CN104999476A - Joint bearing reducer of robot - Google Patents
Joint bearing reducer of robot Download PDFInfo
- Publication number
- CN104999476A CN104999476A CN201510453119.9A CN201510453119A CN104999476A CN 104999476 A CN104999476 A CN 104999476A CN 201510453119 A CN201510453119 A CN 201510453119A CN 104999476 A CN104999476 A CN 104999476A
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- bearing
- inner race
- bearing inner
- outer ring
- cycloid
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Abstract
The invention discloses a joint bearing reducer of a robot. The joint bearing reducer of the robot comprises a bearing outer ring assembly and a bearing inner ring assembly. The bearing outer ring assembly comprises a front bearing outer ring, a rear bearing outer ring and a middle inner arc toothed flange. The bearing inner ring assembly comprises a front bearing inner ring and a rear bearing inner ring which are embedded into an outer ring sleeved hole of the bearing outer ring assembly; a cycloid gear is embedded in a movable containing cavity between the front bearing inner ring and the rear bearing inner ring; gear cycloid tooth grooves are formed in the outer circumferential surface of the cycloid gear; flange cycloid tooth grooves are formed in the inner circumferential surface of the middle inner arc toothed flange; roller pins are embedded into the flange cycloid toothed grooves; the gear cycloid toothed grooves are engaged with the roller pins selectively; the bearing inner ring assembly is provided with a motor input shaft and three crankshafts; the front end and the rear end of each crankshaft are matched with the front bearing inner ring and the rear bearing inner ring on the corresponding side respectively; the eccentric section of each crankshaft is matched with the cycloid gear through a bearing. By means of the structural design, the joint bearing reducer of the robot has the advantages of being novel in design, simple in structure, good in stability and reliability and capable of achieving a large transmission ratio.
Description
Technical field
The present invention relates to deceleration device technical field, particularly relate to a kind of joint of robot Bearing-like reducer.
Background technology
Along with automatic technology constantly progress, industrial robot is artificial and increase work efficiency and conveniently serve very important facilitation in replacement, and improving constantly along with cost of labor, the promotion rate of robot is just constantly accelerated.
For robot, reductor is the core key part that robot carries out action, the speed reducer structure of existence form various kinds in prior art; But for existing reductor, the following defect of its ubiquity, is specially: design unreasonable, complex structure, reliability are poor, gearratio is little.
Summary of the invention
The object of the invention is to provide a kind of joint of robot Bearing-like reducer for the deficiencies in the prior art, this joint of robot Bearing-like reducer is novel in design, structure is simple, reliability good and can realize big speed ratio.
For achieving the above object, the present invention is achieved through the following technical solutions.
A kind of joint of robot Bearing-like reducer, include bearing outer ring assembly and bearing inner race assembly, bearing outer ring assembly includes the front side shaft bearing outer-ring stacking gradually layout from front to back, curved tooth flange and rear side bearing outer ring in middle, front side shaft bearing outer-ring, in middle, curved tooth flange and rear side bearing outer ring are spirally connected successively, the core of bearing outer ring assembly forms by front side shaft bearing outer-ring, in middle, curved tooth flange and rear side bearing outer ring jointly enclose to fill and form and the suit hole, outer ring of rounded shape, bearing inner race assembly includes the front side bearing inner race of rounded shape respectively and is screwed on the rear side bearing inner race of front side bearing inner race rear end face, front side bearing inner race, rear side bearing inner race is flush-mounted in the suit hole, outer ring of bearing outer ring assembly respectively rotatably,
In just forming movable accommodating cavity to the position of middle inner arc tooth flange between front side bearing inner race and rear side bearing inner race, cycloid gear can be embedded with in movable accommodating cavity relative motion, the outer circumference surface of cycloid gear offers circumferentially ring-type uniform intervals distribution and gear cycloid gullet in circular arc, in middle, the inner peripheral surface of curved tooth flange offers circumferentially ring-type uniform intervals distribution and flange cycloid gullet in circular arc, be embedded with needle roller rotatably respectively in each flange cycloid gullet, gear cycloid gullet optionally engages with needle roller;
Bearing inner race assembly be fitted with from rear to front successively through rear side bearing inner race, cycloid gear and stretch to front side bearing inner race in motor power shaft, bearing inner race assembly is also fitted with the bent axle of three centered by motor power shaft and circumferentially ring-type uniform intervals distributions, motor power shaft is connected with each crank-driven respectively, match respectively by the front side bearing inner race of bearing and corresponding side, rear side bearing inner race in the leading section of each bent axle, rearward end, the eccentric segment in each bent axle centre position matches with cycloid gear respectively by bearing.
Wherein, the leading section of described motor power shaft is equiped with motor gear, and the corresponding motor gear in leading section of each bent axle is respectively installed with planetary gear, and each planetary gear engages with motor gear respectively.
Wherein, the core of described bent axle offers the through hole run through completely front and back, the clamping screw that the axis direction along bent axle extends is embedded with in through hole, the leading section of through hole is embedded with tapered plug, the core of tapered plug offers the cover hole clipping suitable with the major part end shape of clamping screw, the major part end of clamping screw leading section is embedded in the cover hole clipping of tapered plug, the rearward end of through hole is embedded with locking nut, thread head and the locking nut of clamping screw rearward end are spirally connected, the corresponding locking nut of rearward end of through-hole inner surface is provided with shoulder block, and locking nut abuts with shoulder block;
The leading section of through-hole inner surface is provided with outside taper surface, tapered plug is provided with the inner side taper surface matched with outside taper surface, through-hole inner surface offers in the rear end of outside taper surface in circular annular slot, when locking nut is tightened in clamping screw, taper face diameter in inner side is to supporting outside taper surface outwardly, and the outer circumference surface in crankshaft front end portion abuts with corresponding described planetary centre bore inner peripheral surface.
Wherein, in described front side shaft bearing outer-ring, described front side bearing inner race and described centre, curved tooth flange jointly encloses and is equipped with one in circular front side annular groove, described rear side bearing outer ring, described rear side bearing inner race and middle interior curved tooth flange jointly enclose and are equipped with one in circular rear side annular groove, crossed cylindrical roller bearing is embedded with respectively in front side annular groove, rear side annular groove, each crossed cylindrical roller bearing includes retainer respectively and is fastened in the cylindrical roller of retainer, and the axis of two adjacent cylindrical rollers is that intersection is arranged vertically.
Beneficial effect of the present invention is: a kind of joint of robot Bearing-like reducer of the present invention, it comprises bearing outer ring assembly, bearing inner race assembly, bearing outer ring assembly comprises the front side shaft bearing outer-ring stacking gradually layout, middle interior curved tooth flange, rear side bearing outer ring, suit hole, bearing outer ring assembly core shaping outer ring, bearing inner race assembly comprises front side bearing inner race, rear side bearing inner race, and forward and backward side bearing inner ring is flush-mounted in suit hole, outer ring respectively; Setting-in cycloid gear in movable accommodating cavity between forward and backward side bearing inner ring, cycloid gear outer circumference surface offers gear cycloid gullet, in middle, the inner peripheral surface of curved tooth flange offers flange cycloid gullet, setting-in needle roller in flange cycloid gullet, and gear cycloid gullet optionally engages with needle roller; Bearing inner race assembly is equipped with motor power shaft and three bent axles, and each bent axle front and back ends portion matches respectively by the forward and backward side bearing inner ring in bearing and corresponding side, and the eccentric segment of each bent axle matches with cycloid gear respectively by bearing.Designed by said structure, the present invention has modern design, structure is simple, reliability good and can realize the advantage of big speed ratio.
Accompanying drawing explanation
Utilize accompanying drawing to be further detailed the present invention below, but the embodiment in accompanying drawing does not form any limitation of the invention.
Fig. 1 is generalized section of the present invention.
Fig. 2 is end face structure schematic diagram of the present invention.
Fig. 3 is the close-up schematic view of " A " position shown in Fig. 2.
Fig. 4 is the structural representation of bent axle of the present invention.
Include in Fig. 1 to Fig. 4:
1---bearing outer ring assembly 11---front side shaft bearing outer-ring
Curved tooth flange in 12---rear side bearing outer ring 13---is middle
131---flange cycloid gullet 2---bearing inner race assembly
21---front side bearing inner race 22---rear side bearing inner race
3---cycloid gear 31---gear cycloid gullet
4---needle roller 51---motor power shaft
52---bent axle 521---through hole
522---annular slot 523---shoulder block
524---radial slot 53---motor gear
54---planetary gear 61---clamping screw
62---tapered plug 621---cover hole clipping
63---locking nut 71---front side annular groove
72---rear side annular groove 73---crossed cylindrical roller bearing
731---retainer 732---cylindrical roller.
Detailed description of the invention
Below in conjunction with concrete embodiment, the present invention will be described.
As shown in Figure 1 to Figure 4, a kind of joint of robot Bearing-like reducer, include bearing outer ring assembly 1 and bearing inner race assembly 2, bearing outer ring assembly 1 includes the front side shaft bearing outer-ring 11 stacking gradually layout from front to back, curved tooth flange 13 and rear side bearing outer ring 12 in middle, front side shaft bearing outer-ring 11, in middle, curved tooth flange 13 and rear side bearing outer ring 12 are spirally connected successively, the core of bearing outer ring assembly 1 forms by front side shaft bearing outer-ring 11, in middle, curved tooth flange 13 and rear side bearing outer ring 12 jointly enclose to fill and form and the suit hole, outer ring of rounded shape, bearing inner race assembly 2 includes the front side bearing inner race 21 of rounded shape respectively and is screwed on the rear side bearing inner race 22 of front side bearing inner race 21 rear end face, front side bearing inner race 21, rear side bearing inner race 22 is flush-mounted in the suit hole, outer ring of bearing outer ring assembly 1 respectively rotatably.
Further, in just forming movable accommodating cavity to the position of middle inner arc tooth flange 13 between front side bearing inner race 21 and rear side bearing inner race 22, cycloid gear 3 can be embedded with in movable accommodating cavity relative motion, the outer circumference surface of cycloid gear 3 offers circumferentially ring-type uniform intervals distribution and gear cycloid gullet 31 in circular arc, in middle, the inner peripheral surface of curved tooth flange 13 offers circumferentially ring-type uniform intervals distribution and flange cycloid gullet 131 in circular arc, needle roller 4 is embedded with rotatably respectively in each flange cycloid gullet 131, gear cycloid gullet 31 optionally engages with needle roller 4.
Further, bearing inner race assembly 2 is fitted with and passes rear side bearing inner race 22 from rear successively to front, cycloid gear 3 and stretch to front side bearing inner race 21 in motor power shaft 51, bearing inner race assembly 2 is also fitted with the bent axle 52 of three centered by motor power shaft 51 and circumferentially ring-type uniform intervals distributions, motor power shaft 51 drives with each bent axle 52 respectively and is connected, the leading section of each bent axle 52, rearward end is respectively by the front side bearing inner race 21 of bearing and corresponding side, rear side bearing inner race 22 matches, the eccentric segment in each bent axle 52 centre position matches with cycloid gear 3 respectively by bearing.
Need to explain further, in the course of work of the present invention, the bearing outer ring assembly 1 be made up of front side shaft bearing outer-ring 11, rear side bearing outer ring 12 and middle interior curved tooth flange 13 is fixed structure, and front side bearing inner race 21 and rear side bearing inner race 22 are respectively as output end structure.
In the course of work of the present invention, motor power shaft 51 matches with the power output shaft of drive motors, and under the driving effect of drive motors, motor power shaft 51 drives each bent axle 52 to rotate and each bent axle 52 synchronization action; In the process of rotating relative to bearing inner race assembly 2 at each bent axle 52, when in the eccentric segment distance of bent axle 52 is middle, the inner peripheral surface of curved tooth flange 13 is nearest, the wherein gear cycloid gullet 31 of cycloid gear 3 engages with a wherein needle roller 4, now, bearing inner race assembly 2 rotates relative to bearing outer ring assembly 1; When all gear cycloid gullets 31 all recess needle roller 4, bearing inner race assembly 2 does not rotate relative to bearing outer ring assembly 1; So when movable accommodating cavity of the present invention installs a cycloid gear 3, motor power shaft 51 driving crank 52 revolves and turns around, front side bearing inner race 21, rear side bearing inner race 22 locking phase rotate needle roller 4 position to bearing outer ring assembly 1; As shown in Figure 1, in movable accommodating cavity, two cycloid gears 3 are installed, the corresponding each cycloid gear 3 of each bent axle 52 is respectively arranged with an eccentric segment, and two eccentric segments of each bent axle 52 are 180 degree of phase differences layouts, during work, motor power shaft 51 driving crank 52 revolves and turns around, and front side bearing inner race 21, rear side bearing inner race 22 locking phase rotate two needle roller 4 positions to bearing outer ring assembly 1.
Need point out further, as shown in Figure 1, motor power shaft 51 of the present invention drives each bent axle 52 to rotate by gear drive, concrete: the leading section of motor power shaft 51 is equiped with motor gear 53, the corresponding motor gear 53 in leading section of each bent axle 52 is respectively installed with planetary gear 54, and each planetary gear 54 engages with motor gear 53 respectively.
As shown in Figure 1 and Figure 4, each bent axle 52 leading section of the present invention and corresponding planetary gear 54 realize assembly connection respectively by without key strainer, concrete: the core of bent axle 52 offers the through hole 521 run through completely front and back, the clamping screw 61 that the axis direction along bent axle 52 extends is embedded with in through hole 521, the leading section of through hole 521 is embedded with tapered plug 62, the core of tapered plug 62 offers the cover hole clipping 621 suitable with the major part end shape of clamping screw 61, the major part end of clamping screw 61 leading section is embedded in the cover hole clipping 621 of tapered plug 62, the rearward end of through hole 521 is embedded with locking nut 63, thread head and the locking nut 63 of clamping screw 61 rearward end are spirally connected, the corresponding locking nut 63 of rearward end of through hole 521 inner surface is provided with shoulder block 523, locking nut 63 abuts with shoulder block 523, the leading section of through hole 521 inner surface is provided with outside taper surface, tapered plug 62 is provided with the inner side taper surface matched with outside taper surface, through hole 521 inner surface offers in the rear end of outside taper surface in circular annular slot 522, when locking nut 63 is tightened in clamping screw 61, taper face diameter in inner side is to supporting outside taper surface outwardly, and the outer circumference surface of bent axle 52 leading section abuts with the centre bore inner peripheral surface of corresponding planetary gear 54.
Need to explain further, when locking nut 63 is tightened in the thread head of clamping screw 61, clamping screw 61 pulls tapered plug 62 backwards, and now, the inner side taper face diameter of tapered plug 62 is to the outside taper surface abutting through hole 521 leading section outwardly; Wherein, annular annular slot 522 can make bent axle 52 leading section existence deflection radially, at inner side taper face diameter in the process supporting outside taper surface outwardly, bent axle 52 leading section is radially out of shape, this distortion makes the outer circumference surface of bent axle 52 leading section abut with the centre bore inner peripheral surface of corresponding planetary gear 54, and then makes bent axle 52 and the corresponding reliable and stable combination of planetary gear 54.In addition, for ensureing that the end of bent axle 52 has enough radially deflections, the end of bent axle 2 of the present invention also offers the radial slot 524 of radially opening.
Need point out further, of the present inventionly the wheelbase between each bent axle 52 can be made shorter without key strainer, and can alleviate and manufacture processing and assembly difficulty, the target that more SWB more easily assembles can be realized.
As shown in Figures 1 to 4, front side shaft bearing outer-ring 11, front side bearing inner race 21 and middle interior curved tooth flange 13 jointly enclose and are equipped with one in circular front side annular groove 71, rear side bearing outer ring 12, rear side bearing inner race 22 and middle interior curved tooth flange 13 jointly enclose and are equipped with one in circular rear side annular groove 72, front side annular groove 71, crossed cylindrical roller bearing 73 is embedded with respectively in rear side annular groove 72, each crossed cylindrical roller bearing 73 includes retainer 731 respectively and is fastened in the cylindrical roller 732 of retainer 731, the axis of two adjacent cylindrical rollers 732 is that intersection is arranged vertically.
Wherein, it is stressed that crossed cylindrical roller bearing 73 of the present invention can realize vertical bidirectional, by installing crossed cylindrical roller bearing 73 in inner side annular groove, outside annular groove, the present invention can realize the object of joint of robot Bearing-like reducer small size, heavy load, high pulling torque, namely can be the joint of robot Bearing-like reducer that Robot industry provides more superior.
Comprehensive above-mentioned situation is known, is designed by said structure, and the present invention has modern design, structure is simple, reliability good and can realize the advantage of big speed ratio.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (4)
1. a joint of robot Bearing-like reducer, it is characterized in that: include bearing outer ring assembly (1) and bearing inner race assembly (2), bearing outer ring assembly (1) includes the front side shaft bearing outer-ring (11) stacking gradually layout from front to back, curved tooth flange (13) and rear side bearing outer ring (12) in middle, front side shaft bearing outer-ring (11), in middle, curved tooth flange (13) and rear side bearing outer ring (12) are spirally connected successively, the core of bearing outer ring assembly (1) forms by front side shaft bearing outer-ring (11), in middle, curved tooth flange (13) and rear side bearing outer ring (12) jointly enclose to fill and form and the suit hole, outer ring of rounded shape, bearing inner race assembly (2) includes the front side bearing inner race (21) of rounded shape respectively and is screwed on the rear side bearing inner race (22) of front side bearing inner race (21) rear end face, front side bearing inner race (21), rear side bearing inner race (22) is flush-mounted in the suit hole, outer ring of bearing outer ring assembly (1) respectively rotatably,
In just forming movable accommodating cavity to the position of middle inner arc tooth flange (13) between front side bearing inner race (21) and rear side bearing inner race (22), cycloid gear (3) can be embedded with in movable accommodating cavity relative motion, the outer circumference surface of cycloid gear (3) offers circumferentially ring-type uniform intervals distribution and gear cycloid gullet (31) in circular arc, in middle, the inner peripheral surface of curved tooth flange (13) offers circumferentially ring-type uniform intervals distribution and flange cycloid gullet (131) in circular arc, needle roller (4) is embedded with respectively rotatably in each flange cycloid gullet (131), gear cycloid gullet (31) optionally engages with needle roller (4),
Bearing inner race assembly (2) is fitted with and passes rear side bearing inner race (22) from rear successively to front, cycloid gear (3) the motor power shaft (51) stretched in front side bearing inner race (21), bearing inner race assembly (2) is also fitted with the bent axle (52) of three centered by motor power shaft (51) and circumferentially ring-type uniform intervals distributions, motor power shaft (51) drives with each bent axle (52) respectively and is connected, the leading section of each bent axle (52), rearward end is respectively by the front side bearing inner race (21) of bearing and corresponding side, rear side bearing inner race (22) matches, the eccentric segment in each bent axle (52) centre position matches with cycloid gear (3) respectively by bearing.
2. a kind of joint of robot Bearing-like reducer according to claim 1, it is characterized in that: the leading section of described motor power shaft (51) is equiped with motor gear (53), the corresponding motor gear (53) in leading section of each bent axle (52) is respectively installed with planetary gear (54), and each planetary gear (54) engages with motor gear (53) respectively.
3. a kind of joint of robot Bearing-like reducer according to claim 2, it is characterized in that: the core of described bent axle (52) offers the through hole (521) run through completely front and back, the clamping screw (61) that the axis direction along bent axle (52) extends is embedded with in through hole (521), the leading section of through hole (521) is embedded with tapered plug (62), the core of tapered plug (62) offers the cover hole clipping (621) suitable with the major part end shape of clamping screw (61), the major part end of clamping screw (61) leading section is embedded in the cover hole clipping (621) of tapered plug (62), the rearward end of through hole (521) is embedded with locking nut (63), thread head and the locking nut (63) of clamping screw (61) rearward end are spirally connected, the corresponding locking nut (63) of rearward end of through hole (521) inner surface is provided with shoulder block (523), locking nut (63) abuts with shoulder block (523),
The leading section of through hole (521) inner surface is provided with outside taper surface, tapered plug (62) is provided with the inner side taper surface matched with outside taper surface, through hole (521) inner surface offers in circular annular slot (522) in the rear end of outside taper surface, when locking nut (63) is tightened in clamping screw (61), taper face diameter in inner side is to supporting outside taper surface outwardly, and the outer circumference surface of bent axle (52) leading section abuts with the centre bore inner peripheral surface of corresponding described planetary gear (54).
4. a kind of joint of robot Bearing-like reducer according to claim 3, it is characterized in that: described front side shaft bearing outer-ring (11), in described front side bearing inner race (21) and described centre, curved tooth flange (13) jointly encloses and is equipped with one in circular front side annular groove (71), described rear side bearing outer ring (12), described rear side bearing inner race (22) and middle interior curved tooth flange (13) jointly enclose and are equipped with one in circular rear side annular groove (72), front side annular groove (71), crossed cylindrical roller bearing (73) is embedded with respectively in rear side annular groove (72), each crossed cylindrical roller bearing (73) includes retainer (731) respectively and is fastened in the cylindrical roller (732) of retainer (731), the axis of two adjacent cylindrical rollers (732) is that intersection is arranged vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510453119.9A CN104999476A (en) | 2015-04-25 | 2015-07-29 | Joint bearing reducer of robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510201302 | 2015-04-25 | ||
| CN201510453119.9A CN104999476A (en) | 2015-04-25 | 2015-07-29 | Joint bearing reducer of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104999476A true CN104999476A (en) | 2015-10-28 |
Family
ID=54372469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510453119.9A Pending CN104999476A (en) | 2015-04-25 | 2015-07-29 | Joint bearing reducer of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104999476A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109899477A (en) * | 2019-04-01 | 2019-06-18 | 长安大学 | A kind of speed reducer of split type shell |
| CN109990050A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of retarder |
| CN109990049A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of speed reducer based on split type shell |
| CN110030370A (en) * | 2018-01-03 | 2019-07-19 | 斯凯孚公司 | Bearing assembly |
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| CN2808416Y (en) * | 2005-03-14 | 2006-08-23 | 山东泰工工贸有限责任公司 | Combined clamp for face grinding of gear |
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| US20130023374A1 (en) * | 2011-07-20 | 2013-01-24 | Sumitomo Heavy Industries, Ltd. | Speed reducer incorporating portion structure, incorporating method, and eccentric oscillating type speed reducer |
| JP2013194846A (en) * | 2012-03-21 | 2013-09-30 | Nabtesco Corp | Eccentric oscillation type gear device |
| CN103448073A (en) * | 2012-05-30 | 2013-12-18 | 发那科株式会社 | Wrist unit of industrial robot |
| CN204239629U (en) * | 2014-08-15 | 2015-04-01 | 李志广 | The dust-proof accurate cycloid speed reducer of the built-in integrated carrier bearing of planetary pinion |
| CN204954860U (en) * | 2015-07-29 | 2016-01-13 | 聂进云 | Robot joint bearing speed reducer |
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- 2015-07-29 CN CN201510453119.9A patent/CN104999476A/en active Pending
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| CN2808416Y (en) * | 2005-03-14 | 2006-08-23 | 山东泰工工贸有限责任公司 | Combined clamp for face grinding of gear |
| CN201420836Y (en) * | 2009-03-19 | 2010-03-10 | 宁波市镇海永力液压有限公司 | Reducer with compound structure of similar cycloid gears and planetary gear |
| US20130023374A1 (en) * | 2011-07-20 | 2013-01-24 | Sumitomo Heavy Industries, Ltd. | Speed reducer incorporating portion structure, incorporating method, and eccentric oscillating type speed reducer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030370A (en) * | 2018-01-03 | 2019-07-19 | 斯凯孚公司 | Bearing assembly |
| CN109899477A (en) * | 2019-04-01 | 2019-06-18 | 长安大学 | A kind of speed reducer of split type shell |
| CN109990050A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of retarder |
| CN109990049A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of speed reducer based on split type shell |
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Application publication date: 20151028 |