CN111020162A - Rigid wheel manufacturing method, rigid wheel and harmonic reducer - Google Patents
Rigid wheel manufacturing method, rigid wheel and harmonic reducer Download PDFInfo
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- CN111020162A CN111020162A CN201911324034.5A CN201911324034A CN111020162A CN 111020162 A CN111020162 A CN 111020162A CN 201911324034 A CN201911324034 A CN 201911324034A CN 111020162 A CN111020162 A CN 111020162A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/32—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for gear wheels, worm wheels, or the like
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/18—Hardening; Quenching with or without subsequent tempering
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/26—Methods of annealing
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D5/00—Heat treatments of cast-iron
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D6/00—Heat treatment of ferrous alloys
- C21D6/04—Hardening by cooling below 0 degrees Celsius
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- Metallurgy (AREA)
- Organic Chemistry (AREA)
- General Engineering & Computer Science (AREA)
- Heat Treatment Of Articles (AREA)
Abstract
The invention provides a rigid wheel preparation method, a rigid wheel and a harmonic reducer. The preparation method is used for preparing the harmonic reducer rigid gear made of nodular cast iron and comprises the steps of annealing treatment, processing treatment, quenching treatment, deep cooling treatment and tempering treatment. The rigid wheel processed by the rigid wheel preparation method is high in wear resistance, and the harmonic reducer using the rigid wheel is long in service life and high in precision durability.
Description
Technical Field
The invention relates to a harmonic reducer, in particular to a rigid gear manufacturing method, a rigid gear and a harmonic reducer.
Background
The harmonic reducer is composed of flexible gear, rigid gear and wave generator 3, and is a speed reducing transmission device which utilizes the wave generator to make the flexible gear produce controllable elastic deformation wave, and utilizes the interaction with the rigid gear to implement movement and power transmission, and also is a high-precision transmission component. Besides the design and processing precision of the product, the wear resistance of the rigid wheel is the guarantee of the durability of the harmonic precision.
The rigid wheel heat treatment process is a very critical process in the manufacture of the harmonic reducer, and the temperature, heating and cooling time and the like of each stage in the heat treatment process directly influence the wear resistance of the rigid wheel; the traditional technologies of thermal treatment quenching and tempering, isothermal quenching, normalizing, tempering and the like are used on the harmonic rigid gear, and can only meet the requirements of shorter service life and shorter precision durability, but can not meet the requirements of longer service life and higher precision durability of the harmonic reducer.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a method for preparing a rigid wheel, which can improve the wear resistance of the rigid wheel and guarantee the service life of a harmonic reducer.
In a first aspect, an embodiment of the present invention provides a method for manufacturing a rigid wheel, including the steps of:
an annealing treatment step, wherein the annealing treatment step comprises a first heat preservation step of heating a steel wheel blank made of nodular cast iron to 770-850 ℃ and preserving heat for 1-2 hours, a second heat preservation step of cooling the steel wheel blank to 670-750 ℃ and preserving heat for 2-3 hours after the first heat preservation step, a first cooling step of cooling the steel wheel blank to 540-640 ℃ along with a furnace after the second heat preservation step, and a second cooling step of cooling the steel wheel blank to room temperature after the first cooling step;
a processing step, namely processing the blank part of the rigid wheel to obtain the rigid wheel;
a quenching step, wherein the quenching step comprises a third heat preservation step of heating the rigid wheel to 620-650 ℃ and preserving heat for 1-1.5 hours, a fourth heat preservation step of heating the rigid wheel to 850-870 ℃ and preserving heat for 2-2.5 hours after the third heat preservation step, and a third cooling step of cooling the rigid wheel to room temperature by performing oil cooling on the rigid wheel after the fourth heat preservation step;
a cryogenic treatment step, wherein the cryogenic treatment step comprises a fifth heat preservation step of reducing the temperature of the rigid wheel from room temperature to-60 ℃ to-80 ℃ and preserving the heat for 0.5 to 1 hour; a sixth heat preservation step of reducing the temperature of the rigid wheel to-120 to-200 ℃ and preserving the heat for 2 to 6 hours after the fifth heat preservation step; and a temperature raising step of raising the temperature of the rigid wheel to room temperature after the sixth heat-insulating step;
the tempering treatment step comprises a seventh heat preservation step of heating the rigid wheel to 400-450 ℃ and preserving heat for 0.5-1 hour, an eighth heat preservation step of heating the rigid wheel to 520-570 ℃ and preserving heat for 1.5-2.5 hours after the seventh heat preservation step, and a fourth cooling step of cooling the rigid wheel to room temperature after the eighth heat preservation step.
The rigid wheel preparation method provided by the embodiment of the invention at least has the following beneficial effects: the steel wheel processed by the preparation method has uniform grain refinement, and the austenite matrix is converted into tempered sorbite and few residual austenite tissues, so that the steel wheel has good hardness and certain toughness, the lubricating property of graphite is reserved, and the wear resistance is high. The high wearability makes the running life of rigid wheel in the harmonic reduction gear improve to make harmonic reduction gear long service life, the precision persistence is high.
The other embodiment of the invention provides a method for preparing a rigid gear, wherein the rigid gear blank is made of Qt500 nodular cast iron.
The other embodiment of the invention provides a method for preparing a rigid wheel, wherein the time for cooling the rigid wheel from room temperature to-60 ℃ to-80 ℃ is 0.5-1 hour.
The other embodiment of the invention provides a method for preparing a rigid wheel, wherein the time for reducing the temperature of the rigid wheel from-60 ℃ to-80 ℃ to-120 ℃ to-200 ℃ is 0.5 to 1 hour.
In a second aspect, an embodiment of the present invention provides a rigid wheel manufactured by the above rigid wheel manufacturing method.
The rigid wheel provided by the embodiment of the invention at least has the following beneficial effects: the rigid wheel has high wear resistance and long service life.
In a third aspect, an embodiment of the invention provides a harmonic reducer comprising the above-described rigid wheel.
The harmonic reducer of the embodiment of the invention at least has the following beneficial effects: long service life and high precision durability.
Drawings
FIG. 1 is a schematic flow chart of a rigid wheel manufacturing method according to an embodiment of the present invention;
FIG. 2 is a schematic view showing an annealing step in the rigid-steel-wheel manufacturing method according to the first embodiment of the present invention;
FIG. 3 is a schematic view showing a quenching treatment step in the rigid-steel-wheel manufacturing method according to the first embodiment of the present invention;
FIG. 4 is a schematic view of the cryogenic treatment step in the rigid gear production method according to the first embodiment of the present invention;
FIG. 5 is a schematic view showing a tempering step in the rigid-steel-wheel manufacturing method according to the first embodiment of the present invention;
fig. 6 is a crystal phase diagram of the rigid wheel according to the first embodiment of the present invention after being subjected to the annealing step in the manufacturing method.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it may be directly disposed, fixed, or connected to the other feature or may be indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
The first embodiment:
fig. 1 shows a schematic flow chart of a method for manufacturing a steel wheel, including an annealing treatment step, a machining treatment step, a quenching treatment step, a cryogenic treatment step, and a tempering treatment step.
Referring to fig. 1, 2 and 6, in the annealing step, the steel wheel blank made of nodular cast iron is put into a heating furnace and heated to a temperature T1And keep warm, T1The optional temperature range is 770-850 ℃, and the steel wheel is started from time t1Keeping the temperature for a time t2，t1To t2The time interval between the two is 1 to 2 hours; then cooling the blank of the rigid wheel to the temperature T2And keep warm, T2The optional temperature range is 670-750 ℃, and the steel wheel is driven from time t3Keeping the temperature for a time t4，t3To t4The time interval between the two is 2 to 3 hours; cooling the blank of the rigid wheel to T along with the furnace3The blank of the rigid-wheel being cooled to T3At a time point of t5At t5Then the blank of the rigid wheel is placed in the air to be cooled to the room temperature, T3The optional temperature range is 540-640 ℃. This step is a multi-stage cooling from T1Is reduced to the temperature T2The method is used for removing the casting internal stress of the nodular cast iron; from T2Is reduced to the temperature T3Aims to make the distribution of the pearlite iron in the nodular cast iron more uniform and improve the ferriteThe volume content and the refined crystal grains (the crystal phase of the rigid wheel after the annealing treatment step can refer to figure 6), so that the comprehensive mechanical property of the material is improved; the temperature of the rigid wheel is reduced to T3Thereafter, the cooling of the rigid wheel in air to room temperature is convenient for the subsequent process steps.
And in the processing step, processing the annealed blank of the rigid gear to obtain the rigid gear.
Referring to fig. 1 and 3, in the quenching process step, the rigid gear is heated to T4And keep warm, T4The optional temperature range is 620-650 ℃, and the steel wheel is started from time t6Keeping the temperature for a time t7，t6To t7The time interval between the two is 1 to 1.5 hours; heating the rigid wheel to T5The optional temperature range is 850-870 ℃, and the steel wheel is started from time t8Keeping the temperature for a time t9，t8To t9The time interval between the two is 2 to 2.5 hours; at t9And then, carrying out oil cooling on the rigid wheel to cool the rigid wheel to room temperature. This quenching step converts the super-cooled austenite in the steel wheel to lower bainite, thereby increasing the hardness of the steel wheel.
Referring to FIGS. 1 and 4, in the cryogenic treatment step, the steel wheel is lowered from room temperature to T6And keep warm, T6The optional temperature range is-60 ℃ to-80 ℃, and the time t of the rigid wheel is10Keeping the temperature for a time t11，t10To t11The time interval between the two is 0.5 to 1 hour, and the rigid wheel is cooled to T from room temperature6The time of the process is 0.5-1 hour; then the temperature of the rigid wheel is changed from T6Down to T7And keep warm, T7The optional temperature range is-120 to-200 ℃, and the steel wheel is started from the time t12Keeping the temperature for a time t13，t12To t13The time interval between the two is 2 to 6 hours, and the temperature of the rigid wheel is from T6Down to T7The time of the process is 0.5-1 hour; at t13Temperature of rear driven rigid wheel from T7And the temperature is raised to the room temperature. The deep cooling for a long time can ensure that the retained austenite in the rigid gear is fully transformed and carbide particles are formed, and the hardness of the material can not be obviously changed after the transformation is finished, so the dimensional stability of the rigid gear can be improved;the whole conversion process is more stable due to the sectional cooling, and the burden on cooling equipment is also reduced.
Referring to fig. 1 and 5, in the tempering treatment step, the rigid wheel is heated to T8And keep warm, T8The optional temperature range is 400-450 ℃, and the steel wheel is started from time t14Keeping the temperature for a time t15，t14To t15The time interval between the two is 0.5 to 1 hour; then the rigid wheel is driven from T8Heating to T9And keep warm, T9The optional temperature range is 520-570 ℃, and the steel wheel is driven from time t16Keeping the temperature for a time t17，t16To t17The time interval between the two is 1.5 to 2.5 hours; at t17Then making the temperature of the rigid wheel from T9Cooling to room temperature. This step is to suitably reduce the hardness of the rigid wheel.
The steel wheel processed by all the steps has uniform grain refinement, and an austenite matrix is converted into tempered sorbite and few residual austenite tissues, so that the steel wheel has good hardness and certain toughness, the lubricating property of graphite is reserved, and the wear resistance is high.
Second embodiment:
the preparation method of the harmonic reducer rigid wheel in the embodiment comprises the following steps:
and (2) annealing treatment, namely putting the steel wheel blank made of nodular cast iron into a heating furnace, heating the steel wheel blank to 820 ℃ along with the furnace, preserving heat for 1.5 hours, then cooling to 720 ℃ along with the furnace, preserving heat for 2 hours, taking the steel wheel blank out of the furnace after cooling to 540 ℃ along with the furnace, and cooling to room temperature in the air. When charging, a proper gap is kept between every two rigid wheels, smooth airflow is kept, and heating and cooling are uniform.
And a processing step, namely processing the annealed blank of the rigid gear to obtain the rigid gear.
And a quenching treatment step, namely putting the rigid wheel into the heating furnace again, heating the rigid wheel to 650 ℃ along with the furnace, preserving heat for 90 minutes, then heating the rigid wheel to 870 ℃ and preserving heat for 2.5 hours, then taking the rigid wheel out of the heating furnace, and carrying out oil cooling on the rigid wheel to reduce the temperature to room temperature.
A cryogenic treatment step, namely cooling the oil-cooled rigid wheel from room temperature to minus 60 ℃ and preserving heat for 1 hour, wherein the time for cooling the rigid wheel from room temperature to minus 60 ℃ is 30 minutes; and then reducing the temperature of the rigid wheel from minus 60 ℃ to minus 120 ℃, wherein the time for reducing the temperature of the rigid wheel from minus 60 ℃ to minus 120 ℃ is 30 minutes, keeping the temperature of the rigid wheel at minus 120 ℃ for 2 hours, and then raising the temperature of the rigid wheel from minus 120 ℃ to room temperature.
And a tempering treatment step, namely putting the rigid wheel into a heating furnace, heating to 400 ℃ and preserving heat for 30 minutes, then heating the rigid wheel to 520 ℃ and preserving heat for 2.5 hours, and then cooling the temperature of the rigid wheel to room temperature.
The third embodiment:
in the embodiment, the steel wheel blank is made of Qt500 nodular cast iron, and the Qt500 nodular cast iron has the advantages of medium strength and toughness, good machinability and convenience in processing; the method for preparing the rigid wheel comprises the following steps:
and (2) annealing, namely putting the steel wheel blank made of Qt500 nodular cast iron into a heating furnace, heating the steel wheel blank to 770 ℃ along with the furnace, preserving heat for 1 hour, then cooling to 670 ℃ along with the furnace, preserving heat for 3 hours, taking the steel wheel blank out of the furnace after cooling to 590 ℃ along with the furnace, and cooling to room temperature in the air.
And in the processing step, processing the annealed blank of the rigid gear to obtain the rigid gear.
And a quenching treatment step, namely putting the rigid wheel into the heating furnace again, heating the rigid wheel to 630 ℃ along with the furnace, preserving heat for 60 minutes, then heating the rigid wheel to 870 ℃ and preserving heat for 2 hours, then taking the rigid wheel out of the heating furnace, and carrying out oil cooling on the rigid wheel to reduce the temperature to room temperature.
A cryogenic treatment step, namely cooling the oil-cooled rigid wheel from room temperature to minus 80 ℃ and preserving heat for 30 minutes, wherein the time for cooling the rigid wheel from room temperature to minus 80 ℃ is 1 hour; and then reducing the temperature of the rigid wheel from minus 80 ℃ to minus 200 ℃, wherein the time for reducing the temperature of the rigid wheel from minus 80 ℃ to minus 200 ℃ is 1 hour, keeping the temperature of the rigid wheel at minus 200 ℃ for 6 hours, and then raising the temperature of the rigid wheel from minus 200 ℃ to room temperature.
And a tempering treatment step, namely putting the rigid wheel into a heating furnace, heating to 430 ℃ and preserving heat for 30 minutes, then heating the rigid wheel to 570 ℃ and preserving heat for 1.5 hours, and then cooling the temperature of the rigid wheel to room temperature.
The fourth embodiment:
the preparation method of the harmonic reducer rigid wheel in the embodiment comprises the following steps:
and (2) annealing treatment, namely putting the steel wheel blank made of nodular cast iron into a heating furnace, heating the steel wheel blank to 850 ℃ along with the furnace, preserving heat for 2 hours, then cooling to 750 ℃ along with the furnace, preserving heat for 3 hours, taking the steel wheel blank out of the furnace after the steel wheel blank is cooled to 640 ℃ along with the furnace, and cooling to room temperature in the air.
And in the processing step, processing the annealed blank of the rigid gear to obtain the rigid gear.
And a quenching treatment step, namely putting the rigid wheel into the heating furnace again, heating the rigid wheel to 620 ℃ along with the furnace, preserving heat for 80 minutes, then heating the rigid wheel to 850 ℃ and preserving heat for 2 hours, then taking the rigid wheel out of the heating furnace, and carrying out oil cooling on the rigid wheel to reduce the temperature to room temperature.
A cryogenic treatment step, namely cooling the oil-cooled rigid wheel from room temperature to minus 70 ℃ and preserving heat for 30 minutes, wherein the time for cooling the rigid wheel from room temperature to minus 70 ℃ is 1 hour; and then reducing the temperature of the rigid wheel from minus 70 ℃ to minus 150 ℃, wherein the time for reducing the temperature of the rigid wheel from minus 70 ℃ to minus 150 ℃ is 1 hour, keeping the temperature of the rigid wheel at minus 150 ℃ for 5 hours, and then raising the temperature of the rigid wheel from minus 150 ℃ to room temperature.
And a tempering treatment step, namely putting the rigid wheel into a heating furnace, heating to 450 ℃ and preserving heat for 60 minutes, then heating the rigid wheel to 550 ℃ and preserving heat for 2 hours, and then cooling the temperature of the rigid wheel to room temperature.
The steel wheel processed by the preparation method of the steel wheel provided by the 4 embodiments has uniform grain refinement, and the austenite matrix is converted into tempered sorbite and few residual austenite structures, so that the steel wheel has good hardness and certain toughness, the lubricating property of graphite is reserved, and the wear resistance is high. The high wearability makes the running life of rigid wheel in the harmonic reduction gear improve to make harmonic reduction gear long service life, the precision persistence is high.
While the embodiments of the present invention have been described in detail, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (6)
1. A method for preparing a rigid wheel is characterized by comprising the following steps:
an annealing treatment step, wherein the annealing treatment step comprises a first heat preservation step of heating a steel wheel blank made of nodular cast iron to 770-850 ℃ and preserving heat for 1-2 hours, a second heat preservation step of cooling the steel wheel blank to 670-750 ℃ and preserving heat for 2-3 hours after the first heat preservation step, a first cooling step of cooling the steel wheel blank to 540-640 ℃ along with a furnace after the second heat preservation step, and a second cooling step of cooling the steel wheel blank to room temperature after the first cooling step;
a processing step, namely processing the blank part of the rigid wheel to obtain the rigid wheel;
a quenching step, wherein the quenching step comprises a third heat preservation step of heating the rigid wheel to 620-650 ℃ and preserving heat for 1-1.5 hours, a fourth heat preservation step of heating the rigid wheel to 850-870 ℃ and preserving heat for 2-2.5 hours after the third heat preservation step, and a third cooling step of cooling the rigid wheel to room temperature by performing oil cooling on the rigid wheel after the fourth heat preservation step;
a cryogenic treatment step, wherein the cryogenic treatment step comprises a fifth heat preservation step of reducing the temperature of the rigid wheel from room temperature to-60 ℃ to-80 ℃ and preserving the heat for 0.5 to 1 hour; a sixth heat preservation step of reducing the temperature of the rigid wheel to-120 to-200 ℃ and preserving the heat for 2 to 6 hours after the fifth heat preservation step; and a temperature raising step of raising the temperature of the rigid wheel to room temperature after the sixth heat-insulating step;
the tempering treatment step comprises a seventh heat preservation step of heating the rigid wheel to 400-450 ℃ and preserving heat for 0.5-1 hour, an eighth heat preservation step of heating the rigid wheel to 520-570 ℃ and preserving heat for 1.5-2.5 hours after the seventh heat preservation step, and a fourth cooling step of cooling the rigid wheel to room temperature after the eighth heat preservation step.
2. The method for manufacturing a steel wheel according to claim 1, wherein the steel wheel blank is made of Qt500 ductile iron.
3. The method for manufacturing a rigid wheel according to claim 1, wherein the time for cooling the rigid wheel from room temperature to-60 ℃ to-80 ℃ is 0.5 to 1 hour.
4. The method for manufacturing a rigid wheel according to claim 1, wherein the time for reducing the temperature of the rigid wheel from-60 ℃ to-80 ℃ to-120 ℃ to-200 ℃ is 0.5 to 1 hour.
5. A rigid-steel wheel, characterized in that it is produced by the rigid-steel wheel production method according to any one of claims 1 to 4.
6. A harmonic reducer comprising a rigid wheel according to claim 5.
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| CN201911324034.5A CN111020162A (en) | 2019-12-20 | 2019-12-20 | Rigid wheel manufacturing method, rigid wheel and harmonic reducer |
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| CN201911324034.5A CN111020162A (en) | 2019-12-20 | 2019-12-20 | Rigid wheel manufacturing method, rigid wheel and harmonic reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114182069A (en) * | 2021-11-22 | 2022-03-15 | 舟山市7412工厂 | Annealing method of steel for small gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114182069A (en) * | 2021-11-22 | 2022-03-15 | 舟山市7412工厂 | Annealing method of steel for small gear |
| CN114182069B (en) * | 2021-11-22 | 2024-02-06 | 舟山市7412工厂 | Annealing method of steel for small gear |
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Application publication date: 20200417 |