CN108757877B - Flexible mechanical feedback device of friction wheel - Google Patents
Flexible mechanical feedback device of friction wheel Download PDFInfo
- Publication number
- CN108757877B CN108757877B CN201810966249.6A CN201810966249A CN108757877B CN 108757877 B CN108757877 B CN 108757877B CN 201810966249 A CN201810966249 A CN 201810966249A CN 108757877 B CN108757877 B CN 108757877B
- Authority
- CN
- China
- Prior art keywords
- transmission shaft
- feedback
- friction
- ball bearing
- friction wheel
- 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
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Friction Gearing (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a flexible mechanical feedback device of friction wheels, which comprises a power rod, friction wheels, a mounting bracket, a transmission shaft, cylindrical gears and feedback rods, wherein two friction wheels are symmetrically arranged on two sides of the power rod; the friction wheels are rotatably arranged on the mounting bracket, the transmission shaft is arranged between the two friction wheels through the transmission shaft support, and two ends of the transmission shaft are respectively and rotatably connected with the top ends of the two friction wheels; the cylindrical gear is located the top of transmission shaft to rotate with the middle part outer wall of transmission shaft and be connected, the one end of cylindrical gear is provided with the connecting axle, and the tip and the feedback rod threaded connection of connecting axle, the connecting axle passes through stop device and rotates to be installed on the installing support. The invention adopts the flexible contact of the friction wheel to carry out displacement and speed feedback, can reduce the abrasion of main feedback components of mechanical impact in working, and the feedback precision can be adjusted along with the diameter of the friction wheel and the size of positive pressure, thus having high stability, simple and reasonable structure and lower manufacturing cost.
Description
Technical Field
The invention relates to the technical field of digital hydraulic cylinder feedback devices, in particular to a flexible mechanical feedback device of a friction wheel.
Background
The feedback device is widely applied to mechanical structures, in particular to a digital hydraulic cylinder, and the main internal feedback devices at present are divided into two main types: a passive feedback based on a sensor type and an active feedback based on a mechanical structure.
The Chinese patent 201610819216.X authorizes a built-in displacement sensor integrated motor pump empty single-output rod symmetrical hydraulic cylinder, a feedback device adopts a magnetostrictive displacement sensor, the cost is high, the accuracy of the feedback device mainly depends on the accuracy of the sensor, and once the magneto sensor fails, the feedback device fails, and the reliability is low; the double-stage spiral internal feedback digital fluid cylinder is authorized by China patent 200420084127.8, a feedback device adopts a large-lead precise spiral rod, the manufacturing cost is high, the installation space is large, the stability of the slender threaded rod is poor during working, and the spiral rod is easy to abrade and accumulate small particles to influence the precision under working impact; the paper 'study of a novel digital hydraulic cylinder' introduces a digital hydraulic cylinder which adopts a gear rack for feedback, the gear rack has large noise during working, and the rack is easy to abrade and accumulate small granular pollutants, thereby seriously affecting the control precision.
Therefore, a flexible mechanical feedback device for a friction wheel is provided to solve the problems of the prior art, and the technical problem is needed to be solved.
Disclosure of Invention
The invention aims to provide a flexible mechanical feedback device of a friction wheel, which solves the problems in the prior art, adopts flexible contact of the friction wheel to carry out displacement and speed feedback, can reduce abrasion of main feedback components of mechanical impact in working, and has the advantages of high stability, simple and reasonable structure and lower manufacturing cost, wherein the feedback precision can be adjusted along with the diameter of the friction wheel and the size of positive pressure.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a flexible mechanical feedback device of friction wheels, which comprises a power rod, friction wheels, a mounting bracket, a transmission shaft, cylindrical gears and feedback rods, wherein two friction wheels are symmetrically arranged on two sides of the power rod and form friction transmission with the power rod; the friction wheels are rotatably arranged on the mounting bracket, the transmission shaft is arranged between the two friction wheels through a transmission shaft support, and two ends of the transmission shaft are respectively and rotatably connected with the top ends of the two friction wheels; the cylindrical gear is located above the transmission shaft and is rotationally connected with the outer wall of the middle of the transmission shaft, one end of the cylindrical gear is provided with a connecting shaft, the end of the connecting shaft is in threaded connection with the feedback rod, and the connecting shaft is rotationally installed on the installation support through a limiting device.
Preferably, the middle parts of the two friction wheels are respectively provided with a penetrating installation shaft, and two ends of the two installation shafts are respectively rotatably installed on the installation support through installation bearings.
Preferably, the top ends of the two mounting shafts are provided with first bevel gears, two ends of the transmission shaft are respectively provided with a second bevel gear which is meshed with the two first bevel gears respectively, and the first bevel gears drive the second bevel gears to rotate so as to drive the transmission shaft to rotate.
Preferably, the first bevel gear is disposed perpendicular to the second bevel gear.
Preferably, a spiral tooth is arranged on the outer wall of the middle part of the transmission shaft, and the spiral tooth is connected with the cylindrical gear to drive the cylindrical gear to rotate.
Preferably, a feedback nut is mounted at the other end of the connecting shaft of the cylindrical gear, and the feedback nut is connected with the feedback rod through threads.
Preferably, the limiting device comprises a deep groove ball bearing, and the connecting shaft is rotatably mounted on the mounting bracket through the deep groove ball bearing.
Preferably, the limiting device comprises a deep groove ball bearing, and the connecting shaft is rotatably mounted on the mounting bracket through the deep groove ball bearing.
Preferably, a bearing end cover is arranged at the front end of the deep groove ball bearing, and the bearing end cover is fixed on the mounting bracket through bolts; the connecting shaft is provided with a limiting flat key at a position close to the deep groove ball bearing, an annular limiting groove corresponding to the limiting flat key is formed in the bearing end cover, and the limiting flat key rotates in the annular limiting groove.
Preferably, a sealing ring is arranged at the rear side of the deep groove ball bearing, and the sealing ring fixes the deep groove ball bearing on the mounting bracket and seals the deep groove ball bearing.
Compared with the prior art, the invention has the following technical effects:
the invention adopts the flexible contact of the friction wheel to carry out displacement and speed feedback, can reduce the abrasion of main feedback components of mechanical impact in working, has the feedback precision capable of being adjusted along with the diameter of the friction wheel and the size of positive pressure, has high stability, simple and reasonable structure and lower manufacturing cost, and can produce different series of products; the two friction wheels are symmetrically arranged at the two ends of the piston rod, so that the piston rod is uniformly stressed, and the positive pressure on the power rod can be adjusted by changing the diameter of the friction wheels, so that the control precision is improved; bevel gears at two ends of the transmission shaft are in transmission connection with bevel gears at the upper ends of the two friction wheels, the stress is uniform, only rotation and translation cannot be realized, and the control precision, the control speed and the control stroke can be improved by modifying the tooth number and the modulus of the bevel gears.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a flexible mechanical feedback device for a friction wheel according to the present invention;
FIG. 2 is a schematic diagram of the operation of the flexible mechanical feedback device of the friction wheel of the present invention;
the device comprises a power rod 1, a friction wheel 2, a mounting bearing 3, a mounting bracket 4, a transmission shaft 5, a transmission shaft support 6, a cylindrical gear 7, a limit flat key 8, a bearing end cover 9, a deep groove ball bearing 10, a sealing ring 11 and a feedback rod 12.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a flexible mechanical feedback device of a friction wheel, which solves the problems in the prior art, adopts flexible contact of the friction wheel to carry out displacement and speed feedback, can reduce abrasion of main feedback components of mechanical impact in working, and has the advantages of high stability, simple and reasonable structure and lower manufacturing cost, wherein the feedback precision can be adjusted along with the diameter of the friction wheel and the size of positive pressure.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1-2, the embodiment provides a flexible mechanical feedback device of friction wheels, which comprises a power rod 1, friction wheels 2, a mounting bracket 4, a transmission shaft 5, a cylindrical gear 7 and a feedback rod 12, wherein the two friction wheels 2 are symmetrically arranged on two sides of the power rod 1 and form friction transmission with the power rod 1; the friction wheels 2 are rotatably arranged on the mounting bracket 4, the transmission shaft 5 is arranged between the two friction wheels 2 through the transmission shaft support 6, and two ends of the transmission shaft 5 are respectively and rotatably connected with the top ends of the two friction wheels 2; the cylindrical gear 7 is located the top of transmission shaft 5 to rotate with the middle part outer wall of transmission shaft 5 and be connected, the one end of cylindrical gear 7 is provided with the connecting axle, and the tip and the feedback rod threaded connection of connecting axle, the connecting axle passes through stop device and rotates to be installed on installing support 4.
Specifically, in this embodiment, the mounting bracket 4 includes a square frame, an arc-shaped mounting frame is provided on the square frame, a through mounting shaft is provided at the middle of the two friction wheels 2, and the upper and lower ends of the mounting shaft are respectively rotatably mounted on the top and bottom of the mounting bracket 4 through a mounting bearing 3, so that the two friction wheels 2 are rotatably connected with the mounting bracket 4. The top of two installation axles all is provided with a first bevel gear, and transmission shaft 5 passes through transmission shaft support 6 and installs in square frame's top to be located two first bevel gears in the middle of, transmission shaft 5's both ends respectively are provided with a second bevel gear, mesh with two first bevel gears respectively, and first bevel gear drives the second bevel gear and rotates, thereby drives transmission shaft 5 and rotate. Wherein, the first bevel gear is perpendicular to the second bevel gear, and the transmission shaft 5 is fixed by the transmission shaft support 6, and can only rotate and can not translate.
Spiral teeth are circumferentially arranged on the outer wall of the middle of the transmission shaft 5 and connected with the cylindrical gear 7 to form gear transmission, and the cylindrical gear 7 is driven to rotate through the transmission shaft 5. The feedback nut is installed to the other end of the connecting axle of cylindrical gear 7, and feedback rod 12 is close to the one end of feedback nut and is provided with the screw thread, and feedback nut and feedback rod 12 pass through the screw thread and are connected, drive feedback rod 12 rotation, simultaneously, make feedback rod 12 along with to the translation of O.
The connecting shaft is rotatably mounted on the mounting bracket 4 through a limiting device, the limiting device comprises a deep groove ball bearing 10, and the connecting shaft is rotatably mounted on a side plate of the arc-shaped mounting bracket of the mounting bracket 4 through the deep groove ball bearing 10; the front end of the deep groove ball bearing 10 is provided with a bearing end cover 9, and the bearing end cover 9 is fixed on the mounting bracket 4 through bolts; the position of the connecting shaft, which is close to the deep groove ball bearing 10, is provided with a limit flat key 8, one end of the bearing end cover 9, which is close to the deep groove ball bearing 10, is provided with an annular limit groove corresponding to the limit flat key 8, the limit flat key 8 rotates in the annular limit groove, and the cylindrical gear 7 is limited between the bearing end cover 9 and the deep groove ball bearing 10 by the limit flat key 8, and can only rotate and cannot translate. The rear side of the deep groove ball bearing 10 is provided with a sealing ring 11, the sealing ring 11 fixes the deep groove ball bearing 10 on the mounting bracket 4 and seals the deep groove ball bearing, and the sealing ring 11 and the bearing end cover 9 are both provided with through holes for the connecting shaft to pass through.
The working principle of the flexible mechanical feedback device of the friction wheel of the embodiment is as follows:
the power rod 1 receives P-direction power to drive left movement and drives the friction wheel 2 which forms friction transmission with the power rod under the action of positive pressure to rotate, and the friction wheel 2 is fixed in the mounting bracket 4 through the mounting bearing 3 and can only rotate; the friction wheel 2 drives the transmission shaft 5 to rotate together through a first bevel gear at the top end, and the transmission shaft 5 is fixed by the transmission shaft support 6 and can only rotate and cannot translate. When the transmission shaft 5 rotates, the cylindrical gear 7 which forms gear transmission with the transmission shaft is driven to rotate, the cylindrical gear 7 is limited between the bearing end cover 9 and the deep groove ball bearing 10 by the limit flat key 8, the rotation can not translate, the deep groove ball bearing 10 is fixed on the mounting bracket 4 by the sealing ring 11, the other end of the cylindrical gear 7 is provided with a feedback nut and forms screw transmission with the feedback rod 12, and as the cylindrical gear 7 is limited to rotate only and can not translate, the feedback rod 12 is driven to rotate and translate along with the O direction, and the motion of the power rod 1 is recorded and fed back to the power system.
According to the invention, the P-direction speed displacement of the power rod is finally transmitted to the O-direction speed and displacement of the feedback rod through the friction wheel, the P-direction movement condition of the power rod can be accurately obtained according to the O-direction movement of the feedback rod, feedback is recorded in real time, and the O-direction feedback movement and feedback precision of the feedback rod can be adjusted by changing the diameter of the friction wheel and the pretightening force.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. The flexible mechanical feedback device of friction pulley, its characterized in that: the friction wheel is symmetrically arranged on two sides of the power rod and forms friction transmission with the power rod; the friction wheels are rotatably arranged on the mounting bracket, the transmission shaft is arranged between the two friction wheels through a transmission shaft support, and two ends of the transmission shaft are respectively and rotatably connected with the top ends of the two friction wheels; the cylindrical gear is positioned above the transmission shaft and is rotationally connected with the outer wall of the middle part of the transmission shaft, one end of the cylindrical gear is provided with a connecting shaft, the end part of the connecting shaft is in threaded connection with the feedback rod, and the connecting shaft is rotationally arranged on the mounting bracket through a limiting device;
spiral teeth are arranged on the outer wall of the middle of the transmission shaft and connected with the cylindrical gear to drive the cylindrical gear to rotate; the other end of the connecting shaft of the cylindrical gear is provided with a feedback nut, and the feedback nut is connected with the feedback rod through threads; the limiting device comprises a deep groove ball bearing, and the connecting shaft is rotatably installed on the installing support through the deep groove ball bearing.
2. The friction wheel flexible mechanical feedback device of claim 1 wherein: the middle parts of the two friction wheels are respectively provided with a penetrating installation shaft, and the two ends of the two installation shafts are respectively rotatably installed on the installation support through installation bearings.
3. The friction wheel flexible mechanical feedback device of claim 2 wherein: the top ends of the two mounting shafts are provided with first bevel gears, two ends of the transmission shaft are respectively provided with a second bevel gear which is meshed with the two first bevel gears respectively, and the first bevel gears drive the second bevel gears to rotate so as to drive the transmission shaft to rotate.
4. A friction wheel flexible mechanical feedback device according to claim 3, characterized in that: the first bevel gear is arranged perpendicular to the second bevel gear.
5. The friction wheel flexible mechanical feedback device of claim 1 wherein: the front end of the deep groove ball bearing is provided with a bearing end cover which is fixed on the mounting bracket through bolts; the connecting shaft is provided with a limiting flat key at a position close to the deep groove ball bearing, an annular limiting groove corresponding to the limiting flat key is formed in the bearing end cover, and the limiting flat key rotates in the annular limiting groove.
6. The friction wheel flexible mechanical feedback device of claim 5 wherein: the rear side of the deep groove ball bearing is provided with a sealing ring, and the sealing ring fixes the deep groove ball bearing on the mounting bracket and seals the deep groove ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966249.6A CN108757877B (en) | 2018-08-23 | 2018-08-23 | Flexible mechanical feedback device of friction wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966249.6A CN108757877B (en) | 2018-08-23 | 2018-08-23 | Flexible mechanical feedback device of friction wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108757877A CN108757877A (en) | 2018-11-06 |
| CN108757877B true CN108757877B (en) | 2023-04-25 |
Family
ID=63966948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810966249.6A Active CN108757877B (en) | 2018-08-23 | 2018-08-23 | Flexible mechanical feedback device of friction wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108757877B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001317601A (en) * | 2000-05-09 | 2001-11-16 | Nsk Ltd | Troidal type continuously variable transmission |
| CN1724882A (en) * | 2004-07-22 | 2006-01-25 | 杨世祥 | Two-stage screw internal foodback digital fluid cylinder |
| CN1971069A (en) * | 2006-10-27 | 2007-05-30 | 成都电子机械高等专科学校 | Ratio-variable feedback type digital fluid cylinder |
| CN101799025A (en) * | 2009-05-15 | 2010-08-11 | 武汉科技学院 | Internal feedback type incremental hydraulic throttling digital valve |
| CN102192299A (en) * | 2010-03-19 | 2011-09-21 | 江从寿 | Toroidal stepless speed changing system |
| DE102010025007A1 (en) * | 2010-06-24 | 2011-12-29 | Ulrich Rohs | Cone friction ring gear box for power-driven vehicle i.e. two-wheeler, has friction cones spaced from each other around gap, where energy is provided by drive for displacement by independent movement of friction ring |
| CN103885463A (en) * | 2014-03-21 | 2014-06-25 | 中国科学院国家天文台南京天文光学技术研究所 | Electromechanical limit braking mechanism of rotating mechanical device and mounting and adjusting method thereof |
| CN104386201A (en) * | 2014-11-12 | 2015-03-04 | 浙江科技学院 | Friction wheel transmission stepless transmission bicycle |
| CN106704312A (en) * | 2015-11-17 | 2017-05-24 | 北京航空航天大学 | Digital hydraulic cylinder with novel feedback mechanism |
| CN107204687A (en) * | 2017-07-24 | 2017-09-26 | 桂林航天工业学院 | A kind of rotating mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2122198B1 (en) * | 2007-02-16 | 2014-04-16 | Fallbrook Intellectual Property Company LLC | Method and assembly |
| WO2009062649A2 (en) * | 2007-11-15 | 2009-05-22 | Hoerbiger Automatisierungstechnik Holding Gmbh | Electrohydraulic booster |
| TWM435893U (en) * | 2011-09-08 | 2012-08-21 | xian-de Huang | Feedback energy adjustable curtain set |
| US9133918B2 (en) * | 2013-03-14 | 2015-09-15 | Team Industries, Inc. | Continuously variable transmission with differential controlling assemblies |
-
2018
- 2018-08-23 CN CN201810966249.6A patent/CN108757877B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001317601A (en) * | 2000-05-09 | 2001-11-16 | Nsk Ltd | Troidal type continuously variable transmission |
| CN1724882A (en) * | 2004-07-22 | 2006-01-25 | 杨世祥 | Two-stage screw internal foodback digital fluid cylinder |
| CN1971069A (en) * | 2006-10-27 | 2007-05-30 | 成都电子机械高等专科学校 | Ratio-variable feedback type digital fluid cylinder |
| CN101799025A (en) * | 2009-05-15 | 2010-08-11 | 武汉科技学院 | Internal feedback type incremental hydraulic throttling digital valve |
| CN102192299A (en) * | 2010-03-19 | 2011-09-21 | 江从寿 | Toroidal stepless speed changing system |
| DE102010025007A1 (en) * | 2010-06-24 | 2011-12-29 | Ulrich Rohs | Cone friction ring gear box for power-driven vehicle i.e. two-wheeler, has friction cones spaced from each other around gap, where energy is provided by drive for displacement by independent movement of friction ring |
| CN103885463A (en) * | 2014-03-21 | 2014-06-25 | 中国科学院国家天文台南京天文光学技术研究所 | Electromechanical limit braking mechanism of rotating mechanical device and mounting and adjusting method thereof |
| CN104386201A (en) * | 2014-11-12 | 2015-03-04 | 浙江科技学院 | Friction wheel transmission stepless transmission bicycle |
| CN106704312A (en) * | 2015-11-17 | 2017-05-24 | 北京航空航天大学 | Digital hydraulic cylinder with novel feedback mechanism |
| CN107204687A (en) * | 2017-07-24 | 2017-09-26 | 桂林航天工业学院 | A kind of rotating mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 邢继峰.一种新型数字液压缸的研究.机床与液压.2005,(第第8期期),第145-146页. * |
| 邱志成,谈大龙.基于加速度反馈的柔性关节机械臂接触力控制.机械工程学报.2002,(第10期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108757877A (en) | 2018-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1051948C (en) | Driving apparatus | |
| CN102705451B (en) | Method for reducing drive eccentric errors of harmonic gear and automatic aligning wave generator | |
| CN201932650U (en) | Planetary gear transmission electric roller | |
| CN205350242U (en) | No return difference single -stage cycloid awl tooth reduction gear | |
| CN108757877B (en) | Flexible mechanical feedback device of friction wheel | |
| CN1542310A (en) | Pin gear cycloid gear driving device and speed reducer thereof | |
| CN206522408U (en) | A kind of industrial robot joint reductor | |
| CN108799607B (en) | Friction wheel feedback type digital hydraulic cylinder | |
| CN207617705U (en) | Electro-hydraulic brake transmission mechanism | |
| CN110757750A (en) | Injection device of electric injection molding machine | |
| CN2061228U (en) | Circumscribed gear planetary reducer | |
| CN208619622U (en) | Friction pulley flexible mechanical formula feedback device | |
| CN209516820U (en) | A kind of electric pushrod | |
| CN207349377U (en) | A kind of chain sprocket transmission mechanism | |
| CN203021761U (en) | Transmission structure between upper shaft and lower shaft of computerized flat-seam knot tying machine | |
| CN203130390U (en) | Manpower hydraulic power machine | |
| CN102931759B (en) | A kind of servo electric jar | |
| CN203130930U (en) | Harmonic gear transmission device and pneumatic wave generator thereof | |
| CN105834921A (en) | Pushed oscillation type direct-driven ultrahigh-pressure fluid power system | |
| CN100472091C (en) | Crank pingear transmission | |
| CN207578410U (en) | A kind of five axis robots with flexible gear structure | |
| CN205559716U (en) | Harmonic lead screw sealing transmission device | |
| CN219760792U (en) | Accurate and stable motor gear box | |
| CN206845798U (en) | A kind of adjustable compressible drive wheel | |
| CN204852191U (en) | Industrial robot RV reduction gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |