CN212338044U - Movable pin type cycloidal speed reducer - Google Patents

Movable pin type cycloidal speed reducer Download PDF

Info

Publication number
CN212338044U
CN212338044U CN202021706339.0U CN202021706339U CN212338044U CN 212338044 U CN212338044 U CN 212338044U CN 202021706339 U CN202021706339 U CN 202021706339U CN 212338044 U CN212338044 U CN 212338044U
Authority
CN
China
Prior art keywords
pin
input shaft
movable pin
disc
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202021706339.0U
Other languages
Chinese (zh)
Inventor
许立新
李洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing University
Original Assignee
Chongqing University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN202021706339.0U priority Critical patent/CN212338044U/en
Application granted granted Critical
Publication of CN212338044U publication Critical patent/CN212338044U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a movable pin type cycloidal reducer, which comprises a pin gear shell, two cycloidal gears, a movable pin, an input shaft, an output disc, a pressing disc and two input shaft supporting rolling bearings; a plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group; the input shaft is provided with a first eccentric section and a second eccentric section at intervals; two input shaft supporting rolling bearings are respectively arranged on the first eccentric section and the second eccentric section; the two cycloidal gears are respectively sleeved on the two input shaft supporting rolling bearings; the output disc is positioned in the needle gear shell, and a boss of the output disc penetrates through connecting holes of the two cycloid gears; the pressing disc is positioned in the needle gear shell; the movable pin penetrates through pin holes of the two cycloid gears; the utility model discloses showing transmission efficiency, life and the working property that has improved cycloid reduction gear, having improved cycloid reduction gear mechanism's compactedness.

Description

Movable pin type cycloidal speed reducer
Technical Field
The utility model belongs to the technical field of, concretely relates to movable pin formula cycloid reduction gear.
Background
The cycloid speed reducer has the advantages of large transmission ratio range, high transmission efficiency, large bearing capacity, reliable work and the like, and is suitable for traditional mechanical transmission of mines, ships, hoisting transportation, military industry and the like with certain requirements on transmission precision and bearing capacity. The existing common cycloid speed reducer adopts a pin mechanism to carry out motion and power output, namely, the pin mechanism is penetrated into a circular hole of a cycloid wheel to carry out transmission in a structural mode with a sleeve pin, and the contact surfaces of the circular hole of the cycloid wheel, the sleeve and the pin slide relatively, so that sliding friction is inevitably generated in the transmission process, the friction coefficient is large, serious friction and abrasion and large noise are directly generated in the transmission process, and the transmission efficiency, the service life and the working performance of the cycloid speed reducer are reduced. In addition, the conventional cycloidal speed reducer is not compact in structural size, and the output of the conventional cycloidal speed reducer is mainly shaft output, so that certain redundancy exists in the axial and radial sizes. Therefore, in some situations where space of a transmission system is limited, such as intelligent equipment of industrial robots, precision machine tools, medical instruments and the like, the use of the cycloid speed reducer is limited by the existing structure.
Therefore, there is a need in the art for a cycloidal reducer that addresses the above-mentioned problems.
SUMMERY OF THE UTILITY MODEL
The technical scheme who adopts for realizing the utility model aims at so, a movable pin formula cycloid reduction gear, including pin wheel shell, two cycloid wheels, movable pin, input shaft, output dish, compress tightly dish and two input shaft support antifriction bearing.
A plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group.
The input shaft is provided with a first eccentric section and a second eccentric section at intervals. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode.
The two input shaft supporting rolling bearings are respectively installed on the first eccentric section and the second eccentric section.
And the two cycloidal gears are respectively sleeved on the two input shaft supporting rolling bearings. And the two cycloidal gears are internally meshed with the annular needle gear set, and the cycloidal gears and the annular needle gear set form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. And a plurality of groups of pin holes are uniformly distributed on the circumference of each cycloid wheel in the axial direction. And a connecting hole is arranged between two adjacent groups of pin holes.
And a plurality of bosses which are matched with the connecting holes are arranged on the output disc. An input shaft accommodating hole I is formed in the center of the output disc. A plurality of movable pin accommodating holes I are circumferentially and uniformly distributed in the axial direction of the output disc.
The output disc is positioned in the pin gear shell, and a boss of the output disc penetrates through connecting holes of the two cycloid gears. The output disc and the input shaft are supported by a deep groove ball bearing.
The center of the pressing disc is provided with an input shaft accommodating hole II. The compressing disc is provided with a plurality of movable pin accommodating holes II which are uniformly distributed on the circumference in the axial direction.
The pressing disc is positioned in the pin gear shell and is connected with a boss of the output disc through a screw. The pressing disc and the input shaft are supported through a deep groove ball bearing.
The movable pin penetrates through pin holes of the two cycloidal gears, and each pin hole penetrates through one movable pin. One end of the movable pin penetrates into the movable pin accommodating hole I of the output disc, the other end of the movable pin penetrates into the movable pin accommodating hole II of the pressing disc, and two ends of the movable pin are supported by the movable pin supporting rolling bearings.
Further, the two main bearings are also included.
The two main bearings are respectively arranged on two sides of the annular pin gear group to axially position the annular pin gear group and the two cycloidal gears.
Furthermore, the output disc and the needle gear shell are sealed through an outer framework oil seal. The output disc and the input shaft are sealed through an inner framework oil seal.
The pressing disc and the needle gear shell are sealed through an outer framework oil seal. The pressing disc and the input shaft are sealed through an inner framework oil seal.
Furthermore, an elastic retainer ring for holes is arranged on the outer side of the movable pin supporting rolling bearing.
Further, the connecting hole is a sector annular hole. The boss is a sector annular boss matched with the sector annular hole.
The technical effect of the utility model is undoubtedly, adopts the movable pin that uses the antifriction bearing supporting as cycloid reduction gear motion and power take off's structural style, has solved the sliding friction wear problem between current ordinary cycloid reduction gear output pin, sleeve and the cycloid wheel round hole effectively, is showing transmission efficiency, life and the working property that has improved cycloid reduction gear. Furthermore, the utility model discloses a compress tightly the structural design of dish and output disc encapsulation reduction gear, overcome the redundant structure that traditional cycloid reduction gear adopted the axle output, saved the sleeve simultaneously in order to reduce the radial size of structure, is showing and is improving cycloid reduction gear mechanism compactness. The device is particularly suitable for precision transmission of industrial robots, intelligent mechanical arms, medical detection equipment and the like.
Drawings
FIG. 1 is an exploded view of a moving pin cycloidal reducer;
FIG. 2 is a longitudinal sectional configuration view of a movable pin type cycloid speed reducer;
FIG. 3 is a sectional view of the surface A-A of the active pin type cycloidal reducer;
FIG. 4 is a sectional view of the surface B-B of the active pin type cycloidal reducer;
fig. 5 is a partial enlarged view i of the movable pin type cycloid speed reducer.
In the figure: the device comprises a needle tooth shell 1, needle teeth 2, a cycloidal gear 3, a pin hole 301, a connecting hole 302, a movable pin 4, an input shaft 5, an output disc 6, a boss 601, a threaded hole I602, an input shaft accommodating hole I603, a movable pin accommodating hole I604, a pressing disc 7, an input shaft accommodating hole II701, a movable pin accommodating hole II702, a threaded hole II703, a main bearing 8, a deep groove ball bearing 9, an input shaft supporting rolling bearing 10, a movable pin supporting rolling bearing 11, a hole circlip 12, an inner framework oil seal 13 and an outer framework oil seal 14.
Detailed Description
The present invention will be further described with reference to the following examples, but it should not be construed that the scope of the present invention is limited to the following examples. Various substitutions and modifications can be made without departing from the technical spirit of the invention and according to the common technical knowledge and conventional means in the field, and all shall be included in the scope of the invention.
Example 1:
the embodiment discloses a cycloidal reducer with movable pin pins, which is shown in fig. 1 and fig. 2 and comprises a pin gear shell 1, two cycloidal gears 3, movable pins 4, an input shaft 5, an output disc 6, a pressing disc 7, two main bearings 8 and two input shaft supporting rolling bearings 10.
A plurality of needle teeth 2 are uniformly embedded on the circumferential inner wall of the needle tooth shell 1 to form an annular needle tooth group.
The input shaft 5 penetrates into the pin gear shell 1, the input shaft 5 is a crankshaft with double eccentric positions, and a first eccentric section and a second eccentric section which are circular in cross section are arranged on the input shaft 5 at intervals. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode.
The two input shaft supporting rolling bearings 10 are respectively sleeved on the first eccentric section and the second eccentric section.
The two cycloid gears 3 are respectively fitted over two input shaft supporting rolling bearings 10. The two cycloidal gears 3 are both internally meshed with the annular needle gear set, and the cycloidal gears 3 and the annular needle gear set form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Referring to fig. 3, three sets of pin holes 301 are uniformly distributed on each of the cycloid wheels 3 in the axial direction in the circumferential direction, and each set includes two pin holes 301. Fan-ring-shaped connecting holes 302 are machined between two adjacent groups of pin holes 301.
The two main bearings 8 are arranged on the circumferential inner wall of the pin gear shell 1 and positioned on two sides of the annular pin gear group to axially position the annular pin gear group and the two cycloidal gears 3.
The output disc 6 is provided with three fan-shaped bosses 601 corresponding to the connecting holes 302, and the end face of each fan-shaped boss 601 is provided with a threaded hole I602. The output disc 6 is centrally machined with an input shaft receiving bore I603. Six movable pin accommodating holes I604 are uniformly distributed on the circumference of the output disc 6 in the axial direction.
The output disc 6 is positioned in the needle gear housing 1, the boss 601 of the output disc 6 penetrates through the connecting holes 302 of the two cycloidal gears 3, and a gap is reserved between the boss 601 and the connecting holes 302. The output disc 6 and the input shaft 5 are supported by a deep groove ball bearing 9.
Referring to fig. 4, the pressing plate 7 is centrally machined with an input shaft receiving hole II 701. Six movable pin accommodating holes II702 are uniformly distributed on the circumference of the pressing disc 7 in the axial direction. Three threaded holes II703 corresponding to the threaded holes 602 of the output disc 6 are machined in the pressing disc 7.
The pressing disc 7 is located in the pin gear housing 1, and the pressing disc 7 penetrates through the threaded hole II703 and the threaded hole I602 through screws, so that the pressing disc 7 is connected with the boss 601 of the output disc 6, and the speed reducer is fixed and pressed in the axial direction. The pressing disc 7 and the input shaft 5 are supported through a deep groove ball bearing 9.
The movable pin 4 penetrates through pin holes 301 of the two cycloidal gears 3, a gap is reserved between the movable pin 4 and the pin holes 301, and each pin hole 301 penetrates through one movable pin 4. Referring to fig. 5, one end of the movable pin 4 penetrates into the movable pin receiving hole I604 of the output disc 6, and the other end penetrates into the movable pin receiving hole II702 of the pressing disc 7, and both ends are supported by the movable pin supporting rolling bearing 11. The outside of the movable pin supporting rolling bearing 11 is provided with a hole circlip 12, and the inside of the movable pin supporting rolling bearing is positioned by a shaft shoulder processed on the movable pin 4 1.
The output disc 6 and the needle gear housing 1 are sealed through an outer framework oil seal 14. The output disc 6 and the input shaft 5 are sealed through an inner framework oil seal 13.
The pressing disc 7 and the needle gear housing 1 are sealed through an outer framework oil seal 14. The pressing disc 7 and the input shaft 5 are sealed through an inner framework oil seal 13.
During transmission, power is input through the input shaft 5, the first eccentric section and the second eccentric section on the input shaft 5 drive the two cycloidal gears 3 to rotate simultaneously, the two cycloidal gears 3 are meshed with the needle teeth 2 on the needle tooth shell 1 to drive the movable pin 4 to rotate, and the movable pin 4 drives the output disc 6 to rotate to output the power.
The movable pin type cycloid speed reducer disclosed by the embodiment adopts a structural mode that the movable pin 4 supported by the rolling bearing is used as the motion and power output of the cycloid speed reducer, effectively solves the problem of sliding friction and wear among the output pin, the sleeve and the circular hole of the cycloid wheel of the conventional common cycloid speed reducer, and obviously improves the transmission efficiency, the service life and the working performance of the cycloid speed reducer. In addition, the structural design that the reducer is packaged by the pressing disc 7 and the output disc 6 is adopted, the redundant structure that the traditional cycloid reducer adopts shaft output is overcome, meanwhile, a sleeve is omitted to reduce the radial size of the structure, and the compactness of the cycloid reducer mechanism is obviously improved. The device is particularly suitable for precision transmission of industrial robots, intelligent mechanical arms, medical detection equipment and the like.
Example 2:
the present embodiment provides a basic implementation, a pin-type cycloidal reducer, see fig. 1 and 2, which includes a pin gear housing 1, two cycloidal gears 3, a pin 4, an input shaft 5, an output disc 6, a pressing disc 7, and two input shaft supporting rolling bearings 10.
A plurality of needle teeth 2 are uniformly embedded on the circumferential inner wall of the needle tooth shell 1 to form an annular needle tooth group.
The input shaft 5 penetrates into the pin gear shell 1, the input shaft 5 is a crankshaft with double eccentric positions, and a first eccentric section and a second eccentric section which are circular in cross section are arranged on the input shaft 5 at intervals. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode.
The two input shaft supporting rolling bearings 10 are respectively sleeved on the first eccentric section and the second eccentric section.
The two cycloid gears 3 are respectively fitted over two input shaft supporting rolling bearings 10. The two cycloidal gears 3 are both internally meshed with the annular needle gear set, and the cycloidal gears 3 and the annular needle gear set form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Referring to fig. 3, three sets of pin holes 301 are uniformly distributed on each of the cycloid wheels 3 in the axial direction in the circumferential direction, and each set includes two pin holes 301. A connecting hole 302 is processed between two adjacent groups of pin holes 301.
The output disc 6 is provided with three bosses 601 corresponding to the connecting holes 302, and the end face of each boss 601 is provided with a threaded hole I602. The output disc 6 is centrally machined with an input shaft receiving bore I603. Six movable pin accommodating holes I604 are uniformly distributed on the circumference of the output disc 6 in the axial direction.
The output disc 6 is positioned in the needle gear housing 1, the boss 601 of the output disc 6 penetrates through the connecting holes 302 of the two cycloidal gears 3, and a gap is reserved between the boss 601 and the connecting holes 302. The output disc 6 and the input shaft 5 are supported by a deep groove ball bearing 9.
Referring to fig. 4, the pressing plate 7 is centrally machined with an input shaft receiving hole II 701. Six movable pin accommodating holes II702 are uniformly distributed on the circumference of the pressing disc 7 in the axial direction. Three threaded holes II703 corresponding to the threaded holes 602 of the output disc 6 are machined in the pressing disc 7.
The pressing disc 7 is located in the pin gear housing 1, and the pressing disc 7 penetrates through the threaded hole II703 and the threaded hole I602 through screws, so that the pressing disc 7 is connected with the boss 601 of the output disc 6, and the speed reducer is fixed and pressed in the axial direction. The pressing disc 7 and the input shaft 5 are supported through a deep groove ball bearing 9.
The movable pin 4 penetrates through pin holes 301 of the two cycloidal gears 3, a gap is reserved between the movable pin 4 and the pin holes 301, and each pin hole 301 penetrates through one movable pin 4. Referring to fig. 5, one end of the movable pin 4 penetrates into the movable pin receiving hole I604 of the output disc 6, and the other end penetrates into the movable pin receiving hole II702 of the pressing disc 7, and both ends are supported by the movable pin supporting rolling bearing 11.
During transmission, power is input through the input shaft 5, the first eccentric section and the second eccentric section on the input shaft 5 drive the two cycloidal gears 3 to rotate simultaneously, the two cycloidal gears 3 are meshed with the needle teeth 2 on the needle tooth shell 1 to drive the movable pin 4 to rotate, and the movable pin 4 drives the output disc 6 to rotate to output the power.
The movable pin type cycloid speed reducer disclosed by the embodiment adopts a structural mode that the movable pin 4 supported by the rolling bearing is used as the motion and power output of the cycloid speed reducer, effectively solves the problem of sliding friction and wear among the output pin, the sleeve and the circular hole of the cycloid wheel of the conventional common cycloid speed reducer, and obviously improves the transmission efficiency, the service life and the working performance of the cycloid speed reducer. In addition, the structural design that the reducer is packaged by the pressing disc 7 and the output disc 6 is adopted, the redundant structure that the traditional cycloid reducer adopts shaft output is overcome, meanwhile, a sleeve is omitted to reduce the radial size of the structure, and the compactness of the cycloid reducer mechanism is obviously improved. The device is particularly suitable for precision transmission of industrial robots, intelligent mechanical arms, medical detection equipment and the like.
Example 3:
the main structure of this embodiment is the same as that of embodiment 2, and further, the present embodiment further includes two main bearings 8.
The two main bearings 8 are arranged on the circumferential inner wall of the pin gear shell 1 and positioned on two sides of the annular pin gear group to axially position the annular pin gear group and the two cycloidal gears 3.
Example 4:
the main structure of this embodiment is the same as that of embodiment 2, and further, the output disc 6 and the pin gear housing 1 are sealed by an outer frame oil seal 14. The output disc 6 and the input shaft 5 are sealed through an inner framework oil seal 13.
The pressing disc 7 and the needle gear housing 1 are sealed through an outer framework oil seal 14. The pressing disc 7 and the input shaft 5 are sealed through an inner framework oil seal 13.
Example 5:
the main structure of this embodiment is the same as that of embodiment 2, and further, a circlip 12 for holes is installed on the outer side of the movable pin supporting rolling bearing 11, and the inner side is positioned by a shaft shoulder processed on the movable pin 4 1.
Example 6:
the main structure of this embodiment is the same as that of embodiment 2, and further, the connecting hole 302 is a sector annular hole. The boss 601 is a sector annular boss matched with the sector annular hole, and four corners of the sector annular hole and four corners of the sector annular boss are rounded corners so as to reduce abrasion between the boss 601 and the cycloid wheel 3.

Claims (5)

1. The utility model provides a movable pin formula cycloid reduction gear which characterized in that: comprises a needle gear shell (1), two cycloid gears (3), a movable pin (4), an input shaft (5), an output disc (6), a pressing disc (7) and two input shaft supporting rolling bearings (10);
a plurality of needle teeth (2) are uniformly embedded in the inner wall of the needle tooth shell (1) to form an annular needle tooth group;
the input shaft (5) is provided with a first eccentric section and a second eccentric section at intervals; the first eccentric section and the second eccentric section are distributed in a 180-degree staggered manner;
the two input shaft supporting rolling bearings (10) are respectively arranged on the first eccentric section and the second eccentric section;
the two cycloid gears (3) are respectively sleeved on two input shaft supporting rolling bearings (10); the two cycloidal gears (3) are internally meshed with the annular needle tooth group, and the cycloidal gears (3) and the annular needle tooth group form a small-tooth-difference planetary gear transmission mechanism with a tooth difference; a plurality of groups of pin holes (301) are uniformly distributed on the circumference of each cycloidal gear (3) in the axial direction; a connecting hole (302) is arranged between two adjacent groups of pin holes (301); the connecting hole (302) is a sector annular hole;
the output disc (6) is provided with a plurality of bosses (601) which are matched with the connecting holes (302); an input shaft accommodating hole I (603) is formed in the center of the output disc (6); a plurality of movable pin accommodating holes I (604) are uniformly distributed on the output disc (6) in the axial direction in a circumferential manner;
the output disc (6) is positioned in the needle gear shell (1), and a boss (601) of the output disc (6) penetrates through connecting holes (302) of the two cycloidal gears (3); the output disc (6) and the input shaft (5) are supported by a deep groove ball bearing (9);
an input shaft accommodating hole II (701) is formed in the center of the pressing disc (7); a plurality of movable pin accommodating holes II (702) are uniformly distributed on the circumference of the pressing disc (7) in the axial direction;
the pressing disc (7) is positioned in the needle gear shell (1), and the pressing disc (7) is connected with a boss (601) of the output disc (6) through a screw; the pressing disc (7) and the input shaft (5) are supported by a deep groove ball bearing (9);
the movable pin (4) penetrates through pin holes (301) of the two cycloidal gears (3), and each pin hole (301) penetrates through one movable pin (4); one end of the movable pin (4) penetrates into a movable pin accommodating hole I (604) of the output disc (6), the other end of the movable pin (4) penetrates into a movable pin accommodating hole II (702) of the pressing disc (7), and the two ends of the movable pin (4) are supported by a movable pin supporting rolling bearing (11).
2. The motion pin-type cycloidal reducer according to claim 1, further comprising: also comprises two main bearings (8);
the two main bearings (8) are respectively arranged at two sides of the annular pin gear group to axially position the annular pin gear group and the two cycloidal gears (3).
3. The motion pin-type cycloidal reducer according to claim 1, further comprising: the output disc (6) and the needle gear shell (1) are sealed through an outer framework oil seal (14); the output disc (6) and the input shaft (5) are sealed through an inner framework oil seal (13);
the pressing disc (7) and the needle gear shell (1) are sealed through an outer framework oil seal (14); the pressing disc (7) and the input shaft (5) are sealed through an inner framework oil seal (13).
4. The motion pin-type cycloidal reducer according to claim 1, further comprising: and an elastic retainer ring (12) for holes is arranged on the outer side of the movable pin supporting rolling bearing (11).
5. The motion pin-type cycloidal reducer according to claim 1, further comprising: the connecting hole (302) is a sector annular hole; the boss (601) is a sector annular boss matched with the sector annular hole.
CN202021706339.0U 2020-08-17 2020-08-17 Movable pin type cycloidal speed reducer Active CN212338044U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202021706339.0U CN212338044U (en) 2020-08-17 2020-08-17 Movable pin type cycloidal speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202021706339.0U CN212338044U (en) 2020-08-17 2020-08-17 Movable pin type cycloidal speed reducer

