CN115415790A - Reverse planetary roller screw assembly tool and machining and assembling method - Google Patents
Reverse planetary roller screw assembly tool and machining and assembling method Download PDFInfo
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- CN115415790A CN115415790A CN202211055440.8A CN202211055440A CN115415790A CN 115415790 A CN115415790 A CN 115415790A CN 202211055440 A CN202211055440 A CN 202211055440A CN 115415790 A CN115415790 A CN 115415790A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a reverse planetary roller screw rod assembly tool which comprises a horizontally arranged rotary table, wherein a chuck for clamping and fixing a vertical screw rod is arranged at the center of the rotary table, a plurality of tensioning mechanisms are detachably connected to the rotary table, each tensioning mechanism is arranged around the center of the rotary table and is respectively aligned with a plurality of rollers around the screw rod, the tensioning mechanisms are positioned on the outer sides of corresponding rollers, connecting lines of the tensioning mechanisms and the rollers penetrate through the center of the rotary table, and the inner sides of the tensioning mechanisms tightly push the corresponding rollers. Accurate positioning in the assembling process is assisted by manufacturing positioning marks, the assembling efficiency of the reverse planetary roller screw is improved, the requirements on operators are reduced, and the method is favorable for realizing standardized, normalized and flow operations in batch production. The invention also discloses a machining and assembling method applying the assembling tool.
Description
Technical Field
The invention relates to the field of transmission mechanisms, in particular to a reverse planetary roller screw assembly tool. In addition, the invention also relates to a reverse planetary roller screw machining and assembling method.
Background
The reverse planetary roller screw is a transmission component for realizing conversion of linear motion and rotary motion, mainly comprises screw rods, nuts, rollers, a retainer and other components, realizes load dispersion and bearing by a plurality of threaded meshing points, and has the advantages of high bearing, high precision, high rigidity, long service life and the like.
The reverse planetary roller screw structurally has the characteristic of space thread multipoint meshing transmission, correct assembly of parts has key influence on normal use of the screw, and the defects of low efficiency, low operability and repeatability of an assembly method, large influence factor caused by manpower and the like exist in the current assembly process, so that batch production of reverse planetary roller screw products is restricted.
Therefore, how to provide a reverse planetary roller screw assembly tool and a machining and assembling method which overcome the above problems is a technical problem which needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide a reverse planetary roller screw assembly tool, which sequentially jacks up rollers through a tensioning mechanism, improves the assembly efficiency of the reverse planetary roller screw, reduces the requirements on operators, and is favorable for promoting the realization of standardized, normalized and flow operations in batch production. The invention also aims to provide a reverse type planetary roller screw machining and assembling method.
In order to solve the technical problem, the invention provides an assembly tool for a reverse planetary roller screw, which comprises a horizontally arranged turntable, wherein a chuck for clamping and fixing a vertical screw rod is arranged at the center of the turntable, a plurality of tensioning mechanisms are detachably connected to the turntable, each tensioning mechanism is arranged around the center of the turntable and is aligned with a plurality of rollers around the screw rod respectively, the tensioning mechanisms are positioned at the outer sides of the corresponding rollers, the connecting line of the tensioning mechanisms penetrates through the center of the turntable, and the inner sides of the tensioning mechanisms tightly support the corresponding rollers.
Preferably, a plurality of positioning holes are formed in the turntable, and a positioning pin is arranged at the lower end of the tensioning mechanism and inserted into the positioning holes.
Preferably, the positioning holes are arranged in multiple layers of concentric circles around the center of the turntable, and the positioning holes on the same radius are equal in spacing.
Preferably, straining device includes slide and slider, the slide inboard is provided with the vertical mounting groove that extends, the slider outside stretches into in the mounting groove, the inboard top of slider is tight the roller, be provided with the inside spring that promotes the slider in the slide, the slide lower extreme is provided with a plurality of radial arrangement the locating pin.
Preferably, the mounting groove both sides are provided with the spout of horizontal arrangement, the slider both sides are provided with the direction key that stretches into the spout.
Preferably, the opening of the mounting groove is provided with a limiting flange, two sides of the sliding block are provided with limiting steps, the inner side of the upper end of the sliding block is provided with an avoiding inclined plane, and the inner side of the sliding block is provided with a groove matched with the roller in shape.
Preferably, the device also comprises a horizontally arranged base, wherein the upper surface of the base is connected with the lower surface of the turntable through a bearing.
The invention provides a reverse planetary roller screw machining and assembling method, which comprises the following steps:
processing a main positioning mark on the end face of the external gear of the screw rod, and processing an auxiliary positioning mark on the end face of the roller;
the surface passing through the axis of the screw rod and the main positioning mark is a main reference plane, and the thread machining starting point of the screw rod is positioned in the main reference plane;
the surface passing through the axes of the rollers and the auxiliary positioning marks is an auxiliary reference plane, the thread machining starting points of the rollers are positioned in the auxiliary reference plane, and the thread machining starting points of the rollers are the same;
vertically installing the screw rod into a chuck for fixing, tightly attaching the first roller to the screw rod, aligning the auxiliary positioning mark with the main positioning mark, and installing a tensioning mechanism on a turntable to tightly push the first roller;
rotating the next roller by a preset angle by using the auxiliary positioning mark as an initial position to enable the roller to be attached to the screw rod, installing the tensioning mechanism to push the corresponding roller tightly, and repeating the steps until all the rollers and the corresponding tensioning mechanism are installed;
and installing the retainer, removing the tensioning mechanism and loosening the chuck.
Preferably, the step of rotating the next roller by a preset angle by using the secondary positioning mark as a starting position is specifically as follows:
and the Nth roller revolves around the screw rod for 360/N degrees relative to the Nth-1 roller and rotates for T x 360/N degrees +360/N degrees, wherein T is the number of screw heads of the screw rod.
Preferably, the distance between the thread machining starting point of the roller and the end surface of the roller is integral multiple of the thread pitch, and the distance between the thread machining starting point of the screw rod and the thread starting end surface of the screw rod is integral multiple of the thread pitch.
The invention provides a reverse planetary roller screw rod assembly tool which comprises a horizontally arranged rotary table, wherein a chuck for clamping and fixing a vertical screw rod is arranged at the center of the rotary table, a plurality of tensioning mechanisms are detachably connected to the rotary table, each tensioning mechanism is arranged around the center of the rotary table and is respectively aligned with a plurality of rollers around the screw rod, the tensioning mechanisms are positioned on the outer sides of corresponding rollers, connecting lines of the tensioning mechanisms and the rollers penetrate through the center of the rotary table, and the inner sides of the tensioning mechanisms tightly push the corresponding rollers.
Accurate positioning in the assembling process is assisted by manufacturing positioning marks, the assembling efficiency of the reverse planetary roller screw is improved, the requirements on operators are reduced, and the method is favorable for realizing standardized, normalized and flow operations in batch production.
The invention also provides a processing and assembling method using the assembling tool, and the assembling tool has the technical effects, so the processing and assembling method also has the same technical effects, and is not described in detail herein.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of a reverse planetary roller screw assembly fixture provided by the invention;
FIG. 2 is a schematic structural diagram of a reverse planetary roller screw assembly fixture;
FIG. 3 is a schematic structural view of a turntable in one embodiment of the reverse planetary roller screw assembly fixture provided in the present invention;
FIG. 4 is a schematic structural diagram of a tensioning mechanism in one embodiment of the reverse planetary roller screw assembly fixture provided by the present invention;
FIG. 5 is a schematic cross-sectional view of a tensioning mechanism in one embodiment of the inverted planetary roller screw assembly fixture of the present invention;
fig. 6 is a schematic diagram of the position of the positioning mark of an embodiment of the reverse planetary roller screw machining and assembling method provided by the invention.
