the flexbile gear installing mechanism 22 of movable spinning machine 21 lower end side, movable spinning machine 21 includes the movable frame 211 being screwed on movable block 14 lower surface, the lower end side of movable frame 211 is equiped with the movable spinning rotating shaft 212 of arranging in horizontal cross rotatably, the corresponding movable spinning rotating shaft 212 of movable frame 211 is screwed with hydraulic motor 213, the power output shaft of hydraulic motor 213 is connected with an end of movable spinning rotating shaft 212 by shaft coupling 214, the corresponding movable spinning rotating shaft 212 of movable frame 211 is screwed with the movable axis bearing 215 that at least two parallel interval are arranged, movable spinning rotating shaft 212 is flush-mounted in each movable axis bearing 215 rotatably, the end sleeve card of movable spinning rotating shaft 212 in hydraulic motor 213 opposition side has the movable pressing-wheel 216 in cylindrical shape, movable pressing-wheel 216 is coaxially arranged with movable spinning rotating shaft 212.
Further, flexbile gear installing mechanism 22 includes the fixing and mounting bracket 221 being screwed on lower end fixed block 12 upper surface, the upper end side of fixing and mounting bracket 221 is equiped with the flexbile gear arranged with movable spinning rotating shaft 212 parallel interval rotatably and installs rotating shaft 222 immediately below movable spinning rotating shaft 212, the corresponding flexbile gear of fixing and mounting bracket 221 installs the fixed bearing block 223 that rotating shaft 222 is screwed with at least two parallel interval layouts, flexbile gear is installed rotating shaft 222 and is flush-mounted in each fixed bearing block 223 rotatably, the end that flexbile gear installs rotating shaft 222 is equiped with flexbile gear mounting blocks 224 immediately below movable pressing-wheel 216, flexbile gear mounting blocks 224 includes integrated flexbile gear suit portion 2241 and mounting blocks fixed part 2242, mounting blocks fixed part 2242 is screwed on flexbile gear and installs rotating shaft 222, flexbile gear suit portion 2241 is in cylindrical shape and to install rotating shaft 222 coaxially arranged with flexbile gear.
Below in conjunction with concrete course of action, the present invention will be described in detail, and be specially: first the flexbile gear 10 of non-Gear Shaping is positioned over flexbile gear mounting blocks 224, wherein, the thin-walled portion of flexbile gear 10 is set in the flexbile gear suit portion 2241 of flexbile gear mounting blocks 224; After treating that flexbile gear 10 is placed, primer fluid pressure motor 213 and hydraulic cylinder 16, hydraulic motor 213 is rotated by shaft coupling 214 drive activity spinning rotating shaft 212, movable spinning rotating shaft 212 drives movable pressing-wheel 216 to rotate again, hydraulic cylinder 16 drives movable block 14 to move down by its piston rod, movable block 14 drives movable frame 211, hydraulic motor 213, live bearing axle, movable spinning rotating shaft 212 and movable pressing-wheel 216 to move down, and movable pressing-wheel 216 is little by little down near the thin-walled portion of flexbile gear 10; After movable pressing-wheel 216 contacts and compresses the thin-walled portion of flexbile gear 10, hydraulic cylinder 16 stops action and makes movable pressing-wheel 216 keep acting on the thin-walled portion of flexbile gear 10, hydraulic motor 213 continues action and drives movable pressing-wheel 216 to be rotated further, effect is compressed due to movable pressing-wheel 216, flexbile gear 10 is along with movable pressing-wheel 216 synchronous axial system, and flexbile gear mounting blocks 224, flexbile gear install rotating shaft 222 along with movable spinning rotating shaft 212 synchronous axial system; Need to explain further, under the effect that compresses of movable pressing-wheel 216, the thin-walled portion of flexbile gear 10 is stressed and become more and more finer and close.
After the thin-walled portion spinning of flexbile gear 10, hydraulic cylinder 16 resets and drives on movable block 14, movable frame 211, movable axis bearing 215, movable spinning rotating shaft 212, movable pressing-wheel 216 and moves reset, and hydraulic motor 213 stops action.
Comprehensive above-mentioned situation is known, is designed by said structure, and the present invention can complete the rotary pressing processing of flexbile gear 10 thin-walled portion effectively, and namely the present invention has modern design, structure is simple and reliability is good.
As preferred embodiment, be embedded with guide pin bushing (not shown) respectively in each through hole of movable block 14, each supporting cell guide 15 is flush-mounted in corresponding guide pin bushing respectively.By setting-in guide pin bushing in through hole, it is more steady that it can make movable block 14 move up and down.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (2)
1. be applied to a spinning machine for harmonic reducer flexible wheel processing, it is characterized in that: include hydraulic press assembly (1) and flexbile gear spinning assembly (2);
Hydraulic press assembly (1) includes hydraulic press base (11), be installed in the lower end fixed block (12) of hydraulic press base (11) upper surface, upper end fixed block (13) is equiped with directly over lower end fixed block (12), upper end fixed block (13) and lower end fixed block (12) parallel interval are arranged, relatively can be equiped with movable block (14) between upper end fixed block (13) with lower end fixed block (12) up and downly, four are also equiped with respectively in the supporting cell guide (15) vertically arranged between upper end fixed block (13) and lower end fixed block (12), the upper end of each supporting cell guide (15) is connected with upper end fixed block (13) respectively, the bottom of each supporting cell guide (15) is connected with lower end fixed block (12) respectively, the corresponding each supporting cell guide (15) of movable block (14) offers the through hole run through completely up and down respectively, each supporting cell guide (15) is flush-mounted in corresponding through hole respectively, the upper surface of upper end fixed block (13) is screwed with hydraulic cylinder (16), the piston rod extension end of hydraulic cylinder (16) is passed upper end fixed block (13) down and is extended to the lower end side of upper end fixed block (13), the piston rod extension end of hydraulic cylinder (16) is connected with movable block (14),
Flexbile gear spinning assembly (2) includes movable spinning machine (21) and is installed in the flexbile gear installing mechanism (22) of movable spinning machine (21) lower end side, movable spinning machine (21) includes the movable frame (211) being screwed on movable block (14) lower surface, the lower end side of movable frame (211) is equiped with the movable spinning rotating shaft (212) of arranging in horizontal cross rotatably, the corresponding movable spinning rotating shaft (212) of movable frame (211) is screwed with hydraulic motor (213), the power output shaft of hydraulic motor (213) is connected with an end of movable spinning rotating shaft (212) by shaft coupling (214), the corresponding movable spinning rotating shaft (212) of movable frame (211) is screwed with the movable axis bearing (215) that at least two parallel interval are arranged, movable spinning rotating shaft (212) is flush-mounted in each movable axis bearing (215) rotatably, movable spinning rotating shaft (212) the end sleeve card in hydraulic motor (213) opposition side has the movable pressing-wheel (216) in cylindrical shape, movable pressing-wheel (216) is coaxially arranged with movable spinning rotating shaft (212),
Flexbile gear installing mechanism (22) includes the fixing and mounting bracket (221) being screwed on lower end fixed block (12) upper surface, the upper end side of fixing and mounting bracket (221) is equiped with the flexbile gear arranged with movable spinning rotating shaft (212) parallel interval rotatably and installs rotating shaft (222) immediately below movable spinning rotating shaft (212), the corresponding flexbile gear of fixing and mounting bracket (221) installs the fixed bearing block (223) that rotating shaft (222) is screwed with at least two parallel interval layouts, flexbile gear is installed rotating shaft (222) and is flush-mounted in each fixed bearing block (223) rotatably, the end that flexbile gear installs rotating shaft (222) is equiped with flexbile gear mounting blocks (224) immediately below movable pressing-wheel (216), flexbile gear mounting blocks (224) includes integrated flexbile gear suit portion (2241) and mounting blocks fixed part (2242), mounting blocks fixed part (2242) is screwed on flexbile gear and installs rotating shaft (222), flexbile gear suit portion (2241) is in cylindrical shape and to install rotating shaft (222) coaxially arranged with flexbile gear.
2. a kind of spinning machine being applied to harmonic reducer flexible wheel processing according to claim 1, it is characterized in that: be embedded with guide pin bushing respectively in each through hole of described movable block (14), each described supporting cell guide (15) is flush-mounted in corresponding guide pin bushing respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510258556.5A CN104826913B (en) | 2015-05-20 | 2015-05-20 | A kind of spinning machine being applied to harmonic reducer flexible wheel processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510258556.5A CN104826913B (en) | 2015-05-20 | 2015-05-20 | A kind of spinning machine being applied to harmonic reducer flexible wheel processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104826913A true CN104826913A (en) | 2015-08-12 |
| CN104826913B CN104826913B (en) | 2016-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510258556.5A Active CN104826913B (en) | 2015-05-20 | 2015-05-20 | A kind of spinning machine being applied to harmonic reducer flexible wheel processing |
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| Country | Link |
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| CN (1) | CN104826913B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138812A (en) * | 2017-05-15 | 2017-09-08 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic reducer flexible wheel, firm gear conversion engagement pairing beveller |
| CN113399935A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Manufacturing process of harmonic speed reducer flexible gear |
| CN114769454A (en) * | 2022-04-20 | 2022-07-22 | 华南理工大学 | Flexible gear and strengthening and toughening cold machining method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138812A (en) * | 2017-05-15 | 2017-09-08 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic reducer flexible wheel, firm gear conversion engagement pairing beveller |
| CN107138812B (en) * | 2017-05-15 | 2018-12-14 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic reducer flexible wheel, firm gear conversion engagement pairing beveller |
| CN113399935A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Manufacturing process of harmonic speed reducer flexible gear |
| CN114769454A (en) * | 2022-04-20 | 2022-07-22 | 华南理工大学 | Flexible gear and strengthening and toughening cold machining method thereof |
| CN114769454B (en) * | 2022-04-20 | 2023-05-12 | 华南理工大学 | Flexible gear and strengthening and toughening cold processing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104826913B (en) | 2016-10-19 |
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