CN105626784A - Compound uniform-load wind power gearbox - Google Patents

Compound uniform-load wind power gearbox Download PDF

Info

Publication number
CN105626784A
CN105626784A CN201610086411.6A CN201610086411A CN105626784A CN 105626784 A CN105626784 A CN 105626784A CN 201610086411 A CN201610086411 A CN 201610086411A CN 105626784 A CN105626784 A CN 105626784A
Authority
CN
China
Prior art keywords
compound
gear
planetary
bearing
sleeve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610086411.6A
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Chinese (zh)
Other versions
CN105626784B (en
Inventor
王均刚
刘燕德
墨蕊娜
欧阳爱国
刘宗麟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Senyou Industrial Automation Equipment Shandong Co ltd
Original Assignee
East China Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by East China Jiaotong University filed Critical East China Jiaotong University
Priority to CN201610086411.6A priority Critical patent/CN105626784B/en
Publication of CN105626784A publication Critical patent/CN105626784A/en
Application granted granted Critical
Publication of CN105626784B publication Critical patent/CN105626784B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D15/00—Transmission of mechanical power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/40—Transmission of power
    • F05B2260/403—Transmission of power through the shape of the drive components
    • F05B2260/4031—Transmission of power through the shape of the drive components as in toothed gearing
    • F05B2260/40311—Transmission of power through the shape of the drive components as in toothed gearing of the epicyclic, planetary or differential type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Wind Motors (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a compound uniform-load wind power gearbox. The compound uniform-load wind power gearbox is characterized in that a main shaft (28) is supported on a front box body (27) through an angular contact ball bearing (29); the left side of the main shaft (28) is connected with a wind turbine blade hub, and power is transmitted to the main shaft (28); and the main shaft (28) transmits power to a compound planetary rack (1). Compared with a current wind power gearbox, the compound uniform-load wind power gearbox disclosed by the invention is advantaged in that double shunting uniform-load can be realized through a compound duplex planetary gear and a compound planetary gear; an input load is uniformly loaded through a compound planetary set provided with multiple groups of planetary gears; the double shunting uniform-load is realized by adopting the compound planetary gear and the compound duplex planetary gear which are small in size and light in mass, so that the defect of the number of used compound duplex planetary gears is limited because the size and the weight are large can be overcome; and the compound transmission mechanism has a large transmission ratio, and the transmission stages can be reduced, so that the size of the wind power gearbox can be reduced, and the power density of transmission is improved.

