CN101858404A - The heavy-duty transmission that can shift gears - Google Patents

The heavy-duty transmission that can shift gears Download PDF

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Publication number
CN101858404A
CN101858404A CN201010105453A CN201010105453A CN101858404A CN 101858404 A CN101858404 A CN 101858404A CN 201010105453 A CN201010105453 A CN 201010105453A CN 201010105453 A CN201010105453 A CN 201010105453A CN 101858404 A CN101858404 A CN 101858404A
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CN
China
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countershaft
input shaft
gear
axially
duty transmission
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Granted
Application number
CN201010105453A
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Chinese (zh)
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CN101858404B (en
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B·皮尼坎普
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Renk GmbH
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Renk GmbH
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Publication of CN101858404B publication Critical patent/CN101858404B/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H3/00Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/02Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
    • F16H3/20Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear
    • F16H3/22Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear with gears shiftable only axially
    • F16H3/24Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear with gears shiftable only axially with driving and driven shafts coaxial

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structure Of Transmissions (AREA)

Abstract

The present invention relates to the heavy-duty transmission that can shift gears, especially industrial speed changer has an input shaft (1); One have at least two driven gears (2A.1,2A.2,2B.1, (2A, 2B) countershaft arrange that wherein countershaft is arranged and can be connected with input shaft by driven gear antitorquely to countershaft 2B.2); One output shaft (3), this output shaft can be arranged antitorquely with countershaft and be connected; And at least two are used for countershaft and arrange the driver pinion that be connected (1.1,1.2) antitorque with input shaft; Wherein input shaft can axially (Fig. 1 Fig. 2) moves between first and second gears; Driver pinion axially is connected with input shaft regularly and antitorquely, and can axially move with input shaft; Wherein (2A.1's first driven gear that (Fig. 1) one first driver pinion (1.1) and at least one countershaft are arranged in first gear 2B.1) is meshed; And (2A.2's second driven gear that (Fig. 2) one second driver pinion (1.2) and at least one countershaft are arranged in second gear 2B.2) is meshed.

Description

The heavy-duty transmission that can shift gears
Technical field
The present invention relates to a kind of heavy-duty transmission of shifting gears, especially an industrial speed changer has an input shaft, and a countershaft that can connect on different gears arranges and an output shaft that this output shaft can be arranged antitorquely with countershaft in its side and be connected antitorquely.
Background technique
Heavy-duty transmission, especially transmit a 10kNm at least who interrelates with the axle of low cruise, the speed changer of 50kNm moment of torsion is used in different occasions especially at least, for example be used for the equipment of STEELMAKING PRODUCTION and steel-making processing, in rubber and plastics industry, be used to transport and conveying equipment and as the special-purpose speed changer of the single piece production of surface mining industry or production of energy equipment.
Here for the output speed speed change of a motor being arrived the different input shaft rotating speed of working machine, speedup not only here wherein, be that gear ratio is less than 1, and slow down, be so-calledly to have gear ratio and under meaning of the present invention, be called as speed change greater than 1 deceleration, by the speed changer that especially has the small gear on input shaft and output shaft or countershaft in the practice has been well-known, wherein all small gears are meshing with each other all the time, and have only a driver pinion to be connected with input shaft respectively in the mode of selecting or a driven gear can be connected with output shaft by the gearshift sleeve, therefore the small gear rotation by different-diameter definite interchangeable keeps off different gear ratio antitorquely.
Shortcoming is that the small gear of not shifting gears here also is in engagement all the time, and especially this may cause vibration, promptly has the motion of corresponding wearing and tearing and unwelcome vibrational excitation within backlash.In addition disadvantageously, the small gear of gearshift is supported on the bearing, and this bearing bears dead load, therefore may cause the deflection of small gear and the damage of bearing.
Summary of the invention
Task of the present invention provides a kind of improved heavy-duty transmission of shifting gears.
This task achieves a solution by the heavy-duty transmission of shifting gears that has the described feature of claim 1.Dependent claims relate to favourable structure.
Heavy-duty transmission of shifting gears according to the present invention especially is designed for industrial speed changer.According to a first aspect of the invention it have one can be with a motor, for example the input shaft that is connected of a gas turbine or steam turbine, an internal-combustion engine or motor, can be with working machine, for example the output shaft and that is connected of a generator, a haulage device or the conveying equipment countershaft that has one or more countershaft is arranged, the antitorque ground of two or more driven gears and preferably being arranged on the described countershaft same axial restraint.Driven gear for example can constitute integrated with countershaft, especially with this countershaft cast molding, perhaps constitute dismountable, for example by fine grade press fit or a gear and an axial retention element, perhaps constitute non-removable, for example be fixed on the countershaft by hot pressing.
Countershaft arranges preferably all the time with the antitorque ground of output shaft, especially by a gear, for example a single-stage or multistage cylindrical gears speed changer or planetary transmission are connected, this speed changer can have one greater than, be equal to or less than 1 gear ratio.Same output shaft also can directly constitute the countershaft that countershaft is arranged, promptly constitutes in the same manner with this countershaft and for example constitutes integrally for this reason.
Countershaft is arranged and can be connected with input shaft at two or more gears by driven gear antitorquely.Input shaft can axially move between gear according to the present invention for this reason, and has two or more driver pinions, and this driver pinion axially is connected with input shaft regularly and antitorquely, and can axially move with input shaft.Driver pinion for example can constitute integrally with input shaft, especially with this input shaft moulding, perhaps constitute dismountable, for example by a fine grade press fit or a gear and an axial retention element, perhaps constitute non-removable, for example be fixed on the input shaft by hot pressing.
First driver pinion of an input shaft is with one or more, preferably first driven gear of all countershafts is meshed in first gear, and the driven gear disengage from that second driver pinion and countershaft are arranged.In contrast, in second gear second driver pinion with one or more, preferably second driven gear of all countershafts is meshed, and first driver pinion and the countershaft driven gear disengage from of arranging at this moment.Wherein, on the one hand first driver pinion and first driven gear, and second driver pinion is realized different gear ratio with second driven gear on the other hand.In a particularly preferred structure, in first and/or second gear, realize slowing down.
Can realize other the gear ratio of shifting gears under same mode, for example the 3rd driver pinion by having only an input shaft in another gear is with one or more, preferably the 3rd driven gear of all countershafts is meshed.Equally preferably implement all the time here to slow down.
In a preferred construction, countershaft arrange have that two or more can connect with output shaft antitorquely, advantageously basically structure identical, preferably respectively have a countershaft of two or more driven gears, wherein at least one preferably gear at all transmitted powers the driver pinion of an input shaft with at least two, preferably the driven gear of all countershafts is meshed.In gear, be assigned on the countershaft in this mode by the input torque that input shaft imports into, the driver pinion of input shaft is meshed with the driven small gear of a plurality of countershafts in this gear, advantageously this has reduced the load of single gear and countershaft, and therefore especially can use littler gear and countershaft, and therefore can make heavy-duty transmission compacter.
Preferably be provided with a neutral at least, transmitting torque not in this neutral.Input shaft is axially movable to the 3rd gear for this reason, and the driven gear that does not have driver pinion and countershaft to arrange in this gear is meshed.
For this reason between first and second driver pinions axially in spacing in case of necessity only than the axial width of driven gear big a little.Can be arranged between first and second driver pinions with this mode this driven gear in neutral, another driven gear can be disposed axially in before first or second driver pinion or afterwards.
Same between first and second driver pinions axially in spacing in case of necessity only than the axial olo of two driven gears of countershaft big a little.So just guaranteed that two driven gears can be arranged between first and second driver pinions in neutral.
Driven gear also can mutual like this maintenance one determining deviation under corresponding mode, so that one or more driver pinion can be arranged between them in neutral.
Do not have neutral in a selectable structure, promptly a driver pinion is meshed with the driven gear that countershaft is arranged respectively all the time.Therefore advantageously transmission shaft is shorter to what can do.Especially preferred is that such speed changer for example can have an electronic position detecting device, so that show and/or the control gear, can shift gears between first and second gears in this gear.
For axially movable property, preferably input shaft is supported in one or more thrust-bearing in the housing of heavy-duty transmission.At least one of this bearing can have an outer collar bearing, and this bearer ring axially is connected with housing securely, and has an inner bearing collar, and this bearer ring axially is connected with input shaft securely, and can axially move with respect to outer collar bearing.Input shaft axially can be by inner bearing collar moving with respect to outer collar bearing in a preferred construction so.Wherein inner bearing collar or input shaft itself for example can hydraulically and/or pneumatically move by corresponding annular piston or plunger, especially the element by a shifting fork, screw threaded arrangement or this class mechanically moves, perhaps also can be electrically or electromagnetic ground move, wherein heavy-duty transmission can comprise the device of corresponding circuit, driving mechanism and this class.
In a preferred construction, input shaft axially can move by a shifting fork, preferably input shaft axially freely is supported in the housing for this reason, and its axial position can move axially in housing by one or adjustable shifting fork is determined, this shifting fork and input shaft for example by a circular groove axial restraint ground and preferably there is not layout with reversing.
In a preferred construction, input shaft and output shaft are axially arranged in a line mutually, and this makes heavy-duty transmission constitute a long and narrow structural type.Compacter for the axial formation that makes heavy-duty transmission, input shaft are in one or more gear, for example can partly insert the output shaft that for this reason constitutes hollow shaft in a neutral and second gear.Also can in one or more gear, insert input shaft according to the specific output axle between input torque and output torque and corresponding shaft diameter equally conversely.
In a selectable structure, input shaft and output shaft on the circumference of countershaft each other, 180 ° of layouts of dislocation especially approximately basically, yet this makes it can constitute the advantageously axial shorter structural type of a broad.
In a preferred construction, between input shaft and motor, be provided with a compensation clutch, this compensation clutch compensation between two axial gears of input shaft at least with respect to the axial dislocation of motor.This compensation clutch for example can have one and have the hollow shaft of internal gear and have external gear, and this external gear axially movably is supported in the hollow shaft, and is meshing with each other constantly or can be meshing with each other with its internal gear.Especially it can comprise a tooth sector clutch.
Same compensation clutch also can have two can antitorque ground flange connecting, selectively can arrange one or more spacer element between described flange.Though gearshift requires packing into of spacer element or dismantles in this structure, yet this does not usually play decision in the duration of work of the heavy-duty transmission that belongs to this class.
First aspect of the present invention has been described above, has been connected with a motor that output shaft is connected with a working machine, be about to power and be delivered to output shaft from input shaft according to this aspect input shaft.Input shaft also can be with a working machine according to a second aspect of the invention, for example a generator, a haulage device or conveying equipment are connected, and output shaft also can be with a motor, for example a gas turbine or steam turbine, an internal-combustion engine or a motor are connected, and wherein structure is identical.The axially movable axle of the representation of concept one of " input shaft " in this point just, can the shift gears driver pinion of engagement of the driven gear that is used for arranging with countershaft is arranged in this axle, and can import or output power by this axle, promptly needn't be a driving shaft and also can be a driven shaft in case of necessity.
Correspondingly top according to a third aspect of the invention we therewith first and second aspects of being mentioned also can make up, promptly the driven shaft of the driving shaft that not only can be connected with motor but also the heavy-duty transmission that can be connected with working machine can constitute axially movable input shaft, and the different driven gear that its driver pinion can be arranged with the countershaft that is arranged between driving shaft and the driven shaft in different gears be meshed.
As beginning time explanation, output shaft also can directly constitute the countershaft that a preferably unique countershaft is arranged.Therefore, for example respectively power is delivered on the driven gear of gearshift of countershaft the so same direct representation output shaft of this countershaft according to the first aspect input shaft if abandon an independent countershaft.
Description of drawings
Other feature and advantage are obtained by dependent claims and embodiment.For this reason wherein partly schematically:
Fig. 1 has represented that one has the heavy-duty transmission of shifting gears according to structure of the present invention in first gear of one first gear ratio;
Fig. 2 represented to have one second gear ratio in second gear according to heavy-duty transmission shown in Figure 1; And
Fig. 3 represented in the neutral position according to heavy-duty transmission illustrated in figures 1 and 2, transmitting torque not in this neutral.
Embodiment
Fig. 1 represented one according to the heavy-duty transmission of shifting gears of structure of the present invention in first gear.It comprises an input shaft 1, and this input shaft is connected with the driven shaft 100 of motor or the driving shaft of working machine (not shown) by a compensation clutch 10 of describing below.
Input shaft 1 supports the diameter of the diameter of one first driver pinion 1.1 and one second driver pinion, 1.2, the second driver pinions greater than first driver pinion 1.1 on a side that is in compensation clutch 10 opposites.Antitorque ground of two driver pinions and axial restraint ground are connected with input shaft.
Heavy-duty transmission comprises that a countershaft that has two countershaft 2A, 2B arranges in addition, described countershaft structure identical and on the circumference of input shaft 1 180 ° of layouts of dislocation, therefore the first countershaft 2A only is described below.This countershaft supports one first driven gear 2A.1 and one second driven gear 2A.2, and the diameter of second driven gear is less than the diameter of first driven gear.Antitorque ground of two driven gears and axial restraint ground are connected with countershaft.
Countershaft 2A supports the combination small gear 2A.3 of a countershaft side on a side that is in driven gear 2A.1 and 2A.2 opposite, and this combination small gear is meshed with the built-up gear 3.1 of the output shaft side of an output shaft 3 of arranging in a line with input shaft 1.The driving shaft of this output shaft and a working machine or the driven shaft of the motor (not shown) that is connected.Built-up gear 3.1 antitorque ground and axial restraint ground are connected with output shaft 3.
Input shaft 1 is by axially movable bearings (not shown) in housing.This thrust-bearing has an outer collar bearing 4.1, and this bearer ring is connected with housing securely, and has an inner bearing collar 4.2, and this bearer ring axially is connected with input shaft securely, and axially can move with respect to outer collar bearing.Its annular piston (not shown) by both sides of this inner bearing collar 4.2 and input shaft 1 usefulness hydraulically axially can move between three gears of representing in Fig. 1 to Fig. 3 that describe below.
In first gear shown in Fig. 1, heavy-duty transmission has one first gear ratio between input shaft and output shaft 1,3, this gear ratio is obtained by the ratio of the diameter between the first driven gear 2A.1, the 2B.1 of first driver pinion 1.1 and countershaft 2A, 2B.Input shaft 1 is axially arranged so for this reason, so that have only its first driver pinion 1.1 to be meshed with the first driven gear 2A.1, the 2B.1 of two countershaft 2A, 2B, and driven gear 2A.2, the 2B.2 disengage from of its second driver pinion 1.2 and countershaft 2A, 2B.The moment of torsion that transmits between input shaft and output shaft 1,3 in this mode is assigned on two countershaft 2A, the 2B equably, so its moment load is lowered, and axle and gear correspondingly can constitute compacter.
In second gear shown in Fig. 2, heavy-duty transmission has second gear ratio between input shaft and output shaft 1,3, this gear ratio is obtained by the ratio of the diameter between the second driven gear 2A.2, the 2B.2 of second driver pinion 1.2 and countershaft 2A, 2B, and less than first gear ratio.Input shaft 1 is axially arranged so for this reason, so that have only its second driver pinion 1.2 to be meshed with the second driven gear 2A.2, the 2B.2 of two countershaft 2A, 2B, and driven gear 2A.1, the 2B.1 disengage from of its first driver pinion 1.1 and countershaft 2A, 2B now.Therefore, the same moment of torsion that transmits between input shaft and output shaft 1,3 in second gear is assigned on two countershaft 2A, the 2B equably.
In second gear, input shaft 1 partly inserts in the output shaft 3 that for this reason constitutes hollow shaft.Can dwindle the axial length of heavy-duty transmission in this mode.
In order to compensate the axial dislocation on the other end of input shaft, compensation clutch 10 comprises that one has the hollow shaft of internal gear 10.1, the external gear 10.2 of input shaft 1 axially movably is supported in this internal gear, and input shaft 1 in first and second gears (shown in Fig. 1,2) is connected with driven shaft 100 with hollow shaft and by this hollow shaft antitorquely, and this driven shaft has an external gear that is meshed with the internal gear of hollow shaft in its side for this reason.
In the 3rd shown in Fig. 3 or neutral position, input shaft 1 is axially arranged like this, so that not only its driver pinion 1.1 and the first driven gear 2A.1, the 2B.1 of two countershaft 2A, 2B but also driven gear 2A.2, the 2B.2 disengage from of its second driver pinion 1.2 and countershaft 2A, 2B, therefore transmitting torque not between input shaft and output shaft 1,3.In order to occupy this gear, driven gear 2A.1 to 2B.2 is disposed axially between the driving wheel 1.1,1.2 in this gear, between first and second driver pinions 1.1,1.2 axially in spacing greater than the axial olo of driven gear 2A.1,2A.2 or 2B.1, the 2B.2 of two countershaft 2A, 2B.
In the neutral position, input shaft 1 partly inserts in the output shaft 3 that constitutes hollow shaft equally.When transmitting torque not, the external gear 10.2 of input shaft 1 and internal gear 10.1 disengage from of the hollow shaft of clutch 10.This makes the conversion between first and second gears become easier.
Be equipped with two countershafts for the moment branch in an embodiment.In a variation scheme of not representing, can cancel a countershaft.Especially so can cancel the independent structure that countershaft and output shaft and it are connected with built-up gear by the combination small gear, and unique then countershaft direct formation output shaft simultaneously.
The Reference numeral table
1 power shaft
1.1 first driver pinion
1.2 second driver pinion
2A first countershaft
2A.1 first driven gear
2A.2 second driven gear
2A.3 the combination small gear of countershaft side
2B second countershaft
2B.1 first driven gear
2B.2 second driven gear
2B.3 the combination small gear of countershaft side
3 output shafts
3.1 the combination small gear of output shaft side
4.1 outer collar bearing
4.2 inner bearing collar
10 compensation clutches
10.1 internal gear
10.2 external gear
The driven shaft of 100 motors

Claims (16)

1. the heavy-duty transmission that can shift gears, especially industrial speed changer has an input shaft (1);
One have at least one countershaft (2A, 2B) countershaft arrange, this countershaft have at least two driven gears (2A.1,2A.2,2B.1,2B.2), wherein countershaft is arranged and can be connected with input shaft by driven gear antitorquely;
One output shaft (3), this output shaft can be arranged antitorquely with countershaft and be connected; And
At least two are used for countershaft and arrange and the antitorque driver pinion that is connected of input shaft (1.1,1.2);
Wherein input shaft can axially (Fig. 1 Fig. 2) moves between first and second gears;
Driver pinion axially is connected with input shaft regularly and antitorquely, and can axially move with input shaft; Wherein
(2A.1's at least one first driven gear that (Fig. 1) one first driver pinion (1.1) and countershaft are arranged in first gear 2B.1) is meshed; And
(2A.2's at least one second driven gear that (Fig. 2) one second driver pinion (1.2) and countershaft are arranged in second gear 2B.2) is meshed.
2. heavy-duty transmission according to claim 1, it is characterized in that, countershaft arranges that having two at least can have a driven gear (2A.1 with output shaft is connected antitorquely, 2A.2,2B.1,2B.2) countershaft (2A, 2B), first driven gear (the 2A.1 of (Fig. 1) first driver pinion (1.1) and at least two countershafts in first gear wherein, 2B.1) be meshed and/or in second gear second driven gear of (Fig. 2) second driver pinion (1.2) and at least two countershafts (2A.2 2B.2) is meshed.
3. according to each described heavy-duty transmission in the claim of front, it is characterized in that input shaft is axially movable in one the 3rd gear, wherein the driven gear that (Fig. 3) do not have driver pinion and countershaft to arrange in the 3rd gear is meshed.
4. heavy-duty transmission according to claim 3, it is characterized in that, at first and second driver pinions (1.1,1.2) between axially in spacing greater than the axial width of driven gear, especially greater than two driven gear (2A.1,2A.2) axial olo and/or between first and second driven gears of countershaft axially in spacing greater than the axial width of driver pinion, especially greater than the axial olo of second driver pinion.
5. according to each described heavy-duty transmission in the claim of front, it is characterized in that a housing, a thrust-bearing that supports input shaft is arranged in this housing.
6. heavy-duty transmission according to claim 5, it is characterized in that, thrust-bearing has an outer collar bearing (4.1), this outer collar bearing axially is connected with housing securely, and has an inner bearing collar (4.2), this inner bearing collar axially is connected with input shaft securely, and can axially move with respect to outer collar bearing.
7. according to each described heavy-duty transmission in the claim of front, it is characterized in that input shaft can hydraulically and/or pneumatically move.
8. according to each described heavy-duty transmission in the claim of front, it is characterized in that input shaft mechanically, especially can move by a shifting fork.
9. according to each described heavy-duty transmission in the claim of front, it is characterized in that input shaft can move electrically.
10. according to each described heavy-duty transmission in the claim of front, it is characterized in that, input shaft and output shaft are axially arranged in a line mutually, and (Fig. 2 Fig. 3) inserts in another of input shaft and output shaft (3) at least in part at least one gear for input shaft (1) and output shaft one.
11. according to each described heavy-duty transmission in the claim 1 to 9 of front, it is characterized in that, input shaft and output shaft on the circumference of countershaft each other, 180 ° of layouts of dislocation especially approximately basically.
12. according to each described heavy-duty transmission in the claim of front, it is characterized in that, between output shaft and countershaft layout, arrange a gear (2A.3,2B.3,3.1).
13., it is characterized in that output shaft formation one is unique countershaft of countershaft layout especially according to each described heavy-duty transmission in the claim 1 to 11 of front.
14., it is characterized in that input shaft has a compensation clutch (10) according to each described heavy-duty transmission in the claim of front, the axial dislocation of this compensation clutch compensation between two axial gears of input shaft at least.
15. heavy-duty transmission according to claim 14, it is characterized in that, the compensation clutch has one and has the hollow shaft of internal gear and have an external gear (10.2), this external gear axially movably is supported in the hollow shaft, and can be meshing with each other or be meshed with its internal gear (10.1), especially compensate clutch and have a tooth sector clutch.
16. heavy-duty transmission according to claim 14 is characterized in that, the compensation clutch has two selectively can antitorque ground flange connecting under connecting in the middle of at least one spacer element.
CN2010101054532A 2009-01-26 2010-01-26 Switchable high-load transmission Expired - Fee Related CN101858404B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009006118.5A DE102009006118B4 (en) 2009-01-26 2009-01-26 Switchable heavy duty gearbox
DE102009006118.5 2009-01-26

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CN101858404A true CN101858404A (en) 2010-10-13
CN101858404B CN101858404B (en) 2013-09-11

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CN (1) CN101858404B (en)
DE (1) DE102009006118B4 (en)
FR (1) FR2941509B1 (en)

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JPH09264421A (en) * 1996-03-29 1997-10-07 Nissan Diesel Motor Co Ltd Operation device for transmission
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Cited By (6)

* Cited by examiner, † Cited by third party
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CN103573926A (en) * 2012-07-19 2014-02-12 伦克股份有限公司 Power distribution transmission mechanism
CN105156606A (en) * 2015-07-22 2015-12-16 梅州五指石科技有限公司 Shifting piece rotation stop type sliding gearbox
CN105156606B (en) * 2015-07-22 2024-01-16 梅州五指石科技有限公司 Shifting piece rotation-stopping type sliding gearbox
CN107489742A (en) * 2017-08-14 2017-12-19 永祺(中国)车业股份有限公司 Power transmission shaft and gearbox integrated driving structure
CN113339466A (en) * 2021-05-25 2021-09-03 武汉市精华减速机制造有限公司 Reconfiguration tower type multi-stage gear shifting speed reducer
CN113339466B (en) * 2021-05-25 2024-04-23 武汉市精华减速机制造有限公司 Tower multistage gear shifting decelerator of reconfiguration

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CN101858404B (en) 2013-09-11
FR2941509B1 (en) 2015-12-18

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