CN103968009A - Small tooth number difference transmission mechanism and reducer comprising same - Google Patents
Small tooth number difference transmission mechanism and reducer comprising same Download PDFInfo
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- CN103968009A CN103968009A CN201310585357.6A CN201310585357A CN103968009A CN 103968009 A CN103968009 A CN 103968009A CN 201310585357 A CN201310585357 A CN 201310585357A CN 103968009 A CN103968009 A CN 103968009A
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- needle roller
- output
- output pin
- foreign steamer
- output shaft
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- 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
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- 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
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
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- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- 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
- F16H2001/325—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 a carrier with pins guiding at least one orbital gear with circular holes
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- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a small tooth number difference transmission mechanism and a reducer comprising the same. The small tooth number difference transmission mechanism comprises an outer wheel (8), an inner wheel (10), roller pins (9), a magnetic ring (11), an input shaft (1) and an output shaft (16). The output shaft (16) is connected the outer wheel (8) or inner wheel (10) and outputs rotation or torque through the outer wheel (8) or inner wheel (10). The inner wheel (10) is eccentrically disposed in the outer wheel (8) through an eccentric member (13) and is axially overlapped on the outer wheel (8). The outer ring of the inner wheel (10) is provided with n2 inner wheel roller pin grooves (34). The inner ring of the inner wheel (8) is provided with n1 outer wheel roller pin grooves (33); n2 is smaller than n1. The roller pins (9) are arranged in the roller pin grooves of the outer wheel (8) or inner wheel (10); during transmission, the roller pin grooves squeeze the roller pins (9) and transmits power by meshing of the roller pins (9). The input shaft (1) is connected with the inner wheel (10) and drives the inner wheel (10) to eccentrically and translationally revolve through the eccentric member (13).
Description
Technical field
The invention belongs to mechanical field, relate to a kind of few tooth difference transmission mechanism and speed reducer thereof.
Background technique
Gear with small teeth difference transmission is a kind of in Planetary Gear Transmission.
By an external gear and the internal gear internal gear pair that partners. it can adopt involute tooth type, also can adopt gerotor type, the number of teeth of interior external gear not etc., referred to as few teeth difference transmission.Its most basic form is 2K-H type (i.e. two central gear a, b and a pivoted arm H), velocity ratio is iaH=1+Zh/Zn, it develops out two kinds of typical planet-gear transmission forms, K-H-V Planetary Gear Transmission, centered by basic building block, take turns b, pivoted arm H and member V:
1. when central gear b fixes, initiatively, when member V is driven, velocity ratio is iHg=-Zg/ (Zb-Zg) to pivoted arm H.
2. member V being fixed. initiatively, central gear b exports pivoted arm H, its velocity ratio iHb=Zb/ (Zb-Zg).
The motion of the internal gear in K-H-V Planetary Gear Transmission and external gear is adopted to different ways to restrain, can obtain 4 kinds of different transmission schemes:
1), double-crank output type, internal gear is fixed.Common hole-pin few teeth difference speed reducer is exactly according to this principle design
2), double-crank output type, external gear is fixed
3), double-crank input type, external tooth crop rotation circular translational, internal gear output.
4), double-crank input type, internal tooth crop rotation circular translational, external gear output, three-ring gear reducer forms according to this principle design exactly.
What above-mentioned transmission scheme had is used widely at present, as cycloidal-pin wheel transmission speed reducer, and Involute Small Teeth Difference Planetary Gearing speed reducer etc.The working principle of at present more conventional small teeth number difference planet gear speed reducer consists of two-part:
The first, deceleration part: when motor drives eccentric shaft to rotate, because internal gear and casing maintain static, force planetary pinion around external tooth crop rotation planetary motion (revolve round the sun and do rotation); Again because the number of teeth of planetary pinion and internal gear is poor, so the motion that planetary pinion is done around eccentric shaft center is reverse low speed spinning motion.Utilize output mechanism that the spinning motion of planet wheel is passed to output shaft, just can reach the object of deceleration.
The second, output: conventionally adopt hole-pin, guarantee that from structure pin-and-hole diameter on planet wheel is than the large two times of throw of eccentric of the external diameter of pin sleeve.In movement process, pin sleeve contacts with the pin-and-hole wall on planetary pinion all the time, thereby makes planetary spinning motion pass to output shaft by axle sleeve, to realize the retarded motion with input shaft opposite direction.
In gear transmission, gear outer gearing volume is large, and one pole transmission speed ratio is little, and the number of teeth of engagement only has 1～2 tooth simultaneously, and the maximum advantage of interior engagement is that volume is little, and easily realizes multiple tooth engagement.The poor decision transmission speed ratio of number of teeth iHg=-Zg/ (Zb-Zg) or the iHb=Zb/ (Zb-Zg) of external gear in during interior engagement, wherein Zg is the number of teeth of external gear, Zb is the number of teeth of internal gear, when the number of teeth poor (Zb-Zg) is 1, speed ratio i is maximum, but when the number of teeth is poor while being 1, the interior engagement of traditional involute gear cannot be implemented due to interference.Conventionally adopt the poor flute profile of just avoiding of a plurality of numbers of teeth to interfere, but transmission speed ratio is just to become the minimizing of poor times of the number of teeth.In adopting at present, the speed reducer of engagement driving has harmonic wave speed reducing machine and cycloidal planetary gear speed reducer.Harmonic wave speed reducing machine is constantly out of shape (also claiming " flexbile gear ") by external gear and avoids involute tooth type interference, can reach multiple tooth engagement, but in harmonic wave speed reducing machine, the manufacture difficulty of flexbile gear is large, and is used for greatly the application of packaged reducer simultaneously.
Cycloidal planetary gear speed reducer has been avoided the interference problem of interior engagement by cycloid, but it is high that the accuracy of manufacturing of cycloid wheel requires, the distortion of pin and the High Rotation Speed of needle guard, and cycloid when engagement the radial component that produces, make cannot satisfy the demand the equally utilization field of large speed ratio, high-power or high pulling torque output of cycloidal-pin wheel.
Summary of the invention
Technical problem to be solved by this invention is the problem in view of the existence of above-mentioned driving mechanism, and a kind of few tooth difference transmission mechanism and speed reducer thereof are provided, its creationary interference problem of having invented foreign steamer in needle roller displacement solution.Neither need cycloid technology, also do not needing in the situation of harmonic wheel, by needle roller, be shifted and automatically adjust interference position, solving the problem that conventional drives exists.
It is as follows that the present invention solves the problems of the technologies described above taked technological scheme:
A kind of few tooth difference transmission mechanism, comprise: foreign steamer (8), interior wheel (10), needle roller (9), magnetosphere (11), input shaft (1) and output shaft (16), output shaft (16) connects and passes through described foreign steamer (8) or interior wheel (10) output speed and moment of torsion, described interior wheel (10) is by an eccentric body (13) arranged off-centre in foreign steamer (8) and axial overlap, and the outer ring of described interior wheel (10) is provided with n
2individual outwards uniform interior wheel needle roller groove (34); The inner ring of described foreign steamer (8) is provided with inwardly uniform n
1individual foreign steamer needle roller groove (33), wherein, n
2<n
1, n
1, n
2it is integer; In the foreign steamer needle roller groove (33) of described foreign steamer (8) or interior wheel (10) or interior wheel needle roller groove (34), be furnished with needle roller (9), during transmission, described foreign steamer needle roller groove (33) and the interior needle roller groove (34) of taking turns form extruding to described needle roller (9), and by the engagement transferring power of needle roller (9); And described input shaft (1) connects and passes through wheel (10) in described eccentric body (13) driving and do eccentric center translation revolution.
This beneficial effect of the invention is as follows:
Among the present invention, between inside and outside wheel, without directly engagement, by the needle roller of arranging between inside and outside wheel, mesh, needle roller is located removable state in needle roller groove, during transmission, needle roller will, according to interfering situation automatic adjusting position to avoid interference, have been realized interior engagement one tooth poor without interfering.
Preferred structure is, described interior wheel (10) combined by one or more interior wheels side by side, and describedly a plurality ofly interiorly take turns by described eccentric body (13) symmetrically in the other direction along input shaft (1) arranged off-centre, the interior wheel (10) of described symmetrical arranged off-centre forms dynamic balancing.
Preferred structure is, the groove of described foreign steamer needle roller groove (33) or interior wheel needle roller groove (34) is wide adopts trapezoidal, circular arc or curvilinerar figure, and the radius of curvature of the wide circular arc of described groove or curve is greater than the radius of curvature of described needle roller (9).
Preferably structure is, is also provided with needle roller positioning ring (6), is also provided with needle roller positioning ring (6), and described needle roller positioning ring (6) is a circle structure, and quantity is two, and is arranged in the two ends of needle roller (9); On described needle roller positioning ring (6), be processed with needle roller locating slot (31), be used for arranging the tail end of described needle roller (9), to prevent that needle roller (9) from departing from needle roller groove and axial float; The radial width of described needle roller locating slot (31) is greater than needle roller diameter, thereby makes needle roller (9) have shift space in needle roller groove.Preferred structure is, on described needle roller positioning ring (6), be also provided with magnetosphere groove (32), wherein, magnetosphere (11) is installed in described magnetosphere groove (32), the two ends that are used for utilizing needle roller (9) described in Magnetic Control, make needle roller (9) after needle roller groove internal shift, get back to rapidly the initial position of needle roller (9).
Further, preferred structure is that the locating slot (31) on described needle roller positioning ring (6) is located at outside or the inside of described magnetosphere groove (32).
Preferably structure is, described needle roller (9) is arranged in each the foreign steamer needle roller groove (33) on foreign steamer (8), and the quantity of needle roller (9) is identical with foreign steamer needle roller groove (33) quantity, i.e. n
1, described needle roller positioning ring (6) is arranged in the both sides of foreign steamer (8).
Preferred structure is, described needle roller (9) is arranged in interior wheel in needle roller groove (34), and the quantity of needle roller (9) is identical with interior quantity of taking turns needle roller groove (34), i.e. n
2, described needle roller positioning ring (6) is arranged in the both sides of interior wheel (10).
Preferred structure is that described needle roller positioning ring (6) can be individual components, also can be processed into an one-piece element with foreign steamer (8) or interior wheel (10).
Preferred structure is that described foreign steamer (8) can be connected by key or pin with main casing (3), also can directly process in aggregates.
Preferred structure is, is processed with wheel output pin-and-hole (35) in m on described interior wheel (10), is distributed on a circumference, and its circle diameter equates with the circle diameter in the individual uniform hole of the upper m of output shaft (16).
Preferred structure is, described output shaft (16) is a cylindrical structure, one end is processed with bearing hole, output shaft inner bearing (24) is installed, intermediate section is processed with convex shoulder, output shaft outer bearing (27) is installed, and be processed with an end face of bearing hole, be evenly equipped with m hole, one end of m output pin (5) is installed respectively, and a described m hole is distributed on a circumference, its diameter of a circle equates with the center circle diameter that m interior wheel on interior wheel (10) exported pin-and-hole (35).
Preferred structure is, also be provided with output pin positioning disk (4), described output pin positioning disk (4) is a cylindrical structure, centre is processed with through hole, one end is processed with bearing hole, output pin positioning disk inner bearing (21) is installed, this end face is a uniform m hole simultaneously, be used for respectively installing the other end of m output pin (5), a described m hole is distributed on a circumference, its diameter of a circle equates with the center circle diameter of wheel output pin-and-hole (35) in m on interior wheel (10), and the other end is processed with convex shoulder, is used for installing output pin positioning disk outer bearing (20).
Preferred structure is, described output pin (5) is a cylindrical body, quantity is m, two ends are processed with screw thread, be used for respectively with output shaft (16) and output pin positioning disk (4) fixing, and a described m output pin (5) is fastening by output pin nut (25) with output shaft (16) and output pin positioning disk (4), described output pin positioning disk (4), output pin (5) and output shaft (16) are organized in aggregates, form a hollow output shaft, the stage casing of hollow output shaft consists of m output pin (5).
Preferred structure is that the center line of described input shaft (1) overlaps with the center line of output shaft (16), and is positioned at the position of center line of the main casing (3) that described few tooth difference transmission mechanism is installed.
Preferred structure is that a described m output pin (5) is arranged in upper m the interior wheel output pin-and-hole of interior wheel (10) (35).
Preferred structure is that the two ends of described output pin (5) adopt non-threaded mode and output pin positioning disk (4) and output shaft (16) to combine in aggregates.
Preferred structure is, described input shaft (1) is by entering end, intermediate section and go out end three part cylindrical bodys to form, wherein, the cylindrical body that enters to hold of described input shaft (1) is installed the cylindrical body installation output shaft inner bearing (24) that output pin positioning ring inner bearing (21), intermediate section are installed described eccentric body (13) and interior wheel bearing (22), gone out end, output shaft inner bearing (24) coordinates assembling with the bearing hole on output shaft (16), on the cylindrical body of input shaft (1) input part, by input axle key (17), is connected with motor; Or described input shaft (1) adopts quill shaft, and directly insert motor output shaft connection.
A speed reducer, is provided with few tooth difference transmission mechanism, and wherein, few tooth difference transmission mechanism is connected to traditional output mechanism.
Preferred structure is that described traditional output mechanism is selected following arbitrary output mechanism: hole pin output mechanism, cross slides, the external gear in floating disc mechanism or K-H-V Planetary Gear Transmission is fixed, internal gear export structure.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification, become apparent, or understand by implementing the present invention.Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in the specification write, claims and accompanying drawing.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described in detail, so that above-mentioned advantage of the present invention is clearer and more definite.Wherein,
Fig. 1 is the planimetric map that the present invention adopts the speed reducer of few tooth difference transmission mechanism;
Fig. 2 is that the present invention adopts the right side of the speed reducer of few tooth difference transmission mechanism to look half planing surface figure;
Fig. 3 is the needle roller positioning ring planimetric map of few tooth difference transmission mechanism of the present invention;
Fig. 4 is the foreign steamer planimetric map of few tooth difference transmission mechanism of the present invention;
The foreign steamer of Fig. 5 few tooth difference transmission mechanism of the present invention and needle roller positioning ring combination view;
Fig. 6 is the interior wheel planimetric map of few tooth difference transmission mechanism of the present invention;
Fig. 7 is the output pin positioning disk planimetric map of few tooth difference transmission mechanism of the present invention.
Reference character
Input shaft 1, input end cap 2, main casing 3, output pin positioning disk 4, output pin 5, needle roller positioning ring 6, inside take turns spacer ring 7, foreign steamer 8, needle roller 9, inside take turns 10, magnetosphere 11, casing lining ring 12, eccentric body 13, bearing spacer 14, output end cap 15, output shaft 16, input axle key 17, input end seal ring 18, O type circle oil sealing 19, output pin positioning disk outer bearing 20, output pin positioning disk inner bearing 21, interior wheel bearing 22, eccentric body key 23, output shaft inner bearing 24, output pin nut 25, shaft retaining ring 26, output shaft outer bearing 27, output terminal seal ring 28, output axle key 29, end cap screw 30, needle roller locating slot 31, magnetosphere groove 32, foreign steamer needle roller groove 33, inside take turns needle roller groove 34, inside take turns output pin-and-hole 35, output pin positioning disk pin-and-hole 36
Embodiment
Below with reference to drawings and Examples, describe embodiments of the present invention in detail, to the present invention, how application technology means solve technical problem whereby, and the implementation procedure of reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each embodiment in the present invention and each feature in each embodiment can mutually combine, and formed technological scheme is all within protection scope of the present invention.
As shown in Fig. 1,2,3,4,5,6,7, the object of the present invention is to provide a kind of few tooth difference transmission mechanism, and the speed reducer that adopts above-mentioned driving mechanism.
Specifically, in order to realize the first object of the present invention, the invention provides a kind of few tooth difference transmission mechanism, this driving mechanism specifically comprises: input shaft 1 and output shaft 16, foreign steamer 8, needle roller 9, interiorly take turns 10, eccentric body 13; Described interior wheel in the annulus of 10 symmetrical arranged off-centre in foreign steamer 8 and axially overlaps, foreign steamer 8 and interior wheel between 10 by being located at the engagement transferring power of needle roller 9 between the two, described input shaft 1 connect also by described eccentric body 13, drive in wheel 10 as eccentric center translation, revolve round the sun.
Wherein, in an embodiment, describedly interiorly take turns 10, be a disc structure, and be provided with outwards uniform interior wheel needle roller groove 34 and the interior output pin-and-hole 35 of taking turns along the circumference of disc structure, described interior number of taking turns needle roller groove 34 is n
2individual;
Described foreign steamer 8, is a circle structure, at the inner ring of annulus, along circumference, is processed with n
1individual equally distributed foreign steamer needle roller groove 33, wherein, n
2<n
1, n
1, n
2it is integer;
Described needle roller 9 is cylindrical body, and is set to a plurality ofly, wherein, and is arranged in the foreign steamer needle roller groove 33 of foreign steamer 8 or takes turns in needle roller groove 34 interior.
Described eccentric body 13 is arranged on the eccentric body position of input shaft 1 along the center line symmetry of input shaft 1, describedly interiorly take turns 10 and be arranged on eccentric body 13 by interior wheel bearing 22.
In a preferred embodiment, described needle roller 9 is arranged in each the foreign steamer needle roller groove 33 on foreign steamer 8, and the quantity of needle roller 9 is identical with foreign steamer needle roller groove 33 quantity, i.e. n
1, described needle roller positioning ring 6 is arranged in the both sides of foreign steamer 8.
Certainly, in another preferred embodiment, described needle roller 9 is arranged in interior wheel in needle roller groove 34, and the quantity of needle roller 9 is identical with interior quantity of taking turns needle roller groove 34, i.e. n
2, described needle roller positioning ring 6 is arranged in interior 10 the both sides of taking turns.
The groove of described foreign steamer needle roller groove 33 or interior wheel needle roller groove 34 is wide adopts trapezoidal, circular arc or curvilinerar figure, and the radius of curvature of the wide circular arc of described groove or curve is greater than the radius of curvature of described needle roller 9.
In preferred embodiment, inside take turns the arc that is shaped as of needle roller groove 34, and, in the middle of described interior disk of taking turns, there is the hole that interior wheel bearing 22 is installed, on disk, be processed with m interior wheel output pin-and-hole 35 that is distributed on same circumference simultaneously.In few teeth difference principle, inside take turns the external gear of 10 similar few teeth difference pairs, in driving by input shaft 1 and eccentric body 13, wheel 10 revolves round the sun as eccentric center translation, and m is >=1 integer;
Being shaped as of foreign steamer needle roller groove 33 is trapezoidal.In few teeth difference principle, the internal gear of the similar few teeth difference pair of foreign steamer 8, foreign steamer 8 is connected by key with main casing 3;
In an embodiment, described needle roller 9 positions by needle roller positioning ring 6, described needle roller positioning ring 6 is a circle structure, quantity is two, be processed with needle roller positioning ring locating slot 31 and magnetosphere groove 32 above, wherein, described needle roller locating slot 31, be used for arranging the tail end of described needle roller 9, and prevent the axial float of needle roller 9, and the radial width of described needle roller positioning ring locating slot 31 is greater than needle roller diameter, thereby make needle roller 9 in the position that radially has displacement or floating space with delineation needle roller 9, in described magnetosphere groove 32, magnetosphere 11 is installed, described magnetosphere 11 is a circle structure, be used for determining the initial position of needle roller 9, be the two ends that described magnetosphere 11 utilizes needle roller 9 described in Magnetic Control, make needle roller 9 after needle roller groove internal shift, get back to rapidly the initial position of needle roller 9.
Locating slot 31 on described needle roller positioning ring 6 is located at outside or the inside of described magnetosphere groove 32, is located at the interior still foreign steamer of taking turns determines according to needle roller.
In a preferred embodiment, inside taking turns 10 can be one or more interior combinations of taking turns side by side, a plurality ofly interiorly takes turns 10 symmetrically in the other direction along input shaft 1 arranged off-centre by eccentric body 13, and the interior wheel 10 of symmetrical arranged off-centre forms dynamic balancing.
In this embodiment, inside take turns 10, the structure of the unsteady needle roller driving mechanism that foreign steamer 8 and needle roller 9 form is: foreign steamer 8 is fixed on main casing 3 by key, all eccentric bodies 13 are arranged on the eccentric body position of input shaft 1 along the center line symmetry of input shaft 1, allly interiorly take turns 10 and be arranged on eccentric body 13 by interior wheel bearing 22, the center line of input shaft 1 overlaps with the center line of output shaft 16 and is arranged on the position of center line of main casing 3, so all interior wheels in the annulus of 10 whole symmetrical arranged off-centre in foreign steamer 8, the quantity of inside taking turns 10 symmetrical arranged off-centre is consistent, during motion, form dynamic balancing system.
Needle roller 9 is arranged in the needle roller groove of foreign steamer 8, and when interior while taking turns 10 eccentric center translation, foreign steamer needle roller groove 33 and the interior 34 pairs of needle rollers of needle roller groove 9 of taking turns form and surround.In needle roller groove, needle roller 9 automatic adjusting positions are avoided interfering and are entered engagement, and as the inside and outside power transmission carrier of taking turns, bear extruding.After engagement finishes, due to the effect of magnetosphere 11, needle roller 9 is got back to initial position.
In an embodiment, output shaft 16 is a cylindrical structure, and one end is processed with bearing hole, be used for installing output shaft inner bearing 24, intermediate section is processed with convex shoulder, is used for installing output shaft outer bearing 27, be processed with an end face of bearing hole, be evenly equipped with m hole, the one end that is used for respectively installing m output pin 5.M hole is distributed on a circumference, and its diameter of a circle equates with interior center circle diameter of taking turns m interior wheel output pin-and-hole 35 on 10; Output pin positioning disk 4 is a cylindrical structure, and centre is processed with through hole, and one end is processed with bearing hole, is used for installing output pin positioning disk inner bearing 21, and this end face is a uniform m hole simultaneously, is used for respectively installing the other end of m output pin 5.M hole is distributed on a circumference, and its diameter of a circle equates with interior center circle diameter of taking turns wheel output pin-and-hole 35 in m on 10, and the other end is processed with convex shoulder, is used for installing output pin positioning disk outer bearing 20.
Output pin 5 is a cylindrical body, and quantity is m, and two ends are processed with screw thread, is used for respectively with output shaft 16 and output pin positioning disk 4 fixing.M output pin 5 and output shaft 16 and output pin positioning disk 4 fastening by output pin nut 25 after, output pin positioning disk 4, output pin 5 and 16 groups of output shafts are in aggregates, form a hollow output shaft, the stage casing of hollow output shaft consists of m output pin 5;
Needle roller driving mechanism and hollow output shaft float, m output pin 5 is arranged on to interior wheel on 10 takes turns in m in output pin-and-hole 35, according to few teeth difference principle, when interior, take turns 10 as when output, inside take turns 10 every revolution translation one week, needle roller groove of reverse direction operation or several needle roller groove, depend on that the needle roller groove number of interior foreign steamer is poor simultaneously, and interior wheel 10 drives hollow output shaft stage casing output pins 5 to reach output high pulling torque and deceleration object thus.
In addition, foreign steamer needle roller groove 33 and interior groove exterior feature of taking turns needle roller groove 34 can adopt trapezoidal, arc or curvilinerar figure.
Certainly, needle roller positioning ring 6 can be individual components, also can be processed into an one-piece element with foreign steamer 8 or interior wheel 10.
And the two ends of output pin 5 also can adopt non-threaded mode and output pin positioning disk 4 and output shaft 16 combinations in aggregates, form hollow output shaft.
Wherein, output pin 5 can be equipped with sliding sleeve, with reduce and interior take turns output pin-and-hole 35 between friction.
In an embodiment, input shaft 1 is by entering end, intermediate section and go out end three part cylindrical bodys to form, the cylindrical body installation output shaft inner bearing 24 that described input shaft 1 enters to hold cylindrical body output pin positioning ring inner bearing 21, intermediate section setting-up eccentricity body and interior wheel bearing 22 to be installed, to be gone out to hold, output shaft inner bearing 24 coordinates assembling with the bearing hole on output shaft 16, input shaft 1 overlaps with the center line of output shaft 16, on the cylindrical body of input shaft 1 input part, by input axle key 17, is connected with motor.
In addition, in order to realize the second object of the present invention, the invention provides a kind of speed reducer, it comprises few tooth difference transmission mechanism as above, and its output mechanism is taked traditional output mechanism.
For example, output mechanism is as: hole pin output mechanism, cross slides, and few teeth difference can the be floated eccentric torque output of needle roller driving mechanism such as floating disc mechanism realize the float speed reducer of needle roller driving mechanism of few teeth difference.
And the external gear that adopts same few tooth floating difference needle roller driving mechanism to be equally applicable in K-H-V Planetary Gear Transmission is fixed, internal gear export structure.Velocity ratio is iHb=Zb/ (Zb-Zg).
In conjunction with the present embodiment, carry out principle explanation, in limiting surely, 10, wheel is made translating revoluting, and without rotation, according to few teeth difference principle, inside take turns 10 every revolution translation one week, can drive needle roller groove of the equidirectional operation of foreign steamer 8 or several needle roller groove simultaneously, depend on that the needle roller groove number of interior foreign steamer is poor, foreign steamer 8 can be directly as output shaft, or is connected output high pulling torque with output shaft and reaches deceleration object.Adopt this structure, can as booster engine, use simultaneously.
The speed reducer of the present embodiment by foreign steamer 8, interior take turns 10 and the combination of needle roller 9 realize many needle rollers and mesh simultaneously; Wherein, inside take turns in the annulus of 10 symmetrical arranged off-centre in foreign steamer 8 and axially and overlap.Needle roller 9 is arranged in the foreign steamer needle roller groove 33 on foreign steamer 8, and two ends are respectively by needle roller positioning ring 6 location, inside takes turns 10 and is assembled in the intermediate section of input shaft 1 by eccentric body 13.By few teeth difference principle, inside take turns 10 and revolving round the sun translation in one week, needle roller groove of reverse direction operation or several needle roller groove, then by hollow output shaft output mechanism, by the interior eccentric torque output of taking turns on 10, reach thus deceleration object.
Below in conjunction with accompanying drawing, introduce in detail an embodiment who meshes the poor unsteady needle roller speed reducer of a tooth in the present invention.As Fig. 1, the present embodiment is one and takes turns the needle roller transmission speed reducer forming in two.
Inside take turns 10 symmetrical arranged off-centre in foreign steamer 8, and with foreign steamer 8 at axial overlap as Fig. 2.The two ends of input shaft 1 are arranged on the center line of main casing by output pin positioning disk inner bearing 21 and output shaft inner bearing 24, output pin positioning disk inner bearing 21 is arranged in output pin positioning disk 4, output shaft inner bearing 24 is arranged in the bearing hole on output shaft 16, the main center line of input shaft 1 and output shaft 16 concentrics.On the cylindrical body of input shaft 1 input end, be processed with keyway, by input axle key 17, be connected with motor output shaft.
Input end cap 2 is a disc structure, and centre is processed with the mounting hole of input end seal ring 18 and output pin positioning disk outer bearing 20, will input end cap 2 fastening with main casing 3 by end cap screw 30.
The inside of main casing 3 is borehole structure, and outer surface can adopt cylindrical body or body etc. in many ways.The left and right end of main casing 3 is processed with and the screw of inputting end cap 2 and 15 assemblings of output end cap.
Output pin positioning disk 4 as shown in Figure 7, is a cylindrical structure, centre is processed with through hole, and one end is processed with bearing hole, is used for installing output pin positioning disk inner bearing 21, this end face is uniform 10 output pin positioning disk pin-and-holes 36 simultaneously, are used for respectively installing the other end of 10 output pins 5.10 pin-and-holes are distributed on a circumference, and its diameter of a circle equates with interior center circle diameter of taking turns on 10 wheel output pin-and-hole 35 in 10, and the other end is processed with convex shoulder, is used for installing output pin positioning disk outer bearing 20;
Output pin 5 is a cylindrical body, and quantity is 10, and two ends are processed with screw thread, is used for respectively with output shaft 16 and output pin positioning disk 4 fixing.After 10 output pin 5 two ends are fastening by output pin nut 25 with output shaft 16 and output pin positioning disk 4 respectively, output pin positioning disk 4, output pin 5 and 16 groups of output shafts are in aggregates, form a hollow output shaft, the stage casing of hollow output shaft consists of 10 output pins 5;
Needle roller positioning ring 6, as shown in Figure 3, be a circle structure, quantity is two, is arranged in the both sides of foreign steamer 8, as shown in Figure 5, on needle roller positioning ring 6, be processed with needle roller locating slot 31 and magnetosphere groove 32, the radial width of needle roller locating slot 31 is greater than needle roller diameter, makes needle roller 9 radially have unsteady " space ", therefore be for drawing a circle to approve the position of needle roller 9, and magnetosphere groove 32 is used for installing magnetosphere 11;
The spacer ring 7 of inside taking turns is a circle structure, is arranged in two interior wheels between 10, prevents two interior 10 axial motions of taking turns;
Foreign steamer 8, as shown in Figure 4, is a circle structure, and the inner ring of garden ring is processed with 111 equally distributed foreign steamer needle roller grooves 33 along circumference, and being shaped as of foreign steamer needle roller groove 33 is trapezoidal.The outer ring of annulus is processed with 4 keyways, is used for connecting in main casing;
Needle roller 9 is a spicule, is placed in the foreign steamer needle roller groove 33 of foreign steamer 8, and total quantity is 111, by needle roller locating slot 31 location at two ends;
Inside taking turns 10, as shown in Figure 6, is disc structure, totally two.By the symmetrical arranged off-centre of eccentric body 13 on output shaft 1.The outer ring of garden dish is processed with 110 equally distributed interior needle roller grooves 34 of taking turns along circumference, inside takes turns the circular arc that is shaped as of needle roller groove 34.The hole that has wheel bearing 22 in installing in the middle of disk is processed with 10 interior wheel output pin-and-holes 35 that are distributed on same circumference simultaneously on disk;
Thus, according to few teeth difference principle, inside take turns 10, needle roller 9 and foreign steamer 8 form the poor transmission of a tooth, its speed ratio is i=-110;
Magnetosphere 11, is permanent-magnet material, is to get back to one of critical component of original position after needle roller 9 realizations are moved, and is arranged in magnetosphere groove 32;
Casing lining ring 12 is an annulus, for preventing the axial motion of foreign steamer 8;
Eccentric body 13 is symmetrical eccentric circle structures, is used for installing interior wheel bearing 22;
Bearing spacer 14 is a convex shoulder garden ring structure, is used for locating to bearing;
Output end cap 15Shi mono-garden dish structure, centre is processed with the hole that output terminal seal ring 28 is installed, and will export end cap 15 fastening with main casing 3 by bolt of cover 30;
Output shaft 16 is a cylindrical structure, and one end is processed with bearing hole, is used for installing output shaft inner bearing 24, intermediate section is processed with convex shoulder, is used for installing output shaft outer bearing 27, is being processed with an end face of bearing hole, be evenly equipped with 10 holes, the one end that is used for respectively installing 10 output pins 5.10 holes are distributed on a circumference, and its diameter of a circle equates with interior center circle diameter of taking turns on 10 wheel output pin-and-hole 35 in 10, goes out to hold on cylindrical body to be processed with keyway, by exporting axle key 29 output loads;
Input axle key 17 is a common standard key, also can adopt spline or other nonstandard key;
Input end seal ring 18 is standard speed reducer seal rings, is used for preventing dust and oil-leakage-prevention;
O type circle oil sealing 19 can adopt the O type rubber seal of standard, also can adopt other seal ring, and output terminal oil sealing O type circle can adopt same-type;
Output pin positioning disk outer bearing 20 can adopt common standard roller bearing, ball bearing or other bearing;
Output pin positioning disk inner bearing 21 can adopt common standard roller bearing, ball bearing or other bearing;
Interior wheel bearing 22 can adopt common standard roller bearing, needle bearing, ball bearing, selfaligning bearing etc.;
Eccentric body key 23 is a common standard key, also can adopt spline or other nonstandard key;
Output shaft inner bearing 24 can adopt common standard deep groove ball bearing, roller bearing or other bearing;
Output pin nut 25 can adopt standard nut;
Shaft retaining ring 26 can adopt the circlip for shaft of common standard;
Output shaft outer bearing 27 can adopt common standard deep groove ball bearing, roller bearing or other bearing;
Input end seal ring 28 is standard speed reducer seal rings, is used for preventing dust and oil-leakage-prevention;
Output axle key 29 is a common standard key, also can adopt spline or other nonstandard key;
End cap screw 30 is the common screw of standard;
The installation step of the present embodiment is as follows:
Eccentric body 13 is coordinated to assembling with interior wheel bearing 22, interior wheel bearing 22 is coordinated to assembling with the interior 10 upper bearing (metal) holes of taking turns, two interior install between taking turns 10 in wheel spacer ring 7.The first assembly
Eccentric body 13 in input shaft 1 and the first assembly is assembled, and output shaft inner bearing 24 is coordinated to the end that goes out that is assembled into input shaft 1, at output shaft inner bearing 24 and interior wheel bearing 22, bearing spacer 14 is installed, and with shaft retaining ring 26, block the axial float of output shaft inner bearing 24, the end that enters that simultaneously output pin positioning disk inner bearing 21 is contained in to input shaft 1 adopts another bearing spacer 14 to separate between output pin positioning disk inner bearing 21 and interior wheel bearing 22.The second assembly
Magnetosphere 11 is installed to interior totally two covers of the interior magnetosphere groove 32 of needle roller positioning ring 6.The 3rd assembly
Foreign steamer 8 and main casing 3 are fixedly connected in aggregates by key.The 4th assembly
Output shaft outer bearing 27 and output shaft 16 are assembled, then 10 output pins 5 are respectively charged in 10 pin-and-holes on output shaft 16 end faces, and fastening with output pin nut 25.The 5th assembly
By the second assembly and the assembling of the 4th assembly, arbitrary cover needle roller positioning ring 6 in the 3rd assembly is installed to foreign steamer 8 one end outlet sides simultaneously, the 5th assembly is inserted from outlet side, and coordinate assembling output shaft inner bearing 24 and output shaft inner bearing hole.The 6th assembly
O RunddichtringO is packed in output end cap 15, and with the 6th assembly in output shaft outer bearing 27 assemble, then use end cap screw 30 and main casing 3 fastening.The 7th assembly
111 needle rollers 9 are inserted in the 7th assemblies in foreign steamer needle roller groove 33, and insert in the needle roller locating slot 31 that outlet side has been in place one end.The 8th assembly
Another group needle roller positioning ring 6 in the 3rd assembly is arranged on to the input side of foreign steamer 8 in the 8th assembly, and 111 needle rollers are installed in needle roller locating slot 31.The 9th assembly
Output pin positioning disk 4 is inserted from the input end of the 9th assembly, need to coordinate the other end and the output pin positioning disk pin-and-hole 36 that assemble 10 output pins 5 simultaneously, and output pin positioning disk 4 and output pin positioning disk inner bearing 21, after being in place, adopt output pin nut 25 that output pin positioning disk 4 and output pin 5 is fastening in aggregates.The tenth assembly
Output pin positioning disk outer bearing 20 is installed in the tenth assembly on the bearing convex shoulder on output pin positioning disk.The 11 assembly
O type circle oil sealing 19 and input end seal ring 18 are installed into input end cap 2, then input end cap 2 are coordinated to assembling with the output pin positioning disk outer bearing 20 in the 11 assembly, simultaneously with main casing 3 coordinate and assemble that rear to pass through end cap screw 30 fastening.
Oilhole nut is fit in the 11 assembly on the oilhole on main casing 3.
Assemble complete.
The advantage of this invention is: by interior engagement few tooth difference transmission mechanism, realized the poor interior engagement of a tooth without interfering transmission, simultaneously in conjunction with hollow output shaft eccentric torque output mechanism, realized that high-power gear reducer volume is little, transmitting torque is large.
Finally it should be noted that: the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although the present invention is had been described in detail with reference to previous embodiment, for a person skilled in the art, its technological scheme that still can record aforementioned each embodiment is modified, or part technical characteristics is wherein equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (20)
1. a few tooth difference transmission mechanism, comprise: foreign steamer (8), interior wheel (10), needle roller (9), magnetosphere (11), input shaft (1) and output shaft (16), output shaft (16) connects and passes through described foreign steamer (8) or interior wheel (10) output speed and moment of torsion, it is characterized in that, described interior wheel (10) is by an eccentric body (13) arranged off-centre in foreign steamer (8) and axial overlap, and the outer ring of described interior wheel (10) is provided with n
2individual outwards uniform interior wheel needle roller groove (34); The inner ring of described foreign steamer (8) is provided with inwardly uniform n
1individual foreign steamer needle roller groove (33), wherein, n
2<n
1, n
1, n
2it is integer; In the foreign steamer needle roller groove (33) of described foreign steamer (8) or interior wheel (10) or interior wheel needle roller groove (34), be furnished with needle roller (9), during transmission, described foreign steamer needle roller groove (33) and the interior needle roller groove (34) of taking turns form extruding to described needle roller (9), and by the engagement transferring power of needle roller (9); And described input shaft (1) connects and passes through wheel (10) in described eccentric body (13) driving and do eccentric center translation revolution.
2. driving mechanism according to claim 1, it is characterized in that, described interior wheel (10) combined by one or more interior wheels side by side, and describedly a plurality ofly interiorly take turns by described eccentric body (13) symmetrically in the other direction along input shaft (1) arranged off-centre, the interior wheel (10) of described symmetrical arranged off-centre forms dynamic balancing.
3. driving mechanism according to claim 1 and 2, it is characterized in that, the groove of described foreign steamer needle roller groove (33) or interior wheel needle roller groove (34) is wide adopts trapezoidal, circular arc or curvilinerar figure, and the radius of curvature of the wide circular arc of described groove or curve is greater than the radius of curvature of described needle roller (9).
4. according to the driving mechanism described in claim 1 and 2, it is characterized in that, be also provided with needle roller positioning ring (6), described needle roller positioning ring (6) is a circle structure, and quantity is two, and is arranged in the two ends of needle roller (9); On described needle roller positioning ring (6), be processed with needle roller locating slot (31), be used for arranging the tail end of described needle roller (9), to prevent that needle roller (9) from departing from needle roller groove and axial float; The radial width of described needle roller locating slot (31) is greater than needle roller diameter, thereby makes needle roller (9) have shift space in needle roller groove.
5. driving mechanism according to claim 4, it is characterized in that, on described needle roller positioning ring (6), be also provided with magnetosphere groove (32), wherein, magnetosphere (11) is installed in described magnetosphere groove (32), the two ends that are used for utilizing needle roller (9) described in Magnetic Control, make needle roller (9) after needle roller groove internal shift, get back to rapidly the initial position of needle roller (9).
6. driving mechanism according to claim 5, is characterized in that, the locating slot (31) on described needle roller positioning ring (6) is located at outside or the inside of described magnetosphere groove (32).
7. driving mechanism according to claim 1 and 2, is characterized in that, described needle roller (9) is arranged in each the foreign steamer needle roller groove (33) on foreign steamer (8), and the quantity of needle roller (9) is identical with foreign steamer needle roller groove (33) quantity, i.e. n
1, described needle roller positioning ring (6) is arranged in the both sides of foreign steamer (8).
8. driving mechanism according to claim 1 and 2, is characterized in that, described needle roller (9) is arranged in interior wheel in needle roller groove (34), and the quantity of needle roller (9) is identical with interior quantity of taking turns needle roller groove (34), i.e. n
2, described needle roller positioning ring (6) is arranged in the both sides of interior wheel (10).
9. driving mechanism according to claim 4, is characterized in that, described needle roller positioning ring (6) can be individual components, also can be processed into an one-piece element with foreign steamer (8) or interior wheel (10).
10. driving mechanism according to claim 1 and 2, is characterized in that, described foreign steamer (8) can be connected by key or pin with main casing (3), also can directly process in aggregates.
11. driving mechanisms according to claim 1 and 2, it is characterized in that, on described interior wheel (10), be processed with wheel output pin-and-hole (35) in m, be distributed on a circumference, its circle diameter equates with the circle diameter in upper m the uniform hole of output shaft (16).
12. driving mechanisms according to claim 11, it is characterized in that, described output shaft (16) is a cylindrical structure, one end is processed with bearing hole, output shaft inner bearing (24) is installed, intermediate section is processed with convex shoulder, output shaft outer bearing (27) is installed, and be processed with an end face of bearing hole, be evenly equipped with m hole, one end of m output pin (5) is installed respectively, and a described m hole is distributed on a circumference, its diameter of a circle equates with the center circle diameter of wheel output pin-and-hole (35) on interior wheel (10) m.
13. driving mechanisms according to claim 12, it is characterized in that, also be provided with output pin positioning disk (4), described output pin positioning disk (4) is a cylindrical structure, centre is processed with through hole, one end is processed with bearing hole, output pin positioning disk inner bearing (21) is installed, this end face is a uniform m hole simultaneously, be used for respectively installing the other end of m output pin (5), a described m hole is distributed on a circumference, its diameter of a circle equates with the center circle diameter that m interior wheel on interior wheel (10) exported pin-and-hole (35), the other end is processed with convex shoulder, be used for installing output pin positioning disk outer bearing (20).
14. driving mechanisms according to claim 13, it is characterized in that, described output pin (5) is a cylindrical body, quantity is m, two ends are processed with screw thread, be used for respectively with output shaft (16) and output pin positioning disk (4) fixing, and a described m output pin (5) is fastening by output pin nut (25) with output shaft (16) and output pin positioning disk (4), described output pin positioning disk (4), output pin (5) and output shaft (16) are organized in aggregates, form a hollow output shaft, the stage casing of hollow output shaft consists of m output pin (5).
15. according to the driving mechanism described in claim 1 or 2 or 14, it is characterized in that, the center line of described input shaft (1) overlaps with the center line of output shaft (16), and is positioned at the position of center line of the main casing (3) that described few tooth difference transmission mechanism is installed.
16. driving mechanisms according to claim 11, is characterized in that, a described m output pin (5) is arranged in upper m the interior wheel output pin-and-hole of interior wheel (10) (35).
17. driving mechanisms according to claim 13, is characterized in that, the two ends of described output pin (5) adopt non-threaded mode and output pin positioning disk (4) and output shaft (16) to combine in aggregates.
18. driving mechanisms according to claim 1 and 2, it is characterized in that, described input shaft (1) is by entering end, intermediate section and go out end three part cylindrical bodys to form, wherein, the cylindrical body that enters to hold of described input shaft (1) is installed the cylindrical body installation output shaft inner bearing (24) that output pin positioning ring inner bearing (21), intermediate section are installed described eccentric body (13) and interior wheel bearing (22), gone out end, output shaft inner bearing (24) coordinates assembling with the bearing hole on output shaft (16), on the cylindrical body of input shaft (1) input part, by input axle key (17), is connected with motor; Or described input shaft (1) adopts quill shaft, and directly insert motor output shaft connection.
19. 1 kinds of speed reducers, is characterized in that, are provided with the arbitrary described few tooth difference transmission mechanism of claim 1～18, and wherein, few tooth difference transmission mechanism is connected to traditional output mechanism.
20. speed reducers according to claim 19, it is characterized in that, described traditional output mechanism is selected following arbitrary output mechanism: hole pin output mechanism, cross slides, the external gear in floating disc mechanism or K-H-V Planetary Gear Transmission is fixed, internal gear export structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310585357.6A CN103968009A (en) | 2013-01-29 | 2013-11-19 | Small tooth number difference transmission mechanism and reducer comprising same |
| PCT/CN2013/089605 WO2014117598A1 (en) | 2013-01-29 | 2013-12-16 | Transmission mechanism with small tooth number difference, and speed reducer thereof |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032132.8 | 2013-01-29 | ||
| CN201310032132 | 2013-01-29 | ||
| CN201310306948.5 | 2013-07-22 | ||
| CN201310306948 | 2013-07-22 | ||
| CN201310585357.6A CN103968009A (en) | 2013-01-29 | 2013-11-19 | Small tooth number difference transmission mechanism and reducer comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103968009A true CN103968009A (en) | 2014-08-06 |
Family
ID=51237878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310585357.6A Pending CN103968009A (en) | 2013-01-29 | 2013-11-19 | Small tooth number difference transmission mechanism and reducer comprising same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103968009A (en) |
| WO (1) | WO2014117598A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104633012A (en) * | 2015-01-29 | 2015-05-20 | 成都久和动力科技有限责任公司 | Circle-arc tooth pin wheel decelerating device |
| WO2017063489A1 (en) * | 2015-10-14 | 2017-04-20 | 于杰 | Full-engagement transmission method and device |
| CN108999935A (en) * | 2018-08-16 | 2018-12-14 | 杨荣刚 | Accurate cycloid Roller speed reducer |
| CN110469636A (en) * | 2018-05-10 | 2019-11-19 | 鸿富锦精密电子(郑州)有限公司 | Retarder |
| WO2019024848A3 (en) * | 2017-08-01 | 2020-01-30 | 于泓 | Speed reducer having fish-shaped cable loop |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6859039B2 (en) * | 2016-07-12 | 2021-04-14 | ナブテスコ株式会社 | Gear device |
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| CN104633012A (en) * | 2015-01-29 | 2015-05-20 | 成都久和动力科技有限责任公司 | Circle-arc tooth pin wheel decelerating device |
| WO2017063489A1 (en) * | 2015-10-14 | 2017-04-20 | 于杰 | Full-engagement transmission method and device |
| WO2019024848A3 (en) * | 2017-08-01 | 2020-01-30 | 于泓 | Speed reducer having fish-shaped cable loop |
| CN110469636A (en) * | 2018-05-10 | 2019-11-19 | 鸿富锦精密电子(郑州)有限公司 | Retarder |
| CN108999935A (en) * | 2018-08-16 | 2018-12-14 | 杨荣刚 | Accurate cycloid Roller speed reducer |
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| Publication number | Publication date |
|---|---|
| WO2014117598A1 (en) | 2014-08-07 |
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