CN115415790B - Reverse planetary roller screw assembly fixture and machining assembly method - Google Patents
Reverse planetary roller screw assembly fixture and machining assembly method Download PDFInfo
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- CN115415790B CN115415790B CN202211055440.8A CN202211055440A CN115415790B CN 115415790 B CN115415790 B CN 115415790B CN 202211055440 A CN202211055440 A CN 202211055440A CN 115415790 B CN115415790 B CN 115415790B
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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 assembly fixture which comprises a horizontally arranged turntable, wherein a chuck for clamping and fixing a vertical screw rod is arranged in 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 respectively aligned with a plurality of rollers around the screw rod, the tensioning mechanisms are positioned on the outer sides of the corresponding rollers, a connecting line of the tensioning mechanisms penetrates through the center of the turntable, and the inner sides of the tensioning mechanisms tightly prop against the corresponding rollers. Accurate positioning in the assembly process is assisted by manufacturing the positioning mark, the assembly efficiency of the reverse planetary roller screw is improved, the requirement on operators is reduced, and standardized, normalized and flow operation in mass production is facilitated. The invention also discloses a processing 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 fixture. In addition, the invention also relates to a machining and assembling method of the reverse planetary roller screw.
Background
The reverse planetary roller screw is a transmission part for converting linear motion and rotary motion, and mainly consists of screw rod, nut, roller, retainer and other parts, and has the advantages of high bearing capacity, high precision, high rigidity, long service life, etc.
The reverse planetary roller screw has the characteristic of space thread multipoint meshing transmission structurally, the correct assembly of parts has key influence on the normal use of the screw, and the defects of low efficiency, low operability and low repeatability of an assembly method, large factors influenced by manpower and the like exist in the current assembly process, so that the mass production of reverse planetary roller screw products is restricted.
Therefore, how to provide a reverse planetary roller screw assembly tool and a machining assembly method for overcoming the above problems is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide a reverse type planetary roller screw assembly tool, which sequentially pushes rollers through a tensioning mechanism, improves the assembly efficiency of the reverse type planetary roller screw, reduces the requirements on operators, and is beneficial to promoting standardized, normalized and flow operation in mass production. The invention further aims to provide a reverse type planetary roller screw machining and assembling method.
In order to solve the technical problems, the invention provides a reverse planetary roller screw assembly fixture, 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 respectively aligned with a plurality of rollers around the screw rod, the tensioning mechanisms are positioned at the outer sides of the corresponding rollers, a connecting line of the tensioning mechanisms penetrates through the center of the turntable, and the inner sides of the tensioning mechanisms tightly prop against the corresponding rollers.
Preferably, a plurality of positioning holes are formed in the rotary table, and positioning pins are arranged at the lower end of the tensioning mechanism and inserted into the positioning holes.
Preferably, a plurality of the positioning holes are arranged in a plurality of layers of concentric circles around the center of the turntable, and the plurality of positioning holes on the same radius are equally spaced.
Preferably, the tensioning mechanism comprises a sliding seat and a sliding block, wherein a vertically extending installation groove is formed in the inner side of the sliding seat, the outer side of the sliding block stretches into the installation groove, the inner side of the sliding block tightly props against the roller, a spring for inwards pushing the sliding block is arranged in the sliding seat, and a plurality of positioning pins which are radially arranged are arranged at the lower end of the sliding seat.
Preferably, the two sides of the mounting groove are provided with sliding grooves which are horizontally arranged, and the two sides of the sliding block are provided with guide keys which extend into the sliding grooves.
Preferably, the mounting groove opening part is provided with spacing turn-ups, the slider both sides are provided with spacing step, slider upper end inboard is provided with dodges the inclined plane, the slider inboard be provided with the recess of roller appearance matching.
Preferably, the turntable comprises a horizontally arranged base, and 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 screw rod external gear, 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 datum plane, and the thread machining starting point of the screw rod is positioned in the main datum plane;
the surface passing through the axis of the roller and the auxiliary positioning mark is an auxiliary reference plane, the thread machining starting point of the roller is positioned in the auxiliary reference plane, and the thread machining starting point of each roller is the same;
the screw rod is vertically arranged in a chuck to be fixed, a first roller is tightly attached to the screw rod, the auxiliary positioning mark is aligned with the main positioning mark, and a tensioning mechanism is arranged on the turntable to tightly push the first roller;
rotating the next roller by a preset angle by taking the auxiliary positioning mark as a starting position, enabling the roller to be tightly attached to the screw rod, installing the tensioning mechanism to tightly prop against the corresponding roller, and repeating the steps until all the rollers and the corresponding tensioning mechanism are installed;
installing a retainer, removing the tensioning mechanism, and releasing the chuck.
Preferably, the rotating the next roller by a preset angle with the auxiliary positioning mark as a starting position specifically includes:
the Nth roller revolves 360/N degrees around the screw rod relative to the N-1 th roller, and rotates by T x 360/N degrees+360/N degrees, wherein T is the number of thread heads of the screw rod.
Preferably, the distance between the thread machining starting point of the roller and the end face of the roller is an integer multiple of the thread pitch, and the distance between the thread machining starting point of the screw rod and the thread starting end face of the screw rod is an integer multiple of the thread pitch.
The invention provides a reverse planetary roller screw assembly fixture which comprises a horizontally arranged turntable, wherein a chuck for clamping and fixing a vertical screw rod is arranged in 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 respectively aligned with a plurality of rollers around the screw rod, the tensioning mechanisms are positioned on the outer sides of the corresponding rollers, a connecting line of the tensioning mechanisms penetrates through the center of the turntable, and the inner sides of the tensioning mechanisms tightly prop against the corresponding rollers.
Accurate positioning in the assembly process is assisted by manufacturing the positioning mark, the assembly efficiency of the reverse planetary roller screw is improved, the requirement on operators is reduced, and standardized, normalized and flow operation in mass production is facilitated.
The invention also provides a processing and assembling method applying the assembling tool, and the processing and assembling method has the same technical effects as the assembling tool has the technical effects, and the processing and assembling method is not described in detail herein.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a reverse planetary roller screw assembly tool 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 diagram of a turntable in an embodiment of the reverse planetary roller screw assembly fixture provided by the invention;
fig. 4 is a schematic structural diagram of a tensioning mechanism in a specific embodiment of the reverse planetary roller screw assembly fixture provided by the invention;
FIG. 5 is a schematic cross-sectional view of a tensioning mechanism in one embodiment of the reverse planetary roller screw assembly tooling provided by the present invention;
fig. 6 is a schematic diagram of the location of a positioning mark in an embodiment of the reverse planetary roller screw machining and assembling method provided by the invention.
Detailed Description
The invention provides a reverse type planetary roller screw assembly tool, which sequentially pushes rollers through a tensioning mechanism, improves the assembly efficiency of the reverse type planetary roller screw, reduces the requirements on operators, and is beneficial to promoting standardized, normalized and flow operation in mass production. The invention further provides a reverse type planetary roller screw machining and assembling method.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of an embodiment of a reverse planetary roller screw assembly fixture provided by the present invention; fig. 2 is a schematic structural diagram of a reverse planetary roller screw assembly fixture; fig. 3 is a schematic structural diagram of a turntable in an embodiment of the reverse planetary roller screw assembly fixture provided by the invention; fig. 4 is a schematic structural diagram of a tensioning mechanism in a specific embodiment of the reverse planetary roller screw assembly fixture provided by the invention; FIG. 5 is a schematic cross-sectional view of a tensioning mechanism in one embodiment of the reverse planetary roller screw assembly tooling provided by the present invention; fig. 6 is a schematic diagram of the location of a positioning mark in an embodiment of the reverse planetary roller screw machining and assembling method provided by the invention.
The invention provides a reverse type planetary roller screw assembly fixture, which is used for assembling a reverse type planetary roller screw, and comprises a screw rod 6 positioned at the center, a plurality of rollers 7 surrounding the screw rod 6, a retainer 9 for fixing the rollers 7 and a nut 8 for wrapping the screw rod 6. The assembly fixture comprises a turntable 1, a chuck 2 and a plurality of tensioning mechanisms 3, wherein the turntable 1 is horizontally arranged, the chuck 2 is arranged at the center of the turntable 1, the chuck 2 is used for clamping and fixing a vertical screw rod 6, the turntable 1 is detachably connected with the plurality of tensioning mechanisms 3, each tensioning mechanism 3 is arranged around the center of the turntable 1, and simultaneously each tensioning mechanism 3 is respectively aligned with a plurality of rollers 7 around the screw rod 6, namely, the tensioning mechanisms 3 are equal to the rollers 7 in number. The tensioning mechanism 3 is positioned at the outer side of the corresponding roller 7, and the connecting line of the tensioning mechanism 3 and the roller 7 passes through the center of the turntable 1, namely the corresponding tensioning mechanism 3 and the roller 7 are positioned on the same radius, and the inner side of the tensioning mechanism 3 abuts against the corresponding roller 7. Let 7 numbers of rollers be N, lead screw 6 be N thread, and roller 7 is single thread, and general 7 numbers of rollers N take on the value and be 360 positive submultiples under the prerequisite that the space can hold.
In order to ensure stable detachable connection of the tensioning mechanism 3, a plurality of positioning holes 11 are formed in the turntable 1, positioning pins 31 are arranged at the lower end of the tensioning mechanism 3, and the positioning pins 31 are inserted into the positioning holes 11. Specifically, the plurality of positioning holes 11 are uniformly arranged in a radial shape, a multi-layer concentric circle structure circle is formed to be arranged around the center of the turntable 1, and the plurality of positioning holes 11 positioned on the same radius are equally spaced. Or the arrangement of the positioning holes 11 can be adjusted according to the situation, or other connection modes, such as key slot connection, are all within the protection scope of the invention.
In the reverse planetary roller screw assembly fixture provided by the embodiment of the invention, the tensioning mechanism 3 comprises a sliding seat 32 and a sliding block 33, wherein one side of each part facing the center is the inner side, one side facing away from the center is the 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 stretches into the mounting groove, the inner side of the sliding block 33 tightly props against the roller 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 are arranged at the lower end of the sliding seat 32 in a radial mode. The slide 32, that is, the slider 33 is pushed to approach the roller 7, the spring 34 is compressed, the slider 33 is pushed to press against the roller 7, the positioning pin 31 is inserted into the positioning hole 11, and the position of the slide 32 is fixed.
Further, the two sides of the installation groove are provided with sliding grooves which are horizontally arranged, the two sides of the sliding block 33 are provided with guide keys 35 which extend into the sliding grooves to provide guidance for radial movement of the sliding block 33, and meanwhile, the sliding block is limited to move transversely.
Preferably, the mounting groove opening part is provided with spacing turn-ups, and slider 33 both sides are provided with spacing step, prevent slider 33 from deviating from slide 32, and slider 33 upper end inboard is provided with dodges the inclined plane, the installation of holder 9 of being convenient for, and slider 33 inboard is provided with the recess that matches with roller 7 appearance, makes to advance can stable fixed roller 7 when compressing tightly.
On the basis of the reverse planetary roller screw assembly tool provided by the specific embodiments, the reverse planetary roller screw assembly tool further comprises 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, and when the rollers 7 and the tensioning mechanism 3 are sequentially installed, the turntable 1 can be rotated, so that the operation and the installation of personnel are facilitated.
The invention provides a reverse planetary roller screw machining and assembling method, which comprises the following steps:
a main positioning mark 61 is processed on the end face of the external gear of the screw rod 6, and an auxiliary positioning mark 71 is processed on the end face of the roller 7; wherein the main positioning mark 61 is positioned at the tooth groove or tooth top of the end face of the external gear of the screw rod 6, and the corresponding auxiliary positioning mark 71 is positioned at the tooth top or tooth top of the end face of the roller 7, namely, after the main positioning mark 61 and the auxiliary positioning mark 71 are meshed, the main positioning mark and the auxiliary positioning mark 71 can be aligned.
Wherein, the surface of crossing lead screw 6 axis and main locating mark 61 is the main reference plane, and the surface of crossing roller 7 axis and vice locating mark 71 is the vice reference plane, during the screw machining, through clamping location, use locating mark as the reference when guaranteeing every part clamping, keep clamping position unanimous to guarantee that screw machining initial position is unanimous. The thread machining starting point of the screw rod 6 is located in the main reference plane, the thread machining starting point of the roller 7 is located in the auxiliary reference plane, and the thread machining starting points of the rollers 7 are identical. The profile section and the starting point of the roller 7 are close to one side of the auxiliary positioning mark 71, the distance between the processing starting point and the end face of the roller 7 is an integral multiple of the screw pitch, the profile section and the starting point of the screw rod 6 are close to one side of the main positioning mark 61, the distance between the processing starting point and the thread starting end face of the screw rod 6 is an integral multiple of the screw pitch, and the thread starting direction of the screw rod 6 and the roller 7 is consistent with the position matching relation during assembly.
The screw rod 6 is vertically installed in the chuck 2 to be fixed, the first roller 7 is tightly attached to the screw rod 6, the auxiliary positioning marks 71 are aligned with the main positioning marks 61, the main positioning marks are oriented towards the same, and the tensioning mechanism 3 is installed on the turntable 1 to tightly press the first roller 7. And ensures that after the roller 7 is assembled in place, the slider 33 abuts against the roller 7 to ensure that the roller 7 does not shake arbitrarily.
The next roller 7 is rotated by a preset angle by taking the auxiliary positioning mark 71 as a starting position, the second roller 7 completes corresponding revolution and autorotation relative to the first roller 7, the corresponding angle is rotated, then the rollers 7 are tightly attached to the screw rod 6, the tensioning mechanism 3 is installed to tightly prop against the corresponding rollers 7, and the steps are repeated 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 360/N ° around the screw rod 6 relative to the nth-1 roller 7, and rotates by t×360/n° +360/n°, where T is the number of thread heads of the screw rod 6, in general, the screw rod and the nut are multi-start threads, the number of thread heads are all T, T can be 2, 3, 4, 5, etc., the roller is a single-start thread, i.e., the number of thread heads is t=1, which belongs to the common general knowledge of reverse planetary roller screws.
After all the rollers 7 are installed, the cage 9 is installed, the tensioning mechanism 3 is removed, and the chuck 2 is released.
Accurate positioning in the assembly process is assisted by manufacturing the positioning mark, the assembly efficiency of the reverse planetary roller screw is improved, the requirement on operators is reduced, and standardized, normalized and flow operation in mass production is facilitated. Positioning assembly can be realized rapidly and accurately, the use risk of uneven contact caused by false assembly or poor assembly is reduced, and the automatic assembly in batch production is realized.
The reverse planetary roller screw assembly fixture and the machining assembly method provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (9)
1. The reverse planetary roller screw machining and assembling method is characterized by comprising a horizontally arranged rotary table (1), wherein a chuck (2) for clamping and fixing a vertical screw rod (6) is arranged at the center of the rotary table (1), a plurality of tensioning mechanisms (3) are detachably connected to the rotary table (1), each tensioning mechanism (3) is arranged around the center of the rotary table (1) and is respectively aligned with a plurality of rollers (7) around the screw rod (6), the tensioning mechanisms (3) are positioned at the outer sides of the corresponding rollers (7), connecting wires of the tensioning mechanisms penetrate through the center of the rotary table (1), and the inner sides of the tensioning mechanisms (3) tightly prop against the corresponding rollers (7);
the method comprises the following steps:
machining a main positioning mark (61) on the end face of the external gear of the screw rod (6), and machining an auxiliary 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 datum plane, and the thread machining starting point of the screw rod (6) is positioned in the main datum 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 positioned in the auxiliary reference plane, and the thread machining starting point of each roller (7) is the same;
the screw rod (6) is vertically installed in the chuck (2) to be fixed, a first roller (7) is tightly attached to the screw rod (6), the auxiliary positioning mark (71) is aligned with the main positioning mark (61), and the tensioning mechanism (3) is installed 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 a starting position, enabling the roller (7) to be tightly attached to the screw rod (6), installing the tensioning mechanism (3) to tightly prop against the corresponding roller (7), and repeating the steps until all the rollers (7) and the corresponding tensioning mechanisms (3) are installed;
-installing a holder (9), -removing the tensioning mechanism (3), and-releasing the chuck (2).
2. The reverse planetary roller screw machining and assembling method 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 reverse planetary roller screw machining and assembling method according to claim 2, wherein a plurality of the positioning holes (11) are arranged in a plurality of concentric circles around the center of the turntable (1), and a plurality of the positioning holes (11) located on the same radius are equally spaced.
4. A reverse planetary roller screw machining and assembling method according to claim 3, wherein the tensioning mechanism (3) comprises a sliding seat (32) and a sliding block (33), a vertically extending installation groove is formed in the inner side of the sliding seat (32), the outer side of the sliding block (33) stretches into the installation groove, the inner side of the sliding block (33) tightly abuts against the roller (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 radially arranged are arranged at the lower end of the sliding seat (32).
5. The reverse planetary roller screw machining and assembling method according to claim 4, wherein the installation groove is provided with horizontally arranged sliding grooves on two sides, and the sliding block (33) is provided with guide keys (35) extending into the sliding grooves on two sides.
6. The reverse planetary roller screw machining and assembling method according to claim 5, wherein limiting flanges are arranged at openings of the mounting grooves, limiting steps are arranged on two sides of the sliding block (33), an avoidance inclined plane is arranged on the inner side of the upper end of the sliding block (33), and a groove matched with the shape of the roller (7) is formed in the inner side of the sliding block (33).
7. A reverse planetary roller screw machining assembly method according to any one of claims 1 to 6, further comprising a horizontally arranged base (4), the upper side of the base (4) being connected to the lower side of the turntable (1) by means of a bearing (5).
8. The reverse planetary roller screw machining and assembling method according to claim 1, wherein the rotating the next roller (7) by a preset angle with the auxiliary positioning mark (71) as a starting position is specifically:
the Nth roller (7) revolves 360/N degrees around the screw rod (6) relative to the (N-1) th roller (7) and rotates by T x 360/N degrees+360/N degrees, wherein T is the number of thread heads of the screw rod (6).
9. The reverse planetary roller screw machining assembly method according to claim 8, wherein a distance between a thread machining start point of the roller (7) and an end face of the roller (7) is an integer multiple of a screw pitch, and a distance between a thread machining start point of the screw (6) and a thread start end face of the screw (6) is an integer multiple of a screw 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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| CN115415790B true CN115415790B (en) | 2023-08-25 |
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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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