Publications (1)

Publication Number Publication Date
CN212338044U true CN212338044U (en) 2021-01-12

Family

ID=74071551

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202021706339.0U Active CN212338044U (en) 2020-08-17 2020-08-17 Movable pin type cycloidal speed reducer

Country Status (1)

Country Link
CN (1) CN212338044U (en)

Similar Documents

Publication Publication Date Title
KR101280263B1 (en) decelerator and motor brake with the same
CN110139999B (en) Transmission speed reducer
CN108953541B (en) RV speed reducer with ultralow reduction ratio
CN111853167A (en) Movable pin type cycloidal speed reducer
WO2014117598A1 (en) Transmission mechanism with small tooth number difference, and speed reducer thereof
CN110121610B (en) Transmission speed reducer
CN110966355B (en) Gear-needle dual-mode meshing small-tooth-difference planetary gear pair and precision speed reducer
CN212338044U (en) Movable pin type cycloidal speed reducer
WO2017152430A1 (en) Two-stage serial cycloid ball reducer
CN201615193U (en) Plane steel ball reducer
CN211501495U (en) Secondary parallel shaft planetary reducer
CN209990878U (en) Bearing type speed reducer capable of driving robot and having large transmission ratio
CN112343972A (en) Speed reducer with movable teeth and fixed teeth in composite transmission and without side gap
CN213511920U (en) Built-in hollow type precision speed reducer of industrial robot gear
CN106352024B (en) A kind of single eccentric short transmission chain retarder
CN214661798U (en) Two keep off variable speed ratio RV reduction gears
CN2535610Y (en) Rolling-contact type swinging adjustable-gear planetary speed-reducer
CN213628713U (en) Precision speed reducer for industrial robot
CN213744789U (en) Novel structure of fan-shaped block connection type movable tooth transmission
CN212928699U (en) Novel penetrating rod movable tooth transmission device
CN112211960A (en) Built-in hollow type precision speed reducer of industrial robot gear
CN214661789U (en) RV reducer adopting herringbone gear planetary reduction mechanism
CN109780163B (en) Reciprocating type cylindrical sine end face oscillating tooth speed reducer
CN112228516A (en) Precision speed reducer for industrial robot
CN211039626U (en) Ultra-silent speed reducer

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant