CN113775702B - Meta-cell and large-range variable-stiffness mechanical metamaterial based on planetary gear system - Google Patents

Meta-cell and large-range variable-stiffness mechanical metamaterial based on planetary gear system Download PDF

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CN113775702B
CN113775702B CN202111066813.7A CN202111066813A CN113775702B CN 113775702 B CN113775702 B CN 113775702B CN 202111066813 A CN202111066813 A CN 202111066813A CN 113775702 B CN113775702 B CN 113775702B
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gear
planetary gear
sun
mechanical metamaterial
central shaft
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CN113775702A (en
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方鑫
温激鸿
郁殿龙
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National University of Defense Technology
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National University of Defense Technology
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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
    • 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
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • 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

Abstract

The invention discloses a supercell and large-range variable stiffness mechanical metamaterial based on a planetary gear system, which is formed by periodically extending a plurality of supercell along the x-axis direction and/or the y-axis direction, wherein each supercell comprises a planetary gear mechanism and a transmission mechanism; the planetary gear mechanism comprises an outer ring, a sun gear and a planetary wheel component; the transmission mechanism comprises a transmission gear and a central shaft, one end of the central shaft is fixedly connected with the center of the transmission gear, and the other end of the central shaft is fixedly connected with the center of the sun gear. The mechanical metamaterial overcomes the defects of narrow elastic parameter adjusting range, few stable states, low adjusting robustness and the like in the existing reconfigurable mechanical metamaterial design technology; on the other hand, the defects that a mechanical metamaterial based on a common plane gear is difficult to bear tensile load, tensile modulus is difficult to adjust, interference exists between a stress part and regulation deformation and the like are overcome.

Description

Meta-cell and large-range variable-stiffness mechanical metamaterial based on planetary gear system
Technical Field
The invention relates to the technical field of material science, mechanics and mechanical engineering, in particular to a superporous and large-range variable-stiffness mechanical metamaterial based on a planetary gear system.
Background
Currently, the fourth industrial revolution has come, and the core of the fourth industrial revolution is intelligent structures and devices, such as adaptive aircrafts, adaptive control systems, intelligent connectors, intelligent vibration noise control, and the like. The intellectualization of the equipment requires that the units and materials of the manufacturing equipment be intelligently adjustable. The mechanical material with continuously adjustable Young modulus (namely rigidity) can provide basic support for the design and preparation of intelligent equipment. However, conventional piezoelectric materials and shape memory alloy materials have difficulty producing a wide range of elastic adjustment. New smart material designs present a number of challenges.
The mechanical metamaterial refers to an artificial material with extraordinary mechanical properties, and can generate the properties of low density, high modulus, negative Poisson ratio, chirality and the like. Typical structures include two-dimensional honeycomb structures, three-dimensional lattice structures, folded structures and chiral structures. The mechanical metamaterial provides an important structural design scheme for industrial systems such as aerospace, ships, high-speed rails, automobiles and the like. The reconfigurable mechanical metamaterial refers to a mechanical metamaterial capable of changing geometric shapes under the action of external stimuli (such as compressive force). The change in geometry results in a substantial change in the mechanical properties, the elastic parameter of which may be abruptly changed from one value to another. A perfect adjustment of the spring characteristic requires not only a large parameter adjustment range but also a dense stable adjustment state. However, the reconfigurable mechanical metamaterial designed at present can only generate few stable reconfiguration states, and is difficult to realize intelligent material design with larger engineering application value, especially intelligent material design with large-range continuous adjustability.
The gear mechanics metamaterial is a mechanics metamaterial based on gear structure design. The generation of the gear mechanics metamaterial provides a feasible realization path for large-range continuous adjustment of elastic parameters. However, the gear mechanics metamaterial based on the common plane gear design destroys the integrity of the whole, on one hand, the structural reliability is influenced, on the other hand, the adjustment of the tensile young's modulus is difficult to realize, and the interference between the stressed part and the rotation regulation deformation is caused (namely, the load application point is changed in the rotation process).
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a supercell and large-range variable-stiffness mechanical metamaterial based on a planetary gear system, and on one hand, the defects of narrow elastic parameter adjusting range, few stable states, low regulation and control robustness and the like in the existing reconfigurable mechanical metamaterial design technology are overcome; on the other hand, the defects that a mechanical metamaterial based on a common plane gear is difficult to bear tensile load, tensile modulus is difficult to adjust, interference exists between a stress part and regulation deformation and the like are overcome.
In order to achieve the above object, the present invention provides a superunit cell based on a planetary gear system, including a planetary gear mechanism and a transmission mechanism;
the planetary gear mechanism comprises an outer ring, a sun gear and a planetary gear assembly, a plurality of first gear teeth are circumferentially arranged on the inner wall of the outer ring at intervals, a plurality of second gear teeth are circumferentially arranged on the outer wall of the sun gear at intervals, the first gear teeth and the second gear teeth are both meshed with the planetary gear assembly, and the outer ring is coaxial with the sun gear;
the transmission mechanism comprises a transmission gear and a central shaft, one end of the central shaft is fixedly connected with the center of the transmission gear, the other end of the central shaft is fixedly connected with the center of the sun gear, and the transmission gear is coaxial with the sun gear.
In one embodiment, the planet wheel assembly comprises four planet wheels which are symmetrically distributed around a sun wheel in two groups, wherein the connecting line of the central points of two planet wheels passes through the sun wheel, the connecting line of the central points of the other two planet wheels passes through the sun wheel, and the central points of any three planet wheels are not collinear;
one side of the planet wheel is meshed with the first gear teeth, and the other side of the planet wheel is meshed with the second gear teeth.
In one embodiment, the four planet wheels are distributed between the outer ring and the sun wheel in a cross-shaped symmetrical structure.
In one embodiment, the four planet wheels are involute gears with equal gear module, equal pressure angle and equal height.
In one embodiment, a central hole is formed in the center of the sun gear, the central hole penetrates through the sun gear along an axis, the end of the central shaft is fixedly connected with the sun gear after being embedded into the central hole, and the outline of a matching surface between the central shaft and the central hole is a D-shaped structure.
In one embodiment, the transmission gear, the central shaft and the sun gear are integrally formed.
In one embodiment, the transmission gear is provided with a lightening hole.
In one embodiment, the outer wall of the outer ring is provided with at least one boss.
In order to achieve the purpose, the invention also provides a large-range variable-stiffness mechanical metamaterial based on a planetary gear system, which is formed by periodically extending a plurality of the above-mentioned supercell along the x-axis direction and/or the y-axis direction;
and two transmission gears are meshed with each other between two adjacent supercells, and the two outer rings are tangent and fixedly connected.
The invention provides a supercell and large-range variable stiffness mechanical metamaterial based on a planetary gear system, which has the following beneficial technical effects:
1. the mechanical metamaterial with the large-range variable rigidity is formed by periodically extending mechanical metamaterial metamaterials along the x direction and/or the y direction, when compression or tensile load is applied to an outer ring, the outer ring can generate bending deformation, the load is further transmitted to a planet wheel assembly and a sun wheel, the rigidity of deformation is closely related to an acute angle between the planet wheel assembly and a load action shaft, the planet wheel assembly is driven to rotate along the outer ring (around the sun wheel) through a transmission gear and a rotating sun wheel, the adjustment of the acute angle is further realized, namely the planet wheel acts as a deformation fulcrum of the outer ring, and the accurate control of the rigidity of deformation is finally realized;
2. the large-range variable-stiffness mechanical metamaterial provided by the invention not only can realize smooth and continuous adjustment on the compression Young modulus, but also can realize adjustment on the tensile Young modulus;
3. in the large-range variable-stiffness mechanical metamaterial provided by the invention, when four planet wheels in the planet wheel assembly are in crossed symmetrical distribution, the planet wheels actually bear the planet wheels to realize switching at 45 degrees per revolution; the rotation angle of the planet wheel corresponding to the parameter adjusting period is 90 degrees; at the moment, the equivalent compression modulus (or equivalent tensile modulus) of the metamaterial in the x direction and the y direction are equal, namely, the metamaterial has isotropic properties in the orthogonal direction;
4. the large-range variable-stiffness mechanical metamaterial provided by the invention is internally provided with a complete outer ring frame, namely the integrity of the whole structure is not damaged by large-range adjustment of parameters, so that the reliability of the material in the actual use process is greatly improved; moreover, the metamaterial is directly engaged with gears and rotated to realize large-range smooth continuous adjustment of rigidity (namely modulus), and is strong in robustness; all the structures can be made of metal materials, so that the structure is high in rigidity and strength, strong in designability and easy to manufacture;
5. the load of the large-range variable-stiffness mechanical metamaterial provided by the invention is applied to the outer ring frame, the direct bearing part of the outer ring frame is the outer ring frame, the bearing mode cannot interfere with the rotation deformation of the internal structure (namely the bearing part cannot change along with the rotation deformation), and the outer ring frame is easier to implement in practical use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of a first axis of a superlattice in an embodiment of the invention;
FIG. 2 is a second axis schematic of a superlattice in accordance with an embodiment of the invention;
FIG. 3 is a schematic view of the shaft of the transmission mechanism in an embodiment of the present invention;
FIG. 4 is an axial schematic view of a sun gear according to an embodiment of the present invention;
FIG. 5 is a front view of the planetary gear mechanism in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a mechanical metamaterial composed of 3 × 3 super cells according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a mechanical metamaterial with 5 super-cells arranged in a cross shape according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a mechanical metamaterial in which 3 super cells are linearly arranged according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a mechanical metamaterial with a bearing platform according to an embodiment of the present invention;
FIG. 10 is a typical deformation-load curve diagram of the mechanical metamaterial under compression and tension loads in the embodiment of the invention
FIG. 11 is a graph showing Young's moduli in compression and tension according to the planetary gear theta in the embodiment of the invention p Finite element calculation results and experimental test results of the variation curve.
Reference numbers:
the gear comprises an outer ring 1, a first gear tooth 101, a boss 102, a bearing platform 103, a sun gear 2, a second gear tooth 201, a central hole 202, a planet gear 3, a transmission gear 4, a lightening hole 401 and a central shaft 5.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Example 1
Fig. 1 to 5 show a supercell based on a planetary gear system in this embodiment, which is applied to a large-range variable stiffness mechanical metamaterial, and includes a planetary gear mechanism and a transmission mechanism. Wherein, planetary gear mechanism includes outer loop 1, sun gear 2 and planet wheel 3 subassembly, is equipped with a plurality of first teeth of a cogwheel 101 along circumference interval on the inner wall of outer loop 1, is equipped with a plurality of second teeth of a cogwheel 201 along circumference interval on the outer wall of sun gear 2, and first teeth of a cogwheel 101, second teeth of a cogwheel 201 all mesh with planet wheel 3 subassembly, and outer loop 1 is coaxial with sun gear 2. The transmission mechanism comprises a transmission gear 4 and a central shaft 5, one end of the central shaft 5 is fixedly connected with the center of the transmission gear 4, the other end of the central shaft is fixedly connected with the center of the sun gear 2, and the transmission gear 4 is coaxial with the sun gear 2.
Specifically, the planet wheel 3 assembly comprises four planet wheels 3 which are symmetrically distributed around the sun wheel in two groups, wherein the central point connecting line of the two planet wheels 3 passes through the sun wheel 2, the central point connecting line of the other two planet wheels 3 passes through the sun wheel 2, the central points of any three planet wheels 3 are not collinear, one side of each planet wheel 3 is meshed with the first gear teeth 101, and the other side of each planet wheel 3 is meshed with the second gear teeth 201.
In a preferred embodiment, four planet gears 3 are distributed between the outer ring 1 and the sun gear 2 in a cross-symmetrical structure, and the four planet gears 3 are involute gears with equal gear modules, equal pressure angles and equal heights. I.e. the centre point of the four planet wheels 3 is O, as shown in fig. 5 1 、O 2 、O 3 And O 4 The center point of the sun gear 2 is O, in this embodiment O 1 -O-O 2 Three points collinear, O 3 -O-O 4 Three points are collinear and straight line O 1 O 2 ⊥O 3 O 4 And isotropy of the mechanical metamaterial in the orthogonal direction is realized through the symmetry and the orthogonal relation of the planet wheels 3. The pitch circle radius of the sun wheel 2 is approximately equal to twice the pitch circle radius of the planet wheels 3.
The planet wheel 3 is an involute gear with a gear module of 0.3, a pressure angle of 20 degrees and a height of 20 mm. Pitch circle radius R of outer ring 1 out =12mm, and the pitch circle radius of the sun gear 2 is R sun =6mm, pitch circle radius R of planet wheel 3 p =3mm, wherein R out ＝R sun +2R p The planet wheel 3, the outer ring 1 and the sun wheel 2 have the same height. Revolution angle theta of planetary gear 3 between outer ring 1 and sun gear 2 p Angle of rotation theta with sun gear 2 sun The relationship between is theta p ＝θ sun ·R sun /(R out +R sun )＝θ sun /3. Therefore, the angle θ can be changed sun To control the revolution angle theta of the planet wheel 3 p . And because the action of the planet wheel 3 is equivalent to the deformation pivot of the outer ring 1, when compressive or tensile load is applied to the outer ring 1, the planet wheel 3 is driven to revolve by rotating the sun wheel 2, so that the acute angle between the planet wheel 3 and the load action shaft is changed, and finally, the accurate control of the deformation rigidity is realized.
The outer side of the outer ring 1 is a smooth cylindrical shell structure, and the outer wall of the outer ring 1 is provided with at least one boss 102. Specifically, the number of the bosses 102 on the outer wall of the outer ring 1 is four, and the bosses are distributed in a cross-shaped symmetrical manner, and the distance between two bosses 102 which are parallel to each other is equal to the pitch circle diameter of the transmission gear 4. In this embodiment, the distance between two parallel bosses 102 is l =42mm, and the thickness of the outer ring 1 is d =1mm.
The central position of sun gear 2 is equipped with centre bore 202, and centre bore 202 runs through sun gear 2 along the axis, and central shaft 5's tip imbeds behind centre bore 202 and is connected with sun gear 2 fixed. Preferably, the mating surface between the central shaft 5 and the central hole 202 is D-shaped in profile, and the central shaft 5 and the central hole 202 are interference fit to prevent the central shaft 5 from rotating. It is further preferable that a plurality of lightening holes 401 are uniformly provided on the transmission gear 4 to effectively reduce the weight of the transmission gear 4. Of course, the central shaft 5 and the sun gear 2 may be engaged without using the central hole 202, and the transmission gear 4, the central shaft 6, and the sun gear 2 may be directly formed integrally.
In this embodiment, the central shaft 5 and the sun gear 2 are connected by welding or screwing, and the central shaft 5 and the transmission gear 4 are connected by welding or integrally molding.
In this embodiment, the transmission gear 4 has an involute gear structure, and has a modulus of 0.5 and a pitch circle diameter of 42mm.
Example 2
Referring to fig. 6, the mechanical metamaterial with large range of variable stiffness based on the planetary gear system disclosed in this embodiment is formed by periodically extending the metamorphic cells in the x-axis direction and/or the y-axis direction in a plurality of embodiments 1, and the mechanical metamaterial is a layered structure, wherein all periodic transmission mechanisms are in one layer, all periodic planetary gear mechanisms are in one layer, and a gap is formed between the two layers and is connected through a central shaft 5. Specifically, two outer rings 1 are tangent and fixedly connected between two adjacent supercell, so that all the outer rings 1 form an outer ring 1 frame structure, and the integrated forming manufacturing is convenient. The two transmission gears 4 are meshed with each other, and all the planet gears 3 in the mechanical metamaterial can be driven to rotate around the sun gear 2 in the metamaterial by rotating one transmission gear 4, so that the adjustment of the equivalent compression and tension Young modulus of the mechanical metamaterial is realized.
It should be noted that the mechanical metamaterial composed of 3 × 3 super cells shown in fig. 6 is only an example, and the number of periodic extensions of the super cells along the x-axis direction and/or the y-axis direction is variable according to the difference of actual requirements, for example, 5 super cells shown in fig. 7 may be distributed in a cross shape or 3 super cells shown in fig. 8 may be distributed in a straight line.
For a finite metamaterial, the protrusions on the outer ring 1 may continue to extend outward a distance to form load bearing platforms 103, i.e. as shown in fig. 9, external compressive and tensile loads are applied to the load bearing platforms 103 to avoid applying loads to the gears.
In this example, a mechanical metamaterial having a 3 × 3 metamaterial unit structure as shown in fig. 6 was manufactured; all gears of the mechanical metamaterial are made of stainless steel materials and are manufactured through a wire cutting process. This example completes the finite element numerical calculation and experimental test of the equivalent compression modulus and the equivalent tensile modulus of the mechanical metamaterial, as shown in fig. 10 and 11. The revolution angle theta of the planet wheel 3 when the line of any two planet wheels 3 is horizontal is set p =0 °, when the revolution angle of the planetary wheel 3 is 40 °<θ p <At 50 deg., the equivalent compressive modulus and the equivalent tensile modulus reach minimum values at the same time, and both are equal to 0.11GPa. When theta is p And (5) =0 degrees, the equivalent compression modulus and the equivalent tensile modulus simultaneously reach maximum values, the equivalent compression modulus is 5.2GPa, and the equivalent tensile modulus is 0.52GPa. The adjustment period of the parameters is 90 degrees, and the tensile modulus and the compressive modulus can be smoothly and continuously adjusted in one period. The adjustment amplitudes of the equivalent compressive modulus and the equivalent tensile modulus were 47 times and 4.7 times, respectively, demonstrating a smooth continuous adjustment over a wide range.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope of the present invention.

Claims (8)

1. A large-range variable stiffness mechanical metamaterial based on a planetary gear system is characterized by being formed by periodically extending a plurality of metamorphic cells along the direction of an x axis and/or the direction of a y axis;
the super cell comprises a planetary gear mechanism and a transmission mechanism;
the planetary gear mechanism comprises an outer ring, a sun gear and a planetary gear assembly, a plurality of first gear teeth are circumferentially arranged on the inner wall of the outer ring at intervals, a plurality of second gear teeth are circumferentially arranged on the outer wall of the sun gear at intervals, the first gear teeth and the second gear teeth are both meshed with the planetary gear assembly, and the outer ring is coaxial with the sun gear;
the transmission mechanism comprises a transmission gear and a central shaft, one end of the central shaft is fixedly connected with the center of the transmission gear, the other end of the central shaft is fixedly connected with the center of the sun gear, and the transmission gear is coaxial with the sun gear;
and two transmission gears are meshed with each other between two adjacent supercells, and the two outer rings are tangent and fixedly connected.
2. The wide range variable stiffness mechanical metamaterial based on a planetary gear system as in claim 1, wherein the planetary gear assembly comprises four planet wheels, and the four planet wheels are symmetrically distributed around a sun wheel in two groups, wherein the connecting line of the central points of two planet wheels passes through the sun wheel, the connecting line of the central points of the other two planet wheels passes through the sun wheel, and the central points of any three planet wheels are not collinear;
one side of the planet wheel is meshed with the first gear teeth, and the other side of the planet wheel is meshed with the second gear teeth.
3. The wide range variable stiffness mechanical metamaterial according to claim 2, wherein four of the planet gears are distributed between the outer ring and the sun gear in a cross-symmetrical configuration.
4. The wide range variable stiffness mechanical metamaterial based on planetary gear systems as in claim 2, wherein four of the planet gears are involute gears with equal gear module, equal pressure angle and equal height.
5. A mechanical metamaterial with large range of variable stiffness based on a planetary gear system as in claim 1, 2, 3 or 4, wherein a central hole is formed in the central position of the sun gear, the central hole penetrates through the sun gear along the axis, the end part of the central shaft is fixedly connected with the sun gear after being embedded into the central hole, and the outline of the matching surface between the central shaft and the central hole is a D-shaped structure.
6. A mechanical metamaterial with a large range of variable stiffness based on a planetary gear system as in claim 1, 2, 3 or 4, wherein the transmission gear, the central shaft, and the sun gear are integrally formed.
7. The mechanical metamaterial with large range of variable stiffness based on a planetary gear system as in claim 1, 2, 3 or 4, wherein the transmission gear is provided with lightening holes.
8. A mechanical metamaterial with large range of variable stiffness based on a planetary gear system as in claim 1, 2, 3 or 4, wherein at least one boss is provided on the outer wall of the outer ring.
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CN115199708B (en) * 2022-09-15 2023-01-10 成都飞机工业（集团）有限责任公司 Planetary reducer structure of aircraft actuator and assembly method thereof

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CN108006203A (en) * 2017-12-29 2018-05-08 江苏方阔航空科技有限公司 A kind of electric control stepless big payload helicopter variable speed gearbox
CN210661232U (en) * 2019-09-29 2020-06-02 上海羿弓精密科技有限公司 Precision speed reducer for robot

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EP0559626A1 (en) * 1992-03-04 1993-09-08 Vanni Gallocchio Planetary reduction unit
CN103579276A (en) * 2013-11-09 2014-02-12 深港产学研基地 Micro-nano structural filter, filter super cells and CMOS digital image sensor
CN104514730A (en) * 2014-12-26 2015-04-15 合肥恒大江海泵业股份有限公司 Submersible electric pump
CN105736644A (en) * 2016-03-22 2016-07-06 西北工业大学 Staggered-tooth phase-adjustable planetary herringbone gear reducer
CN206313139U (en) * 2016-12-15 2017-07-07 南京邮电大学 The wave absorbing device of the bandwidth expanded based on high refractive index medium coating high impedance surface
CN108006203A (en) * 2017-12-29 2018-05-08 江苏方阔航空科技有限公司 A kind of electric control stepless big payload helicopter variable speed gearbox
CN210661232U (en) * 2019-09-29 2020-06-02 上海羿弓精密科技有限公司 Precision speed reducer for robot

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