CN1629513A - Planetary differential worm stepless speed regulation soft start moment limiting device - Google Patents
Planetary differential worm stepless speed regulation soft start moment limiting device Download PDFInfo
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- CN1629513A CN1629513A CN 200410046638 CN200410046638A CN1629513A CN 1629513 A CN1629513 A CN 1629513A CN 200410046638 CN200410046638 CN 200410046638 CN 200410046638 A CN200410046638 A CN 200410046638A CN 1629513 A CN1629513 A CN 1629513A
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Abstract
This invention relates to a differential worm stepless speed-regulating flexible starting and moment limiting device, which comprises the following: machine shell, main motor, axis connector, sun wheel, outer gear axis, top block, top end, planet rack, planet wheel axis, planet parts, clamper, outer gear connector, inner gear wheel, semi-round clamp, output axis, deceleration structure, worm turbine, worm bar, external spline axis, butterfly spring, block plate, cover cylinder, pressing cover, adjusting cover, detent, axis connection points, adjusting motor, transmission block, two-way displacement sensor and roller bearing. When in using, it connects the output axis with the lifter with large power and the working parts of the output machine and connects the two-way displacement sensor signal output with the main motor control circuit through wires.
Description
Technical field
The present invention relates to a kind of device that is used for carrying out on the equipment such as big-and-middle-sized lift, conveyor speed governing, soft start and the protection of overload limit square, specifically, relate to a kind of planetary differential worm screw stepless speed regulation soft start torque limiting device.
Background technique
At present domestic that equipment such as big-and-middle-sized lift, conveyor are carried out the mode and the device of speed governing is a lot, such as frequency control of motor speed, power transformation resistance speed governing, friction speed-regulating, Hydraulic Adjustable Speed etc.Generally all be to adopt main motor speed of control or torque differences to reach the purpose of bidirectional speed governing on electrical equipment control, and can guarantee seamlessly transitting of machine driven system.But for main motor, owing to start the influence of stall square inertia, cause inrush current to form impact greater than rated current to electrical network, therefore necessarily require big-and-middle-sized power motor No Load Start electric current to realize soft start less than rated current, so also just become various modes of speed regulation and all necessary primary difficult problem that solves of device.Though existing RHVC has realized soft start, yet powerful frequency-variable controller price is very expensive, and circuit board wherein and electronic parts and components repair difficulty, the maintenance cost height; Though power transformation resistance speed governing also can realize soft start, shortcoming is that power consumption is big, and the big more then user cost of power is high more, and control system is also complicated more, and it is just big more to take up room, and can not solve explosion-proof problem; Friction speed-regulating only is applicable to small-power, and when using when high-power, friction catch moment is big, and the frictional heating problem can't solve, so the friction speed-regulating mode is for big-and-middle-sized power master motor, and soft start is far from being; As for existing Hydraulic Adjustable Speed, can realize soft start with saying, but shortcoming is an equipment easily leaks, noise is big, temperature is high, environment is had pollution, is that service behaviour is not good generally speaking.
In addition, a lot of arrangements for speed regulation all must solve a problem of limitting square to protect to output overloading, and prior art normally adopts fluid coupling to realize.But problem is that fluid coupling itself is bulky, and power loss is big, the internal structure complexity, and particularly after the fusible plug fusing, high-temperature oil liquid sprays at a high speed, may jeopardize equipment and personal safety.
Take a broad view of existing above-mentioned various arrangements for speed regulation as seen, a kind of arrangements for speed regulation both can have been accomplished keeping in the constant absence of main motor speed, realized the two-way stepless speed regulation of output speed and seamlessly transitted; Can make big-and-middle-sized power master electric motor starting electric current realize soft start less than rated current again; Also possesses output overloading limit square protective function simultaneously; And can also accomplish that simple in structure, reliable working performance, manufacturing and working service cost are lower etc.
Summary of the invention
For solve that existing big-and-middle-sized arrangements for speed regulation exist above-mentionedly can not realize simultaneously that two-way stepless speed regulation seamlessly transits, soft start and output overloading limit square protective function and not good, manufacturing of complex structure, service behaviour and working service cost problem of higher again; purpose of the present invention, be provide a kind of and can realize simultaneously that two-way stepless speed regulation seamlessly transits, soft start and output overloading limit square protective function and simple in structure again, reliable working performance, manufacturing and the lower-cost planetary differential worm screw of working service stepless speed regulation soft start torque limiting device.
Solution of the present invention is as follows.It still includes frame, main motor and the shaft joint that is connected on the main machine shaft, and its feature part structurally is, one internal tooth casing is housed in frame and among the inside teeth directional in internal tooth casing two is connected in internal tooth casing, constitutes sun gear and the external tooth wheel shaft that backlash floats respectively, the inner at sun gear and external tooth wheel shaft is fixed with jacking block and top respectively, jacking block with the top mutually apical grafting to carry out both axially locating, the external tooth wheel shaft radially is fixed in the endoporus of a planet carrier one end by rolling bearing, one end of this planet carrier is fixed in the frame by rolling bearing, be connected with the reducing gear that quantity is at least the different transmission types of one-level between the shaft joint on gear shaft and the main machine shaft outside, the other end of planet carrier is fixed in the first class reducer structure adjacent with the external tooth wheel shaft with rolling bearing; On planet carrier, one week respectively be fixed with the planetary wheel component that quantity is at least two groups by planet wheel shaft around circle, every group of planetary wheel component is made of a planet wheel and the rolling bearing and the back-up ring that are positioned at two ends, planet wheel hole, rolling bearing and back-up ring then are fixed on the corresponding planet wheel shaft, each planet wheel all with the sun gear outer gearing, the outer end of each planet wheel shaft offers a Card trough and has a clamp to be stuck in the groove, then this clamp is connected mutually with an end of planet carrier, so that planet wheel shaft is radially reached axially locating; Has an external gear connector that is positioned at frame, its endoporus is positioned on the planet carrier with at least one bearing, one internal gear by its internal tooth and external gear connector mutually teeth directional connect and formation backlash radial floating, two half-round clamping rings snap in the grooving that external gear connector end circumference radially offers, and the end face of two semicircle snap rings is fixed in an end of internal gear to carry out axially locating, internal gear and all interior mutually engagement of the planet wheel of every group of planetary wheel component; Having one is positioned at frame and is fixed in worm gear on the external gear connector, one worm screw and the outer gearing mutually of this worm gear, worm screw is connected with a male splined shaft by internal spline, the two ends of male splined shaft use roller bearings respectively in frame, on end of worm screw and the male splined shaft between one of them rolling bearing belleville spring and baffle plate are housed, the rolling bearing outer end of this end is crimped with successively and is enclosed within the sleeve that male splined shaft is outer and the frame perforate is interior, bearing and gland, and gland is fixed on the frame, stretch out and be connected with a coupling drive that has a Brake drum on the outer male splined shaft of this gland perforate, coupling drive a break radially is housed, this coupling drive is connected with a speed-adjustable motor, belleville spring and conduction baffle plate are housed on the male splined shaft between the other end of worm screw and another rolling bearing, the rolling bearing outer end of this end is crimped with the sleeve that is enclosed within the frame perforate successively and adjusts gland, and adjusting gland is fixed on the frame, in the male splined shaft of this end, offer porose and be built-in with a two-way displacement transducer in the hole, the conduction baffle plate is withstood in the inner of this bidirectional displacement sensor, and its outer end is then passed the perforate on sleeve inner and the adjustment gland and is emerging in outside the end face of adjusting gland.
The present invention with said structure is when installing and using, the lift of big-and-middle-sized power, the workpiece of conveyor should be connected as the planet carrier of output block with the present invention, and the displacement sensor signal output part on the bidirectional displacement sensor is wired in the external control circuit of main motor, just can carry out work then.
During work, when speed-adjustable motor slow start (break on the coupling drive moves back simultaneously apart from opening a sluice gate at this moment), external gear connector and internal gear that worm screw output drives in the differential member that worm gear connected rotate, through planet wheel sun gear is rotated, drive the output of external tooth wheel shaft speedup by internal tooth casing again, the reducing gear that drive quantity is at least one-level drives main motor rotation.When speed-adjustable motor accelerates to the control rotating speed gradually, main motor accelerates to rated speed thereupon, realized that speedup seamlessly transits, the stall square inertia when having overcome main electric motor starting adopts this conversion soft Starting Technology to realize the soft start of mechanical transmission and main motor.When main motor reached rated speed, it was connected power supply automatically, and speed-adjustable motor and main rotating speed of motor are balance basically.The quantity of main motor output through being connected is at least the reducing gear of one-level, return output turning under the constant situation former road, drive sun gear as the input of slowing down, the rotary state that this has just formed a kind of two input speed difference balances interflow makes the differential idle running of internal gear, planet carrier be output as zero.Utilize the characteristic of worm drive energy self-locking, the rotating speed of speed-adjustable motor is decelerated to zero gradually, break on speed-adjustable motor and the coupling drive is cut off the power supply simultaneously automatically at this moment, the break braking makes differential rotating speed decelerate to zero gradually, the while planet carrier is exported gradually, and speedup has realized that to rated speed output is seamlessly transitted by zero acceleration to rated speed.When planet carrier output reaches rated speed and needs to slow down later on, then can manually boot speed-adjustable motor, and allow its rotating speed by accelerating slowly, speedup is to the control rotating speed gradually, and planet carrier output then decelerates to zero gradually by rated speed, and is smooth deceleration.So just, realized planet carrier output by zero to rated speed and by rated speed to zero acceleration, deceleration two-way stepless speed regulation.
Limit square function in the planetary differential worm screw stepless speed regulation soft start torque limiting device of the present invention is achieved like this; promptly when the planet carrier output overloading; the reaction force of overload torque power has made the circumference torque force of internal gear of differential action increase; worm gear through being fixed on the external gear connector is passed to worm screw; the axial force of worm screw is increased and displacement; compress belleville spring and make the displacement of conduction plate washer; so touch bidirectional displacement sensor displacement and send signal; winner's motor is shut down, thereby realized the purpose of overload limit square.
The present invention is a kind of device that big-and-middle-sized power ascension machine, anti-explosion hoisting machine, scraper conveyor, Belt Conveyors, coal winning machine etc. need speed governing soft start and overload protection function that solves, and need to be equally applicable to other place of speed governing soft start.
The present invention has following beneficial effect: 1. stepless speed regulation, conversion soft start and output overloading limit square protective function being melted into a whole, is a kind of transmission device of multifunctional all; 2. adopt internal gear and sun gear to float simultaneously, transmission efficiency height, noise are little, compact structure, reliable performance; 3. adopt two-way controlled stepless speed regulation, can be operated on the speed of any setting; 4. regulate and control powerful main motor and realize transforming soft start with low power speed-adjustable motor, not only can alleviate the startup impact that transmission system itself is subjected to significantly, prolong the working life of key components and parts, simultaneously can also realize that main empty load of motor inrush current is less than rated current, to the impact of electrical network, reduce the unnecessary equipment investment of power supply facilities when avoiding system start-up; 5. be provided with the overload torque limiting device, realized the output overloading limiting protecting, guaranteed safe operation, can obtain good social benefit.
Description of drawings
Fig. 1 is the forward sectional view of a kind of concrete structure of the present invention;
Fig. 2 and Fig. 3 are respectively A-A and the B-B sectional view of Fig. 1.
Embodiment
Referring to Fig. 1 to Fig. 3.The present invention includes organic frame 22, main motor 31 and the shaft joint 30 that is connected in main motor 31 rotating shafts, internal tooth casing 3 is housed in frame 22 and among the inside teeth directional in internal tooth casing 3 two is connected in internal tooth casing 3, constitutes sun gear 1 and the external tooth wheel shaft 2 that backlash floats respectively, be fixed with jacking block 4 and top 5 respectively in the inner of sun gear 1 and external tooth wheel shaft 2, jacking block 4 with the top 5 mutually apical grafting to carry out both axially locating, external tooth wheel shaft 2 radially is fixed in the endoporus of planet carrier 7 one ends by rolling bearing 6, one end of planet carrier 7 is fixed in the frame 22 by rolling bearing 21, be connected with the reducing gear that quantity is at least the different transmission types of one-level between the shaft joint 30 in gear shaft 2 and main motor 31 rotating shafts outside, the other end of planet carrier 7 is fixed in the first class reducer structure adjacent with external tooth wheel shaft 2 with rolling bearing 45; On planet carrier 7, one week respectively be fixed with three groups of planetary wheel components by planet wheel shaft 11 around circle, every group of planetary wheel component is made of planet wheel 8 and the rolling bearing 9 and the back-up ring 10 that are positioned at two ends, planet wheel 8 hole, 10 of rolling bearing 9 and back-up rings are fixed on the corresponding planet wheel shaft 11, each planet wheel 8 all with sun gear 1 outer gearing, the outer end of each planet wheel shaft 11 offers a Card trough and has a clamp 12 to be stuck in the groove, then these clamp 12 usefulness bolts 13 are connected mutually with an end of planet carrier 7, so that planet wheel shaft 11 is radially reached axially locating; Has an external gear connector 15 that is positioned at frame 22, its endoporus is positioned on the planet carrier 7 with two bearings 18, one internal gear 14 by its internal tooth and external gear connector 15 mutually teeth directional connect and formation backlash radial floating, two half-round clamping rings 16 snap in the grooving that external gear connector 15 end circumference radially offer, and the end face of two semicircle snap rings 16 is fixed in an end of internal gear 14 to carry out axially locating, internal gear 14 and all interior mutually engagement of the planet wheel 8 of three groups of planetary wheel components with bolt 17; Having one is positioned at frame 22 and is fixed in worm gear 19 on the external gear connector 15 with bolt 20, one worm screw 32 and worm gear 19 outer gearing mutually, worm screw 32 is connected with a male splined shaft 33 by internal spline, the two ends of male splined shaft 33 are supported in the frame 22 with rolling bearing 34 and 46 respectively, on end of worm screw 32 and the male splined shaft 33 between the rolling bearing 34 belleville spring 47 and baffle plate 36 are housed, the outer end of rolling bearing 34 is crimped with successively and is enclosed within outside the male splined shaft 33 and the sleeve 48 in frame 22 perforates, bearing 49 and gland 50, and gland 50 usefulness bolts 51 are fixed on the frame 22, stretch out the coupling drive 42 that is connected with band brake wheel on the outer male splined shaft 33 of gland 50 perforates, coupling drive 42 a break 44 radially is housed, coupling drive 42 is connected with a speed-adjustable motor 43, belleville spring 35 and conduction baffle plate 37 are housed on the male splined shaft 33 between the other end of worm screw 32 and the rolling bearing 46, the outer end of rolling bearing 46 is crimped with the sleeve 41 that is enclosed within frame 22 perforates successively and adjusts gland 39, and adjusting gland 39 usefulness bolts 40 is fixed on the frame 22, in the male splined shaft 33 of this end, offer porose and be built-in with a two-way displacement transducer 38 in the hole, conduction baffle plate 37 is withstood in the inner of this bidirectional displacement sensor 38, and its outer end is then passed the perforate on sleeve 41 inside and the adjustment gland 39 and is emerging in outside the end face of adjusting gland 39.Speed-adjustable motor 43 can adopt commercial YSP serial motors, and bidirectional displacement sensor 38 can adopt commercial PMI series sensor.
Referring to Fig. 1.Before be connected with the reducing gear that quantity is at least the different transmission types of one-level between the shaft joint 30 in the gear shaft outside 2 addressed and main motor 31 rotating shafts, embodiment's quantity is two-stage in the drawings, wherein first order reducing gear is by external gear connector 24, the planetary reducer 23 (this is a prior art) that planet carrier 26 and sun wheel shaft 27 etc. constitute, second level reducing gear is served as reasons and is coiled the gear reducer of umbrella gear 28 and angular wheel shaft 29 formations, their annexation is, external gear connector 24 usefulness bolts 25 in the first order planetary reducer 23 are fixed in the middle part of frame 22, external tooth wheel shaft 2 teeth directionals are connected in the planet carrier 26 in the first order planetary reducer 23, the other end of aforementioned planet carrier 7 is fixed on the external gear connector 24 of this first order planetary reducer 23 with rolling bearing 45, sun wheel shaft 27 in the first order planetary reducer 23 is connected with dish umbrella gear 28 in the gear reducer of the second level, dish umbrella gear 28 outer gearings in the gear reducer of the second level are in angular wheel shaft 29, and angular wheel shaft 29 is connected with shaft joint 30.
Referring to Fig. 2 and Fig. 3.Embodiment makes two-part with frame 22 among the figure, is connected with bolt 52 between them.
Claims (4)
1, a kind of planetary differential worm screw stepless speed regulation soft start torque limiting device includes frame, main motor and is connected shaft joint on the main machine shaft, it is characterized in that:
A) internal tooth casing and be connected in from the inside teeth directional in internal tooth casing two respectively and constitute sun gear and the external tooth wheel shaft that backlash floats among the internal tooth casing is housed in frame, the inner at sun gear and external tooth wheel shaft is fixed with jacking block and top respectively, jacking block with the top mutually apical grafting to carry out both axially locating, the external tooth wheel shaft radially is fixed in the endoporus of a planet carrier one end by rolling bearing, one end of this planet carrier is fixed in the frame by rolling bearing, be connected with the reducing gear that quantity is at least the different transmission types of one-level between the shaft joint on gear shaft and the main machine shaft outside, the other end of planet carrier is fixed in the first class reducer structure adjacent with the external tooth wheel shaft with rolling bearing;
B) on planet carrier, one week respectively be fixed with the planetary wheel component that quantity is at least two groups by planet wheel shaft around circle, every group of planetary wheel component is made of a planet wheel and the rolling bearing and the back-up ring that are positioned at two ends, planet wheel hole, rolling bearing and back-up ring then are fixed on the corresponding planet wheel shaft, each planet wheel all with the sun gear outer gearing, the outer end of each planet wheel shaft offers a Card trough and has a clamp to be stuck in the groove, then this clamp is connected mutually with an end of planet carrier, so that planet wheel shaft is radially reached axially locating;
C) has an external gear connector that is positioned at frame, its endoporus is positioned on the planet carrier with at least one bearing, one internal gear by its internal tooth and external gear connector mutually teeth directional connect and formation backlash radial floating, two half-round clamping rings snap in the grooving that external gear connector end circumference radially offers, and the end face of two semicircle snap rings is fixed in an end of internal gear to carry out axially locating, internal gear and all interior mutually engagement of the planet wheel of every group of planetary wheel component;
D) having one is positioned at frame and is fixed in worm gear on the external gear connector, one worm screw and the outer gearing mutually of this worm gear, worm screw is connected with a male splined shaft by internal spline, the two ends of male splined shaft use roller bearings respectively in frame, on end of worm screw and the male splined shaft between one of them rolling bearing belleville spring and baffle plate are housed, the rolling bearing outer end of this end is crimped with successively and is enclosed within the sleeve that male splined shaft is outer and the frame perforate is interior, bearing and gland, and gland is fixed on the frame, stretch out and be connected with a coupling drive that has a Brake drum on the outer male splined shaft of this gland perforate, coupling drive a break radially is housed, this coupling drive is connected with a speed-adjustable motor, belleville spring and conduction baffle plate are housed on the male splined shaft between the other end of worm screw and another rolling bearing, the rolling bearing outer end of this end is crimped with the sleeve that is enclosed within the frame perforate successively and adjusts gland, and adjusting gland is fixed on the frame, in the male splined shaft of this end, offer porose and be built-in with a two-way displacement transducer in the hole, the conduction baffle plate is withstood in the inner of this bidirectional displacement sensor, and its outer end is then passed the perforate on sleeve inner and the adjustment gland and is emerging in outside the end face of adjusting gland.
2, planetary differential worm screw stepless speed regulation soft start torque limiting device according to claim 1, it is characterized in that, the quantity of the reducing gear of the different transmission types that connect between the shaft joint on described gear shaft outside and the main machine shaft is two-stage, wherein first order reducing gear is by the external gear connector, the planetary reducer that planet carrier and sun wheel shaft etc. constitute, second level reducing gear is served as reasons and is coiled the gear reducer of umbrella gear and angular wheel shaft formation, their annexation is, external gear connector in the first order planetary reducer uses bolt in the middle part of frame, external tooth wheel shaft teeth directional is connected in the planet carrier in the first order planetary reducer, the other end of aforementioned planet carrier is fixed on the external gear connector of this first order planetary reducer with rolling bearing, sun wheel shaft in the first order planetary reducer is connected with dish umbrella gear in the gear reducer of the second level, dish umbrella gear outer gearing in the gear reducer of the second level is in angular wheel shaft, and angular wheel shaft is connected with shaft joint.
3, planetary differential worm screw stepless speed regulation soft start torque limiting device according to claim 1 and 2 is characterized in that, is three groups by the quantity of the fixing planetary wheel component of planet wheel shaft respectively around one week of circle on planet carrier.
4, planetary differential worm screw stepless speed regulation soft start torque limiting device according to claim 1 and 2 is characterized in that, the endoporus of the external gear connector that is connected mutually with worm gear is positioned on the planet carrier with two bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100466385A CN100366954C (en) | 2004-08-06 | 2004-08-06 | Planetary differential worm stepless speed regulation soft start moment limiting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100466385A CN100366954C (en) | 2004-08-06 | 2004-08-06 | Planetary differential worm stepless speed regulation soft start moment limiting device |
Publications (2)
| Publication Number | Publication Date |
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| CN1629513A true CN1629513A (en) | 2005-06-22 |
| CN100366954C CN100366954C (en) | 2008-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100466385A Expired - Fee Related CN100366954C (en) | 2004-08-06 | 2004-08-06 | Planetary differential worm stepless speed regulation soft start moment limiting device |
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| CN (1) | CN100366954C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100424381C (en) * | 2006-08-25 | 2008-10-08 | 李本平 | Electromechanical liquid mixed soft start stepless speed regulating drive device |
| CN101478278B (en) * | 2008-10-10 | 2010-10-27 | 李本平 | Mechanical electric liquid composite soft starting/stepless speed regulating transmission device for large power overloading equipment |
| CN102275803A (en) * | 2011-05-31 | 2011-12-14 | 湖南远扬煤机制造有限公司 | Integral type disc brake stepless speed regulation elevator for mine |
| CN108087517A (en) * | 2018-01-26 | 2018-05-29 | 柳州市怀远数控技术开发有限公司 | A kind of subdivision differential differential speed reducer |
| CN108462325A (en) * | 2018-05-03 | 2018-08-28 | 河北工业大学 | A kind of self-service obstacle crossing type overload protection arrangement |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2088622U (en) * | 1991-01-14 | 1991-11-13 | 司马永根 | Multi-function stepless speed-adjusting differential mechanism for horizontal screw centrifuge |
| CN2191316Y (en) * | 1994-03-30 | 1995-03-08 | 以光明 | Stepless gear box |
| DE29502981U1 (en) * | 1995-02-22 | 1996-06-20 | Schlicht & Kuchenmeister | Planetary gear with fixed ring gear and primary gear on the drive side |
| US5613919A (en) * | 1995-06-06 | 1997-03-25 | Nelson; Bertel S. | Zero velocity gear mesh differential |
| CN2429689Y (en) * | 2000-07-06 | 2001-05-09 | 陈金龙 | Planetary stepless speed variator without arbor |
| JP2002039289A (en) * | 2000-07-24 | 2002-02-06 | Hideo Sato | Continuously variable transmission |
| CN2731179Y (en) * | 2004-08-06 | 2005-10-05 | 李本平 | Soft starting torque limiter of planetary differential worm stepless speed regulation |
-
2004
- 2004-08-06 CN CNB2004100466385A patent/CN100366954C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100424381C (en) * | 2006-08-25 | 2008-10-08 | 李本平 | Electromechanical liquid mixed soft start stepless speed regulating drive device |
| CN101478278B (en) * | 2008-10-10 | 2010-10-27 | 李本平 | Mechanical electric liquid composite soft starting/stepless speed regulating transmission device for large power overloading equipment |
| CN102275803A (en) * | 2011-05-31 | 2011-12-14 | 湖南远扬煤机制造有限公司 | Integral type disc brake stepless speed regulation elevator for mine |
| CN108087517A (en) * | 2018-01-26 | 2018-05-29 | 柳州市怀远数控技术开发有限公司 | A kind of subdivision differential differential speed reducer |
| CN108087517B (en) * | 2018-01-26 | 2022-03-22 | 柳州市怀远数控技术开发有限公司 | Subdivision differential speed reducer |
| CN108462325A (en) * | 2018-05-03 | 2018-08-28 | 河北工业大学 | A kind of self-service obstacle crossing type overload protection arrangement |
| CN108462325B (en) * | 2018-05-03 | 2023-08-15 | 河北工业大学 | Self-help obstacle surmounting overload protection device |
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