CN209309233U - Multiple tooth difference ring plate cascades retarder - Google Patents
Multiple tooth difference ring plate cascades retarder Download PDFInfo
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- CN209309233U CN209309233U CN201821992368.0U CN201821992368U CN209309233U CN 209309233 U CN209309233 U CN 209309233U CN 201821992368 U CN201821992368 U CN 201821992368U CN 209309233 U CN209309233 U CN 209309233U
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- taking frame
- power taking
- ring flat
- balance wheel
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- 239000003638 chemical reducing agent Substances 0.000 abstract description 13
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- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 239000000178 monomer Substances 0.000 description 3
- 230000000979 retarding effect Effects 0.000 description 3
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Abstract
The utility model provides a kind of multiple tooth difference ring plate cascade retarder, the gear unit including central axis, internal gear and at least two-stage series connection；Every grade of gear unit includes bearing power taking frame and ring flat-plate balance wheel, and bearing power taking frame is set on center shaft, and every grade of ring flat-plate balance wheel has external gear and multiple pin shafts, and ring flat-plate balance wheels at different levels are engaged with same internal gear；Mesh form is multiple tooth poor Cycloidal Wheel engagement；The bearing power taking frame of rear stage gear unit is transferred power to by the pin shaft of previous stage gear unit, the same level bearing power taking frame obtains rotary power from preceding primary transmission unit, and the same level ring flat-plate balance wheel is driven to make eccentric rotary；Afterbody ring flat-plate balance wheel transfers power to central axis by pin shaft.The utility model assembly is easy, and structural rigidity is high, and multistage ring flat-plate balance wheel shares internal gear, and the precision of passing movement is higher.Structure characteristics of compact layout, rigidly bigger than general cycloidal planetary gear speed reducer, impact resistance and overload capacity improve a lot.
Description
Technical field
The utility model belongs to retarder technical field, in particular to a kind of multiple tooth difference ring plate cascades retarder.
Background technique
RV retarder is widely used in industrial robot, with small in size, light-weight, gear range is big, the service life is long, precision
The series of advantages such as stable, high-efficient, stable drive are kept, are a kind of 2K-V to grow up on the basis of conventional planetary transmission
Type secondary planet is driven few teeth difference needle and puts retarder.The first order transmission of RV retarder is that involute teeth engages Gear Planet Transmission, the
Second level is few teeth difference Cycloidal pin-wheel drive, and cycloidal gear teeth generally differs 1 tooth with pinwheel tooth.Common RV retarder includes needle tooth
Shell, the pin wheel housing are equipped with two monomers are formed by connecting by connecting element planet carrier, set that there are two put between two monomers
Line wheel, equal annular array and there are three the bearing position of tapered roller bearing, three groups of corresponding settings for corresponding setting on two monomers
Bearing position on be equipped with the crank axle being connected with power device, each crank axle both passes through the circular hole in two Cycloidal Wheels.Using
The robot RV reducer of the structure first reaches power device (sun gear) simultaneously on (planetary gear) of three crank axles, bent
Arbor drives the operating of two Cycloidal Wheels, and power is reached pin wheel housing and realizes that double reduction exports by Cycloidal Wheel.
RV retarder has the disadvantage in that because being driven there are three crank axle (i.e. power input shaft), three cranks
Axis passes through tapered roller bearing and is supported on the bearing position of the tapered roller bearing of planet carrier, therefore circular cone on crank axle
The axial precision and radial accuracy of bearings position require it is all very strict, on crank axle two eccentric wheels respectively with cycloid
Wheel is adapted, very strict to circularity, cylindricity, the phase difference requirement of two eccentric wheels, and the end of crank axle will also pass through spline
Planetary gear is installed, very strict to the phase difference requirement between spline and eccentric wheel, these dimension chains considerably increase crank
The difficulty of processing of axis, manufacturing cost is high, and also has very high requirement to the assembly precision of crank axle；In use, circle
Taper roller bearing is prone to wear, and leads to that precision is cooperated to reduce, less reliable, and then service life reduces.
Multiple tooth difference planetary reducer with cycloidal pin teeth is to solve the problems, such as that few teeth difference Cycloidal pin-wheel drive tooth face agglutination is researched and developed
A kind of novel K-H-V planetary gearing speed reducer.Many teeth difference cycloid gear drive in recent years on small speed ratio speed reducer,
Especially it is widely used in high-power, small speed ratio speed reducer.
The joint motions of industrial robot are generally intermittent back and forth movement, it is desirable that transmission ratio is big, bearing capacity is big, revolution is smart
Degree is high.The multiple tooth poor cycloidal reducer reduction ratio of single-stage is not able to satisfy the requirement of industrial robot joint movement still, it is therefore necessary to
It studies novel transmission mechanism and overcomes above-mentioned deficiency.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of multiple tooth difference ring plates to cascade
Retarder, to realize the purpose of small size, large transmission ratio, high bearing capacity and high efficiency transmission.
In order to achieve the above objects and other related objects, the technical scheme that the utility model is provided is as follows:
A kind of multiple tooth difference ring plate cascade retarder, the gear unit including central axis, internal gear and at least two-stage series connection；
Every grade of gear unit includes that bearing power taking frame and the ring flat-plate being sleeved on bearing power taking frame by capacity eccentric bearing structure are put
Wheel, the bearing power taking frame of gear units at different levels is set on center shaft, and can be relatively rotated with central axis, the ring flat-plate balance wheel
For center line relative to bearing power taking frame centerline offset, every grade of ring flat-plate balance wheel has external gear and multiple for transmitting power
Pin shaft, ring flat-plate balance wheels at different levels engage with the same internal gear, and mesh form is multiple tooth poor Cycloidal Wheel engagement；Adjacent two-stage
Between gear unit, the axis of rear stage gear unit is transferred power to by the pin shaft on previous stage gear unit ring flat-plate balance wheel
Power taking frame is held, the same level bearing power taking frame obtains rotary power from preceding primary transmission unit, and it is eccentric to drive the same level ring flat-plate balance wheel to make
Rotation；The ring flat-plate balance wheel of afterbody gear unit transmits rotary movement to central axis by pin shaft.
Using the above structure, structure is simple, assembly is easy, can first by ring flat-plate balance wheel with bearing power taking is rack-mounted is made into component
Successively being set on central axis afterwards becomes whole, is reloaded into internal gear.The utility model structural rigidity is high, and multistage ring flat-plate balance wheel is total
Precision with internal gear, passing movement is higher.The utility model has taken into account the small reduction ratio of the multiple tooth difference of single-stage and plural serial stage obtains
Big retarding ratio, upper very compact in structure arrangement, rigidly bigger than general cycloidal planetary gear speed reducer, impact resistance and overload capacity are equal
It improves a lot.Small size, large transmission ratio, high bearing capacity and efficient transmission may be implemented.
Further, multiple use are provided on the bearing power taking frame of the gear units at different levels after first order gear unit
In the power take-off hole for receiving power, the pin shaft of the ring flat-plate balance wheel of previous stage gear unit protrudes into the power take-off hole of rear stage gear unit
In, transmitting rotary power.
Further, the power take-off hole is circumferentially uniformly distributed along power taking frame, and the pin shaft is circumferentially uniformly distributed along ring flat-plate balance wheel.
Further, the bearing power taking frame includes cricoid power taking frame and eccentric setting in roller in the bearing on power taking frame
Road is provided with roller-way outside bearing corresponding with roller-way in bearing on the ring flat-plate balance wheel；Roller in the outer roller-way of the bearing and bearing
It is provided with bearing roller between road, forms the capacity eccentric bearing structure.
Further, the bearing power taking frame is the revolving body of L shape section, and roller-way is integrated knot in the power taking frame and bearing
Structure, the center line of roller-way and the centerline offset of power taking frame centre bore and parallel, the center line of the power take-off hole in the bearing
With the centerline parallel of centre bore.
Further, the central axis is the hollow shaft that one end is equipped with disk, is evenly equipped with force transmission hole on the disk, it is described most
The pin shaft of the ring flat-plate balance wheel of rear stage gear unit protrudes into the force transmission hole, transmitting rotary power.
Further, the both ends of the internal gear pass through the bearing power taking that spring bearing is sleeved on first order gear unit respectively
On frame and on central axis.
Further, the internal gear both ends are provided with the bearing plate for positioning support bearing, the bearing plate with
Internal gear is connected by screw to, and is provided on the central axis for the bearing power taking frame axial limiting to first order gear unit
Retainer ring.
Further, the bearing power taking frame of each gear unit is directly sleeved on outside the central axis, or passes through rolling
Bearing holder (housing, cover) is outside the central axis.
It further, is multiple tooth poor cycloid tooth engagement between the ring flat-plate balance wheel and internal gear.
The beneficial effects of the utility model are: the utility model assembly is easy, it can be first by ring flat-plate balance wheel and bearing power taking
Rack-mounted be made into after component is successively set on central axis as entirety, is reloaded into internal gear.The utility model structural rigidity is high, more
Grade ring flat-plate balance wheel shares internal gear, and the precision of passing movement is higher.The utility model taken into account the multiple tooth small reduction ratio of difference of single-stage and
Plural serial stage obtains big retarding ratio, arranges upper very compact, impact resistance rigidly bigger than general cycloidal planetary gear speed reducer in structure
It improves a lot with overload capacity.
The multiple tooth poor Cycloidal Wheel transmission of single-stage reduces flank of tooth Maximum Contact compared to tooth difference standard engagement Cycloidal Wheel transmission and answers
Power can effectively increase the bearing capacity of the flank of tooth, the big tooth of relative velocity not participated in power transmission, to also improve complete machine
Antiscuffing capacity improves intensity；The multiple tooth poor cycloid reduction transmission of plural serial stage, can be in lesser single staged transmission ratio
Bigger cascade transmission ratio is obtained, industrial robot is compact to reducer structure, transmission ratio is big, the light-weight, service life to meet
It is long, vibrating noise is low, cheap etc. requires.
Detailed description of the invention
Fig. 1 is that the multiple tooth difference ring plate of the utility model cascades reducer structure schematic diagram；
Fig. 2 is that the multiple tooth difference ring plate of the utility model cascades retarder three dimensional sectional view；
Fig. 3 is that the multiple tooth difference ring plate of the utility model cascades retarder bearing power taking frame schematic three dimensional views；
Fig. 4 is that the multiple tooth difference ring plate of the utility model cascades retarder ring flat-plate balance wheel schematic three dimensional views；
Fig. 5 is the three dimensional sectional view of the utility model embodiment single-stage driving unit and internal gear；
Fig. 6 is the drive mechanism schematic diagram of the utility model embodiment single-stage driving unit and internal gear.
Piece mark explanation
1- internal gear；2- central axis；21- disk；22- force transmission hole；3- bearing power taking frame；31- power take-off hole；In 32- bearing
Roller-way；33- centre bore；4- ring flat-plate balance wheel；41- pin shaft；42- external gear；The outer roller-way of 43- bearing；5- bearing plate；6- support shaft
It holds；7- bearing roller；8- rolling bearing.
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this
Content disclosed by specification understands other advantages and effect of the utility model easily.
It should be clear that the term of such as "upper", "lower", "left", "right", " centre " and " one " cited in this specification, also
Only being illustrated convenient for narration, rather than to limit the enforceable range of the utility model, relativeness is altered or modified,
Under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
As shown in Figures 1 to 4, a kind of multiple tooth difference ring plate cascades retarder, including central axis 2, internal gear 1 and at least two
The concatenated gear unit of grade；Wherein internal gear 1 is the shell mechanism with internal tooth, and gear units at different levels cover outside central axis 2, interior
Gear 1 is located at gear unit peripheries at different levels, and is driven and cooperates with gear unit.Specifically, every grade of gear unit includes that bearing takes
The bearing power taking frame 3 of power frame 3 and ring flat-plate balance wheel 4, gear units at different levels is successively sleeved on central axis 2 along axial direction, and can be in
Mandrel 2 relatively rotates；The ring flat-plate balance wheel 4 of gear units at different levels is sleeved on the bearing power taking frame 3 of the same level by capacity eccentric bearing structure
On, 4 center line of ring flat-plate balance wheel, and can be inclined relative to bearing power taking frame 3 relative to 3 centerline offset of bearing power taking frame
Heart rotation；Every grade of ring flat-plate balance wheel 4 has external gear 42 and multiple pin shafts 41 for being used to transmit power, and ring flat-plate balance wheels 4 at different levels pass through
Its external gear 42 is engaged with the same internal gear 1, and is multiple tooth poor cycloid tooth engagement between ring flat-plate balance wheel 4 and internal gear 1；Phase
Between adjacent two-stage gear unit, the bearing of rear stage gear unit is transferred power to by the pin shaft 41 of previous stage gear unit
Power taking frame 3, the same level bearing power taking frame 3 obtain rotary power from preceding primary transmission unit, and the same level ring flat-plate balance wheel 4 is driven to make partially
Heart rotation；The bearing power taking frame 3 of first order gear unit is high speed input terminal, and high speed input terminal is connected to motor, last
The ring flat-plate balance wheel 4 of grade gear unit transmits rotary movement to central axis 2 by pin shaft 41, and central axis 2 is low speed output end.
Fig. 1 and Fig. 2 show the concatenated structural schematic diagram of three-level gear unit, when first-class bearing power taking frame 3 is as high
When speed input, internal gear 1 are fixed, central axis 2 is as output, the transmission ratio of this implementation column are as follows:
In formula, Z1、Z2The respectively gear teeth number of teeth of internal gear 1 and ring flat-plate balance wheel 4, with Z in this example1=16 and Z2=14 into
Row example, i3Retarder reduction ratio is cascaded for multiple tooth difference ring plate, the reduction ratio of this implementation column two teeth difference ring flat-plate cascade retarder is
i3=83=512.
The utility model, structure is simple, assembly is easy, and ring flat-plate balance wheel 4 and bearing power taking frame 3 first can be assembled into component
Successively being set on central axis 2 afterwards becomes whole, is reloaded into internal gear 1.The utility model structural rigidity is high, multistage ring flat-plate balance wheel
4 shared internal gears 1, the precision of passing movement are higher.The utility model has taken into account the small reduction ratio of the multiple tooth difference of single-stage and plural serial stage
Big retarding ratio is obtained, than general cycloidal planetary gear speed reducer rigidly bigger, impact resistance and overload energy upper very compact in structure arrangement
Power improves a lot.Small size, large transmission ratio, high bearing capacity and efficient transmission may be implemented.
In one embodiment, on the bearing power taking frame 3 of the gear units at different levels after first order gear unit
Multiple power take-off holes 31 for being used to receive power are provided with, the pin shaft 41 of the ring flat-plate balance wheel 4 of previous stage gear unit protrudes into rear stage
In the power take-off hole 31 of gear unit, transmitting rotary power realizes the power transmitting between gear units at different levels, the power take-off hole 31
Circumferentially uniformly distributed along power taking frame, the pin shaft 41 is circumferential uniformly distributed along ring flat-plate balance wheel 4.The diameter of pin shaft 41 is less than the power take-off hole 31
Diameter, if capacity eccentric bearing structure centre is e relative to the eccentricity at power taking frame center, the diameter of pin shaft 41 is less than power take-off hole 31
Diameter, and 2e is differed with the diameter of power take-off hole 31.
In one embodiment, bearing power taking frame 3 includes cricoid power taking frame and eccentric setting on power taking frame
Roller-way 32 in bearing are specifically provided with eccentric land on power taking frame, the external cylindrical surface of the bias land is constituted in the bearing
Roller-way 32, structure, the inner headed face of ring flat-plate balance wheel 4 are provided with axis corresponding with roller-way 32 in bearing to the ring flat-plate balance wheel 4 in a ring
Hold outer roller-way 43；4 sets of ring flat-plate balance wheel are setting between roller-way 32 in the eccentric land periphery, the outer roller-way 43 of the bearing and bearing
It is equipped with bearing roller 7, forms the capacity eccentric bearing structure.
Referring specifically to shown in Fig. 3, the bearing power taking frame 3 is the revolving body of L shape section, and power taking frame and eccentric land are one
Body structure, the center line of roller-way 32 and the centerline offset of power taking frame centre bore 33 and parallel, all power take-off holes in the bearing
31 center line and the centerline parallel of centre bore 33.
In one embodiment, the central axis 2 is the hollow shaft that one end is equipped with disk 21, is evenly equipped with biography on disk 21
Power hole 22, the pin shaft 41 of the ring flat-plate balance wheel 4 of afterbody gear unit protrude into corresponding force transmission hole 22, realize power transmission.
In one embodiment, the both ends of the internal gear 1 pass through spring bearing 6 to be respectively sleeved on first order transmission single
On the bearing power taking frame 3 of member and on central axis 2, specifically cover on the disk 21 of central axis 2.And 1 both ends of internal gear are provided with
For the bearing plate 5 of positioning support bearing 6, bearing plate 5 is connected by screw to internal gear 1, is arranged on central axis 2 useful
In the retainer ring of 3 axial limiting of bearing power taking frame to first order gear unit.
In one embodiment, the bearing power taking frame 3 of each gear unit is directly sleeved on outside the central axis 2,
It is slidably matched with central axis 2.In another embodiment, the bearing power taking frame 3 of each gear unit passes through rolling bearing 8
It covers outside central axis 2, as shown in Figure 5 and Figure 6, Fig. 5 and Fig. 6 show the cooperation schematic diagram of single-stage driving unit Yu internal gear 1.
The ring flat-plate balance wheel 4 of the utility model previous stage transmits rotary movement to the bearing power taking of rear stage by pin shaft 41
Frame 3 drives 4 backswing of ring flat-plate balance wheel of rear stage, forms cascade and slows down, and multiple tooth difference Cycloidal Wheel reduces the transmission of single-stage
Than increasing antiseizing, may finally realize that small size, large transmission ratio, high bearing capacity and high efficiency, high-precision are driven.
The multiple tooth poor Cycloidal Wheel transmission of single-stage reduces flank of tooth Maximum Contact compared to tooth difference standard engagement Cycloidal Wheel transmission and answers
Power can effectively increase the bearing capacity of the flank of tooth, the big tooth of relative velocity not participated in power transmission, to also improve complete machine
Antiscuffing capacity improves intensity；The multiple tooth poor cycloid reduction transmission of plural serial stage, can be in lesser single staged transmission ratio
Bigger cascade transmission ratio is obtained, industrial robot is compact to reducer structure, transmission ratio is big, the light-weight, service life to meet
It is long, vibrating noise is low, cheap etc. requires.
The multiple tooth difference ring plate cascade retarder of the utility model is used for high-precision industrial robot, precision drive and Electrical Control
On device processed, using the ring flat-plate balance wheel 4 of high-precision processing and manufacturing, open top container ship may be implemented, very high revolution essence can be obtained
Degree, so there is vast potential for future development.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (10)
1. a kind of multiple tooth difference ring plate cascades retarder, it is characterised in that: including central axis, internal gear and at least two-stage series connection
Gear unit；Every grade of gear unit includes bearing power taking frame and is sleeved on bearing power taking frame by capacity eccentric bearing structure
Ring flat-plate balance wheel, the bearing power taking frame of gear units at different levels is set on center shaft, and can be relatively rotated with central axis, described
Relative to bearing power taking frame centerline offset, every grade of ring flat-plate balance wheel has external gear and multiple is used for ring flat-plate balance wheel center line
Transmit the pin shaft of power；Ring flat-plate balance wheels at different levels are engaged with the same internal gear, and mesh form is multiple tooth poor Cycloidal Wheel engagement；
Between adjacent two-stage gear unit, rear stage transmission is transferred power to by the pin shaft on previous stage gear unit ring flat-plate balance wheel
The bearing power taking frame of unit, the same level bearing power taking frame obtain rotary power from preceding primary transmission unit, and the same level ring flat-plate is driven to put
Crop rotation eccentric rotary；The ring flat-plate balance wheel of afterbody gear unit transmits rotary movement to central axis by pin shaft.
2. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: be located at first order gear unit it
Multiple power take-off holes for being used to receive power are provided on the bearing power taking frame of gear units at different levels afterwards, previous stage gear unit
The pin shaft of ring flat-plate balance wheel protrudes into the power take-off hole of rear stage gear unit, transmitting rotary power.
3. multiple tooth difference ring plate according to claim 2 cascades retarder, it is characterised in that: the power take-off hole is along bearing power taking
Frame is circumferentially uniformly distributed, and the pin shaft is circumferentially uniformly distributed along ring flat-plate balance wheel.
4. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: the bearing power taking frame includes ring
The power taking frame and eccentric setting of shape on roller-way in the bearing on power taking frame, the ring flat-plate balance wheel in being provided with and roller-way in bearing
The outer roller-way of corresponding bearing；It is provided with bearing roller between roller-way in the outer roller-way of the bearing and bearing, forms the eccentric shaft
Bearing structure.
5. multiple tooth difference ring plate according to claim 4 cascades retarder, it is characterised in that: the bearing power taking frame is L shape
The revolving body of section, the power taking frame are structure as a whole with roller-way in bearing, the center line of roller-way and power taking frame in the bearing
The centerline offset of centre bore is simultaneously parallel.
6. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: the central axis is equipped with for one end
The hollow shaft of disk is evenly equipped with force transmission hole on the disk, and the pin shaft of the ring flat-plate balance wheel of the afterbody gear unit protrudes into
In the force transmission hole, transmitting rotary power.
7. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: distinguish at the both ends of the internal gear
By spring bearing be sleeved on the bearing power taking frame of first order gear unit and central axis on.
8. multiple tooth difference ring plate according to claim 7 cascades retarder, it is characterised in that: the internal gear both ends are provided with
For the bearing plate of positioning support bearing, the bearing plate is connected by screw to internal gear, is arranged on the central axis
There is the retainer ring for the bearing power taking frame axial limiting to first order gear unit.
9. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: the axis of each gear unit
It holds power taking frame to be directly sleeved on outside the central axis, or through axis of rolling bearing sleeve outside the central axis.
10. multiple tooth difference ring plate according to claim 1 cascades retarder, it is characterised in that: the ring flat-plate balance wheel and internal tooth
It is multiple tooth poor cycloid tooth engagement between wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821992368.0U CN209309233U (en) | 2018-11-29 | 2018-11-29 | Multiple tooth difference ring plate cascades retarder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821992368.0U CN209309233U (en) | 2018-11-29 | 2018-11-29 | Multiple tooth difference ring plate cascades retarder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209309233U true CN209309233U (en) | 2019-08-27 |
Family
ID=67675062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821992368.0U Withdrawn - After Issue CN209309233U (en) | 2018-11-29 | 2018-11-29 | Multiple tooth difference ring plate cascades retarder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209309233U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356973A (en) * | 2018-11-29 | 2019-02-19 | 中冶赛迪技术研究中心有限公司 | Multiple tooth difference ring plate cascades retarder |
-
2018
- 2018-11-29 CN CN201821992368.0U patent/CN209309233U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356973A (en) * | 2018-11-29 | 2019-02-19 | 中冶赛迪技术研究中心有限公司 | Multiple tooth difference ring plate cascades retarder |
| CN109356973B (en) * | 2018-11-29 | 2024-07-02 | 中冶赛迪技术研究中心有限公司 | Multi-tooth-difference annular plate cascade speed reducer |
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Granted publication date: 20190827 Effective date of abandoning: 20240702 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190827 Effective date of abandoning: 20240702 |
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| AV01 | Patent right actively abandoned |