Detailed Description
The core of the invention is to provide the reverse planetary roller screw assembly tool, rollers are sequentially pushed by the tensioning mechanism, the reverse planetary roller screw assembly efficiency is improved, the requirements on operators are reduced, and the realization of standardized, normalized and flow operation in batch production is facilitated. The other core of the invention is to provide a reverse type planetary roller screw machining and assembling method.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of an embodiment of a reverse planetary roller screw assembly fixture according to the present invention; FIG. 2 is a schematic structural diagram of an inverted planetary roller screw assembly fixture; FIG. 3 is a schematic structural diagram of a turntable in an embodiment of the assembly tool for the reverse planetary roller screw provided by the present invention; FIG. 4 is a schematic structural diagram of a tensioning mechanism in one embodiment of the reverse planetary roller screw assembly fixture provided by the present invention; FIG. 5 is a schematic cross-sectional view of a tensioning mechanism in one embodiment of the inverted planetary roller screw assembly fixture of the present invention; fig. 6 is a schematic diagram of the position of a positioning mark of an embodiment of the reverse planetary roller screw machining and assembling method provided by the invention.
The invention provides an assembly tool of a reverse planetary roller screw, which is used for assembling the reverse planetary roller screw, wherein the reverse planetary roller screw comprises a screw rod 6 positioned in the center, a plurality of rollers 7 surrounding the screw rod 6, a retainer 9 for fixing the rollers 7 and a nut 8 wrapping the screw rod 6. The assembling tool comprises a rotary table 1, a chuck 2 and a plurality of tensioning mechanisms 3, wherein the rotary table 1 is horizontally arranged, the chuck 2 is arranged at the center of the rotary table 1, the chuck 2 is used for clamping and fixing a vertical screw rod 6, the rotary table 1 is detachably connected with the plurality of tensioning mechanisms 3, each tensioning mechanism 3 is arranged around the center of the rotary table 1, and meanwhile, each tensioning mechanism 3 is respectively aligned with a plurality of rollers 7 around the screw rod 6, namely the number of the tensioning mechanisms 3 is equal to that of the rollers 7. The tensioning mechanisms 3 are positioned at the outer sides of the corresponding rollers 7, and the connecting line of the two rollers passes through the center of the turntable 1, namely the corresponding tensioning mechanisms 3 and the corresponding rollers 7 are positioned on the same radius, and the inner sides of the tensioning mechanisms 3 tightly support the corresponding rollers 7. The number of the rollers 7 is N, the screw rod 6 is an N-head thread, the rollers 7 are single-head threads, and the number N of the rollers 7 is a positive divisor of 360 on the premise of ensuring the capacity of the space.
In order to ensure the stable detachable connection of the tensioning mechanism 3, a plurality of positioning holes 11 are arranged on the rotary table 1, and a positioning pin 31 is arranged at the lower end of the tensioning mechanism 3, and the positioning pin 31 is inserted into the positioning holes 11. Specifically, a plurality of locating holes 11 are evenly arranged in a radial shape, a plurality of layers of concentric circles are formed and arranged around the center of the turntable 1, and the intervals of the plurality of locating holes 11 on the same radius are equal. Or the arrangement of the positioning holes 11 can be adjusted according to the situation, or other connection methods, such as key-slot connection, are adopted, and the like, and are within the protection scope of the invention.
In the reverse planetary roller screw assembly tool provided by the specific embodiment of the invention, the tensioning mechanism 3 comprises a sliding seat 32 and a sliding block 33, wherein one side of each component facing the center is an inner side, one side of each component facing away from the center is an outer side, a vertically extending mounting groove is formed in the inner side of the sliding seat 32, the outer side of the sliding block 33 extends into the mounting groove, the inner side of the sliding block 33 supports against the rollers 7, a spring 34 for pushing the sliding block 33 inwards is arranged in the sliding seat 32, and a plurality of positioning pins 31 which are arranged in a radial direction are arranged at the lower end of the sliding seat 32. The slide 32, namely the slide 33, is pushed to approach the roller 7, the spring 34 is compressed, the slide 33 is pushed to abut against the roller 7, and the positioning pin 31 is inserted into the positioning hole 11 to fix the position of the slide 32.
Furthermore, sliding grooves are horizontally arranged on two sides of the mounting groove, and guide keys 35 extending into the sliding grooves are arranged on two sides of the sliding block 33, so that the radial movement of the sliding block 33 is guided, and the transverse movement of the sliding block is limited.
Preferably, a limiting flange is arranged at an opening of the mounting groove, limiting steps are arranged on two sides of the sliding block 33 to prevent the sliding block 33 from falling off the sliding seat 32, an avoiding inclined plane is arranged on the inner side of the upper end of the sliding block 33 to facilitate mounting of the retainer 9, and a groove matched with the roller 7 in shape is arranged on the inner side of the sliding block 33 to enable the roller 7 to be stably fixed during pressing.
On the basis of the reverse planetary roller screw assembly tool provided by each specific embodiment, the reverse planetary roller screw assembly tool further comprises a base 4 which is horizontally arranged, the upper surface of the base 4 is connected with the lower surface of the rotary table 1 through a bearing 5, and when the roller 7 and the tensioning mechanism 3 are sequentially installed, the rotary table 1 can be rotated, so that the reverse planetary roller screw assembly tool is convenient for operators to operate and install.
The specific embodiment of the invention provides a reverse planetary roller screw machining and assembling method, which comprises the following steps:
processing a main positioning mark 61 on the end face of the external gear of the screw rod 6, and processing an auxiliary positioning mark 71 on the end face of the roller 7; the main positioning mark 61 is located at the tooth socket or tooth crest of the external gear end surface of the screw rod 6, and the corresponding auxiliary positioning mark 71 is located at the tooth crest or tooth trough of the end surface of the roller 7, i.e. after the two are meshed, the main positioning mark 61 and the auxiliary positioning mark 71 can be aligned.
The surfaces of the axis of the screw rod 6 and the main positioning mark 61 are main reference planes, the surfaces of the axis of the roller 7 and the auxiliary positioning mark 71 are auxiliary reference planes, and during thread machining, the positioning mark is used as a reference to ensure that the clamping position is consistent when each part is clamped through clamping and positioning, so that the consistency of the thread machining initial position is ensured. The thread machining starting point of the screw rod 6 is located in the main datum plane, the thread machining starting point of the roller 7 is located in the auxiliary datum plane, and the thread machining starting points of the rollers 7 are the same. The profile section and the initial point of the roller 7 are close to one side of the auxiliary positioning mark 71, the distance between the processing initial point and the end surface of the roller 7 is integral multiple of the screw pitch, the profile section and the initial point of the screw rod 6 are close to one side of the main positioning mark 61, the distance between the processing initial point and the thread initial end surface of the screw rod 6 is integral multiple of the screw pitch, and the thread initial directions of the screw rod 6 and the roller 7 are consistent with the position matching relation during assembly.
The screw rod 6 is vertically arranged in the chuck 2 to be fixed, the first roller 7 is attached to the screw rod 6, the auxiliary positioning mark 71 is aligned with the main positioning mark 61, the directions of the auxiliary positioning mark and the main positioning mark are the same, and the tensioning mechanism 3 is arranged on the rotary table 1 to tightly push the first roller 7. And after the roller 7 is assembled in place, the sliding block 33 tightly pushes the roller 7 to ensure that the roller 7 does not shake arbitrarily.
And rotating the next roller 7 by a preset angle by taking the auxiliary positioning mark 71 as an initial position, enabling the second roller 7 to complete corresponding revolution and rotation relative to the first roller 7 by a corresponding angle, enabling the roller 7 to be attached to the screw rod 6, installing the tensioning mechanism 3 to push against the corresponding roller 7, and repeating the steps until all the rollers 7 and the corresponding tensioning mechanism 3 are installed.
Specifically, taking a right-handed reverse planetary roller screw as an example, the nth roller 7 revolves around the screw rod 6 by 360/N ° with respect to the N-1 st roller 7, and rotates by T × 360/N ° +360/N °, where T is the number of thread starts of the screw rod 6, generally speaking, the screw rod and the nut are multi-thread screws, the number of thread starts is T, T may be 2, 3, 4, 5, and so on, and the roller is a single-thread screw, i.e., the number of thread starts is T =1, which is a common design knowledge of the reverse planetary roller screw.
After all the rollers 7 have been mounted, the cage 9 is mounted, the tensioning mechanism 3 is removed and the chuck 2 is released.
Accurate positioning in the assembling process is assisted by manufacturing positioning marks, the assembling efficiency of the reverse planetary roller screw is improved, the requirements on operators are reduced, and the method is favorable for realizing standardized, normalized and flow operations in batch production. The positioning assembly can be quickly and accurately realized, the use risk of uneven contact caused by misassembly or poor assembly is reduced, and the automatic assembly in batch production is favorably realized.
The reverse planetary roller screw assembly tool and the machining and assembling method provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an opposite formula planet roller lead screw assembly fixture, its characterized in that, including carousel (1) that the level was arranged, carousel (1) center is provided with chuck (2) that are used for pressing from both sides tight fixed vertical lead screw (6), can dismantle on carousel (1) and be connected with a plurality of straining device (3), each straining device (3) center setting, and respectively with center around a plurality of roller (7) of lead screw (6) align, straining device (3) are located and correspond roller (7) outside, and both lines pass carousel (1) center, straining device (3) inboard top tightly corresponds roller (7).
2. The inverted planetary roller screw assembly tool according to claim 1, wherein a plurality of positioning holes (11) are formed in the turntable (1), a positioning pin (31) is arranged at the lower end of the tensioning mechanism (3), and the positioning pin (31) is inserted into the positioning holes (11).
3. The inverted planetary roller screw assembly tool according to claim 2, wherein the positioning holes (11) are arranged in multiple concentric circles around the center of the turntable (1), and the positioning holes (11) located on the same radius are equally spaced.
4. The reverse planetary roller screw assembly tool according to claim 3, wherein the tensioning mechanism (3) comprises a sliding seat (32) and a sliding block (33), a vertically extending mounting groove is formed in the inner side of the sliding seat (32), the outer side of the sliding block (33) extends into the mounting groove, the inner side of the sliding block (33) abuts against the roller (7), a spring (34) pushing the sliding block (33) inwards is arranged in the sliding seat (32), and a plurality of positioning pins (31) which are arranged in a radial direction are arranged at the lower end of the sliding seat (32).
5. The reverse planetary roller screw assembly fixture according to claim 4, wherein sliding grooves are horizontally arranged on two sides of the mounting groove, and guide keys (35) extending into the sliding grooves are arranged on two sides of the sliding block (33).
6. The reverse planetary roller screw assembly tool according to claim 5, wherein a limiting flange is arranged at the opening of the mounting groove, limiting steps are arranged on two sides of the sliding block (33), an avoiding inclined surface is arranged on the inner side of the upper end of the sliding block (33), and a groove matched with the outer shape of the roller (7) is arranged on the inner side of the sliding block (33).
7. The assembly tool of any one of claims 1 to 6, further comprising a horizontally arranged base (4), wherein the upper surface of the base (4) is connected with the lower surface of the turntable (1) through a bearing (5).
