CN106239127B - The method for processing and assembling of intelligent robot harmonic speed reducer - Google Patents

The method for processing and assembling of intelligent robot harmonic speed reducer Download PDF

Info

Publication number
CN106239127B
CN106239127B CN201610604531.0A CN201610604531A CN106239127B CN 106239127 B CN106239127 B CN 106239127B CN 201610604531 A CN201610604531 A CN 201610604531A CN 106239127 B CN106239127 B CN 106239127B
Authority
CN
China
Prior art keywords
outer shaft
wheel
elliptical drive
assembling
annular groove
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.)
Active
Application number
CN201610604531.0A
Other languages
Chinese (zh)
Other versions
CN106239127A (en
Inventor
李应煌
梁娟
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.)
Liuzhou Funeng Robot Development Co Ltd
Original Assignee
Liuzhou Funeng Robot Development Co Ltd
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 Liuzhou Funeng Robot Development Co Ltd filed Critical Liuzhou Funeng Robot Development Co Ltd
Priority to CN201610604531.0A priority Critical patent/CN106239127B/en
Publication of CN106239127A publication Critical patent/CN106239127A/en
Application granted granted Critical
Publication of CN106239127B publication Critical patent/CN106239127B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse 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

Abstract

The present invention relates to robot driver, the specifically method for processing and assembling of intelligent robot harmonic speed reducer, it is included in interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, and process and assemble hole is distinguished on two elliptical drive for wheel, a ring spring is set in each pilot hole;Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again;It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth respectively;Finally two elliptical drive for wheel for being equipped with interior outer shaft are attached in flexbile gear, makes two elliptical drive for wheel are corresponding with two exclusive teeth to align, the elliptical drive for wheel assembled and flexbile gear is finally attached to the firm gear inner ring for forming two row's internal tooths.The mounting means of two axles inside and outside present invention use, it is possible to provide two kinds of driving powers, the gearratio of reductor etc. can be changed;Meanwhile in terms of process and assemble, elliptical drive for wheel is fixed by ring spring, be advantageous to reduce frictional force, avoid damaging elliptical drive for wheel.

Description

The method for processing and assembling of intelligent robot harmonic speed reducer
Technical field
The present invention relates to the method for processing and assembling of robot driver, specifically intelligent robot harmonic speed reducer.
Background technology
Existing robot is mainly divided to two major classes:Cartesian robot and prosthetic robot.Cartesian robot Mainly it is made up of some linear motion units, motor, control system and end-effector etc..This robot can be directed to not Same application, fast and easy are combined into different dimensions, various strokes and the wall-mounted of different load capacities, cantilevered, planer-type Or the Cartesian robot of the diversified forms such as reversely hung Yong.Prosthetic robot mainly drives electricity by some rotary motion units Machine, control system and end-effector etc. form.Prosthetic robot can be with Rapid Combination into not unlike Cartesian robot Same dimension.For different applications, the prosthetic robot of fixed different dimensions can only be selected, such as arc welding robot, is carried Robot, intelligent nursing machine people etc..
In current automatic industrial production, robot is core, but the certain operations of robot require speed all It is slow, it is necessary to which speed reducer with high transmission ratio is driven, existing robot is generally adopted by prosthetic robot, its gear reduction Mechanism is to add cycloid speed reducer or harmonic wave speed reducing machine using planet mostly, because the drive device of these reductors is mostly using single Axle and the gear train of fixation etc. are driven so that the gearratio of reductor is fixed, it is difficult to meet robot to gearratio Demand;And these drive devices axiality in terms of process and assemble is not high enough.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of adding for the higher intelligent robot harmonic speed reducer of axiality Frock method of completing the square.
The technical solution adopted by the present invention is:The method for processing and assembling of intelligent robot harmonic speed reducer, it include with Lower step:
(1)In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, on two elliptical drive for wheel respectively Process and assemble hole, a ring spring is set in each pilot hole;
(2)Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again, and make ring spring insertion pair In the locating slot answered;
(3)Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end;
(4)Then in the axial centre position of flexbile gear base substrate circumferentially one flat annular groove of turning;Again in flat annular Groove bottom land circumferentially processes an annular V groove;
(5)It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, teeth groove and the annular of each tooth respectively Groove communicates, and bottom land flushes higher than annular groove bottom land or with annular groove bottom land;
(6)Outward-dipping breeze way is processed into one end of flexbile gear green state joining output shaft;
(7)Two elliptical drive for wheel for being equipped with interior outer shaft are attached to flexbile gear inner ring again, make two elliptical drive for wheel and two rows External tooth correspondingly aligns;
(8)The elliptical drive for wheel assembled and flexbile gear are finally attached to the firm gear inner ring for forming two row's internal tooths, make two Exclusive tooth is engaged with two row's internal tooths.
Preferably, being radially machined with annular groove along each pilot hole hole wall, first the ring spring is arranged at corresponding In annular groove, then elliptical drive for wheel is arranged on corresponding axle by pilot hole.
Preferably, the hollow outer shaft both ends are machined with receiving space respectively, it is fixedly mounted in each receiving space One bearing, the interior axle both ends are arranged on hollow outer shaft inner chamber by the two bearings.
Preferably, during installation interior axle, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, so Passed afterwards from the bearing of the hollow outer shaft other end.
Preferably, first placing hollow outer shaft vertically, its described one end is above, then will be another described in interior axle End is placed in the bearing centre hole of one end described in hollow outer shaft, then applies downward pressure to one end described in interior axle, makes its another End penetrates inner chamber, then is passed from the bearing centre hole of the hollow outer shaft other end.
Preferably, when the interior axle other end passes from the bearing centre hole of the hollow outer shaft other end, it is another to hollow outer shaft The bearing at end applies pressure from bottom to top.
Preferably, during processing tooth, from away from the laterally closer annular groove side feed of annular groove one.
Preferably, the breeze way extends to billet surface from teeth groove bottom land is axially inclined.
Preferably, the number of teeth of two exclusive teeth is unequal;The tip diameter of two exclusive teeth is unequal.
As can be known from the above technical solutions, the present invention use inside and outside two axles mounting means, it is possible to provide two kinds of driving powers, can Change the gearratio of reductor etc.;Meanwhile in terms of process and assemble, elliptical drive for wheel is fixed by ring spring, is advantageous to reduction and rubs Power is wiped, avoids damaging elliptical drive for wheel;And two bearing installation interior axles, it can be ensured that the axiality of interior outer shaft.
Embodiment
The present invention is described more detail below, illustrative examples of the invention and explanation are used for explaining the present invention herein, It is but not as a limitation of the invention.
The method for processing and assembling of intelligent robot harmonic speed reducer, it comprises the following steps:
In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove;Interior outer shaft can be driven respectively by two motors It is dynamic, it can also be driven respectively by two different transmission mechanisms by a motor;Locating slot can make driving wheel installed in the finger of axle Positioning is put;Process and assemble hole is distinguished on two elliptical drive for wheel, elliptical drive for wheel can be arranged on by pilot hole corresponding On axle;Two elliptical drive for wheel can drive the gear of the different numbers of teeth, wave producer of the elliptical drive for wheel as harmonic speed reducer.Make For wave producer when, can have axially arranged several rollers in the peripheral distribution of the elliptical drive for wheel, can thus drive two The flexbile gear of the individual different numbers of teeth rotates, so as to export the power of different drive ratios.
One ring spring is set in each pilot hole;In implementation process, radially add along each pilot hole hole wall Work has annular groove, and the ring spring is arranged in corresponding annular groove, and elliptical drive for wheel is fixedly mounted on corresponding by corresponding ring spring On axle;So on the one hand elliptical drive for wheel can be avoided directly to be contacted with corresponding axle and damage elliptical drive for wheel, the opposing party's donut The elastic force of spring can make assembling more convenient;Meanwhile elliptical drive for wheel can even be carried out with respective shaft by the way of gap coordinates Transmission, avoid both from contacting, wear phenomenon occur, and when the effect of attrition of axle and ring spring is driven, only need to change ring spring i.e. Can, save maintenance and maintenance cost.In the present invention, ring spring is the elasticity part for having radical elasticity, in the effect of its elastic force Under, elliptical drive for wheel can be fixed on axle, ensure that axle drives elliptical drive for wheel to rotate;Two elliptical drive for wheel pass through pilot hole It is separately mounted on the interior outer shaft, and makes corresponding to ring spring insertion in locating slot;The processing of locating slot is unsuitable too deep wide, very To only needing one to recessed impression can, because the effect of locating slot is spacing, and when driving wheel is mounted on an axle, ring spring Radial load between axle is larger, only needs simple groove driving wheel can be avoided to move axially, so as to realize axially position.
Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end;As excellent Choosing, the interior axle are arranged on hollow outer shaft inner chamber by bearing;Specifically, the hollow outer shaft both ends are machined with receiving respectively Space, each receiving space is interior to be fixedly mounted a bearing, and the interior axle both ends are arranged on hollow by the two bearings Outer shaft inner chamber;When interior axle is installed, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, then from hollow The bearing of the outer shaft other end passes.Preferably, first placing hollow outer shaft vertically, its described one end is above, then The other end described in interior axle is placed in the bearing centre hole of one end described in hollow outer shaft, then one end described in interior axle applied downwards Pressure, its other end is penetrated inner chamber, then passed from the bearing centre hole of the hollow outer shaft other end;The interior axle other end is from hollow outer When the bearing centre hole of the axle other end passes, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end, prevents the bearing Because the downward pressure of interior axle disengages it from outer shaft.
In implementation process, the end face of bearing can not only save space with outer shaft end face, and in transmission process In avoid interfering with miscellaneous part;Both ends described in interior axle are arranged in two bearings, so not only make interior outer shaft that phase can occur To rotating, outer shaft has higher axiality in guarantee;And may be such that interior axle support is more firm, transmission is more steady.Interior outer shaft Relative motion can use this sample loading mode, when interior axle is rotated by motor driven, outer shaft can be made not rotate, only by elliptical drive for wheel Outer gear is driven to rotate, so as to export power;When outer shaft is rotated by motor driven, interior axle can be made not rotate, only by ellipse The pinion rotation of the drive wheel different numbers of teeth in addition, so as to export the power with outer shaft different drive ratios, it is seen that the present invention can Realize the transmission of different drive ratios.In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different numbers of teeth, because This, when interior axle is rotated by motor driven, can be such that outer shaft does not rotate, and only be turned by the first Ellipse motion driven wheel drive first row external tooth It is dynamic, and now second row external tooth is still within engagement with internal tooth, because outer shaft does not have driving force, second row external tooth will not drive Dynamic flexbile gear is rotated, and it is rotated in the presence of engagement force with flexbile gear;Similarly, when outer shaft is rotated by motor driven, can make interior Axle does not rotate, only by the pinion rotation of the second Ellipse motion driven wheel drive different numbers of teeth in addition, so as to export with the first driving wheel not With the power of gearratio, it is seen that the transmission of the achievable different drive ratios of the present invention.
In implementation process, the axial centre position circumferentially one flat annular groove of turning, then in flat ring of flexbile gear base substrate Connected in star bottom land circumferentially processes an annular V groove, and annular groove side is then located in flexbile gear base substrate periphery and processes an exclusive tooth, It is located at annular groove opposite side in flexbile gear base substrate periphery and processes another exclusive tooth;In process, should be from away from annular groove One laterally closer annular groove side feed, and the teeth groove of each tooth communicates with annular groove, teeth groove bottom land is higher than ring Connected in star bottom land flushes with annular groove bottom land;It the chip in process is flowed into annular V groove, be provided for processing It is convenient;Meanwhile when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove, ensure the lubricating oil at tooth It is more clean;Annular V groove can facilitate chip and waste residue to flow into bottom land along inclined cell wall, prevent chip and waste residue etc. from splashing.
Two elliptical drive for wheel for being equipped with interior outer shaft are attached in flexbile gear, make two elliptical drive for wheel and two toothrows to reply Just, that is, each driving wheel is caused to be located at flexbile gear inner ring corresponding to tooth, in flexbile gear transmission process, because wheel body is in elliptical wave hair It is deformed during the driving of raw device, it exports one end and can be deformed, and transmission may be caused not steady enough, and then make output Axle transmission is not steady enough, and one end of flexbile gear green state joining output shaft is processed into outward-dipping buffering can alleviate above-mentioned change Shape, ensure that the transmission of output shaft is more steady.Finally the elliptical drive for wheel assembled and flexbile gear are attached to and form two row's internal tooths Firm gear inner ring, two exclusive teeth is engaged with two row's internal tooths.
The breeze way of the present invention extends to billet surface from teeth groove bottom land is axially inclined, and the inclination extends to linear extension Or to extend to recessed arc so that close to being relatively large in diameter for output shaft side;Due to wheel body in transmission process caused by It is radially enlarged deformation, it, which has, makes the wheel body close to output shaft side produce the trend of radial deformation increase, therefore is transmitting During power, the deformation effect that the major diameter buffer part close to output shaft side is subject to is smaller, so as to ensure the biography of flange Dynamic stationarity.
In the present invention, the number of teeth of described two exclusive teeth is unequal, so as to provide two kinds of different gearratios, to meet machine The transmission requirement of device people;The tip diameter of two exclusive teeth is unequal, also determines that the outside circle of two row's internal tooths is unequal, is filling Timing, the less external tooth of tip diameter should may pass through outside circle close to assembly direction, so smaller external tooth of tip diameter The internal tooth being relatively large in diameter engages with the less internal tooth of tip diameter, ensures that assembling process does not interfere phenomenon.
The technical scheme provided above the embodiment of the present invention is described in detail, specific case used herein The principle and embodiment of the embodiment of the present invention are set forth, the explanation of above example is only applicable to help and understands this The principle of inventive embodiments;Meanwhile for those of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party There will be changes in formula and application, in summary, this specification content should not be construed as limiting the invention.

Claims (9)

1. the method for processing and assembling of intelligent robot harmonic speed reducer, it is characterised in that comprise the following steps:
(1)In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, processed respectively on two elliptical drive for wheel Pilot hole, a ring spring is set in each pilot hole;
(2)Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again, and made corresponding to ring spring insertion In locating slot;
(3)Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end;
(4)Then in the axial centre position of flexbile gear base substrate circumferentially one flat annular groove of turning;Again in flat annular groove Bottom land circumferentially processes an annular V groove;
(5)It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, the teeth groove and annular groove of each tooth respectively Communicate, and bottom land flushes higher than annular groove bottom land or with annular groove bottom land;
(6)Outward-dipping breeze way is processed into one end of flexbile gear green state joining output shaft;
(7)Two elliptical drive for wheel for being equipped with interior outer shaft are attached to flexbile gear inner ring again, make two elliptical drive for wheel and two exclusive teeth Align;
(8)The elliptical drive for wheel assembled and flexbile gear are finally attached to the firm gear inner ring for forming two row's internal tooths, made two exclusive Tooth is engaged with two row's internal tooths.
2. the method for processing and assembling of intelligent robot harmonic speed reducer according to claim 1, it is characterised in that:Along each The pilot hole hole wall is radially machined with annular groove, first the ring spring is arranged in corresponding annular groove, then elliptical drive for wheel is led to Pilot hole is crossed to be arranged on corresponding axle.
3. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that:It is described hollow Outer shaft both ends are machined with receiving space respectively, a bearing are fixedly mounted in each receiving space, the interior axle both ends pass through The two bearings are arranged on hollow outer shaft inner chamber.
4. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 3, it is characterised in that:Interior axle is installed When, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, then from the bearing of the hollow outer shaft other end Pass.
5. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 4, it is characterised in that:First by sky Heart outer shaft is placed vertically, and its described one end is above, and the other end described in interior axle then is placed in into one end described in hollow outer shaft Bearing centre hole, then apply downward pressure to one end described in interior axle, its other end is penetrated inner chamber, then it is another from hollow outer shaft The bearing centre hole of one end passes.
6. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 5, it is characterised in that:Interior axle is another When end passes from the bearing centre hole of the hollow outer shaft other end, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end.
7. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that:Process tooth When, from away from the laterally closer annular groove side feed of annular groove one.
8. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that:The buffering Section extends to billet surface from teeth groove bottom land is axially inclined.
9. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that:Two exclusive teeth The number of teeth it is unequal;The tip diameter of two exclusive teeth is unequal.
CN201610604531.0A 2016-07-29 2016-07-29 The method for processing and assembling of intelligent robot harmonic speed reducer Active CN106239127B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610604531.0A CN106239127B (en) 2016-07-29 2016-07-29 The method for processing and assembling of intelligent robot harmonic speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610604531.0A CN106239127B (en) 2016-07-29 2016-07-29 The method for processing and assembling of intelligent robot harmonic speed reducer

Publications (2)

Publication Number Publication Date
CN106239127A CN106239127A (en) 2016-12-21
CN106239127B true CN106239127B (en) 2018-03-16

Family

ID=57604164

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610604531.0A Active CN106239127B (en) 2016-07-29 2016-07-29 The method for processing and assembling of intelligent robot harmonic speed reducer

Country Status (1)

Country Link
CN (1) CN106239127B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2281440Y (en) * 1996-10-31 1998-05-13 中国科学院沈阳科学仪器研制中心 Sealed harmonic speed reducer
DE29705170U1 (en) * 1997-03-21 1998-07-30 Hirn Marliese Reduction gear
CN2352757Y (en) * 1998-09-25 1999-12-08 张翰璧 Combination as adaptation type rigid body resonance device for speed-reducing
CN2831592Y (en) * 2005-10-10 2006-10-25 綦学尧 Harmonic geared down motro with double outlet shafts
CN2886215Y (en) * 2006-04-26 2007-04-04 哈尔滨工业大学 Ring type harmonic wave gear reducer
CN103291609A (en) * 2012-02-24 2013-09-11 常州大学 Biaxial harmonic gear pump

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2281440Y (en) * 1996-10-31 1998-05-13 中国科学院沈阳科学仪器研制中心 Sealed harmonic speed reducer
DE29705170U1 (en) * 1997-03-21 1998-07-30 Hirn Marliese Reduction gear
CN2352757Y (en) * 1998-09-25 1999-12-08 张翰璧 Combination as adaptation type rigid body resonance device for speed-reducing
CN2831592Y (en) * 2005-10-10 2006-10-25 綦学尧 Harmonic geared down motro with double outlet shafts
CN2886215Y (en) * 2006-04-26 2007-04-04 哈尔滨工业大学 Ring type harmonic wave gear reducer
CN103291609A (en) * 2012-02-24 2013-09-11 常州大学 Biaxial harmonic gear pump

Also Published As

Publication number Publication date
CN106239127A (en) 2016-12-21

Similar Documents

Publication Publication Date Title
CN106230186B (en) It is a kind of to gather the hollow type harmonic speed reducer for having motor
CN104565217A (en) Cycloidal pin wheel speed reducer and robot
CN105840742B (en) Rolling push rod oscillating tooth robot joint speed reducer
CN105500359A (en) Heavy-load SCARA (selective compliance assembly robot arm) transfer robot
CN106141666B (en) The method for processing and assembling of intelligent nursing machine people's decelerator
CN106239127B (en) The method for processing and assembling of intelligent robot harmonic speed reducer
CN105508585B (en) One kind disappears gap planetary reducer
CN106141667B (en) A kind of method for processing and assembling of rescuing robot for fire control driver
CN104565216A (en) Cycloidal pin wheel speed reducer and robot
CN106181222B (en) The method for processing and assembling of public service robot driver
CN207229679U (en) A kind of industrial robot precision speed reduction device
CN106090184A (en) A kind of robot harmonic speed reducer
CN102242795B (en) Precision cycloid decelerator
CN106216970B (en) The processing method of the high-accuracy decelerator transmission mechanism of robot
CN102922354A (en) Friction wheel traction transmission cycloidal processing device
CN205315620U (en) Power dividing formula planetary reducer
CN106065924A (en) The driver of rescuing robot for fire control
CN202861869U (en) Friction wheel traction transmission cycloid machining device
CN103908914A (en) Chemical reaction stirring device and stirring method
CN106142074A (en) A kind of method for processing and assembling of robot driving device
CN106142126A (en) A kind of processing and assembling of surgical machine person joint
CN109927021A (en) A kind of bionical humanoid mechanical arm of 7 freedom degrees
CN106141598B (en) The processing method of the high-accuracy Rigid Gear of Harmonic Reducer of robot
CN106218746B (en) The processing and assembling of tow-armed robot walking mechanism
CN207569150U (en) A kind of precision speed reduction device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant