Truss mechanical arm clamping jaw mechanism

Abstract

The invention provides a truss mechanical arm clamping jaw mechanism, and relates to the field of clamping jaws. The truss mechanical arm clamping jaw mechanism comprises a servo motor and a gearbox, the servo motor is fixedly installed on the surface of the gearbox, a driving gear is fixedly installed at the output end of the servo motor, primary speed reducers are meshed with the two sides of the driving gear and fixedly connected with the gearbox, and two sets of secondary speed reducers are fixedly installed in the gearbox. The output end of the gearbox is in transmission connection with a rotating shaft, and the bottom end of the rotating shaft is fixedly connected with a worm. According to the clamping jaw mechanism of the truss mechanical arm, the two sets of speed reducers with opposite transmission directions are arranged, the meshing state of a gear at the input end of the servo motor and the two speed reducers is changed, the servo motor is kept to continuously rotate in the forward direction, and the reciprocating motion of the clamping jaw is achieved; the angle of the clutch needing to rotate is determined according to the last rotation record, rigid transmission is carried out after the clutch is aligned, and therefore the clamping action can be accurately controlled.

Description

Technical Field

[0001] The invention relates to the field of clamps, and in particular to a truss mechanical arm clamp mechanism. Background Art

[0002] The existing patent (CN113084785A) discloses a truss manipulator, including a support rod, a lower connecting plate fixedly connected to the lower portion of the support rod, a universal wheel movably connected to the middle portion of the lower portion of the lower connecting plate, and a movable column movably sleeved inside one side of the lower connecting plate.

[0003] This technical solution is to flexibly sleeve the device gear 1 inside one side of the crossbar, and flexibly sleeve the device pulley 1 on the upper and lower parts of the crossbar respectively, and at the same time, the upper connecting plate of the device is pushed by the elastic action of the device spring 2 to adjust the distance between the device and the motor 1. At the same time, when disassembly is required, the device pulley 1 can be driven to deviate from the inside of the crossbar by pushing the upper connecting plate of the device upward, so that the device pulley 1 can be easily disassembled. The upper part of the device support column is flexibly sleeved inside the clamping sleeve 1, so that the position of the device spring 2 can be limited when in use. Through this patent, it can be made clear that the truss robot arm clamping mechanism is set on a guide rail that can slide, and the clamping and placement of different positions are achieved by moving on the guide rail.

[0004] The existing patent (CN219685659U) is a parallel servo electric gripper, which includes a servo motor, a movable track seat, and a gripper seat, wherein a power connection wire is provided at one end of the servo motor, a movable track seat is installed at the other end of the servo motor, and gripper seats are respectively installed on the left and right sides of the outer end of the movable track seat.

[0005] This technical solution adopts two sets of staggered jaw seats, and by installing the jaws on the jaw seats, the movable convenience of the jaw seats is utilized to ensure the gap between the jaws and increase the gripping capacity of the jaws. The power source for controlling the movement of the jaws is a servo motor, and the forward and reverse rotation of the servo motor is used to achieve the jaws approaching or moving away from each other. Since the truss mechanical jaws are set on a sliding guide rail, they are generally used for short-distance and small-scale transportation. Therefore, the servo motor needs to frequently switch forward and reverse. Frequent forward and reverse operations will cause the temperature of the motor winding to rise, accelerate the aging of the insulation material, and thus reduce the insulation performance and service life of the motor. In addition, frequent switching of the power supply polarity will cause the electrical components of the motor to be constantly affected by changes in voltage and current, which may cause electrical performance degradation or even failure. Especially under high load conditions, fatigue wear between gears and other moving parts will be aggravated. Summary of the invention

[0006] In view of the deficiencies of the prior art, the present invention provides a truss robot arm clamp mechanism, which solves the problem that the truss motor is easily damaged by frequent switching of forward and reverse rotations mentioned in the above background technology.

[0007] To achieve the above purpose, the present invention is implemented through the following technical solutions: a truss mechanical arm clamp mechanism, including a servo motor and a gearbox, the servo motor is fixedly mounted on the surface of the gearbox, a driving gear is fixedly mounted on the output end of the servo motor, primary reducers are meshed on both sides of the driving gear, the primary reducer is fixedly connected to the gearbox, two sets of secondary reducers are fixedly mounted inside the gearbox, the output end of the gearbox is transmission-connected with a rotating shaft, the bottom end of the rotating shaft is fixedly connected with a worm, the output end of the worm is meshed with a worm wheel, an output gear is fixedly mounted on one end of the rotating shaft located inside the gearbox, transmission gears are meshed on both sides of the output gear, the transmission gear is fixedly connected to the gearbox, the output end of the transmission gear and the secondary reducer on the same side and the output end of the primary reducer on the same side and the input end of the secondary reducer are transmission-connected through a clutch, the output rotation directions of the secondary reducers on both sides are opposite, a limit frame is fixedly mounted on the output end of the gearbox, two clamps are symmetrically slidably connected inside the limit frame, and a transmission mechanism is arranged inside the limit frame for driving the two clamps to move toward each other simultaneously with the worm wheel as a power source.

[0008] Preferably, the clutch includes symmetrically arranged connecting plates, and connecting holes and inner positioning columns inserted in the connecting holes are respectively provided on the sides of the two connecting plates close to each other, one of the connecting plates is fixedly connected to the power transmission end, and the other connecting plate is fixedly installed with a square sleeve away from the power output end, the inside of the square sleeve is slidingly connected with a square shaft, the square shaft is fixedly connected to the other power transmission end, a magnetic plate is fixedly installed on the outer surface of the square sleeve, and an electromagnetic sleeve is fixedly installed on the outer surface of the square shaft.

[0009] Preferably, the connection disk has a plurality of connection holes, the plurality of connection holes are distributed in a ring array, and each connection hole corresponds to a positioning column.

[0010] Preferably, the connection holes are divided into two circles, inner and outer circles. The same connection disk and the connection holes are also fixedly installed with positioning posts. When the connection holes are located in the inner circle, the positioning posts above the same connection disk are located in the outer circle.

[0011] Preferably, the reduction ratio of the secondary reducer for driving the two clamping jaws away from each other is smaller than the reduction ratio of the secondary reducer on the other side.

[0012] Preferably, the transmission mechanism comprises lead shafts symmetrically mounted on both sides of the worm gear, the thread directions of the two lead shafts are opposite, and the clamping jaw is engaged with one of the lead shafts.

[0013] Preferably, the transmission mechanism includes a driving gear, which is fixedly mounted below the rotating shaft of the worm gear, with rack plates meshing on both sides of the driving gear, and the clamping claw is fixedly connected to one of the rack plates.

[0014] Preferably, limiting guide rails are fixedly installed on both sides of the interior of the limiting frame, and sliding grooves adapted to the limiting guide rails are provided on both sides of the clamping jaws.

[0015] Preferably, the reduction ratio of the primary reducer is smaller than that of the secondary reducer, and both the primary reducer and the secondary reducer are immersed in the lubricating fluid of the gearbox.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The truss robot arm gripper mechanism closes the clutch on one side that drives the grippers to move closer to each other. The rotation of the servo motor can drive the driving gear to rotate. The driving gear can drive the rotating shaft to rotate through the primary reducer and the secondary reducer, so that the transmission mechanism can be used to drive the two grippers to move closer to each other, and the number of rotations is recorded to achieve the gripping of objects. When the two grippers need to be separated, the two clutches on this side are separated first. The servo motor first drives the primary reducer on the side that drives the grippers to move away from each other through the previous rotation record, and the connecting disk connected to the primary reducer rotates a specified angle so that the connection between the two connecting disks is The hole is aligned with the positioning column, and the electromagnetic sleeve is energized to squeeze the magnetic plate so that the two connecting disks are clamped together. At this time, the connecting disk connected to the secondary reducer is driven to rotate the specified angle according to the previous rotation record, and the two connecting disks are connected. At this time, the number of rotations of the servo motor is the distance to drive the clamping jaws to open, and the number of rotations is recorded as a basis for adjusting the distance between the two connecting disks when the clamping jaws are closed next time. At the same time, such a setting can ensure that the servo motor always rotates in one direction, and the clamping jaws can be opened and closed. At the same time, the connection disk is adjusted by the rotation record and then the clamping jaws are adjusted, thereby ensuring the working accuracy of the servo motor drive device.

[0018] 2. The truss robot arm clamp mechanism, by setting a clutch, includes symmetrically arranged connecting plates, and the sides of the two connecting plates close to each other are respectively provided with connecting holes and inner positioning columns plugged into the connecting holes, one of the connecting plates is fixedly connected to the power transmission end, and the other connecting plate is fixedly installed with a square shaft sleeve away from the power output end, the inside of the square shaft sleeve is slidably connected with a square shaft, the square shaft is fixedly connected to the other power transmission end, a magnetic plate is fixedly installed on the outer surface of the square shaft sleeve, and an electromagnetic sleeve is fixedly installed on the outer surface of the square shaft, when the electromagnetic sleeve is energized to attract the magnetic plate, the square shaft and the square shaft sleeve can be brought close to each other, and then the two connecting plates are separated, and when the electromagnetic sleeve is energized to squeeze the magnetic plate, the two connecting plates can be plugged into each other.

[0019] 3. The truss robot arm clamp, by limiting the reduction ratio of the secondary reducer used to drive the two jaws to move away from each other, is smaller than the reduction ratio of the secondary reducer on the other side. Since the jaws do not need to squeeze objects when the two jaws move away from each other, the torque requirement is relatively small, and the rapid movement of the jaws can be achieved quickly through a small reduction ratio.

[0020] 4. The truss robot arm clamp mechanism has connecting holes divided into inner and outer circles. The same connecting plate and the connecting holes are also fixed with positioning columns. When the connecting holes are located in the inner circle, the positioning columns above the same connecting plate are located in the outer circle. The two connecting plates can be firmly connected through the staggered connecting holes and positioning columns. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the gearbox connection of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection of the connection disk of the present invention;

[0024] Figure 4 This is a schematic diagram of the clutch connection of the present invention;

[0025] Figure 5 This is a schematic diagram of the lead shaft connection of the present invention;

[0026] Figure 6 It is a schematic diagram of the rack plate connection of the present invention.

[0027] In the figure: 1. servo motor; 2. gearbox; 3. driving gear; 4. secondary reducer; 5. rotating shaft; 6. output gear; 7. transmission gear; 8. clutch; 9. limit frame; 10. clamping claw; 11. worm; 12. worm wheel; 13. primary reducer; 14. slideway; 15. transmission mechanism; 151. lead shaft; 152. driving gear; 153. rack plate; 16. limit guide rail; 801. connecting plate; 802. connecting hole; 803. positioning column; 804. square shaft sleeve; 805. square shaft; 806. magnetic plate; 807. electromagnetic sleeve. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0032] like Figure 1-6As shown, a truss robot arm clamp mechanism includes a servo motor 1 and a gearbox 2. The servo motor 1 is fixedly mounted on the surface of the gearbox 2. A driving gear 3 is fixedly mounted on the output end of the servo motor 1. Primary reducers 13 are meshed on both sides of the driving gear 3. The primary reducer 13 is fixedly connected to the gearbox 2. Two sets of secondary reducers 4 are fixedly mounted inside the gearbox 2. In the figure, the secondary reducer 4 is covered by a baffle. The primary reducer 13 and the secondary reducer 4 both amplify the torque by gradually reducing the speed through mutually meshing gears. The output end of the gearbox 2 is transmission-connected with a rotating shaft 5. A worm 11 is fixedly connected to the bottom end of the rotating shaft 5. A worm wheel 12 is meshed on the output end of the worm 11. The transmission of the worm 11 and the worm wheel 12 plays a self-locking role. An output gear 6 is fixedly mounted on one end of the rotating shaft 5 located inside the gearbox 2. Transmission gears 7 are meshed on both sides of the wheel 6, and the transmission gears 7 are fixedly connected to the gearbox 2. The transmission gear 7 includes a primary reducer 13 and a secondary reducer 4, both of which are provided with a support frame, the support frame supports the central axis, and the support frame is connected to the gearbox 2. The output ends of the transmission gear 7 and the secondary reducer 4 on the same side and the output ends of the primary reducer 13 on the same side and the input ends of the secondary reducer 4 are connected through a clutch 8. Only when the two side clutches 8 on the same side are connected at the same time can the servo motor 1 be used to drive the clamping jaws 10 to move. The output rotation directions of the secondary reducers 4 on both sides are opposite. A limit frame 9 is fixedly installed on the output end of the gearbox 2. Two clamping jaws 10 are symmetrically slidably connected inside the limit frame 9. A transmission mechanism 15 is provided inside the limit frame 9, which uses a worm gear 12 as a power source to drive the two clamping jaws 10 to move toward each other at the same time.

[0033] The clutch 8 includes symmetrically arranged connecting disks 801, and connecting holes 802 and inner positioning columns 803 plugged into the connecting holes 802 are respectively arranged on the sides of the two connecting disks 801 close to each other. One of the connecting disks 801 is fixedly connected to the power transmission end, and the other connecting disk 801 is fixedly installed with a square shaft sleeve 804 away from the power output end. The inside of the square shaft sleeve 804 is slidably connected with a square shaft 805, and the square shaft 805 is fixedly connected to the other power transmission end. A magnetic plate 806 is fixedly installed on the outer surface of the square shaft sleeve 804, and an electromagnetic sleeve 807 is fixedly installed on the outer surface of the square shaft 805. When the electromagnetic sleeve 807 is energized to attract the magnetic plate 806, the square shaft 805 and the square shaft sleeve 804 can be brought close to each other, thereby separating the two connecting disks 801. When the electromagnetic sleeve 807 is energized to squeeze the magnetic plate 806, the two connecting disks 801 can be plugged into each other.

[0034] The connection disk 801 has a plurality of connection holes 802 arranged in a circular array, and each connection hole 802 corresponds to a positioning column 803 . This arrangement can reduce the number of revolutions required by the servo motor 1 when adjusting the connection disk 801 .

[0035] The connecting hole 802 is divided into two circles, inner and outer. The same connecting disk 801 and the connecting hole 802 are also fixed with positioning posts 803. When the connecting hole 802 is located in the inner circle, the positioning posts 803 above the same connecting disk 801 are located in the outer circle. The staggered connecting holes 802 and positioning posts 803 can make the two connecting disks 801 firmly connected.

[0036] The reduction ratio of the secondary reducer 4 used to drive the two jaws 10 to move away from each other is smaller than that of the secondary reducer 4 on the other side. Since the jaws 10 do not need to squeeze objects when the two jaws 10 move away from each other, the torque requirement is relatively small, and the jaws 10 can be quickly moved by a small reduction ratio.

[0037] The transmission mechanism 15 includes lead shafts 151 symmetrically installed on both sides of the worm gear 12. The thread directions of the two lead shafts 151 are opposite. The clamping jaw 10 is engaged with one of the lead shafts 151. Through such an arrangement, the rotation of the lead shaft 151 can drive the two clamping jaws 10 to move. This technical solution has high transmission accuracy.

[0038] The transmission mechanism 15 includes a driving gear 152, which is fixedly installed below the rotating shaft 5 of the worm gear 12. Rack plates 153 are meshed on both sides of the driving gear 152. The clamping jaw 10 is fixedly connected to one of the rack plates 153. When the driving gear 152 rotates, the rack plates 153 on both sides move in opposite directions, thereby realizing the opposite movement of the clamping jaws 10. The transmission of the driving gear 152 and the rack plate 153 has the advantage of smooth transmission.

[0039] Limiting guide rails 16 are fixedly installed on both sides of the limiting frame 9, and sliding grooves 14 adapted to the limiting guide rails 16 are opened on both sides of the clamping jaw 10. Through such an arrangement, the clamping jaw 10 can be limited so that the clamping jaw 10 can only perform reciprocating motion.

[0040] The reduction ratio of the primary reducer 13 is smaller than that of the secondary reducer 4. The primary reducer 13 is provided to perform primary reduction, so that the servo motor 1 can accurately adjust the position of the connecting disk 801, and the high reduction ratio of the secondary reducer 4 is used to amplify the torque. At the same time, the clutch 8 separates the primary reducer 13 and the transmission gear 7, which can avoid the non-working reducer being driven to work. The primary reducer 13 and the secondary reducer 4 are both immersed in the lubricating fluid of the gearbox 2. By providing the lubricating fluid, the wear of the gear set can be reduced and heat can be dissipated at the same time.

[0041] When in use, the clutch 8 on one side that drives the clamping jaws 10 to approach each other is closed, and the rotation of the servo motor 1 can drive the driving gear 3 to rotate. The driving gear 3 is driven by the primary reducer 13 and the secondary reducer 4, and can drive the rotating shaft 5 to rotate, so that the transmission mechanism 15 can be used to drive the two clamping jaws 10 to approach each other, and the number of rotations is recorded to achieve the clamping of the object. When the two clamping jaws 10 need to be separated, the two clutches 8 on this side are separated first, and the servo motor 1 first drives the primary reducer 13 on the side that drives the clamping jaws 10 away from each other through the previous rotation record, and the connecting disk 801 connected to the primary reducer 13 rotates a specified angle so that the connecting holes 802 and the positioning columns 8 in the two connecting disks 801 are connected. 03 alignment, the electromagnetic sleeve 807 is energized to squeeze the magnetic plate 806 so that the two connecting disks 801 are clamped together. At this time, the connecting disk 801 connected to the secondary reducer 4 is driven to rotate the specified angle according to the previous rotation record, and the two connecting disks 801 are connected. At this time, the number of working rotations of the servo motor 1 is the distance to drive the clamp 10 to open, and the number of rotations is recorded for the basis of adjusting the distance between the two connecting disks 801 when the clamp 10 is closed next time. At the same time, such a setting can ensure that the servo motor 1 always rotates in one direction, and the clamp 10 can be opened and closed. At the same time, the connection disk 801 is adjusted by the rotation record and then the clamp 10 is adjusted, so as to ensure the working accuracy of the servo motor 1 drive device.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0043] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A truss robot arm gripper mechanism, comprising a servo motor (1) and a gearbox (2), characterized in that: The servo motor (1) is fixedly mounted on the surface of the gearbox (2); a driving gear (3) is fixedly mounted on the output end of the servo motor (1); primary reducers (13) are meshed on both sides of the driving gear (3); the primary reducer (13) is fixedly connected to the gearbox (2); two sets of secondary reducers (4) are fixedly mounted inside the gearbox (2); a rotating shaft (5) is drivingly connected to the output end of the gearbox (2); a worm (11) is fixedly connected to the bottom end of the rotating shaft (5); a worm wheel (12) is meshed on the output end of the worm (11); an output gear (6) is fixedly mounted on one end of the rotating shaft (5) located inside the gearbox (2); transmission gears (7) are meshed on both sides of the output gear (6); the transmission gear (7) is fixedly connected to the gearbox (2); the output ends of the transmission gear (7) and the secondary reducer (4) on the same side and the output end of the primary reducer (13) and the input end of the secondary reducer (4) on the same side are drivingly connected via a clutch (8); the output rotation directions of the secondary reducers (4) on both sides are opposite; A limit frame (9) is fixedly mounted on the output end of the gearbox (2), two clamping jaws (10) are symmetrically slidably connected inside the limit frame (9), and a transmission mechanism (15) is arranged inside the limit frame (9) for driving the two clamping jaws (10) to move towards each other simultaneously using a worm gear (12) as a power source.

2. A truss robot arm gripper mechanism according to claim 1, characterized in that: The clutch (8) comprises symmetrically arranged connection disks (801), wherein the two connection disks (801) are respectively provided with connection holes (802) and inner positioning columns (803) inserted into the connection holes (802) on the sides close to each other, wherein one of the connection disks (801) is fixedly connected to the power transmission end, and the other connection disk (801) is fixedly installed with a square shaft sleeve (804) away from the power output end, wherein the square shaft sleeve (804) is slidably connected with a square shaft (805) inside, and the square shaft (805) is fixedly connected with the other power transmission end, and a magnetic plate (806) is fixedly installed on the outer surface of the square shaft sleeve (804), and an electromagnetic sleeve (807) is fixedly installed on the outer surface of the square shaft sleeve (805).

3. A truss robot arm gripper mechanism according to claim 2, characterized in that: The connection plate (801) has a plurality of connection holes (802), the plurality of connection holes (802) are distributed in a ring array, and each connection hole (802) corresponds to a positioning column (803).

4. A truss mechanical arm gripper mechanism according to claim 2 or 3, characterized in that: The connection hole (802) is divided into two circles, inner and outer. The same connection disk (801) and the connection hole (802) are also fixedly installed with positioning posts (803). When the connection hole (802) is located in the inner circle, the positioning posts (803) above the same connection disk (801) are located in the outer circle.

5. A truss mechanical arm gripper mechanism according to claim 4, characterized in that: The reduction ratio of the secondary reducer (4) used for driving the two clamping jaws (10) to move away from each other is smaller than the reduction ratio of the secondary reducer (4) on the other side.

6. A truss mechanical arm gripper mechanism according to claim 1 or 5, characterized in that: The transmission mechanism (15) comprises lead shafts (151) symmetrically mounted on both sides of the worm wheel (12), the thread directions of the two lead shafts (151) are opposite, and the clamping jaw (10) is meshed with one of the lead shafts (151).

7. A truss mechanical arm gripper mechanism according to claim 1 or 5, characterized in that: The transmission mechanism (15) comprises a driving gear (152) which is fixedly mounted below the rotating shaft (5) of the worm gear (12), rack plates (153) are meshed on both sides of the driving gear (152), and the clamping jaw (10) is fixedly connected to one of the rack plates (153).

8. The truss mechanical arm gripper mechanism according to claim 6, characterized in that: Limiting guide rails (16) are fixedly installed on both sides of the interior of the limiting frame (9), and sliding grooves (14) adapted to the limiting guide rails (16) are provided on both sides of the clamping jaw (10).

9. A truss mechanical arm gripper mechanism according to claim 8, characterized in that: The reduction ratio of the primary reducer (13) is smaller than the reduction ratio of the secondary reducer (4), and both the primary reducer (13) and the secondary reducer (4) are immersed in the lubricating fluid of the gearbox (2).

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