8. A reverse planetary roller screw machining and assembling method is characterized by comprising the following steps:
processing a main positioning mark (61) on the end face of an external gear of the screw rod (6), and processing a secondary positioning mark (71) on the end face of the roller (7);
the surface passing through the axis of the screw rod (6) and the main positioning mark (61) is a main reference plane, and the thread machining starting point of the screw rod (6) is positioned in the main reference plane;
the surface passing through the axis of the roller (7) and the auxiliary positioning mark (71) is an auxiliary reference plane, the thread machining starting point of the roller (7) is located in the auxiliary base plane, and the thread machining starting points of the rollers (7) are the same;
vertically installing the screw rod (6) into a chuck (2) for fixing, attaching the first roller (7) to the screw rod (6), aligning the auxiliary positioning mark (71) with the main positioning mark (61), and installing a tensioning mechanism (3) on the turntable (1) to tightly push the first roller (7);
rotating the next roller (7) by a preset angle by taking the auxiliary positioning mark (71) as an initial position to enable the roller (7) to be attached to the screw rod (6), installing the tensioning mechanism (3) to be tightly pushed against the corresponding roller (7), and repeating the steps until all the rollers (7) and the corresponding tensioning mechanism (3) are installed;
mounting the retainer (9), removing the tensioning mechanism (3) and loosening the chuck (2).
9. The assembly method according to claim 8, wherein the rotation of the next roller (7) by a predetermined angle using the secondary positioning mark (71) as the starting position is specifically:
the Nth roller (7) revolves around the screw rod (6) for 360/N degrees relative to the Nth-1 st roller (7) and rotates for T360/N degrees +360/N degrees, wherein T is the number of thread heads of the screw rod (6).
10. A reverse planetary roller screw machining assembly method according to claim 9, characterized in that the distance between the thread machining starting point of the roller (7) and the end face of the roller (7) is an integral multiple of the pitch, and the distance between the thread machining starting point of the screw (6) and the thread starting end face of the screw (6) is an integral multiple of the pitch.
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| CN202211055440.8A CN115415790B (en) | 2022-08-31 | 2022-08-31 | Reverse planetary roller screw assembly fixture and machining assembly method |
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| CN202211055440.8A CN115415790B (en) | 2022-08-31 | 2022-08-31 | Reverse planetary roller screw assembly fixture and machining assembly method |
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| CN111015157A (en) * | 2019-12-18 | 2020-04-17 | 浙江辛子精工机械有限公司 | Assembling method of closed roller screw mechanism |
| CN111779810A (en) * | 2020-06-01 | 2020-10-16 | 北京精密机电控制设备研究所 | Planetary roller screw |
| CN112664633A (en) * | 2020-12-11 | 2021-04-16 | 北京自动化控制设备研究所 | High-power dual-redundancy linear output electric actuating mechanism |
| CN112792552A (en) * | 2021-01-20 | 2021-05-14 | 内蒙古工业大学 | Centering planetary roller screw pair vertical assembling device capable of adapting to multiple models |
| CN113015425A (en) * | 2021-01-27 | 2021-06-22 | 商泽阳 | Positioning disc special for lead type electronic component reverse pasting machine |
| CN112936146A (en) * | 2021-02-03 | 2021-06-11 | 内蒙古工业大学 | Integrated assembly fixture of reverse planetary roller screw pair |
| CN114139295A (en) * | 2021-08-31 | 2022-03-04 | 北京精密机电控制设备研究所 | Solving method for contact point of planetary roller screw pair |
| CN113954009A (en) * | 2021-11-23 | 2022-01-21 | 内蒙古工业大学 | Circulating type planet roller screw pair assembling clamp and assembling method thereof |
| CN216759692U (en) * | 2022-01-29 | 2022-06-17 | 内蒙古工业大学 | Reverse type planet roller screw pair assembly fixture |
| CN114321312A (en) * | 2022-03-14 | 2022-04-12 | 西安索睿科技有限公司 | Differential planetary roller screw pair, assembly tool and assembly process |
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| CN115415790B (en) | 2023-08-25 |
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