Description

One is compound all carries wind turbine gearbox
Technical field
The present invention relates to a kind of wind turbine gearbox, particularly relate to and a kind of compound all carry wind turbine gearbox.
Background technology
Wind turbine gearbox is also referred to as wind power speed-increasing gearbox, wind power speed-increasing gearbox is one of vitals affecting wind-driven generator performance, and the performance of whole wind powered generator system is had important impact by the dynamic characteristic as its planetary gear step-up drive system mainly comprising parts. In order to meet the wind power speed-increasing gearbox requirement compared with big speed ratio, it is generally adopted the kind of drive of 2 grades or 3 grades planet circular systems, causes the problem that wind turbine gearbox volume is big, type of belt drive is complicated, power density is little. In Planetary Transmission Design, between planetary gear, the problem of load distribution is increasingly subject to pay attention to, planet circular system bearing capacity is by force share the load of input owing to planet circular system exists multiple planetary gear, if the maldistribution that load is between planetary gear, the performance of Gear Planet Transmission can be made to be greatly affected.
Summary of the invention
It is an object of the invention to provide and a kind of compound all carry wind turbine gearbox, the planetary gear load distribution solving planet circular system in existing wind turbine gearbox is uneven, the defect of serious wear, the problem that existing wind turbine gearbox volume is big simultaneously, type of belt drive is complicated and power density is little.
The present invention is achieved in that it includes compound planetary frame, compound big sun gear, compound double-planetary gear, compound ring gear, end ring, long planet axis, sleeve, casing, zanjon bearing, the little gear of dead axle, bolt, dead axle gear wheel, gear shaft, bearing (ball) cover, bearing, gear sleeve, compound small sun gear, bearing sleeve, shaft coupling, gear sleeve, short planetary spindle, compound planetary is taken turns, spring bearing, front casing, main shaft, angular contact ball bearing, key, it is characterized in that, described main shaft (28) is supported on front casing (27) by angular contact ball bearing (29), described main shaft (28) left side is connected with pneumatic equipment blades wheel hub transmits power to main shaft (28), described main shaft (28) imparts power to compound planetary frame (1), described compound planetary frame (1) is arranged on front casing (27) by spring bearing (26), described compound double-planetary gear (3) is arranged on long planetary spindle (6) and above and is made axially location by bearing ring washer (5) and sleeve (7), described long planetary spindle (6) is assemblied on compound planetary frame (1), the left end planetary gear of described compound double-planetary gear (3) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described compound big sun gear (2) is made axially location by gear sleeve (23), the right-hand member planetary gear of described compound double-planetary gear (3) is meshed with compound small sun gear (19), described compound planetary wheel (25) is arranged on short planetary spindle (24), described short planetary spindle (24) is assemblied on compound planetary frame (1), described compound planetary wheel (25) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described dead axle gear wheel (13) and the gear shaft (14) being made axially to position by gear sleeve (18) are meshed, described zanjon bearing (10) is made axially location by bearing sleeve (20), described gear shaft (14) one end is supported on zanjon bearing (10) and above and is arranged on casing (8) by bearing (16), the little gear of described dead axle (11) is by being arranged on casing (8) by the zanjon bearing (10) of sleeve (7) axially location, described bearing (ball) cover (15) is connected on casing (8) by bolt (12) and is made axially location by sleeve (17), the little gear of described dead axle (11) is connected with the power shaft of electromotor.
Described compound planetary frame (1) drives compound planetary wheel (25) and compound ring gear (4) and compound big sun gear (2) engaged transmission.
Described compound planetary frame (1) drives compound double-planetary gear (3), and the right-hand member planetary gear of compound double-planetary gear (3) is meshed with compound small sun gear (19) transmission.
The solution have the advantages that: the present invention is compared with existing wind turbine gearbox, this mechanism can pass through compound double-planetary gear and compound planetary wheel realizes double shunt load-balancing, input load all carries through having many groups planetary compound planetary row, adopt volume little and compound planetary wheel and the compound double-planetary gear of light weight carry out double shunt load-balancing, the shortcoming because the number of the use of the big compound double-planetary gear of volume and weight is restricted can be overcome, this composite transmission structure has bigger gear ratio, the progression of transmission can be reduced, such that it is able to reduce the volume of wind turbine gearbox, improve the power density of transmission.
Accompanying drawing explanation
Fig. 1 is the sectional view of the present invention.
Fig. 2 is left view of the present invention.
The right view of this present invention of Fig. 3.
In the drawings, 1, compound planetary frame 2, compound big sun gear 3, compound double-planetary gear 4, compound ring gear 5, end ring 6, long planet axis 7, sleeve 8, casing 10, zanjon bearing 11, the little gear of dead axle 12, bolt 13, dead axle gear wheel 14, gear shaft 15, bearing (ball) cover 16, bearing 18, gear sleeve 19, compound small sun gear 20, bearing sleeve 22, shaft coupling 23, gear sleeve 24, short planetary spindle 25, compound planetary wheel 26, spring bearing 27, front casing 28, main shaft 29, angular contact ball bearing 30, key.
Detailed description of the invention
In conjunction with Fig. 1, 2, 3 illustrate the present invention, described main shaft (28) is supported on front casing (27) by angular contact ball bearing (29), described main shaft (28) left side is connected with pneumatic equipment blades wheel hub transmits power to main shaft (28), described main shaft (28) imparts power to compound planetary frame (1), described compound planetary frame (1) is arranged on front casing (27) by spring bearing (26), described compound double-planetary gear (3) is arranged on long planetary spindle (6) and above and is made axially location by bearing ring washer (5) and sleeve (7), described long planetary spindle (6) is assemblied on compound planetary frame (1), the left end planetary gear of described compound double-planetary gear (3) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described compound big sun gear (2) is made axially location by gear sleeve (23), the right-hand member planetary gear of described compound double-planetary gear (3) is meshed with compound small sun gear (19), described compound planetary wheel (25) is arranged on short planetary spindle (24), described short planetary spindle (24) is assemblied on compound planetary frame (1), described compound planetary wheel (25) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described dead axle gear wheel (13) and the gear shaft (14) being made axially to position by gear sleeve (18) are meshed, described zanjon bearing (10) is made axially location by bearing sleeve (20), described gear shaft (14) one end is supported on zanjon bearing (10) and above and is arranged on casing (8) by bearing (16), the little gear of described dead axle (11) is by being arranged on casing (8) by the zanjon bearing (10) of sleeve (7) axially location, described bearing (ball) cover (15) is connected on casing (8) by bolt (12) and is made axially location by sleeve (17), the little gear of described dead axle (11) is connected with the power shaft of electromotor.
Described compound planetary frame (1) drives compound planetary wheel (25) and compound ring gear (4) and compound big sun gear (2) engaged transmission.
Described compound planetary frame (1) drives compound double-planetary gear (3), and the right-hand member planetary gear of compound double-planetary gear (3) is meshed with compound small sun gear (19) transmission.
The operation principle of the present invention is as follows:
Main shaft (28) left end is connected with the wheel hub of wind wheel blade and transmits power to the present invention, main shaft (28) right-hand member is connected drive with compound planetary frame (1), and it rotates, its route all loading with lotus transmission has two, article one, it is that compound planetary frame (1) drives compound planetary wheel (25) and compound ring gear (4) and compound big sun gear (2) engaged transmission, another drives compound double-planetary gear (3) for compound planetary frame (1), the right-hand member planetary gear of compound double-planetary gear (3) is meshed with compound small sun gear (19) transmission, gear shaft (14) is imparted power to by shaft coupling (22), then power is passed to the little gear of dead axle (11) by dead axle gear wheel (13), last dead axle little gear (11) drive electrical generators generates electricity.
The compound double shunt load-balancing principle of the present invention is as follows:
Main shaft (28) left end is connected to main shaft (28) transmission power with the wheel hub of wind wheel blade, main shaft (28) right-hand member is connected drive with compound planetary frame (1), and it rotates, two-way is all carried in its shunting, one tunnel is that compound planetary frame (1) drives compound planetary wheel (25) and compound ring gear (4) and compound big sun gear (2) engaged transmission, realize a road-load lotus all to carry, another drives compound double-planetary gear (3) for compound planetary frame (1), the right-hand member planetary gear of compound double-planetary gear (3) is meshed with compound small sun gear (19) transmission, realize another road-load lotus all to carry, gear shaft (14) is imparted power to finally by shaft coupling (22), then power is passed to the little gear of dead axle (11) by dead axle gear wheel (13), last dead axle little gear (11) drive electrical generators generates electricity.
Embodiment described above is only that the preferred embodiment of the present invention is described; not the scope of the present invention is defined; under the premise designing spirit without departing from the present invention; various deformation that technical scheme is made by those of ordinary skill in the art and improvement, all should fall in the protection domain that claims of the present invention is determined.

Claims (3)

1. compound all carrying a wind turbine gearbox, it includes compound planetary frame (1), compound big sun gear (2), compound double-planetary gear (3), compound ring gear (4), end ring (5), long planet axis (6), sleeve (7), casing (8), zanjon bearing (10), the little gear of dead axle (11), bolt (12), dead axle gear wheel (13), gear shaft (14), bearing (ball) cover (15), bearing (16), gear sleeve (18), compound small sun gear (19), bearing sleeve (20), shaft coupling (22), gear sleeve (23), short planetary spindle (24), compound planetary wheel (25), spring bearing (26), front casing (27), main shaft (28), angular contact ball bearing (29), key (30), it is characterized in that, described main shaft (28) is supported on front casing (27) by angular contact ball bearing (29), described main shaft (28) left side is connected with pneumatic equipment blades wheel hub transmits power to main shaft (28), described main shaft (28) imparts power to compound planetary frame (1), described compound planetary frame (1) is arranged on front casing (27) by spring bearing (26), described compound double-planetary gear (3) is arranged on long planetary spindle (6) and above and is made axially location by bearing ring washer (5) and sleeve (7), described long planetary spindle (6) is assemblied on compound planetary frame (1), the left end planetary gear of described compound double-planetary gear (3) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described compound big sun gear (2) is made axially location by gear sleeve (23), the right-hand member planetary gear of described compound double-planetary gear (3) is meshed with compound small sun gear (19), described compound planetary wheel (25) is arranged on short planetary spindle (24), described short planetary spindle (24) is assemblied on compound planetary frame (1), described compound planetary wheel (25) is meshed with compound ring gear (4) and compound big sun gear (2) simultaneously, described dead axle gear wheel (13) and the gear shaft (14) being made axially to position by gear sleeve (18) are meshed, described zanjon bearing (10) is made axially location by bearing sleeve (20), described gear shaft (14) one end is supported on zanjon bearing (10) and above and is arranged on casing (8) by bearing (16), the little gear of described dead axle (11) is by being arranged on casing (8) by the zanjon bearing (10) of sleeve (9) axially location, described bearing (ball) cover (15) is connected on casing (8) by bolt (12) and is made axially location by sleeve (17), the little gear of described dead axle (11) is connected with the power shaft of electromotor.
2. one according to claim 1 is compound all carries wind turbine gearbox, it is characterised in that described compound planetary frame (1) drives compound planetary wheel (25) and compound ring gear (4) and compound big sun gear (2) engaged transmission.
3. one according to claim 1 is compound all carries wind turbine gearbox, it is characterized in that, described compound planetary frame (1) drives compound double-planetary gear (3), and the right-hand member planetary gear of compound double-planetary gear (3) is meshed with compound small sun gear (19) transmission.
CN201610086411.6A 2016-02-16 2016-02-16 Compound uniform-load wind power gear box Expired - Fee Related CN105626784B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610086411.6A CN105626784B (en) 2016-02-16 2016-02-16 Compound uniform-load wind power gear box

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610086411.6A CN105626784B (en) 2016-02-16 2016-02-16 Compound uniform-load wind power gear box

Publications (2)

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CN105626784B CN105626784B (en) 2020-06-12

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109386434A (en) * 2018-11-22 2019-02-26 明阳智慧能源集团股份公司 A kind of compact semi-direct driving wind electrical gearbox multiaxis power dividing drive mechanism
CN110094464A (en) * 2019-04-29 2019-08-06 华东交通大学 A kind of wind turbine gearbox
CN114263707A (en) * 2021-10-12 2022-04-01 西华大学 Highly integrated robot joint reducer and joint device

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6176804B1 (en) * 1998-06-18 2001-01-23 Valmet Voimansiirto Oy Planetary gear train for a wind power station
EP1318329A2 (en) * 2001-12-06 2003-06-11 Winergy AG Transmission for wind power plant
US20040220013A1 (en) * 2000-03-07 2004-11-04 Arctic Cat Inc. Snowmobile planetary drive system
JP2005036880A (en) * 2003-07-14 2005-02-10 Ntn Corp Planetary gear device and its rolling bearing
WO2007016336A2 (en) * 2005-08-01 2007-02-08 The Timken Company Epicyclic gear system with flexpins
CN201293074Y (en) * 2008-11-12 2009-08-19 重庆齿轮箱有限责任公司 Double-combining planet double-arm wind power acceleration box
WO2011047448A1 (en) * 2009-10-19 2011-04-28 Hansen Transmisions International, Naamloze Vennootschap Planetary gear unit for a gearbox of a wind turbine and planet carrier for use in such planetary gear unit
AU2010201624A1 (en) * 2010-02-12 2011-09-01 Mitsubishi Heavy Industries, Ltd. Gear box for wind turbine generator and wind turbine generator
CN103791033A (en) * 2012-10-30 2014-05-14 吴小杰 Duplex double-arm type wind power speed increasing gearbox with bearings lubricated by grease
CN103791039A (en) * 2012-10-30 2014-05-14 吴小杰 Wind power compound planetary gear box with bearings lubricated by grease
CN205479157U (en) * 2016-02-16 2016-08-17 华东交通大学 Wind -powered electricity generation gear box is all carried to double entry

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6176804B1 (en) * 1998-06-18 2001-01-23 Valmet Voimansiirto Oy Planetary gear train for a wind power station
US20040220013A1 (en) * 2000-03-07 2004-11-04 Arctic Cat Inc. Snowmobile planetary drive system
EP1318329A2 (en) * 2001-12-06 2003-06-11 Winergy AG Transmission for wind power plant
JP2005036880A (en) * 2003-07-14 2005-02-10 Ntn Corp Planetary gear device and its rolling bearing
WO2007016336A2 (en) * 2005-08-01 2007-02-08 The Timken Company Epicyclic gear system with flexpins
CN201293074Y (en) * 2008-11-12 2009-08-19 重庆齿轮箱有限责任公司 Double-combining planet double-arm wind power acceleration box
WO2011047448A1 (en) * 2009-10-19 2011-04-28 Hansen Transmisions International, Naamloze Vennootschap Planetary gear unit for a gearbox of a wind turbine and planet carrier for use in such planetary gear unit
AU2010201624A1 (en) * 2010-02-12 2011-09-01 Mitsubishi Heavy Industries, Ltd. Gear box for wind turbine generator and wind turbine generator
CN103791033A (en) * 2012-10-30 2014-05-14 吴小杰 Duplex double-arm type wind power speed increasing gearbox with bearings lubricated by grease
CN103791039A (en) * 2012-10-30 2014-05-14 吴小杰 Wind power compound planetary gear box with bearings lubricated by grease
CN205479157U (en) * 2016-02-16 2016-08-17 华东交通大学 Wind -powered electricity generation gear box is all carried to double entry

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109386434A (en) * 2018-11-22 2019-02-26 明阳智慧能源集团股份公司 A kind of compact semi-direct driving wind electrical gearbox multiaxis power dividing drive mechanism
CN109386434B (en) * 2018-11-22 2024-03-26 明阳智慧能源集团股份公司 Compact semi-direct-drive wind power gear box multi-shaft power split transmission structure
CN110094464A (en) * 2019-04-29 2019-08-06 华东交通大学 A kind of wind turbine gearbox
CN110094464B (en) * 2019-04-29 2024-05-10 华东交通大学 Wind power gear box
CN114263707A (en) * 2021-10-12 2022-04-01 西华大学 Highly integrated robot joint reducer and joint device
CN114263707B (en) * 2021-10-12 2023-04-28 西华大学 Highly integrated robot joint reducer and joint device

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Effective date of registration: 20221221

Address after: 253000 Songguantun Sub district Office, Dezhou Economic and Technological Development Zone, Shandong

Patentee after: Senyou Industrial Automation Equipment (Shandong) Co.,Ltd.

Address before: 330000 Shuanggang Road, Changbei Economic Development Zone, Nanchang City, Jiangxi Province

Patentee before: East China Jiaotong University

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Granted publication date: 20200612