WO2014006833A1 - Dispositif d'engrenage à excentrique oscillant - Google Patents

Dispositif d'engrenage à excentrique oscillant Download PDF

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Publication number
WO2014006833A1
WO2014006833A1 PCT/JP2013/003827 JP2013003827W WO2014006833A1 WO 2014006833 A1 WO2014006833 A1 WO 2014006833A1 JP 2013003827 W JP2013003827 W JP 2013003827W WO 2014006833 A1 WO2014006833 A1 WO 2014006833A1
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WO
WIPO (PCT)
Prior art keywords
gear
eccentric
oscillating
oscillating gear
outer cylinder
Prior art date
Application number
PCT/JP2013/003827
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English (en)
Japanese (ja)
Inventor
宏猷 王
義昭 牧添
正隆 佐藤
Original Assignee
ナブテスコ株式会社
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 ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Priority to CN201380035096.9A priority Critical patent/CN104412004B/zh
Priority to DE112013003373.9T priority patent/DE112013003373B4/de
Priority to KR1020157002513A priority patent/KR101692647B1/ko
Publication of WO2014006833A1 publication Critical patent/WO2014006833A1/fr

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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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing

Definitions

  • the present invention relates to an eccentric oscillating gear device.
  • an eccentric oscillating gear device that reduces the rotational speed at a predetermined reduction ratio between two mating members.
  • the eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member.
  • the carrier rotates relative to the outer cylinder by the swinging rotation of the swinging gear attached to the eccentric part of the crankshaft.
  • An object of the present invention is to suppress the shortening of the life of the oscillating gear by suppressing an increase in the surface pressure of the tooth surface of the oscillating gear.
  • an eccentric oscillating gear device converts a rotational speed at a predetermined rotational speed ratio between a first member and a second member to generate a driving force.
  • a gear device for transmission which is attachable to one of an eccentric part, a swinging gear having an insertion hole into which the eccentric part is inserted and a tooth part, and the first member and the second member.
  • the 1st cylinder part comprised and the 2nd cylinder part comprised so that attachment to the other of the said 1st member and the said 2nd member is provided.
  • the first cylindrical portion is made of a material having a larger linear expansion coefficient than the material of the rocking gear.
  • the first tube portion has an internal tooth that meshes with the tooth portion of the swing gear.
  • the second tube portion is disposed radially inward of the first tube portion while holding the swing gear.
  • the first tube portion and the second tube portion are rotatable concentrically with each other by swinging of the swinging gear accompanying rotation of the eccentric portion.
  • FIG. 2 is a cross-sectional view taken along line II-II in FIG.
  • An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
  • the gear device 1 is used at a rotational speed of, for example, 80 rpm to 200 rpm.
  • the oscillating gears 14 and 16 are oscillated and rotated in conjunction with the eccentric portions 10a and 10b of the crankshaft 10.
  • an output rotation decelerated from the input rotation can be obtained.
  • the gear device 1 includes an outer cylinder 2 that is an example of a first cylinder part, a carrier 4 that is an example of a second cylinder part, an input shaft 8, and a plurality (for example, three).
  • the crankshaft 10, the first oscillating gear 14, the second oscillating gear 16, and a plurality of (for example, three) transmission gears 20 are provided.
  • the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape.
  • a large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2.
  • Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
  • These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
  • the outer cylinder 2 has a large number of internal tooth pins 3.
  • Each internal tooth pin 3 is attached to a pin groove 2b.
  • each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2.
  • the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2.
  • the first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
  • the carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
  • the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by.
  • the carrier 4 includes a base portion having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 4b.
  • the substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction.
  • a circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a.
  • a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
  • the end plate portion 4b is provided in the axial direction so as to be separated from the substrate portion 4a, and is disposed in the vicinity of the other end portion in the axial direction in the outer cylinder 2.
  • a through hole 4f is provided at the radial center of the end plate portion 4b.
  • a plurality of (for example, three) crankshaft mounting holes 4g (hereinafter simply referred to as mounting holes 4g) are provided around the through hole 4f.
  • Each mounting hole 4g is provided at a position corresponding to the mounting hole 4e of the substrate portion 4a.
  • a closed space surrounded by both inner surfaces of the end plate portion 4 b and the substrate portion 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
  • the plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a toward the end plate portion 4b.
  • the three shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2).
  • Each shaft portion 4c is fastened to the end plate portion 4b by a bolt 4h (see FIG. 1). Thereby, the board
  • the input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown).
  • the input shaft 8 is inserted into the through hole 4f of the end plate portion 4b and the through hole 4d of the substrate portion 4a.
  • the input shaft 8 is disposed so that its axis coincides with the axes of the outer cylinder 2 and the carrier 4, and rotates around the axis by the driving force of the drive motor.
  • An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
  • the plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2).
  • Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
  • a first crank bearing 12a is attached to a portion on the inner side in the axial direction by a predetermined length from one axial end of each crankshaft 10.
  • the first crank bearing 12a is mounted in the mounting hole 4e of the substrate portion 4a.
  • a second crank bearing 12b is attached to the other axial end of each crankshaft 10.
  • the second crank bearing 12b is mounted in the mounting hole 4g of the end plate portion 4b.
  • Each crankshaft 10 includes a shaft body 12c and eccentric portions 10a and 10b formed integrally with the shaft body 12c.
  • the 1st eccentric part 10a and the 2nd eccentric part 10b are arrange
  • Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 12c in a state of being eccentric with respect to the shaft center of the shaft body 12c.
  • the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
  • a fitted portion 10c to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion on the axially outer side of the portion attached in the attachment hole 4e of the substrate portion 4a.
  • the first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
  • first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation of the eccentric portion 10a.
  • the first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
  • the first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have.
  • the first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
  • the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
  • the input shaft 8 is inserted into the central through hole 14b with play.
  • the plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14.
  • the first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
  • the plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
  • the second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
  • the first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
  • the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
  • Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
  • Each transmission gear 20 is externally fitted to a fitted portion 10 c provided at one end of the corresponding shaft body 12 c of the crankshaft 10.
  • Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
  • Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
  • the outer cylinder 2 is made of a material having a linear expansion coefficient larger than that of the first swing gear 14 and the second swing gear 16.
  • the outer cylinder 2 is made of an aluminum alloy, and the linear expansion coefficient of the material constituting the outer cylinder 2 is 20.0 to 23.5 ⁇ / K.
  • the rocking gears 14 and 16 are made of an iron-based material.
  • the oscillating gears 14 and 16 are made of steel having a carbon content of 0.7 to 1.0% (made of high carbon steel), or made of steel having a carbon content of 0.2% or less (made of low carbon steel). ).
  • the linear expansion coefficient of the material constituting the oscillating gears 14 and 16 is 10.8 to 11.0 ⁇ / K, or 11.6 to 11.7 ⁇ / K. Furthermore, when these iron-based materials are hardened by hardening, when the carbon content is 0.2% or less, the linear expansion coefficient is 13.6 ⁇ / K, and when the carbon content is 0.7 to 1.0%. The linear expansion coefficient is 12.0 to 12.5 ⁇ / K.
  • the internal tooth pin 3 may also be formed of the same material as the rocking gears 14 and 16.
  • the linear expansion coefficient of the material constituting the oscillating gears 14 and 16 is smaller than the linear expansion coefficient of the material constituting the outer cylinder 2. Therefore, when the outer cylinder 2, the carrier 4, and the oscillating gears 14 and 16 are heated when the gear device 1 is used, the outer cylinder 2 expands more than the oscillating gears 14 and 16. For this reason, a gap between the inner tooth pin 3 of the outer cylinder 2 and the outer teeth 14a and 16a of the swing gears 14 and 16, that is, between the inner peripheral surface of the outer cylinder 2 and the swing gears 14 and 16 is provided. The gap is not narrower than before use.
  • the outer cylinder 2 is made of an aluminum alloy, and the oscillating gears 14 and 16 are made of an iron-based material. Therefore, the linear expansion coefficient of the material constituting the outer cylinder 2 and the oscillating gear 14 are increased. , 16 can be greatly different from the linear expansion coefficient of the material. For this reason, even in a usage environment in which the temperature difference between the temperature of the oscillating gears 14 and 16 and the temperature of the outer cylinder 2 is increased, the surface pressure of the tooth surfaces of the oscillating gears 14 and 16 is suppressed from increasing. be able to. Thereby, it can suppress more reliably that the lifetime of the rocking gears 14 and 16 becomes short.
  • the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention.
  • the two swing gears 14 and 16 are provided.
  • the present invention is not limited to this.
  • a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
  • the input shaft 8 is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft 8.
  • the present invention is not limited to this.
  • a center crank type in which the crankshaft 10 is disposed at the center of the carrier 4 may be employed.
  • the input shaft 8 may be disposed at any position.
  • the outer cylinder 2 is not limited to an aluminum alloy.
  • both the outer cylinder 2 and the rocking gears 14 and 16 may be made of an iron-based material.
  • the outer cylinder 2 needs to be made of a material having a linear expansion coefficient larger than that of the rocking gears 14 and 16.
  • the linear expansion coefficient is 13.6 ⁇ / K.
  • the oscillating gears 14 and 16 can be made of steel (made of high carbon steel) having a carbon content of 0.7 to 1.0%.
  • the linear expansion coefficient when the material constituting the oscillating gears 14 and 16 is quenched and hardened is 12.3 to 12.4 ⁇ / K.
  • the internal tooth pin 3 may be formed of the same material as the rocking gears 14 and 16.
  • the linear expansion coefficient of the material constituting the rocking gear is smaller than the linear expansion coefficient of the material constituting the first tube portion. Therefore, when the temperature of the first tube portion, the second tube portion, and the swing gear is raised during use of the eccentric swing gear device, the first tube portion expands more than the swing gear. For this reason, the clearance between the internal teeth of the first tube portion and the tooth portion of the swing gear, that is, the clearance between the inner peripheral surface of the first tube portion and the swing gear is narrower than that before use. Never become. Therefore, even if the oscillating gear is heated and expanded, the surface pressure of the tooth surface of the oscillating gear can be prevented from increasing, and the life of the oscillating gear can be prevented from being shortened. .
  • the first tube portion may be made of an aluminum alloy, and the swing gear may be made of an iron-based material.
  • the difference between the linear expansion coefficient of the material composing the first tube portion and the linear expansion coefficient of the material composing the swing gear can be greatly increased. Therefore, even in a use environment where the temperature difference between the temperature of the oscillating gear and the temperature of the first tube portion becomes large, it is possible to suppress an increase in the surface pressure of the tooth surface of the oscillating gear. Further, it is possible to more reliably suppress the life of the oscillating gear from being shortened.
  • the first tube portion may be an iron-based material having a carbon content of 0.2% or less, and the swing gear is an iron-based material having a carbon content of 0.7 to 1.0%. You may be comprised with material.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne un dispositif d'engrenage à excentrique oscillant (1) comprenant : des sections excentrées (10a) ; un pignon oscillant (14) comportant des trous d'insertion dans lesquels sont insérées les sections excentrées (10a) ainsi que des dents externes (14a) ; un tube extérieur (2) ; et un support (4). Le tube extérieur (2) est constitué d'un matériau présentant un coefficient de dilatation linéaire supérieur à celui du matériau du pignon oscillant (14). Le support (4) est disposé à l'intérieur du tube extérieur (2) dans la direction radiale et maintient le pignon oscillant (14). Le tube extérieur (2) et le support (4) ont la capacité de tourner de manière concentrique l'un par rapport à l'autre du fait de l'oscillation du pignon oscillant (14) associée à la rotation des sections excentrées (10a).
PCT/JP2013/003827 2012-07-03 2013-06-19 Dispositif d'engrenage à excentrique oscillant WO2014006833A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380035096.9A CN104412004B (zh) 2012-07-03 2013-06-19 偏心摆动型齿轮装置
DE112013003373.9T DE112013003373B4 (de) 2012-07-03 2013-06-19 Exzentrische Umlaufgetriebevorrichtung
KR1020157002513A KR101692647B1 (ko) 2012-07-03 2013-06-19 편심 요동형 기어 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-149350 2012-07-03
JP2012149350A JP5988424B2 (ja) 2012-07-03 2012-07-03 偏心揺動型歯車装置

Publications (1)

Publication Number Publication Date
WO2014006833A1 true WO2014006833A1 (fr) 2014-01-09

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ID=49881609

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/003827 WO2014006833A1 (fr) 2012-07-03 2013-06-19 Dispositif d'engrenage à excentrique oscillant

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JP (1) JP5988424B2 (fr)
KR (1) KR101692647B1 (fr)
CN (1) CN104412004B (fr)
DE (1) DE112013003373B4 (fr)
TW (1) TWI595174B (fr)
WO (1) WO2014006833A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220074467A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control
US20220074466A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6573777B2 (ja) * 2015-04-28 2019-09-11 ナブテスコ株式会社 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法
JP6863882B2 (ja) * 2017-11-27 2021-04-21 住友重機械工業株式会社 遊星歯車装置及び遊星歯車装置の製造方法
JP7115876B2 (ja) * 2018-03-13 2022-08-09 住友重機械工業株式会社 偏心揺動型減速装置
JP6710742B2 (ja) * 2018-11-30 2020-06-17 ナブテスコ株式会社 偏心揺動型歯車装置
CN109854685A (zh) * 2019-01-25 2019-06-07 南京高速齿轮制造有限公司 偏心摆动型齿轮减速装置

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Publication number Priority date Publication date Assignee Title
JPH04331851A (ja) * 1991-05-01 1992-11-19 Sumitomo Heavy Ind Ltd トロコイド系歯形内接式遊星歯車減速機の製造方法
JP2000130521A (ja) * 1998-10-29 2000-05-12 Sumitomo Heavy Ind Ltd 内接噛合歯車機構の内歯歯車用ピン保持リングの製造方法
JP2000213605A (ja) * 1999-01-25 2000-08-02 Teijin Seiki Co Ltd 内接噛合型遊星歯車装置
JP2010071462A (ja) * 2008-08-22 2010-04-02 Ntn Corp インホイールモータ駆動装置
JP2010249262A (ja) * 2009-04-17 2010-11-04 Nabtesco Corp 偏心揺動型歯車装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4004256B2 (ja) * 2001-09-13 2007-11-07 ナブテスコ株式会社 偏心揺動型減速機
JP2006077980A (ja) 2004-08-11 2006-03-23 Nabtesco Corp 産業ロボットの関節部に取り付けられる減速機
JP5221358B2 (ja) * 2006-09-29 2013-06-26 ナブテスコ株式会社 減速装置
JP5709373B2 (ja) 2009-12-07 2015-04-30 Ntn株式会社 インホイールモータ駆動装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04331851A (ja) * 1991-05-01 1992-11-19 Sumitomo Heavy Ind Ltd トロコイド系歯形内接式遊星歯車減速機の製造方法
JP2000130521A (ja) * 1998-10-29 2000-05-12 Sumitomo Heavy Ind Ltd 内接噛合歯車機構の内歯歯車用ピン保持リングの製造方法
JP2000213605A (ja) * 1999-01-25 2000-08-02 Teijin Seiki Co Ltd 内接噛合型遊星歯車装置
JP2010071462A (ja) * 2008-08-22 2010-04-02 Ntn Corp インホイールモータ駆動装置
JP2010249262A (ja) * 2009-04-17 2010-11-04 Nabtesco Corp 偏心揺動型歯車装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220074467A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control
US20220074466A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control
US11644085B2 (en) * 2019-05-22 2023-05-09 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control
US11692614B2 (en) * 2019-05-22 2023-07-04 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control

Also Published As

Publication number Publication date
DE112013003373T5 (de) 2015-03-19
JP2014009808A (ja) 2014-01-20
CN104412004A (zh) 2015-03-11
JP5988424B2 (ja) 2016-09-07
KR101692647B1 (ko) 2017-01-03
TW201405033A (zh) 2014-02-01
TWI595174B (zh) 2017-08-11
KR20150027818A (ko) 2015-03-12
CN104412004B (zh) 2017-12-19
DE112013003373B4 (de) 2023-03-09

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