CN112833143B - Reduction gear and robot - Google Patents

Reduction gear and robot Download PDF

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Publication number
CN112833143B
CN112833143B CN202110029970.4A CN202110029970A CN112833143B CN 112833143 B CN112833143 B CN 112833143B CN 202110029970 A CN202110029970 A CN 202110029970A CN 112833143 B CN112833143 B CN 112833143B
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CN
China
Prior art keywords
heat treatment
eccentric shaft
shaft
cycloidal gear
shaft hole
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CN202110029970.4A
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Chinese (zh)
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CN112833143A (en
Inventor
钟成堡
刘成
孙豹
史宝强
程中甫
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Publication of CN112833143A publication Critical patent/CN112833143A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/02—Ferrous alloys, e.g. steel alloys containing silicon
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/04—Ferrous alloys, e.g. steel alloys containing manganese
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
    • C22C38/40—Ferrous alloys, e.g. steel alloys containing chromium with nickel
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C3/00—Shafts; Axles; Cranks; Eccentrics
    • F16C3/04—Crankshafts, eccentric-shafts; Cranks, eccentrics
    • F16C3/22—Cranks; Eccentrics
    • 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
    • F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2204/00—Metallic materials; Alloys
    • F16C2204/60—Ferrous alloys, e.g. steel alloys
    • F16C2204/62—Low carbon steel, i.e. carbon content below 0.4 wt%
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Metallurgy (AREA)
  • Materials Engineering (AREA)
  • Organic Chemistry (AREA)
  • Ocean & Marine Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Retarders (AREA)

Abstract

The application provides a reduction gear and robot. The reducer comprises an eccentric shaft (11) and a cycloidal gear (13), wherein a shaft hole is formed in the cycloidal gear (13), the eccentric shaft (11) is arranged in the shaft hole, a needle bearing (12) is arranged between the eccentric shaft (11) and the inner wall of the shaft hole, and the inner surface of the shaft hole of the cycloidal gear (13) is subjected to surface heat treatment through a carbonitriding heat treatment process. According to the speed reducer, the heat treatment optimization can be carried out on parts meshed with the needle roller bearing, and the service life of the whole speed reducer is prolonged.

Description

Reduction gear and robot
Technical Field
The application relates to the technical field of robots, in particular to a speed reducer and a robot.
Background
The RV reducer is mainly a novel cycloid pin wheel planetary transmission reducer consisting of primary planetary gear transmission and secondary cycloid pin wheel transmission, the RV reducer is mainly applied to a joint part of an industrial robot, based on the use requirement of the industrial robot, the requirements of high transmission precision, small return difference, large output torque, strong shock resistance, compact structure, high transmission efficiency and the like are provided for the RV reducer, the requirements all provide high requirements for the performance of parts, and a crankshaft, a needle bearing and a cycloid wheel bearing hole are meshed for transmission and belong to the connection part of the primary transmission and the secondary transmission, and the service life of the needle bearing at the position determines the service life of the whole machine according to theoretical calculation; according to experimental verification, the reasonable configuration of the heat treatment process of the three parts can prolong the service life of the whole machine.
Chinese patent application No. CN105605159A discloses an eccentric oscillating type planetary gear device in which the durability of an eccentric shaft is improved by applying a curing process to the eccentric shaft to increase carbides on the surface of the eccentric shaft, but this method only considers the influence of the increase in the life of the eccentric shaft on the life of the entire device, and cannot maximize the life of the entire device.
Disclosure of Invention
Therefore, the technical problem that this application will be solved lies in providing a reduction gear and robot, can carry out the thermal treatment optimization to some parts of bearing meshing, the complete machine life-span of extension reduction gear.
In order to solve the problems, the application provides a speed reducer which comprises an eccentric shaft and a cycloidal gear, wherein a shaft hole is formed in the cycloidal gear, the eccentric shaft is arranged in the shaft hole, a needle roller bearing is arranged between the inner walls of the eccentric shaft and the shaft hole, and the inner surface of the shaft hole of the cycloidal gear is subjected to surface heat treatment through a carbonitriding heat treatment process.
Preferably, the depth of the carburized layer of the carbonitriding heat treatment on the inner surface of the shaft hole of the cycloid wheel is less than or equal to 0.8 mm.
Preferably, the depth of the carburized surface layer of the eccentric shaft is equal to the eccentricity of the eccentric shaft.
Preferably, the surface of the eccentric shaft is subjected to surface heat treatment by a carburizing heat treatment process.
Preferably, the surface hardness of the eccentric shaft after heat treatment is 62 HRC-64 HRC.
Preferably, the hardness of the inner surface of the shaft hole of the cycloid gear after heat treatment is 58 HRC-62 HRC.
Preferably, the eccentric wheel and the cycloid wheel both adopt low-carbon steel as a base material.
Preferably, the low-carbon steel comprises, by mass, 0.17% -0.23% of C, 0.17% -0.37% of Si, 0.4% -0.7% of Cr, 0.35% -0.75% of Ni and 0.60% -0.95% of Mn.
Preferably, the speed reducer further comprises a needle roller, a needle gear shell, an input shaft and a support piece, the cycloidal gear is installed in the needle gear shell, the support piece is arranged on the cycloidal gear, teeth are arranged on the periphery of the cycloidal gear, the needle roller is arranged between the teeth and the needle gear shell, and the input shaft is in driving connection with the cycloidal gear.
According to an embodiment of the application, the robot comprises a reducer, which is a reducer as described above.
The application provides a reduction gear, including eccentric shaft and cycloid wheel, be provided with the shaft hole on the cycloid wheel, the eccentric shaft setting is provided with bearing in the shaft hole between the inner wall in eccentric shaft and shaft hole, and surface heat treatment is carried out through carbonitriding heat treatment process to the shaft hole internal surface of cycloid wheel. The reducer improves the surface heat treatment process of the inner surface of the shaft hole of the cycloid wheel meshed and matched with the needle bearing, optimizes the carburizing heat treatment in the prior art into carbonitriding heat treatment, can improve the strength, wear resistance and fatigue strength of a carburized layer, prolongs the service life of the cycloid wheel, and prolongs the service life of the whole reducer by optimizing the heat treatment of partial parts meshed with the needle bearing.
Drawings
FIG. 1 is a schematic illustration of a retarder according to an embodiment of the present application;
FIG. 2 is a table showing the relationship between hardness distribution and life of an eccentric shaft and a cycloid gear according to an embodiment of the present invention;
FIG. 3 is a carburization hardness distribution diagram of an eccentric shaft of the speed reducer;
FIG. 4 is a carbonitriding hardness distribution diagram of a cycloid gear of a speed reducer.
The reference numerals are represented as:
11. an eccentric shaft; 12. a needle bearing; 13. a cycloid wheel; 14. rolling needles; 15. a pin gear housing; 16. an input shaft; 17. and a support member.
Detailed Description
Referring to fig. 1 to 4 in combination, according to an embodiment of the present application, the speed reducer includes an eccentric shaft 11 and a cycloidal gear 13, the cycloidal gear 13 is provided with a shaft hole, the eccentric shaft 11 is disposed in the shaft hole, a needle bearing 12 is disposed between the eccentric shaft 11 and an inner wall of the shaft hole, and an inner surface of the shaft hole of the cycloidal gear 13 is subjected to a surface heat treatment through a carbonitriding heat treatment process.
Fig. 1 is a cross-sectional view of the entire RV reducer, mainly showing key components of the second stage transmission of the RV reducer.
The RV reducer further comprises a needle roller 14, a needle gear shell 15, an input shaft 16 and a support piece 17, wherein the cycloidal gear 13 is installed in the needle gear shell 15, the support piece 17 is arranged on the cycloidal gear 13, teeth are arranged on the periphery of the cycloidal gear 13, the needle roller 14 is arranged between the teeth and the needle gear shell 15, and the input shaft 16 is in driving connection with the cycloidal gear 13. The design is mainly designed aiming at the meshing part of the needle bearings, wherein the needle bearings are standard parts, and the eccentric shaft 11 and the cycloidal gear 13 are self-made parts, so that the heat treatment method of the eccentric shaft 11 and the cycloidal gear 13 is mainly optimized, and the purpose of prolonging the service life of the whole machine is achieved.
The surface heat treatment process of the inner surface of the shaft hole of the cycloid wheel 13 meshed and matched with the needle bearing 12 is improved, the carburizing heat treatment in the prior art is optimized to be carbonitriding heat treatment, the strength, the wear resistance and the fatigue strength of a carburized layer can be improved, the service life of the cycloid wheel is prolonged, and the service life of the whole reducer is prolonged by means of heat treatment optimization of parts meshed with the needle bearing.
The inner surface of the shaft hole of the cycloid gear 13 in the prior art is subjected to surface treatment in a carburizing heat treatment mode, the surface treatment is optimized to be carbonitriding heat treatment, and both the surface treatment and the carbonitriding heat treatment have the effects of improving the strength, hardness, wear resistance and fatigue strength of a carburized layer. Because the carburizing temperature is higher than carbonitriding, the deformation of the cycloid wheel 13 and the deformation after quenching are large, in addition, when the surface carbon content is the same, the wear resistance and fatigue strength of the carbonitriding layer are both higher than those of the carburized layer, and the thickness of the cycloid wheel is thinner than that of the eccentric shaft 11, and the position of the shaft hole is smaller, so that the shape structure of the cycloid wheel 13 can be combined, by adopting the carbonitriding mode, higher strength, hardness, wear resistance and fatigue strength can be realized by using smaller depth of the carburized layer, and simultaneously, the deformation of the cycloid wheel 13 and the deformation after quenching are reduced, the toughness of the bridge part can be more effectively ensured, the surface structure of the cycloid wheel 13 is improved, and the service life of the cycloid wheel 13 is prolonged.
In one embodiment, the depth of the carburized layer of the carbonitriding heat treatment of the inner surface of the shaft hole of the cycloid gear 13 is less than or equal to 0.8mm, and the thickness of the carburized layer of the inner surface of the shaft hole of the cycloid gear 13 can be reduced, which more effectively improves the toughness of the bridge portion of the cycloid gear 13.
In one embodiment, the depth of the carburized layer on the surface of the eccentric shaft 11 is equal to the eccentricity of the eccentric shaft 11, so that the depth of the carburized layer of the eccentric shaft 11 can be matched with the main stressed part of the eccentric shaft 11, the process cost is reduced, and the working effectiveness of the carburized layer is improved.
The surface of the eccentric shaft 11 is subjected to surface heat treatment by a carburizing heat treatment process.
The surface hardness of the eccentric shaft 11 after heat treatment is 62 HRC-64 HRC. In the prior art, the surface hardness of the eccentric shaft 11 after heat treatment is about 58 HRC-62 HRC, the material lower than the needle roller of the needle roller bearing is GCr15, the hardness of a ferrule and a roller made of the material is 61 HRC-65 HRC, and the hardness of a steel ball is 62 HRC-66 HRC; when the hardness of the material of the eccentric shaft 11 is lower than that of the roller, the softer material is easy to wear, so that the surface hardness of the eccentric shaft 11 is improved by adopting the same heat treatment process as that of the eccentric shaft 11 in the prior art, the surface hardness of the improved eccentric shaft 11 is closer to that of the needle bearing, the wear of the eccentric shaft 11 is reduced, and the service life of the eccentric shaft 11 is prolonged.
In one embodiment, the hardness of the inner surface of the shaft hole of the cycloid gear 13 after heat treatment is 58HRC to 62 HRC.
Referring to fig. 2 to 4, the eccentric shaft 11 and the cycloid wheel 13 with different hardness are used for carrying out a service life test of the whole machine, and the coefficient relation between the service life and the hardness is obtained through the test; under the condition that other conditions are not changed, the surface hardness configuration of the eccentric shaft 11 and the cycloid wheel 13 has a large influence on the whole machine, and when the inner surface hardness of the shaft hole of the cycloid wheel 13 is constant, the heat treatment surface hardness of the eccentric shaft 11 is 62 HRC-64 HRC, and the inner surface hardness of the shaft hole of the cycloid wheel 13 after heat treatment is 58 HRC-62 HRC, the service life of the speed reducer is the highest.
The eccentric wheel and the cycloid wheel 13 both adopt low-carbon steel as base materials.
In this embodiment, the iron of the low-carbon steel includes, by mass, 0.17% to 0.23% of C, 0.17% to 0.37% of Si, 0.4% to 0.7% of Cr, 0.35% to 0.75% of Ni, and 0.60% to 0.95% of Mn. The low-carbon steel with the component ratio is basically similar to low-carbon steel in the prior art in element content and performance, but has higher hardenability, no temper brittleness and good machinability; after heat treatment, the core can be ensured to have proper toughness after the required surface hardness is achieved.
According to the embodiment of the application, the eccentric shaft 11 and the cycloid wheel 13 are subjected to heat treatment optimization design, so that the service life of the whole machine is prolonged, and the bearing capacity of the whole machine is improved.
According to an embodiment of the application, the robot comprises a reducer, which is a reducer as described above.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.

Claims (7)

1. The reducer is characterized by comprising an eccentric shaft (11) and a cycloidal gear (13), wherein a shaft hole is formed in the cycloidal gear (13), the eccentric shaft (11) is arranged in the shaft hole, a needle bearing (12) is arranged between the eccentric shaft (11) and the inner wall of the shaft hole, and the inner surface of the shaft hole of the cycloidal gear (13) is subjected to surface heat treatment through a carbonitriding heat treatment process; the surface of the eccentric shaft (11) is subjected to surface heat treatment by adopting a carburizing heat treatment process; the hardness of the inner surface of the shaft hole of the cycloid wheel (13) after heat treatment is 58 HRC-62 HRC; the surface hardness of the eccentric shaft (11) after heat treatment is 62 HRC-64 HRC.
2. Speed reducer according to claim 1, characterized in that the depth of the carburized layer of the carbonitriding heat treatment of the inner surface of the shaft bore of the cycloid wheel (13) is less than or equal to 0.8 mm.
3. Reducer according to claim 1, characterised in that the depth of the carburized surface layer of the eccentric shaft (11) is equal to the eccentricity of the eccentric shaft (11).
4. Reducer according to claim 1, characterised in that both the eccentric shaft (11) and the cycloid wheel (13) use mild steel as base material.
5. The reducer according to claim 4, wherein the low-carbon steel comprises, in mass fraction, 0.17-0.23% of C, 0.17-0.37% of Si, 0.4-0.7% of Cr, 0.35-0.75% of Ni, and 0.60-0.95% of Mn.
6. A reducer according to any one of claims 1 to 3, further comprising a needle roller (14), a needle housing (15), an input shaft (16) and a support (17), the cycloidal gear (13) being mounted within the needle housing (15), the support (17) being provided on the cycloidal gear (13), the periphery of the cycloidal gear (13) being provided with teeth, the needle roller (14) being provided between the teeth and the needle housing (15), the input shaft (16) being in driving connection with the cycloidal gear (13).
7. A robot comprising a decelerator, wherein the decelerator is as claimed in any one of claims 1 to 6.
CN202110029970.4A 2021-01-11 2021-01-11 Reduction gear and robot Active CN112833143B (en)

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CN112833143B true CN112833143B (en) 2022-05-31

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114110096B (en) * 2021-11-10 2023-07-28 珠海格力电器股份有限公司 RV reducer and robot

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2042911U (en) * 1988-07-08 1989-08-16 福州大学 Pin-cycloidal/cast-cycloidal speed-reducing machine
CN102586694A (en) * 2011-12-14 2012-07-18 东北特殊钢集团有限责任公司 Gear steel and heat treatment method thereof
CN102741572A (en) * 2010-03-30 2012-10-17 Ntn株式会社 Rolling bearing
CN104889690A (en) * 2015-06-01 2015-09-09 陈鹏 Bearing bush of internal combustion engine
CN205876965U (en) * 2016-08-01 2017-01-11 吉林工程技术师范学院 Stand wear and tear ball bearing
CN107167056A (en) * 2017-05-19 2017-09-15 北京工业大学 A kind of detection RV Key Part of Cycloid Cam Planetary Speed Reducer and the experimental rig of needle bearing material abrasion
CN206522408U (en) * 2017-03-06 2017-09-26 瑞基机器人有限公司 A kind of industrial robot joint reductor
CN107457528A (en) * 2017-05-31 2017-12-12 浙江钱富冷挤机械有限公司 Accurate cold extrusion exempts to grind carbo-nitriding bearing holder (housing, cover) processing method
CN108291286A (en) * 2016-01-13 2018-07-17 株式会社神户制钢所 Carbo-nitriding steel and carbo-nitriding part
CN110014272A (en) * 2019-04-08 2019-07-16 华南理工大学 A kind of processing method and assembly method of pairs of eccentric shaft
CN110142577A (en) * 2019-06-04 2019-08-20 昆山赫斯顿精密五金机械有限公司 The processing technology of reducer input shaft
CN211951390U (en) * 2020-03-25 2020-11-17 深圳市荣德机器人科技有限公司 Cycloid pin gear speed reducer with cycloid gear axial supporting function

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2042911U (en) * 1988-07-08 1989-08-16 福州大学 Pin-cycloidal/cast-cycloidal speed-reducing machine
CN102741572A (en) * 2010-03-30 2012-10-17 Ntn株式会社 Rolling bearing
CN102586694A (en) * 2011-12-14 2012-07-18 东北特殊钢集团有限责任公司 Gear steel and heat treatment method thereof
CN104889690A (en) * 2015-06-01 2015-09-09 陈鹏 Bearing bush of internal combustion engine
CN108291286A (en) * 2016-01-13 2018-07-17 株式会社神户制钢所 Carbo-nitriding steel and carbo-nitriding part
CN205876965U (en) * 2016-08-01 2017-01-11 吉林工程技术师范学院 Stand wear and tear ball bearing
CN206522408U (en) * 2017-03-06 2017-09-26 瑞基机器人有限公司 A kind of industrial robot joint reductor
CN107167056A (en) * 2017-05-19 2017-09-15 北京工业大学 A kind of detection RV Key Part of Cycloid Cam Planetary Speed Reducer and the experimental rig of needle bearing material abrasion
CN107457528A (en) * 2017-05-31 2017-12-12 浙江钱富冷挤机械有限公司 Accurate cold extrusion exempts to grind carbo-nitriding bearing holder (housing, cover) processing method
CN110014272A (en) * 2019-04-08 2019-07-16 华南理工大学 A kind of processing method and assembly method of pairs of eccentric shaft
CN110142577A (en) * 2019-06-04 2019-08-20 昆山赫斯顿精密五金机械有限公司 The processing technology of reducer input shaft
CN211951390U (en) * 2020-03-25 2020-11-17 深圳市荣德机器人科技有限公司 Cycloid pin gear speed reducer with cycloid gear axial supporting function

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