CN110594363A - Traction type robot speed reducer - Google Patents
Traction type robot speed reducer Download PDFInfo
- Publication number
- CN110594363A CN110594363A CN201910983193.XA CN201910983193A CN110594363A CN 110594363 A CN110594363 A CN 110594363A CN 201910983193 A CN201910983193 A CN 201910983193A CN 110594363 A CN110594363 A CN 110594363A
- Authority
- CN
- China
- Prior art keywords
- planet
- roller
- sun roller
- planet carrier
- sun
- 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
Links
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
- F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-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
-
- 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
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The invention discloses a traction type robot speed reducer which comprises a shell and a planetary speed reducer mechanism arranged in the shell, wherein the planetary speed reducer mechanism comprises an outer ring and a planet carrier arranged in the outer ring, the planet carrier is provided with a sun roller positioned in the center of the planet carrier and planetary rollers arranged on two sides of the planet carrier, the outer surfaces of the planetary rollers are respectively contacted with the inner surface of the outer ring and the outer surface of the sun roller, the planetary rollers are respectively intersected with the extension lines of the contact lines of the outer ring and the sun roller at one point, the point is positioned on the axis of the sun roller, and an end face cam loading mechanism matched with the end face of the outer ring is arranged in the shell. The invention can realize zero-spin transmission, has ultrahigh precision, can automatically adjust the pre-tightening loading according to the load size, prolongs the service life of the traction reducer, reduces the requirements on vibration and assembly precision, and realizes stable operation.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a traction type robot speed reducer.
Background
The robot precision reducer has great requirements on large reduction ratio, high precision, high rigidity, high efficiency and high reliability, the cycloidal precision planetary transmission (represented by RV reducer) and the harmonic reducer are main model selection products of a robot joint driving system at present, although batch production of the harmonic reducer is realized in China, the main market of the precision reducer is still mainly occupied by foreign companies, and the high-performance precision reducer is always limited to be imported in the critical fields of aerospace and national defense.
The novel principle of precision transmission and the novel structure of the innovative precision transmission are explored, and the theme and trend of the research of the continuous precision transmission field of novel high-efficiency high-performance precision transmission products are provided for the market. Therefore, aiming at the important national demand, the basic theory and the structure innovation research of novel precision transmission are developed, the key technology is broken through, the original product with the independent knowledge product is formed, the method has important significance for breaking the technical monopoly of foreign companies, improving the market competitiveness of national industry and the like, and meanwhile, the method also has important significance for stabilizing national defense and protecting national safety.
The domestic scholars are dedicated to the research of the theory and structure innovation of novel precision transmission, and various novel precision transmission structures are innovated. And a novel speed reducer capable of replacing a harmonic speed reducer is sought, the requirements of large speed reduction ratio, high precision, high rigidity, high efficiency and high reliability of the robot joint can be met, and ultrahigh precision and zero return difference are realized.
Disclosure of Invention
In view of this, the invention aims to provide a traction type robot speed reducer, which can realize zero-spin transmission, has ultrahigh precision, can perform automatic pre-tightening loading adjustment according to the load size, prolongs the service life of the traction speed reducer, reduces the requirements on vibration and assembly precision, and realizes stable operation.
The invention discloses a traction type robot speed reducer which comprises a shell and a planetary speed reducing mechanism arranged in the shell, wherein the planetary speed reducing mechanism comprises an outer ring and a planet carrier arranged in the outer ring, the planet carrier is provided with a sun roller positioned at the center of the planet carrier and planetary rollers arranged at two sides of the planet carrier, the outer surfaces of the planetary rollers are respectively contacted with the inner surface of the outer ring and the outer surface of the sun roller, the planetary rollers are respectively intersected with the extension lines of the contact lines of the outer ring and the sun roller at one point, the point is positioned on the axis of the sun roller, and an end face cam loading mechanism matched with the end face of the outer ring is arranged in the shell.
Furthermore, the sun roller and the planet rollers are both in a conical roller structure, and the inner surface of the outer ring is an inclined surface in form fit with the outer surface of the planet roller.
Further, the sun roller is arranged on the planet carrier in a manner of rotating along the axis of the sun roller and floating along the radial direction of the planet carrier.
Furthermore, the sun roller comprises a first sun roller and a second sun roller which are axially spaced and coaxially arranged along the planet carrier, the planet rollers positioned on two sides of the planet carrier are symmetrically arranged along the axis of the sun roller, each side of the planet carrier is provided with a first planet roller matched with the first sun roller and a second planet roller matched with the second sun roller, and the outer ring comprises a first outer ring matched with the first planet roller and a second outer ring matched with the second planet roller.
Furthermore, the first sun roller and the second sun roller, the first sun roller and the planet carrier, and the second sun roller and the planet carrier are respectively connected in a point contact mode through spherical rigid bodies.
Furthermore, the first planet roller and the second planet roller are coaxially fixed on a planet shaft, and two ends of the planet shaft are respectively installed on the planet carrier through self-aligning bearings.
Further, the axis of the planet shaft intersects the axis of the sun roller at a point.
Further, the end cam loading mechanism comprises a first end cam loading mechanism used for being matched with the first outer ring and a second end cam loading mechanism used for being matched with the second outer ring.
Further, the shell comprises a first shell section and a second shell section which are detachably arranged along the axial direction, a first end cover is arranged at the end part of the first shell section, a second end cover is arranged at the end part of the second shell section, the first end face cam loading mechanism is arranged in the first shell section, and the second end face cam loading mechanism is positioned in the second shell section and is connected with the second end cover.
Further, sealing rings are respectively arranged between the first end cover and the first shell section, between the first shell section and the second shell section, between the second shell section and the second end cover.
The invention has the beneficial effects that: the traction type robot speed reducer can realize zero-spin transmission, has ultrahigh precision, can perform pre-tightening loading automatic adjustment according to the load size, prolongs the service life of the traction speed reducer, reduces the requirements on vibration and assembly precision, and realizes stable operation; compared with the traditional gear reducer, the gear reducer has the advantages of small size, large speed ratio, high efficiency, small vibration and noise, can realize constant power transmission, has little or no backlash, high transmission precision, excellent high-speed or even ultra-high-speed transmission potential, has the characteristics of simple processing, low manufacturing cost, small size of rollers due to no influence of gear undercutting and the like, effectively reduces the economic processing precision of key parts, ensures that the gear reducer has high competitiveness or irreplaceability in application in certain fields, and has wide application prospect.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view taken along line A-A of FIG. 1;
FIG. 3 is a schematic view taken along line B-B of FIG. 1;
FIG. 4 is an exploded view of the present invention;
fig. 5 is a schematic diagram of the working principle of the present invention.
Detailed Description
As shown in fig. 1 to 5: the traction type robot speed reducer comprises a shell and a planetary speed reducing mechanism arranged in the shell, wherein the planetary speed reducing mechanism comprises an outer ring and a planet carrier 1 arranged in the outer ring, a sun roller positioned at the center of the planet carrier 1 and planetary rollers arranged at two sides of the planet carrier 1 are arranged on the planet carrier 1, the outer surfaces of the planetary rollers are respectively contacted with the inner surface of the outer ring and the outer surface of the sun roller, the planetary rollers are respectively intersected with extension lines of contact lines of the outer ring and the sun roller at one point, the point is positioned on the axis of the sun roller, and an end face cam loading mechanism matched with the end face of the outer ring is arranged in the shell; in the traction transmission of the tapered roller, if the conical tops of the tapered roller are not coincident, the linear speeds of all points on a contact line are unequal, so that a couple vertical to a rotation axis is easily generated in a contact area, namely, a self-rotation phenomenon, and the self-rotation causes large traction transmission temperature rise, high abrasion and low efficiency, thereby reducing the traction capacity; according to the self-rotating principle, the planetary roller of the invention is respectively intersected with the extension lines of the contact lines of the outer ring and the sun roller at one point, and the point is positioned on the axis of the sun roller and is arranged in the traction speed reducer, thus realizing zero self-rotating transmission. The loading mechanism adopts an end cam type to reduce the axial size of the speed reducer.
In this embodiment, the sun roller and the planet roller are both conical roller structures, and the inner surface of the outer ring is an inclined surface in form fit with the outer surface of the planet roller, so as to ensure that the extension of each contact line is converged at one point, realize zero-spin transmission, and improve the transmission precision.
In this embodiment, the sun roller is disposed on the planet carrier 1 in a manner that the sun roller can rotate along the axis thereof and can float along the radial direction of the planet carrier 1, so as to achieve uniform loading and floating, so as to improve the stress condition of the rotating arm shaft (i.e., the sun roller can counteract the radial force on the bearings (self-aligning bearings 17) at the two ends of the planet shaft 9), reduce the requirements on vibration and assembly precision, and achieve stable operation.
In this embodiment, the sun roller includes a first sun roller 2 and a second sun roller 3 axially spaced and coaxially disposed along the planet carrier 1, the planet rollers disposed at both sides of the planet carrier 1 are symmetrically disposed along the sun roller axis, each side of the planet carrier 1 is provided with a first planet roller 4 for cooperating with the first sun roller 2 and a second planet roller 5 for cooperating with the second sun roller 3, the outer ring includes a first outer ring 7 for cooperating with the first planet roller 4 and a second outer ring 8 for cooperating with the second planet roller 5, so as to improve the transmission precision, ensure the stability of the speed change, and have small vibration and noise, can realize constant power transmission, little or even no backlash, high transmission precision, and excellent high-speed or even ultra-high-speed transmission potential.
In this embodiment, the first sun roller 2 and the second sun roller 3, the first sun roller 2 and the planet carrier 1, and the second sun roller 3 and the planet carrier 1 are respectively in point contact with each other through the spherical rigid body 6, so as to achieve uniform loading and floating, so as to improve the stress condition of the swivel arm shaft (i.e. the sun roller can counteract the radial force received by the bearings (the self-aligning bearings 17) at the two ends of the planet shaft 9), reduce the requirements on vibration and assembly accuracy, and achieve stable operation.
In this embodiment, the first planetary roller 4 and the second planetary roller 5 are coaxially fixed on a planetary shaft 9, and two ends of the planetary shaft 9 are respectively mounted on the planetary carrier 1 through a self-aligning bearing 17, so that the assembly is facilitated, and the transmission precision and stability are ensured.
In this embodiment, the axis of the planetary shaft 9 intersects with the axis of the sun roller at a point, the planetary roller intersects with the extension lines of the contact lines of the outer ring and the sun roller at a point, and the point is located on the axis of the sun roller, that is, the conical tops of the transmission members coincide, so as to realize zero-spin transmission.
In this embodiment, the end cam loading mechanism includes a first end cam loading mechanism 14 for being matched with the first outer ring 7 and a second end cam loading mechanism 15 for being matched with the second outer ring 8, the loading mechanism adopts an end cam type to reduce the axial size of the reducer, and two stages of independent loading meet the requirement of self-adaptive loading, so that pre-tightening loading automatic adjustment can be performed according to the load size, and the service life of the traction reducer is prolonged.
In this embodiment, the casing includes first casing section 10 and second casing section 11 that set up with the detachable mode along the axial, first casing section 10 tip is provided with first end cover 12, and second casing section 11 tip is provided with second end cover 13, first terminal surface cam loading mechanism 14 sets up in first casing section 10, second terminal surface cam loading mechanism 15 is located second casing section 11 and is connected with second end cover 13, and overall structure is simple, and the assembly of being convenient for can satisfy small-size lightweight user demand. An oil slinger 19 and an oil pointer 18 are arranged between the planet carrier 1 and the first end cover 12, so that the oil quantity can be conveniently lubricated and observed, and the overall use performance is improved.
In this embodiment, the sealing rings 16 are respectively disposed between the first end cover 12 and the first casing section 10, between the first casing section 10 and the second casing section 11, between the second casing section 11, and between the second end cover 13, so as to improve the sealing performance, and the use is safe and reliable.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a towed robot reduction gear which characterized in that: including casing and the planet reduction gears of setting in the casing, planet reduction gears includes the outer loop and sets up the planet carrier in the outer loop, be provided with the sun gyro wheel that is located the planet carrier center on the planet carrier and set up the planet gyro wheel in planet carrier both sides, the surface of planet gyro wheel contacts with the internal surface of outer loop and the surface of sun gyro wheel respectively, the planet gyro wheel intersects in a point with the extension line of the contact line of outer loop and sun gyro wheel respectively, and this point is located the axis of sun gyro wheel, be provided with in the casing and be used for with outer loop terminal surface complex end cam loading mechanism.
2. The traction robot decelerator of claim 1, wherein: the sun roller and the planet rollers are of conical roller structures, and the inner surface of the outer ring is an inclined surface which is matched with the outer surface of the planet roller in a form-fitting manner.
3. The traction robot decelerator of claim 2, wherein: the sun roller is arranged on the planet carrier in a mode of rotating along the axis of the sun roller and floating along the radial direction of the planet carrier.
4. The traction robot decelerator of claim 3, wherein: the sun roller comprises a first sun roller and a second sun roller which are axially spaced and coaxially arranged along a planet carrier, the planet rollers positioned on two sides of the planet carrier are symmetrically arranged along the axis of the sun roller, each side of the planet carrier is provided with a first planet roller matched with the first sun roller and a second planet roller matched with the second sun roller, and the outer ring comprises a first outer ring matched with the first planet roller and a second outer ring matched with the second planet roller.
5. The traction robot decelerator of claim 4, wherein: the first sun roller and the second sun roller, the first sun roller and the planet carrier and the second sun roller and the planet carrier are respectively connected in a spherical rigid point contact mode.
6. The traction robot decelerator of claim 4, wherein: the first planet roller and the second planet roller are coaxially fixed on a planet shaft, and two ends of the planet shaft are respectively installed on the planet carrier through self-aligning bearings.
7. The traction robot decelerator of claim 6, wherein: the axis of the planet shaft intersects the axis of the sun roller at a point.
8. The traction robot decelerator of claim 4, wherein: the end cam loading mechanism comprises a first end cam loading mechanism matched with the first outer ring and a second end cam loading mechanism matched with the second outer ring.
9. The traction robot decelerator of claim 8, wherein: the shell comprises a first shell section and a second shell section which are detachably arranged along the axial direction, a first end cover is arranged at the end part of the first shell section, a second end cover is arranged at the end part of the second shell section, the first end face cam loading mechanism is arranged in the first shell section, and the second end face cam loading mechanism is positioned in the second shell section and is connected with the second end cover.
10. The traction robot decelerator of claim 7, wherein: and sealing rings are respectively arranged between the first end cover and the first shell section, between the first shell section and the second shell section, between the second shell section and between the second end cover.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794598 | 2019-08-23 | ||
| CN2019107945989 | 2019-08-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110594363A true CN110594363A (en) | 2019-12-20 |
| CN110594363B CN110594363B (en) | 2023-07-04 |
Family
ID=68867550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910983193.XA Active CN110594363B (en) | 2019-08-23 | 2019-10-16 | Traction type robot speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110594363B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5025671A (en) * | 1990-03-05 | 1991-06-25 | Excelermatic Inc. | High ratio planetary type traction roller transmission |
| WO2002010618A2 (en) * | 2000-07-28 | 2002-02-07 | The Timken Company | Planetary traction drive transmission |
| CN101000081A (en) * | 2006-12-31 | 2007-07-18 | 重庆大学 | Gare changing thick involute planetary decelerating unit |
| JP2011186167A (en) * | 2010-03-08 | 2011-09-22 | Ricoh Co Ltd | Rotating body driving device and image carrier driving device and image forming apparatus using the rotating body driving device |
| CN202992042U (en) * | 2013-01-08 | 2013-06-12 | 余波 | Double-arc gear planetary reducer |
| DE102012010316A1 (en) * | 2012-05-24 | 2013-11-28 | Volkswagen Aktiengesellschaft | Friction roller planetary gearbox as well as gearbox and differential |
| CN105570410A (en) * | 2016-03-04 | 2016-05-11 | 重庆大学 | Multi-line planetary traction and transmission type speed reducing bearing |
| CN205639286U (en) * | 2016-03-04 | 2016-10-12 | 重庆大学 | Planet pulls transmission speed reduction bearing |
| CN106195136A (en) * | 2016-07-26 | 2016-12-07 | 重庆大学 | A kind of gear-driven fan (GTF) motor gear transmission device |
| KR20170121520A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| KR20170121521A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| CN107956843A (en) * | 2017-12-26 | 2018-04-24 | 吉林大学青岛汽车研究院 | A kind of planetary frictional drive reducing gear with self energizing effort structure |
| US9982753B1 (en) * | 2017-04-06 | 2018-05-29 | Anjet Machinery Co., Ltd. | Housing-rotatable planetary gear reducer for stand mixer |
| CN109915566A (en) * | 2019-03-29 | 2019-06-21 | 重庆大学 | A kind of lifting gear box of self-lifting ocean |
| CN210739270U (en) * | 2019-08-23 | 2020-06-12 | 重庆大学 | Traction type robot speed reducing mechanism |
-
2019
- 2019-10-16 CN CN201910983193.XA patent/CN110594363B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5025671A (en) * | 1990-03-05 | 1991-06-25 | Excelermatic Inc. | High ratio planetary type traction roller transmission |
| WO2002010618A2 (en) * | 2000-07-28 | 2002-02-07 | The Timken Company | Planetary traction drive transmission |
| CN101000081A (en) * | 2006-12-31 | 2007-07-18 | 重庆大学 | Gare changing thick involute planetary decelerating unit |
| JP2011186167A (en) * | 2010-03-08 | 2011-09-22 | Ricoh Co Ltd | Rotating body driving device and image carrier driving device and image forming apparatus using the rotating body driving device |
| DE102012010316A1 (en) * | 2012-05-24 | 2013-11-28 | Volkswagen Aktiengesellschaft | Friction roller planetary gearbox as well as gearbox and differential |
| CN202992042U (en) * | 2013-01-08 | 2013-06-12 | 余波 | Double-arc gear planetary reducer |
| CN105570410A (en) * | 2016-03-04 | 2016-05-11 | 重庆大学 | Multi-line planetary traction and transmission type speed reducing bearing |
| CN205639286U (en) * | 2016-03-04 | 2016-10-12 | 重庆大学 | Planet pulls transmission speed reduction bearing |
| KR20170121520A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| KR20170121521A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| CN106195136A (en) * | 2016-07-26 | 2016-12-07 | 重庆大学 | A kind of gear-driven fan (GTF) motor gear transmission device |
| US9982753B1 (en) * | 2017-04-06 | 2018-05-29 | Anjet Machinery Co., Ltd. | Housing-rotatable planetary gear reducer for stand mixer |
| CN107956843A (en) * | 2017-12-26 | 2018-04-24 | 吉林大学青岛汽车研究院 | A kind of planetary frictional drive reducing gear with self energizing effort structure |
| CN109915566A (en) * | 2019-03-29 | 2019-06-21 | 重庆大学 | A kind of lifting gear box of self-lifting ocean |
| CN210739270U (en) * | 2019-08-23 | 2020-06-12 | 重庆大学 | Traction type robot speed reducing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110594363B (en) | 2023-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108799316B (en) | RV precision speed reducer eccentric shaft and precision speed reducer | |
| CN106195137B (en) | A kind of hollow type gear transmission reducing device | |
| CN108953541B (en) | RV speed reducer with ultralow reduction ratio | |
| CN108488326A (en) | More bent axle cycloidal planetary gear speed reducers | |
| WO2017152430A1 (en) | Two-stage serial cycloid ball reducer | |
| CN103542040A (en) | Rectangular axis planetary reducer | |
| CN210739270U (en) | Traction type robot speed reducing mechanism | |
| CN201973179U (en) | High-power dual-input main speed reducer for ring rolling machine | |
| CN105508585A (en) | Gap-eliminating planetary speed reducer | |
| CN203585225U (en) | Rectangular axis planetary reducer | |
| CN108843746B (en) | Precise speed reducer for robot | |
| CN110594363A (en) | Traction type robot speed reducer | |
| CN214661789U (en) | RV reducer adopting herringbone gear planetary reduction mechanism | |
| CN109973613B (en) | Chain wheel shock wave push rod oscillating tooth two-stage speed reducer | |
| CN101666367A (en) | Clearance-free planetary drive device | |
| CN212338044U (en) | Movable pin type cycloidal speed reducer | |
| CN211501529U (en) | One-level right-angle planetary reducer | |
| CN111594580A (en) | Hypoid speed reducer with parallel shaft gear transmission | |
| CN111102324A (en) | Adjustable side clearance planetary differential gear transmission device | |
| CN110657222A (en) | Planetary gear transmission structure with small tooth difference | |
| CN216504336U (en) | Heavy-load high-precision mechanical main shaft structure | |
| CN206668876U (en) | A kind of joint of robot reductor | |
| CN218935170U (en) | Novel heavy-load high-precision few-tooth-difference speed reducer | |
| CN114370487B (en) | Harmonic speed reducer and transmission device | |
| CN211009736U (en) | High-sealing-performance coaxial dual-output planetary gear reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |