CN105972162A - Double-geared speed reduction device - Google Patents
Double-geared speed reduction device Download PDFInfo
- Publication number
- CN105972162A CN105972162A CN201610580863.XA CN201610580863A CN105972162A CN 105972162 A CN105972162 A CN 105972162A CN 201610580863 A CN201610580863 A CN 201610580863A CN 105972162 A CN105972162 A CN 105972162A
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- China
- Prior art keywords
- gear
- output panel
- wheel housing
- main body
- crank axle
- 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.)
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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
- 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
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- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a double-geared speed reduction device which comprises an output disk, a pin wheel housing, a supporting flange, an input shaft, planet wheels, crankshafts and cycloidal gears. The output disk and the supporting flange are installed at the two ends of the pin wheel housing respectively. The pin wheel housing is provided with a plurality of grooves. Each groove is provided with a gear pin. The input shaft is installed in the output disk and the supporting flange. One end of the input shaft is provided with a first gear. The planet wheels are externally meshed with the first gear. Each crankshaft is connected with one planet wheel through a spline. Each crankshaft is provided with at least two eccentric portions. Each cycloidal gear is connected with one eccentric portion through a needle bearing, so that the cycloidal gear can rotate relative to the eccentric portion. Each cycloidal gear is internally meshed with corresponding gear pin. The double-geared speed reduction device has the advantages of being good in transmission performance, convenient to machine, disassemble and assemble and high in production efficiency. Further, the low weight of a transmission gear can be achieved without affecting transmission performance.
Description
Technical field
The present invention relates to a kind of deceleration device, particularly relate to a kind of secondary gear transmission decelerating device.
Background technology
The transmission of cycloidal-pin wheel is it is well known that compared with common gear system, cycloidal-pin wheel has
Three big (gear ratio is big, and bearing capacity is big, and rigidity is big), two high (transmission efficiency is high, and kinematic accuracy is high),
The feature of one little (return difference is little).The formation of this speed reduction gearing the 1st deceleration unit: by the rotation of motor
The dynamic driven gear axle of transhipment rotates, and the rotation of gear shaft passes to two involute planetary wheels, carries out first
Level is slowed down；The formation of the 2nd deceleration unit: the crank axle that is rotated through of planetary gear drives the cycloid at a distance of 180 °
Wheel, thus form the revolution of Cycloidal Wheel, owing to Cycloidal Wheel can be fixed on pin wheel housing during revolution
On the active force of gear pin and form the rotation in opposite direction with Cycloidal Wheel revolution, material is thus formed second
Level is slowed down.In this deceleration device, by the output panel that passes to of the rotation constant speed of Cycloidal Wheel, thus complete whole
Individual moderating process.But, in whole deceleration device, the part such as pin wheel housing, planet carrier uses split type knot
, there is processing and assembling difficulty, processing and rigging error is big and production efficiency is low shortcoming in structure, and they
It is cast iron or carbon steel so that whole actuating device quality is bigger.
Summary of the invention
For the deficiencies in the prior art, the invention aims to provide a kind of secondary gear gear reduction dress
Putting, it has, and transmission performance is good, processing and easy accessibility, feature that production efficiency is high, further, and it
The lightweight of actuating device can be realized in the case of not affecting transmission performance.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of secondary gear transmission decelerating device, it is characterised in that: include output panel, pin wheel housing, supporting methods
Orchid, power shaft, planetary gear, crank axle and Cycloidal Wheel；
Described output panel and pivot flange are respectively arranged at the both ends open of described pin wheel housing, described output panel
And it is provided with hood assembly between described pin wheel housing, between described pivot flange and described pin wheel housing, is provided with set
Coil assembly；Installing hole and the left crank of at least two of a left power shaft is offered vertically on described output panel
The installing hole of axle；Installing hole and at least two of a right power shaft is offered vertically on described pivot flange
The installing hole of right crank axle；
On the medial wall of described pin wheel housing, circumferentially equal indicative is provided with several grooves, is provided with in each groove
One gear pin, forms ring gear；
The right side that the two ends of described power shaft are separately mounted to the left power shaft installing hole of output panel and pivot flange is defeated
Entering in axle installing hole, one end of described power shaft is provided with the first gear, and described first gear is through output panel
Left power shaft installing hole is protruding；
The quantity of described planetary gear is at least two, and each planetary gear is the most corresponding to be installed
On described output panel, each planetary gear respectively with the first gear external toothing；
The quantity of described crank axle is at least two, and a taper roll bearing is passed through in one end of each crank axle
Being arranged in the left power shaft installing hole of output panel, the other end of each crank axle passes through a taper roller axle
Hold in the right power shaft installing hole being arranged on pivot flange；Each crank axle is connected by spline and a planetary gear
Connect；Each crank axle is provided with at least one eccentric part；
The quantity of described Cycloidal Wheel is identical with the quantity of described eccentric part, and the middle part of each described Cycloidal Wheel is provided with
Through hole；The through hole of each described Cycloidal Wheel is attached by a needle bearing and an eccentric part, is made pendulum
Line wheel can carry out rotation relative to the eccentric part of crank axle；Each described Cycloidal Wheel is carried out with described gear pin
Internal messing.
As preferably, described output panel is by the first raceway for installing hood assembly, for installing circular cone
The clutch shaft bearing shell of roller bearing and the integrated composite component of output panel main body composition；Described first raceway
It is embedded at respectively in described output panel main body with described clutch shaft bearing shell；Described first raceway, clutch shaft bearing
Shell all uses iron type materials or carbon steel material to be made, and described output panel main body uses aluminium alloy to make
Form.
As preferably, described pivot flange is by the second raceway for installing hood assembly, for installing circle
Second bearing case of taper roller bearing and the integrated composite component of pivot flange main body composition；Described second
Raceway and described second bearing case are embedded in described pivot flange main body respectively；Described second raceway,
Two bearing cases all use iron type materials or carbon steel material to be made, and described pivot flange main body uses aluminum
Alloy is made.
As preferably, described pin wheel housing is made up of the groove structure and pin wheel housing main body for installing gear pin
Integrated composite component；Described groove structure is in the form of annular discs, and described pin wheel housing main body is cylindrically, described
Groove structure is embedded on the medial wall of pin wheel housing main body；Described groove structure uses iron type materials or carbon steel
Material is made, and described pin wheel housing main body uses aluminium alloy to be made.
As preferably, at least two left crank axle installing hole on described output panel is stepped hole；Described
At least two right crank axle installing hole on staying orchid is groove, installs porose elastic gear in described groove
Circle.
As preferably, the junction between described output panel and described pin wheel housing is sealed by oil sealing.
As preferably, the circlip for shaft that is axially located through of described crank axle positions；Described crank
The regulation pad being respectively arranged at two ends with for taper roll bearing is axially positioned of axle.
As preferably, described hood assembly is angular contact ball bearing.
The beneficial effects of the present invention is:
1, the present invention includes output panel, pin wheel housing, pivot flange, power shaft, planetary gear, crank axle and pendulum
Line is taken turns；Described output panel and pivot flange are respectively arranged at the both ends open of described pin wheel housing；Described pin tooth
On the medial wall of shell, circumferentially equal indicative is provided with several grooves, is provided with a gear pin in each groove,
Form ring gear；The two ends of described power shaft are separately mounted in output panel and pivot flange, described power shaft
One end be provided with the first gear；At least two planetary gear the most pivotally correspondence is arranged on described defeated
On placing, each planetary gear respectively with the first gear external toothing；Each crank axle passes through spline and a planet
Wheel connects；Each crank axle is provided with at least one eccentric part；The middle part of each described Cycloidal Wheel is provided with through hole；
The through hole of each described Cycloidal Wheel is attached by a needle bearing and an eccentric part, is made Cycloidal Wheel energy
Enough carry out rotation relative to the eccentric part of crank axle；Each described Cycloidal Wheel and described gear pin carry out internal messing.
Have that transmission performance is good by the secondary gear transmission decelerating device of so design, processing and easy accessibility, life
Produce the feature that efficiency is high.
2, the described output panel of the present invention is by the first raceway for installing hood assembly, for installing circular cone
The clutch shaft bearing shell of roller bearing and the integrated composite component of output panel main body composition；Described first raceway,
Clutch shaft bearing shell all uses iron type materials or carbon steel material to be made, and described output panel main body uses aluminum
Alloy is made.Described pivot flange is by the second raceway for installing hood assembly, for installing circle
Second bearing case of taper roller bearing and the integrated composite component of pivot flange main body composition；Described second
Raceway, the second bearing case all use iron type materials or carbon steel material to be made, described pivot flange master
Body uses aluminium alloy to be made.Described pin wheel housing is by groove structure and the pin wheel housing for installing gear pin
The integrated composite component of main body composition；Described groove structure use iron type materials or carbon steel material to make and
Becoming, described pin wheel housing main body uses aluminium alloy to be made.By so design, secondary gear can not affected
The lightweight of actuating device is realized in the case of the transmission performance of wheel transmission decelerating device.
Accompanying drawing explanation
Fig. 1 is the front view of secondary gear transmission decelerating device；
Fig. 2 is the rearview of secondary gear transmission decelerating device；
Fig. 3 is that the A-A of the front view of secondary gear transmission decelerating device is to sectional view.
Wherein, 1, output panel；11, output panel main body；111, left power shaft installing hole；112, Zuo Qu
Arbor installing hole；12, clutch shaft bearing shell；2, pin wheel housing；21, pin wheel housing main body；22, groove structure；
23, gear pin；3, pivot flange；31, pivot flange main body；311, right power shaft installing hole；312、
Right crank axle installing hole；32, the second bearing case；4, power shaft；41, the first gear；5, planetary gear；
6, crank axle；61, eccentric part；62, taper roll bearing；7, Cycloidal Wheel；71, needle bearing；8、
Hood assembly；91, circlip for hole；92, circlip for shaft；93, regulation pad；94, oil sealing.
Detailed description of the invention
Below, in conjunction with accompanying drawing and detailed description of the invention, the present invention is described further:
Embodiment 1:
With reference to Fig. 1-Fig. 3, the present embodiment provides a kind of secondary gear transmission decelerating device, including output panel 1,
Pin wheel housing 2, pivot flange 3, power shaft 4, planetary gear 5, crank axle 6 and Cycloidal Wheel 7；
Described output panel 1 and pivot flange 3 are respectively arranged at the both ends open of described pin wheel housing 2, described
Hood assembly 8, described pivot flange 3 and described pin tooth it is provided with between output panel 1 and described pin wheel housing 2
Hood assembly 8 it is provided with between shell 2；Hood assembly 8 is used for supporting pin wheel housing；
A left power shaft installing hole 111 and two left crank axle peaces are offered vertically on described output panel 1
Dress hole 112；Described output panel 1 is by the first raceway for installing hood assembly 8, for installing circular cone
The clutch shaft bearing shell 12 of roller bearing 62 and the integrated composite component of output panel main body 11 composition；Described
First raceway and described clutch shaft bearing shell 12 are embedded in described output panel main body 11 respectively；Described first
Raceway, clutch shaft bearing shell 12 all use iron type materials or carbon steel material to be made, described output panel master
Body 11 uses aluminium alloy to be made.
On the medial wall of described pin wheel housing 2, circumferentially equal indicative is provided with several grooves, installs in each groove
There is a gear pin 23, form ring gear；Described pin wheel housing 2 is by the groove for installing gear pin 23
Structure 22 and the integrated composite component of pin wheel housing main body 21 composition；Described groove structure 22 is in the form of annular discs,
On its medial wall, circumferentially equal indicative is provided with several grooves；Described pin wheel housing main body 21 is cylindrically, described
Groove structure 22 is embedded on the medial wall of pin wheel housing main body 21；Described groove structure 22 uses iron type materials
Or carbon steel material is made, described pin wheel housing main body 21 uses aluminium alloy to be made.
Pin wheel housing is substantially round in shape, and sends out as the housing of outer surface constituting secondary gear transmission decelerating device
Wave function.Within it surface is provided with the equally distributed groove in interval, is used for installing multiple gear pin 23, thus
Constituting the internal gear of secondary gear transmission decelerating device, engage is Cycloidal Wheel 7 (external gear).Pendulum
The number of teeth of line wheel 7 is slightly less than the number of gear pin 23, and in the present embodiment, its number of teeth differs two.
A right power shaft installing hole 311 and two right crank axles are offered vertically on described pivot flange 3
Installing hole 312；Described pivot flange is by the second raceway for installing hood assembly 8, for installing circle
Second bearing case 32 of taper roller bearing 62 and the integrated composite component of pivot flange main body 31 composition；
Described second raceway and described second bearing case 32 are embedded in described pivot flange main body 31 respectively；Institute
Stating the second raceway, the second bearing case 32 all uses iron type materials or carbon steel material to be made, described
Staying orchid main body 31 uses aluminium alloy to be made.
The two ends of described power shaft 4 are separately mounted to left power shaft installing hole 111 and the pivot flange of output panel
Right power shaft installing hole 311 in, one end of described power shaft is provided with the first gear 41, described first gear
41 is protruding through the left power shaft installing hole 111 of output panel.
The quantity of described planetary gear 5 is at least two, and each planetary gear 5 is the most corresponding
Be arranged on described output panel, each planetary gear 5 respectively with the first gear external toothing；
The quantity of described crank axle 6 is at least two, and a taper roller is passed through in one end of each crank axle 6
Bearing 62 is arranged in the left power shaft installing hole 111 of output panel 1, and the other end of each crank axle 6 passes through
One taper roll bearing 62 is arranged in the right power shaft installing hole 311 of pivot flange；Each crank axle 6
Connected by spline and a planetary gear 5；Each crank axle 6 is provided with two eccentric parts 61；
The quantity of described Cycloidal Wheel 7 is identical with the quantity of described eccentric part 61, in each described Cycloidal Wheel 7
Portion is provided with through hole；The through hole of each described Cycloidal Wheel 7 passes through a needle bearing 71 and an eccentric part 61
It is attached, makes Cycloidal Wheel 7 can carry out rotation relative to the eccentric part 61 of crank axle 6；Each described pendulum
Line wheel 7 carries out internal messing with described gear pin 23.
As preferably, two left crank axle installing holes 112 on described output panel 1 are stepped hole, its mesh
Be that the taper roll bearing 62 of one end on crank axle is axially positioned.
As preferably, two right crank axle installing holes 312 on described pivot flange 3 are groove, described
Groove is provided with circlip for hole 91.And then the taper roll bearing 62 of the crank axle other end is carried out
Axially location, and when planet carrier component (being made up of output panel 1 and pivot flange 3) is often processed,
Two raceways and the axiality of dead eye position on planet carrier can be ensured easily.
As preferably, the circlip for shaft 92 that is axially located through of described crank axle positions.
As preferably, the junction between described output panel 1 and described pin wheel housing 2 carries out close by oil sealing 94
Envelope.
As preferably, being respectively arranged at two ends with for taper roll bearing 62 is carried out axially of described crank axle 6
The regulation pad 93 of location.Two taper roll bearings 62 can also be regulated by adjusting regulation pad 93
Between distance.In actual application, output panel is secured by bolts in the revolving body etc. of robot, as pendulum
Line wheel rotation carries out output part.It addition, pin wheel housing and output panel can exchange mounting object, it is exactly i.e. will
Pin wheel housing is fixed on the revolving body of robot, is fixed on pedestal by output panel.
Other embodiments:
The quantity of described crank axle can also be three or four, and corresponding therewith, the quantity of described planetary gear is
Three or four.The quantity of the eccentric part of described crank axle and the quantity of Cycloidal Wheel all can be according to actual need
Change accordingly.
For a person skilled in the art, can technical scheme as described above and design, make
Other various corresponding changes and deformation, and all these changes and deformation all should belong to the present invention
Within scope of the claims.
Claims (8)
1. a secondary gear transmission decelerating device, it is characterised in that: include output panel, pin wheel housing, supporting methods
Orchid, power shaft, planetary gear, crank axle and Cycloidal Wheel；
Described output panel and pivot flange are respectively arranged at the both ends open of described pin wheel housing, described output panel
And it is provided with hood assembly between described pin wheel housing, between described pivot flange and described pin wheel housing, is provided with set
Coil assembly；A left power shaft installing hole and the left crank axle of at least two is offered vertically on described output panel
Installing hole；A right power shaft installing hole and the right crank of at least two is offered vertically on described pivot flange
Axle installing hole；
On the medial wall of described pin wheel housing, circumferentially equal indicative is provided with several grooves, is provided with in each groove
One gear pin, forms ring gear；
The right side that the two ends of described power shaft are separately mounted to the left power shaft installing hole of output panel and pivot flange is defeated
Entering in axle installing hole, one end of described power shaft is provided with the first gear, and described first gear is through output panel
Left power shaft installing hole is protruding；
The quantity of described planetary gear is at least two, and each planetary gear is the most corresponding to be installed
On described output panel, each planetary gear respectively with the first gear external toothing；
The quantity of described crank axle is at least two, and a taper roll bearing is passed through in one end of each crank axle
Being arranged in the left power shaft installing hole of output panel, the other end of each crank axle passes through a taper roller axle
Hold in the right power shaft installing hole being arranged on pivot flange；Each crank axle is connected by spline and a planetary gear
Connect；Each crank axle is provided with at least two eccentric part；
The quantity of described Cycloidal Wheel is identical with the quantity of described eccentric part, and the middle part of each described Cycloidal Wheel is provided with
Through hole；The through hole of each described Cycloidal Wheel is attached by a needle bearing and an eccentric part, is made pendulum
Line wheel can carry out rotation relative to the eccentric part of crank axle；Each described Cycloidal Wheel is carried out with described gear pin
Internal messing.
Secondary gear transmission decelerating device the most according to claim 1, it is characterised in that: described output panel
Be by the first raceway for installing hood assembly, for install taper roll bearing clutch shaft bearing shell and
The integrated composite component of output panel main body composition；Described first raceway is the most embedding with described clutch shaft bearing shell
It is located in described output panel main body；Described first raceway, clutch shaft bearing shell all use iron type materials or carbon element
Steel material is made, and described output panel main body uses aluminium alloy to be made.
Secondary gear transmission decelerating device the most according to claim 2, it is characterised in that: described supporting methods
Orchid is by the second raceway for installing hood assembly, for installing the second bearing case of taper roll bearing
Integrated composite component with pivot flange main body composition；Described second raceway divides with described second bearing case
It is not embedded in described pivot flange main body；Described second raceway, the second bearing case all use iron type materials
Or carbon steel material is made, described pivot flange main body uses aluminium alloy to be made.
Secondary gear transmission decelerating device the most according to claim 3, it is characterised in that: described pin wheel housing
The integrated composite component being made up of the groove structure and pin wheel housing main body for installing gear pin；Described recessed
Groove structure is in the form of annular discs, and cylindrically, described groove structure is embedded at pin wheel housing main body to described pin wheel housing main body
Medial wall on；Described groove structure uses iron type materials or carbon steel material to be made, described pin wheel housing
Main body uses aluminium alloy to be made.
Secondary gear transmission decelerating device the most according to claim 1, it is characterised in that: described output panel
On at least two left crank axle installing hole be stepped hole；The right crank of at least two on described pivot flange
Axle installing hole is groove, is provided with circlip for hole in described groove.
Secondary gear transmission decelerating device the most according to claim 1, it is characterised in that: described output panel
And the junction between described pin wheel housing is sealed by oil sealing.
Secondary gear transmission decelerating device the most according to claim 1, it is characterised in that: described crank axle
The circlip for shaft that is axially located through position；Being respectively arranged at two ends with for circle of described crank axle
The regulation pad that taper roller bearing axially positions.
Secondary gear transmission decelerating device the most according to claim 1, it is characterised in that: described lasso group
Part is angular contact ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580863.XA CN105972162B (en) | 2016-07-20 | 2016-07-20 | A kind of secondary gear transmission decelerating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580863.XA CN105972162B (en) | 2016-07-20 | 2016-07-20 | A kind of secondary gear transmission decelerating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105972162A true CN105972162A (en) | 2016-09-28 |
| CN105972162B CN105972162B (en) | 2019-03-22 |
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ID=56952865
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610580863.XA Active CN105972162B (en) | 2016-07-20 | 2016-07-20 | A kind of secondary gear transmission decelerating device |
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| CN (1) | CN105972162B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108716536A (en) * | 2018-08-02 | 2018-10-30 | 南通振康焊接机电有限公司 | A kind of RV speed reducers of output end of reducer sealing structure and its composition |
| CN109139881A (en) * | 2018-09-25 | 2019-01-04 | 珠海格力电器股份有限公司 | Pin gear, speed reducer and robot |
| CN109869458A (en) * | 2019-04-01 | 2019-06-11 | 长安大学 | A kind of speed reducer of multi-stage speed-reducing |
| CN110005761A (en) * | 2019-04-01 | 2019-07-12 | 长安大学 | A kind of speed reducer based on single outer ring ball bearing |
| CN112211960A (en) * | 2020-10-31 | 2021-01-12 | 重庆大学 | Built-in hollow type precision speed reducer of industrial robot gear |
| CN112513497A (en) * | 2018-08-08 | 2021-03-16 | 住友重机械工业株式会社 | Planetary gear device |
| US11365786B2 (en) * | 2017-11-14 | 2022-06-21 | Kimex Group s.r.o. | Transmission |
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| JP2006022829A (en) * | 2004-07-06 | 2006-01-26 | Nabtesco Corp | Eccentric swing type gear device |
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| CN201420836Y (en) * | 2009-03-19 | 2010-03-10 | 宁波市镇海永力液压有限公司 | Reducer with compound structure of similar cycloid gears and planetary gear |
| CN105378337A (en) * | 2013-07-10 | 2016-03-02 | 纳博特斯克有限公司 | Eccentric rocking type gear device |
| CN205877087U (en) * | 2016-07-20 | 2017-01-11 | 广州市昊志机电股份有限公司 | Secondary gear drive decelerator |
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| JP2006022829A (en) * | 2004-07-06 | 2006-01-26 | Nabtesco Corp | Eccentric swing type gear device |
| JP2009185986A (en) * | 2008-02-08 | 2009-08-20 | Nabtesco Corp | Eccentrically swinging gear device |
| CN201420836Y (en) * | 2009-03-19 | 2010-03-10 | 宁波市镇海永力液压有限公司 | Reducer with compound structure of similar cycloid gears and planetary gear |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11365786B2 (en) * | 2017-11-14 | 2022-06-21 | Kimex Group s.r.o. | Transmission |
| CN108716536A (en) * | 2018-08-02 | 2018-10-30 | 南通振康焊接机电有限公司 | A kind of RV speed reducers of output end of reducer sealing structure and its composition |
| CN108716536B (en) * | 2018-08-02 | 2020-07-14 | 南通振康焊接机电有限公司 | Speed reducer output end sealing structure and RV speed reducer comprising same |
| CN112513497A (en) * | 2018-08-08 | 2021-03-16 | 住友重机械工业株式会社 | Planetary gear device |
| CN109139881A (en) * | 2018-09-25 | 2019-01-04 | 珠海格力电器股份有限公司 | Pin gear, speed reducer and robot |
| CN109869458A (en) * | 2019-04-01 | 2019-06-11 | 长安大学 | A kind of speed reducer of multi-stage speed-reducing |
| CN110005761A (en) * | 2019-04-01 | 2019-07-12 | 长安大学 | A kind of speed reducer based on single outer ring ball bearing |
| CN112211960A (en) * | 2020-10-31 | 2021-01-12 | 重庆大学 | Built-in hollow type precision speed reducer of industrial robot gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105972162B (en) | 2019-03-22 |
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