CN108843747A - Robot clearance elimination gear hollow decelerator - Google Patents
Robot clearance elimination gear hollow decelerator Download PDFInfo
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- CN108843747A CN108843747A CN201810946588.8A CN201810946588A CN108843747A CN 108843747 A CN108843747 A CN 108843747A CN 201810946588 A CN201810946588 A CN 201810946588A CN 108843747 A CN108843747 A CN 108843747A
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- gear
- bearing
- clearance elimination
- eccentric
- equal
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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
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
-
- 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
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
Abstract
The present invention relates to robot retarder technical field, a kind of robot clearance elimination gear hollow decelerator, it is characterised in that：Including round casing and level-one and double reduction component, primary speed-down component includes servo motor, driving wheel, duplicate gear and planetary gear, guarantee eccentric shaft revolving speed≤950rpm, double reduction component includes 2~3 uniformly distributed eccentric shafts, first, second external gear, ring gear and a left side, right rigid disk, diameter gap Δ j=0.5 δ+0.005~0.02 (mm) between external gear and ring gear, two eccentric segment phase differences of eccentric shaft are equal to 179.81 °~179.934 °, on two external gears two groups totally six circular holes be located at it is same circumferentially spaced about uniformly distributed, first bearing is that Long Shi alloy sliding axis is held, 3rd bearing 10 is that thin-walled seals four-point contact ball or crossed roller bearing.Beneficial effect：Structure is simple, easy to process；With good dynamic property；Just, when turning, return difference≤1~3 arcs point are able to achieve.
Description
【Technical field】
The present invention relates to robot retarder technical fields, more particularly to one kind to be based on ' clearance elimination gear ' principle, craftsmanship
The robot clearance elimination gear hollow decelerator of good and return difference≤1~3 arcs point.
【Background technique】
Zhu Xiaolu professor《Gear Transmission Design handbook》It says：" gear pin radius error, gear pin hole are circumferential in RV retarder
Location error and ... wait return difference is influenced it is maximum." (page 839)
There are following three problems for background technique：
(1) second level ' cycloid-pinwheel ' deceleration component requires very high-precision, manufactures highly difficult：
(1) ' cycloid-pinwheel ' requires very high-precision：
(1-1)《863》The requirement of RV-250A II retarder model machine：Needle pin center circle radius error ± 0.0025 (mm), needle
Sell radius error -0.0087~-0.0075 (mm) (deviation 0.0012mm), needle pin and half buried via hole fit clearance 0.012 (mm), needle
Alligator hole circumferential position degree error ± 0.005 (mm)；
(1-2) Nanjing Institute of Technology, Nanjing Kang Ni mechanical & electrical corporation《RV retarder Backlash Analysis and experiment testing research》It wants
It asks：Needle pin radius error 0.003 (mm), pin holes fit clearance 0.003 (mm), pin holes circumferential position degree error 0.005
(mm)；
The Nantong (1-3) vibration health chief designer says：" RV speed reducer precision reaches 1 μm and is not difficult, and difficult is rotation any position
It is attained by 1 μm ... " (specially interviewing within Chinese robot net 2017-10-30 days)
(2) ' cycloid-pinwheel ' manufacture is highly difficult：
Big-Qin Chuan lathe ' association is handed over to exist in (2-1) ' Dalian《863》During RV-250A II retarder development is summarized, Wu Yong
Wide, He Weidong, tri- Doctors ' Teachers of Li Lihang and professor-level engineer Fang Rong are said：" half buried via hole of RV speed reducer pin wheel housing is one group of radius
The small-sized and very high semicircle orifice of required precision, the processing technology of the big high-precision smaller part circular hole of this draw ratio is in conventional life
Great difficulty, the method that jig-boring is used in advanced development, in order to solve knife bar in semicircle orifice boring are had under the conditions of production
Because of the easily-deformable problem of unbalance stress, a set of tooling is specially created, mating wholeheartedly tire, is allowed to semicircle in pin wheel housing part big hole
The processing in hole becomes the boring ... of full-round hole " (《RV speed reducer kinematic accuracy error component and high kinematic accuracy technique guarantee》)
(2-2)《RV technology for manufacturing speed reducer》ZL01103799.3：" pin wheel housing processing difficulties are half buried via holes,
RV250AII model machine 40- Φ 10H7 requires adjacent holes away from less than 0.005mm, cumulative errors 0.02mm, hole axial direction 0.005mm, essence
Degree is equivalent to the 3-4 grade of involute.Increase small abrasive nose grinding semicircle orifice on YK75100 gear grinding machines."
Double reduction component includes 2~3 uniformly distributed eccentric shafts, the first, second external gear, ring gear and left and right rigidity
Disk, eccentric shaft include two eccentric segments, and eccentric segment is equipped with the 3rd bearing to support external gear, the 4th axis of eccentric segment two sides
It holds and is supported in left and right rigid disk periphery hole respectively, left and right rigid disk is supported in round casing two sides respectively with first bearing
Hole, uniformly distributed three cylindrical lips on left rigid disk, it is rigid that three cylindrical lips pass through first group of three circular hole of equal diameter and the right side on two external gears
Property disk on the inside of seam allowance tight fit, both connect into a rigid body, separately have second group of three circular hole of equal diameter to fill on two external gears
3rd bearing is set, six circular holes are set on the same circumference, uniformly at intervals, and right rigidity center hole supports duplicate gear with second bearing
Side；
The half that radial clearance Δ j between first, second external gear and ring gear should be equal to external gear thermal expansion amount δ adds
Upper compensation rate, diameter gap according to depending on swell increment, when operating will not generate heat it is stuck, with good dynamic characteristics.
The two eccentric segment phase difference of eccentric shaft be equal to 179.81 °~179.938 °, therefore, 3rd bearing bearing two outside
The phase difference formed between gear is equal to 179.81 °~179.938 °, at this point, in the first external gear teeth and ring gear upper half
Tooth is close to side clockwise (or counterclockwise), and the second external gear teeth and ring gear bottom half internal tooth are counterclockwise (or clockwise)
Side is close to, according to clearance elimination gear principle, to realize return difference≤1~3 ' when forward and backward.
The two eccentric segment phase difference of eccentric shaft is equal to 179.82 °~179.936 °, therefore, the of 3rd bearing bearing
One, the phase difference between the second external gear is equal to 179.82 °~179.936 °, when forward and backward, return difference≤1~3 arcs point.
The two eccentric segment phase difference of eccentric shaft is equal to 179.83 °~179.934 °.Therefore, the of 3rd bearing bearing
One, the phase difference between the second external gear is equal to 179.83 °~179.934 °, when forward and backward, return difference≤1~3 arcs point.
The first bearing is that thin-walled seals four-point contact ball, and bearing capacity is big, can be born simultaneously radial and axial negative
Lotus.
The first bearing is that thin-walled seals crossed roller bearing, and bearing capacity is big, can bear radial direction and axial load simultaneously.
The first bearing is that Long Shi alloy sliding axis is held, and Long Shi alloy has self-lubricating property, is suitable for middle low speed weight
Carry occasion.
【Beneficial effect】
(1) ring gear replaces influences maximum, manufacture difficulty is big, large number of needle pin and simplifies structure on return difference；
(2) radial clearance is according to external gear swell increment, and when operating will not be because of fever, with good dynamic property；
(3) domestic lathe, conventionally fabricated precision, cost are minimum；Realize just, return difference≤1~3 arcs point when turning.
(4) Involute Small Teeth Difference Planetary Gearing light weight, smooth running, tooth form are easily worked, convenient for disassembly and assembly, manufacturing process letter
It is single.
【Detailed description of the invention】The structural schematic diagram of Fig. 1 embodiment of the present invention
【Specific embodiment】
A kind of robot clearance elimination gear hollow decelerator, it is characterised in that：Subtract including circle shell 1 and the level-one being placed in shell
Fast component and double reduction component, round casing as body be it is best because of circular shell light weight degree, processing performance,
In：
Moral is driven company energetically in the Ningbo (2-3)《A kind of internal tooth processing method of cycloidal reducer pin wheel housing》
201210135793.9：" the equally distributed circular hole of a circle is processed first along the inner edge of Huan Xing pin wheel housing green body；By annular
One circle of inner edge excision of pin wheel housing green body, by the hemisection of the circular hole processed in the pin wheel housing green body of annular
Inner circle forms tooth form."
(1) second level ' cycloid-pinwheel ' there are following problems for deceleration component structure：
(1) pinwheel is not a pair of of conjugate curves with the pitch curve of Cycloidal Wheel；Needle pin with cycloid train is convex-convex engages, when
It is big to measure radius, thus contact stress is big, bearing capacity is impacted；
(2) needle pin and half buried via hole insufficient lubrication of pin wheel housing and be sliding friction, thus easily wear half buried via hole, lead to return difference
It increases；
(3) pinwheel configuration is complicated, is easy accumulated error, it is difficult to obtain degree of precision.
(3) ' the Cycloidal Wheel correction of the flank shape diameter gap in cycloid-pinwheel ' deceleration component, sideshake are too small, such as the second level：
(1)《The high-end RV-250A II type of National 863》Model machine：Rz=114.5, e=2.2：Δrz=-0.004, Δ Rz
=-0.008, return difference=0.0896 ', radial clearance Δ=0.004 (mm), sideshake ΔC=0.0015 (mm)
(2) Zhengzhou Research Institute of Mechanical Engineering《Robot accurate cyclo drive meshing characteristic and backhaul Gap Analysis》：Rz=64,
E=1.3, Za=39；Δ Rz=-0.02, Δ rz=-0.01, return difference=0.225 ', diameter gap Δ=0.01 (mm), sideshake ΔC=
0.0021(mm)
(3) Tongji University《Robot is studied with High Precision RV Reducer clearance between gear teeth》：RV-40E：Rz=64, e=
1.30, Za=39；Δ Rz=-0.008, Δ rz=-0.002, diameter gap Δ=0.006 (mm), sideshake Δ C=0.003 (mm)
" domestic RV retarder grease lubrication radiating condition is bad, and various situations are all closely related with heat in operating.Consider temperature
The influence of degree, in order to avoid because the excessively high expansion of temperature is stuck.Cycloidal Wheel is the main source of heat."(《RV retarder thermal-structure coupled
Analysis》)
Due to problem above, the development of domestic RV retarder is made to fail so far.2016.03.21 day, national three ministries and commissions
No. 109 notices：' China still relies on import so far ', says：' it is required that the year two thousand twenty can reach foreign level '.
【Summary of the invention】
System of the present invention according to《Clearance elimination gear》The innovation that principle is made, a kind of robot clearance elimination gear hollow decelerator.
《Clearance elimination gear》With very high static and dynamic accuracy characteristic, when being applied to the carriers such as satellite, guided missile, return difference ≈
0, it is more much smaller than 1 arc of RV speed reducer point.《Clearance elimination gear》High-precision is not depended on, thus it is at low cost.
【Technical solution】Used specific technical solution is as follows in order to solve the above problem：
A kind of robot clearance elimination gear hollow decelerator, including circle shell and primary speed-down component and double reduction component,
In：
Primary speed-down component includes servo motor, driving wheel, duplicate gear and planetary gear, and the duplicate gear includes driven
Wheel and sun gear, driven wheel are engaged with driving wheel, and sun gear is engaged with planetary gear, and it is eccentric that planetary gear is connected to double reduction component
Axis axle stretch end, primary speed-down retrodeviate spindle rotation and answer≤950rpm, make to be driven more stable, the logical spool of duplicate gear inner hole setting；
Primary speed-down component includes driving wheel 9, duplicate gear 10 and planetary gear 8 on servo motor, the duplicate gear
10 include driven wheel and sun gear, and the driven wheel is engaged with driving wheel 9, and the sun gear is engaged with planetary gear 8, the planet
Wheel 8 is connected to 3 axle stretch end of double reduction component eccentric shaft, and 3 revolving speed of eccentric shaft answers≤950rpm after primary speed-down, keeps transmission more flat
Surely, logical spool is arranged in 10 inner hole of duplicate gear；
Double reduction component include 2~3 uniformly distributed eccentric shafts 3, first, second external gear 7A, 7B, ring gear and a left side,
Right rigid disk 2,5, the eccentric shaft 3 include two eccentric segments, and eccentric segment is equipped with the 3rd bearing to support external gear, eccentric
Section two sides are supported on respectively in left and right rigid disk periphery hole with fourth bearing, and left and right rigid disk is supported respectively with first bearing 4
Uniformly distributed three cylindrical lips, three cylindrical lips pass through first on two external gears on 1 two sides inner hole of round casing, the left rigid disk 2
Group three circular hole of equal diameter and right 5 inside seam allowance tight fit of rigid disk, the two connect into a rigid body, separately have second on two external gears
Group three circular hole of equal diameter to device 3rd bearing, two groups totally six circular holes set on the same circumference, uniformly at intervals, right rigid disk 5
Centre bore supports the side of duplicate gear 10 with second bearing 6；Diamond hole changes having the technical effect that for circular hole on external gear：Heat treatment
When it is not easy to crack, deformation it is small；It is the diamond-shaped flange simple process of cylindrical lip ratio, at low cost；
It is swollen that radial clearance Δ j (mm) between described first, second external gear 7A, 7B and ring gear should be equal to external gear heat
The half of bulk δ (mm) adds compensation rate, i.e.,：Δ j=0.5 δ+0.005~0.02 (mm), North China University of Tech's paper《RV subtracts
Fast device thermal-structural coupling analysis》It points out：" research is less in terms of the domestic thermal-structure coupled to RV retarder, and retarder
It is grease lubrication, radiating condition is bad, and various situations are all closely related with heat in operating.Consider temperature to the shadow of volume of part
It rings, in order to avoid because the excessively high expansion of temperature is stuck.External gear is the main source of heat."
According to depending on swell increment, when operating, will not generate heat stuck radial clearance, with good dynamic characteristics, use the longevity
Life length.
The robot clearance elimination gear hollow decelerator, it is characterised in that：Two eccentric segment phase differences of the eccentric shaft 3 etc.
In 179.81 °~179.938 °, therefore, the phase difference formed between first, second external gear 7A, 7B of 3rd bearing bearing
Equal to 179.81 °~179.938 °, at this point, the first external gear 7A gear teeth and ring gear upper half internal tooth are clockwise (or counterclockwise)
Side is close to, and the second external gear 7B gear teeth and ring gear bottom half internal tooth are close to side counterclockwise (or clockwise), according to disappearing
Gap gear principle, to realize return difference≤1 when forward and backward~3 arcs point.
The robot clearance elimination gear hollow decelerator, it is characterised in that：3 liang of eccentric segment phase differences of the eccentric shaft are equal to
179.82 °~179.936 °, therefore, the phase difference between first, second external gear 7A, 7B of 3rd bearing bearing is equal to
179.82 °~179.936 °, according to clearance elimination gear principle, thus return difference≤1~3 arcs point when forward and backward.
The robot clearance elimination gear hollow decelerator, it is characterised in that：Described 3 liang of eccentric segment phase differences of eccentric shaft etc.
In 179.83 °~179.934 °.Therefore, the phase difference between first, second external gear 7A, 7B of 3rd bearing bearing is equal to
179.83 °~179.934 °, according to clearance elimination gear principle, thus return difference≤1~3 arcs point when forward and backward.
The robot clearance elimination gear hollow decelerator, it is characterised in that：The first bearing 4 is that 4 points of thin-walled sealing connects
Touch ball bearing：Radial load, bidirectional propulsion load and tilting moment can be born, main machine structure can be simplified；It is very square to adjust clearance
Just.
The robot clearance elimination gear hollow decelerator, it is characterised in that：The first bearing 4 is that thin-walled sealing intersects rolling
Sub- bearing, load bearing capacity are 5~15 times of ball bearing, apply and preload, can effectively improve rigidity and running accuracy.
Why will be using the bearing with sealing？Because：
" bearing initial failure is frequently not fatigue rupture caused by material, but pollutant lubricates after entering Bearing inner
Lipid gradually degenerates, and generates caused by impression on being in rolling contact face."(《The sealing technique of seal deep groove ball bearing》Bearing
2009.05)
" when compact-sized, it is preferred to use the radial ball bearing equipped with two sides sealing.Radial ball axis equipped with two sides sealing ring
Hold the lubricating grease for having been charged into the entire service life of enough bearings." (Ai Siman《Rolling bearing design and application manual》Page 221)
" insufficient lubrication is the main reason for causing bearing early damage " (Liu Zejiu《Rolling bearing application manual》Page 891)
The robot clearance elimination gear hollow decelerator, it is characterised in that：The 3rd bearing is Long Shi alloy sliding axis
It holds, Long Shi alloy (LONG-S metal), is the advanced technology that China introduces, in lathe, steel rolling, mine, lifting and ship etc.
It is widely used, instead of the various antifriction alloy casting such as bronze, brass, babbit.Its advantage：Good casting property, casting cause
Close, friction factor is small, and surface roughness is up to 1.6；It is lighter than copper by 40%, at low cost 40%；Service life is 2~3 times of tin bronze, is had
Self-lubricating property and shock-absorbing function are suitable for middle low-speed heave-load occasion.Sliding bearing simple process, more change poles are convenient.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (7)
1. a kind of robot clearance elimination gear hollow decelerator, it is characterised in that：
Including round casing (1) and the primary speed-down component being placed in shell and double reduction component, wherein：
(I) primary speed-down component includes driving wheel (9), duplicate gear (10) and the planetary gear (8) on servo motor, the duplex
Gear (10) includes driven wheel and sun gear, and the driven wheel is engaged with driving wheel (9), and the sun gear is nibbled with planetary gear (8)
Close, the planetary gear (8) is connected to double reduction component eccentric shaft (3) axle stretch end, after primary speed-down eccentric shaft (3) revolving speed answer≤
950rpm；Logical spool is arranged in duplicate gear (10) inner hole；
(II) double reduction component include 2~3 uniformly distributed eccentric shafts (3), the first, second external gear (7A, 7B), ring gear and
Left and right rigid disk (2,5), the eccentric shaft (3) include two eccentric segments, and eccentric segment is equipped with the third axis to support external gear
It holds, eccentric segment two sides are supported on respectively in left and right rigid disk periphery hole with fourth bearing, and left and right rigid disk is with first bearing (4)
It is supported on round casing (1) two sides inner hole, uniformly distributed three cylindrical lips on the left rigid disk (2) respectively, three cylindrical lips pass through two
Seam allowance tight fit on the inside of first group of three circular hole of equal diameter and right rigid disk (5) on external gear, both connect into a rigid body, outside two
Separately have second group of three circular hole of equal diameter on gear to device 3rd bearing, two groups totally six circular holes set on the same circumference, interval
It is uniformly distributed；Right rigid disk (5) centre bore supports the side of duplicate gear (10) with second bearing (6)；
(III) the radial clearance Δ j (mm) between first, second external gear (7A, 7B) and ring gear should be equal to external gear
The half of thermal expansion amount δ (mm) adds compensation rate, i.e.,：Δ j=0.5 δ+0.005~0.02 (mm).
2. robot clearance elimination gear hollow decelerator according to claim 1, it is characterised in that：(3) two eccentric segment of eccentric shaft
Phase difference is equal to 179.81 °~179.938 °, therefore, is formed between the first, second external gear (7A, 7B) of 3rd bearing bearing
Phase difference be equal to 179.81 °~179.938 °, at this point, the first external gear (7A) gear teeth and ring gear upper half internal tooth are clockwise
(or counterclockwise) side is close to, and the second external gear (7B) gear teeth and ring gear bottom half internal tooth (or clockwise) side counterclockwise
It is close to, according to clearance elimination gear principle, to realize return difference≤1~3 ' when forward and backward.
3. robot clearance elimination gear hollow decelerator according to claim 2, it is characterised in that：(3) two eccentric segment of eccentric shaft
Phase difference is equal to 179.82 °~179.936 °, therefore, the phase between the first, second external gear (7A, 7B) of 3rd bearing bearing
Potential difference is also equal to 179.82 °~179.936 °, according to clearance elimination gear principle, to realize return difference≤1~3 ' when forward and backward.
4. robot clearance elimination gear hollow decelerator according to claim 3, it is characterised in that：(3) two eccentric segment of eccentric shaft
Phase difference is equal to 179.83 °~179.934 °.Therefore, the phase between the first, second external gear (7A, 7B) of 3rd bearing bearing
Potential difference is equal to 179.83 °~179.934 °, according to clearance elimination gear principle, to realize return difference≤1~3 ' when forward and backward.
5. according to Claims 2 or 3 or the 4 robot clearance elimination gear hollow decelerators, it is characterised in that：The first axle
Holding (4) is that thin-walled seals four-point contact ball.
6. according to Claims 2 or 3 or the 4 robot clearance elimination gear hollow decelerators, it is characterised in that：The first axle
Holding (4) is that thin-walled seals crossed roller bearing.
7. according to the robot clearance elimination gear hollow decelerator of claim 5 or 6, it is characterised in that：The 3rd bearing is
Long Shi alloy sliding axis is held.
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| CN201810946588.8A CN108843747A (en) | 2018-08-08 | 2018-08-08 | Robot clearance elimination gear hollow decelerator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110748611A (en) * | 2019-10-25 | 2020-02-04 | 青岛郑洋机器人有限公司 | Speed reducer driven by rigid gear of eccentric input shaft with large hollow structure |
| CN110985610A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow internal engagement speed reducer for precision control |
| WO2020233194A1 (en) * | 2019-05-22 | 2020-11-26 | 苏州华震工业机器人减速器有限公司 | Hollow reducer for high precision control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110985610A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow internal engagement speed reducer for precision control |
| WO2020233196A1 (en) * | 2019-05-22 | 2020-11-26 | 苏州华震工业机器人减速器有限公司 | Hollow internally-engaged reducer for precision control |
| WO2020233194A1 (en) * | 2019-05-22 | 2020-11-26 | 苏州华震工业机器人减速器有限公司 | Hollow reducer for high precision control |
| US20220074467A1 (en) * | 2019-05-22 | 2022-03-10 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Hollow reducer for high precision control |
| US11692614B2 (en) * | 2019-05-22 | 2023-07-04 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Hollow reducer for high precision control |
| CN110748611A (en) * | 2019-10-25 | 2020-02-04 | 青岛郑洋机器人有限公司 | Speed reducer driven by rigid gear of eccentric input shaft with large hollow structure |
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Effective date of registration: 20200817 Address after: No.20 Weiting Weixi Road, Suzhou Industrial Park, Jiangsu Province Applicant after: Suzhou Huazhen industrial robot reducer Co.,Ltd. Address before: Yueqing City, Zhejiang Province, 325603 white town in Wenzhou City, Tian Yang Road No. 3 Applicant before: Chen Wei |
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