CN104121334A - Coaxial single-input bidirectional-output high-speed-ratio cycloid speed reducer - Google Patents

Coaxial single-input bidirectional-output high-speed-ratio cycloid speed reducer Download PDF

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Publication number
CN104121334A
CN104121334A CN201410333830.6A CN201410333830A CN104121334A CN 104121334 A CN104121334 A CN 104121334A CN 201410333830 A CN201410333830 A CN 201410333830A CN 104121334 A CN104121334 A CN 104121334A
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China
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pin
output disc
cycloid
output
cycloid wheel
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CN201410333830.6A
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Chinese (zh)
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CN104121334B (en
Inventor
许立新
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天津职业技术师范大学
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Publication of CN104121334A publication Critical patent/CN104121334A/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
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • 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
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion

Abstract

The invention discloses a coaxial single-input bidirectional-output high-speed-ratio cycloid speed reducer. An input shaft is connected with six eccentric cylindrical roller bearings through keys in a staggered mode to form six rotation arm cranks with staggered eccentric positions. The two rotation arm cranks in the middle are connected with two primary transmission cycloid gears, the two rotation arm cranks on the left side are connected with two secondary cycloid gears arranged on the left side and the two rotation arm cranks on the right side are connected with two secondary cycloid gears arranged on the right side. All the cycloid gears are meshed with gear pins, a plurality of pin holes are evenly formed in the cycloid gears, and the pin holes penetrate through pins and pin sleeves at the same time. The pins are connected with a left compressing disk and a right compressing disk through screws, and the compression disks are connected with the input shaft through supporting bearings. A left output disk and a right output disk are connected with fixed pin gear housings through outer supporting bearings and are connected with the compressing disks through inner supporting bearings. Through the design of the cycloid composite transmission structure, coaxial bidirectional transmission can be realized, the coaxial single-input bidirectional-output high-speed-ratio cycloid speed reducer has the advantage that the transmission ratio is high and the coaxial single-input bidirectional-output high-speed-ratio cycloid speed reducer is particularly suitable for being used in double-oar coaxial transmission of a blender, an aircraft and an underwater vehicle.

Description

The two-way output large speed ratio cycloidal reducer of a kind of coaxial single input
Technical field
The present invention relates to cycloidal reducer field, propose especially the two-way output large speed ratio cycloidal reducer of a kind of coaxial single input.
Background technique
Cycloidal reducer has that velocity ratio is large, transmission efficiency is high, transmission accuracy is high, torsional rigid is high and the plurality of advantages such as the life-span is long, is therefore widely used in precision mechanical transmission field.Cycloidal reducer is owing to adopting planetary transmission structure, so compact structure is compared with the gear reducer of same power, volume and weight all can reduce 1/2~1/3.Existing cycloidal reducer single staged transmission ratio can reach 11~87, and secondary transmission ratio can reach 121~5133.In addition, cycloidal reducer smooth running, noise free, and there is larger overload and bear the ability compared with thump.
Existing cycloidal reducer is mainly realized the coaxial transmission technology of single-input single-output.Existing coaxial single-input double-output retarder is mainly realized by complicated gear drive system, velocity ratio, and transmission accuracy and transmission efficiency are difficult to further improve.Moreover, existing coaxial single-input double-output retarder is mainly realized output in the same way, is difficult to accomplish coaxial two-direction output.In addition, existing coaxial single-input double-output retarder is mainly realized two forward and reverse synchronized rotations of output shaft, be difficult to realize the identical or rotation direction of two output shaft rotation directions by the small change of retarder internal structure and export on the contrary, and two outputs are difficult to realize velocity ratio independent design.
Summary of the invention
For overcoming the defect in prior art, the invention provides the two-way output large speed ratio cycloidal reducer of a kind of coaxial single input.This retarder has the features such as highi degree of accuracy, high efficiency, high rigidity, high-mechanic and long service life simultaneously.Be specially adapted in the coaxial transmission of two oars of stirrer, aircraft and submersible.
The two-way output large speed ratio cycloidal reducer of a kind of coaxial single input of the present invention, comprise input shaft and fixing pin wheel housing, described input shaft is connected with six eccentric cylinder roller bearing dislocation and is connected by key, one group between two, eccentric cylinder roller bearing, two eccentric cylinder roller bearings in same group have identical throw of eccentric and the phase place 180 ° of layouts that are staggered on input shaft, eccentric cylinder roller bearing does not on the same group have different throw of eccentric, thereby forms the pivoted arm crank with six eccentric positions that are staggered, wherein, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on shaft part in the middle of described input shaft and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on the shaft part of described input shaft left side and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on the shaft part of described input shaft right side and be staggered 180 °, two pivoted arm cranks on middle shaft part are connected with respectively an one-level transmission cycloid wheel separately, two pivoted arm cranks on the shaft part of left side are connected with separately respectively a secondary left side and put cycloid wheel, two pivoted arm cranks on the shaft part of right side are connected with separately respectively a secondary right side and put cycloid wheel, described one-level cycloid wheel, a secondary left side are put cycloid wheel and the secondary right side and are put cycloid wheel and have the different cycloid numbers of teeth, the left end of described fixedly pin wheel housing is provided with left output disc, the right-hand member of described fixedly pin wheel housing is provided with right output disc, on described one-level cycloid wheel, a secondary left side, put on the identical graduation circle of cycloid wheel and the secondary right side putting cycloid wheel and be evenly equipped with a plurality of column pin holes, in each column pin hole, be penetrated with respectively a pin, on described pin, be set with roller, the two ends of described pin be fixed with respectively one with the compression plate of described left output disc and the sealing of described right output disc, on described fixedly pin wheel housing, left output disc and right output disc, be inlaid with respectively gear pin, described one-level cycloid wheel is meshed with the gear pin being embedded on described fixedly pin wheel housing, and a described secondary left side is put cycloid wheel and is meshed with the gear pin being embedded on left output disc, and the described secondary right side is put cycloid wheel and is meshed with the gear pin being embedded on right output disc, between the left output disc at described fixedly pin wheel housing and two ends and right output disc, be provided with respectively outer support bearing, described left output disc and described right output disc are respectively and between the compression plate of homonymy, be provided with inner support bearing, between described input shaft and the compression plate at two ends, be provided with respectively spring bearing.
Further, described compression plate adopts screw to be connected with pin.
When described one-level cycloid wheel, a secondary left side, put cycloid wheel and the secondary right side and put while meeting the poor condition of a tooth respectively between cycloid wheel and the gear pin being meshed separately, the velocity ratio of described left output disc is: the velocity ratio of described right output disc is: wherein, Z 1for the number of teeth of one-level cycloid wheel (4), Z 2for the fixing number of pin wheel housing upper pin gear pin (14); Z 3for putting the number of teeth of cycloid wheel, Z in a secondary left side 4number for the gear pin on left output disc; Z 5for putting the number of teeth of cycloid wheel, Z in the secondary right side 6number for the gear pin on right output disc; "+", represents that turning to of left output disc or right output disc is identical with turning to of input shaft; "-", represents the switched in opposite with input shaft that turns to of left output disc or right output disc.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the present invention, by adopting two-stage cycloidal-pin wheel Composite Transmission structural design, has realized retarder coaxial two-direction output transmission.In addition, with respect to traditional Involutes Gears Transmission structural design, because the invention utilizes cycloidal-pin wheel transmission principle completely, realize, therefore guaranteed that retarder possesses velocity ratio large, the high and bearing capacity advantages of higher of transmission accuracy.
(2) because the number of teeth of cycloid wheel at different levels and the pin number of teeth being meshed with it can be chosen arbitrarily, two output transmissions of the coaxial two-direction output decelerator that therefore the present invention mentions can realize the independent design of velocity ratio, be that velocity ratio size can be different, the gyratory directions of both sides output disc can be identical also can be contrary.
(3) compared with prior art, the coaxial two-direction output decelerator that the present invention mentions has more compact structure, and less radial and axial size, therefore can save installing space.
Accompanying drawing explanation
Fig. 1 is the axial sectional view of the two-way output large speed ratio cycloidal reducer of the coaxial single input of the present invention;
Fig. 2 is the A-A sectional drawing of retarder shown in Fig. 1;
Fig. 3 is the B-B sectional drawing of retarder shown in Fig. 1;
Fig. 4 is the C-C sectional drawing of retarder shown in Fig. 1.
In figure: 1-input shaft, 2-key, 3-eccentric cylinder roller bearing, 4-one-level transmission cycloid wheel, cycloid wheel is put on a 5-secondary left side, and cycloid wheel is put on the 6-secondary right side, 7-pin, 8-roller, 9-screw, 10-compression plate, 11-is pin wheel housing fixedly, the left output disc of 12-, the right output disc of 13-, 14-gear pin, 15-outer support bearing, 16-inner support bearing, 17-spring bearing.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail.
As shown in Figure 1, the two-way output large speed ratio cycloidal reducer of a kind of coaxial single input of the present invention, comprise input shaft 1 and fixing pin wheel housing 11, on described input shaft 1, be processed with keyway, connection by key 2 with three groups totally six eccentric cylinder roller bearings 3 dislocation be connected, one group between two, eccentric cylinder roller bearing 3, two eccentric cylinder roller bearings 3 in same group have identical throw of eccentric, and the phase place 180 ° of layouts that are staggered on input shaft 1, eccentric cylinder roller bearing 3 does not on the same group have different throw of eccentric, thereby form the pivoted arm crank with six eccentric positions that are staggered, , be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on shaft part in the middle of described input shaft 1 and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on described input shaft 1 left side shaft part and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on described input shaft 1 right side shaft part and be staggered 180 °.
Two pivoted arm cranks on middle shaft part are connected with respectively an one-level transmission cycloid wheel 4 separately, two pivoted arm cranks on the shaft part of left side are connected with separately respectively a secondary left side and put cycloid wheel 5, and two pivoted arm cranks on the shaft part of right side are connected with separately respectively a secondary right side and put cycloid wheel 6; Described one-level cycloid wheel 4, a secondary left side are put cycloid wheel 5 and the secondary right side and are put cycloid wheel 6 and have the different cycloid numbers of teeth.
The left end of described fixedly pin wheel housing 11 is provided with left output disc 12, the right-hand member of described fixedly pin wheel housing 11 is provided with right output disc 13, in described one-level cycloid wheel 4, a secondary left side is put on the identical graduation circle of cycloid wheel 5 and the secondary right side putting cycloid wheel 6 and is evenly equipped with a plurality of column pin holes, in each column pin hole, be penetrated with respectively a pin 7, on described pin 7, be set with roller 8, in addition, due to one-level cycloid wheel 4, cycloid wheel 5 and the secondary right side are put in a secondary left side, and to put cycloid wheel 6 be to be arranged on respectively on the pivoted arm crank with different throw of eccentric, for realizing roller 8, do not interfere stuck phenomenon with smooth and easy contact of column pin hole, so one-level cycloid wheel 4, it is different that the diameter of cycloid wheel 5 and the secondary right side putting the column pin hole in cycloid wheel 6 is put on a secondary left side, the two ends of described pin 7 be fixed with respectively one with the compression plate 10 of described left output disc 12 and described right output disc 13 sealings, described compression plate 10 adopts screw 9 to be connected with pin 7, described compression plate 10 in order to rotational axis direction relatively fixedly pin wheel housing 11 compress left output disc 12 and right output discs 13.
On described fixedly pin wheel housing 11, left output disc 12 and right output disc 13, be inlaid with respectively gear pin; As shown in Figure 3, described one-level cycloid wheel 4 is meshed with the gear pin being embedded on described fixedly pin wheel housing 11, forms the one-level transmission of retarder of the present invention; As shown in Figure 2, a described secondary left side is put cycloid wheel 5 and is meshed with the gear pin being embedded on left output disc 12, forms the left output transmission of secondary of retarder of the present invention; As shown in Figure 4, the described secondary right side is put cycloid wheel 6 and is meshed with the gear pin being embedded on right output disc 13, forms the right output transmission of secondary of retarder of the present invention.
Between the left output disc 12 at described fixedly pin wheel housing 11 and two ends and right output disc 13, pass through respectively outer support bearing 15 connection and positionings; Described left output disc 12 and described right output disc 13 respectively and between the compression plate of homonymy respectively by inner support bearing 16 connection and positionings; Between described input shaft and the compression plate at two ends, pass through respectively spring bearing 17 connection and positionings.
The present invention is by above-mentioned multistage cycloidal-pin wheel Composite Transmission structural design, can realize the transmission of retarder coaxial two-direction, and possess the advantage that velocity ratio is large, precision is high, efficiency is high, rigidity is high, carry high and long service life, be particularly suitable in the coaxial transmission of two oars of stirrer, aircraft and submersible.Left output disc 12 in the present invention and right output disc 13 can be realized identical turning to or the output movement of counterturn, and the output velocity ratio of both direction varies in size, and can carry out independent design.Specifically, when described one-level cycloid wheel 4, a secondary left side, put cycloid wheel 5 and the secondary right side and put while meeting the poor condition of a tooth respectively between cycloid wheel 6 and the gear pin being meshed separately,
The formula of the velocity ratio of described left output disc is:
The formula of the velocity ratio of described right output disc is:
Wherein, Z 1for the number of teeth of one-level cycloid wheel (4), Z 2for the fixing number of pin wheel housing 11 upper pin gear pins (14); Z 3for putting the number of teeth of cycloid wheel 5, Z in a secondary left side 4number for the gear pin (14) on left output disc 12; Z 5for putting the number of teeth of cycloid wheel 6, Z in the secondary right side 6number for the gear pin (14) on right output disc 13; "+", represents that turning to of left output disc 12 or right output disc 13 is identical with turning to of input shaft 1; "-", represents the switched in opposite with input shaft 1 that turns to of left output disc 12 or right output disc 13.
For example, getting the one-level cycloid wheel number of teeth is 39, and fixedly the number of pin wheel housing upper pin gear pin is 40, it is 37 that the cycloid wheel number of teeth is put on a secondary left side, the number of the gear pin on left output disc is 38, and it is 41 that the cycloid wheel number of teeth is put on the secondary right side, and the number of the gear pin on right output disc is 42.By above-mentioned gear ratio calculation formula, can obtain, output velocity ratio in retarder left side is+741, and rotation direction is identical with input shaft, and right side output velocity ratio is-819, and rotation direction is contrary with input shaft.
Above-described embodiment is described the preferred implementation of the two-way output large speed ratio cycloidal reducer of a kind of coaxial single input of the present invention; although invention has been described by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that not departing from aim of the present invention; can also make a lot of distortion, within these all belong to protection of the present invention.

Claims (3)

1. the two-way output large speed ratio cycloidal reducer of coaxial single input, comprises input shaft (1) and fixing pin wheel housing (11), it is characterized in that,
Described input shaft (1) is connected with six eccentric cylinder roller bearings (3) dislocation and is connected by key, one group between two, eccentric cylinder roller bearing (3), two eccentric cylinder roller bearings (3) in same group have identical throw of eccentric, and in the upper phase place of input shaft (1) the 180 ° of layouts that are staggered, eccentric cylinder roller bearing (3) does not on the same group have different throw of eccentric, thereby form the pivoted arm crank with six eccentric positions that are staggered, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on shaft part in the middle of described input shaft (1) and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on the shaft part of described input shaft (1) left side and be staggered 180 °, be positioned at the identical and phase place of the throw of eccentric of two pivoted arm cranks on the shaft part of described input shaft (1) right side and be staggered 180 °, two pivoted arm cranks on middle shaft part are connected with respectively an one-level transmission cycloid wheel (4) separately, two pivoted arm cranks on the shaft part of left side are connected with separately respectively a secondary left side and put cycloid wheel (5), two pivoted arm cranks on the shaft part of right side are connected with separately respectively a secondary right side and put cycloid wheel (6), described one-level cycloid wheel (4), a secondary left side are put cycloid wheel (5) and the secondary right side and are put cycloid wheel (6) and have the different cycloid numbers of teeth,
The left end of described fixedly pin wheel housing (11) is provided with left output disc (12), and the right-hand member of described fixedly pin wheel housing (11) is provided with right output disc (13),
On described one-level cycloid wheel (4), a secondary left side, put on the identical graduation circle of cycloid wheel (5) and the secondary right side putting cycloid wheel (6) and be evenly equipped with a plurality of column pin holes, in each column pin hole, be penetrated with respectively a pin (7), on described pin (7), be set with roller (8), the two ends of described pin (7) are fixed with respectively a compression plate sealing with described left output disc (12) and described right output disc (13);
On described fixedly pin wheel housing (11), left output disc (12) and right output disc (13), be inlaid with respectively gear pin; Described one-level cycloid wheel (4) is meshed with the gear pin being embedded on described fixedly pin wheel housing (11), a described secondary left side is put cycloid wheel (5) and is meshed with the gear pin being embedded on left output disc (12), and the described secondary right side is put cycloid wheel (6) and is meshed with the gear pin being embedded on right output disc (13);
Between the left output disc (12) at described fixedly pin wheel housing (11) and two ends and right output disc (13), be provided with respectively outer support bearing (15); Described left output disc (12) and described right output disc (13) are respectively and between the compression plate of homonymy, be provided with inner support bearing (16); Between described input shaft and the compression plate at two ends, be provided with respectively spring bearing (17).
2. the two-way output large speed ratio cycloidal reducer of a kind of coaxial single input according to claim 1, is characterized in that, described compression plate adopts screw (9) to be connected with pin (7).
3. a kind of coaxial list according to claim 1 is inputted two-way output large speed ratio cycloidal reducer, it is characterized in that, when described one-level cycloid wheel (4), a secondary left side, putting cycloid wheel (5) and the secondary right side puts while meeting the poor condition of a tooth respectively between cycloid wheel (6) and the gear pin being meshed separately
The velocity ratio of described left output disc is: the velocity ratio of described right output disc is: wherein,
Z 1for the number of teeth of one-level cycloid wheel (4), Z 2for the fixing number of pin wheel housing (11) upper pin gear pin (14);
Z 3for putting the number of teeth of cycloid wheel (5), Z in a secondary left side 4number for the gear pin (14) on left output disc (12);
Z 5for putting the number of teeth of cycloid wheel (6), Z in the secondary right side 6number for the gear pin (14) on right output disc (13);
"+", represents that turning to of left output disc (12) or right output disc (13) is identical with turning to of input shaft (1); "-", represents the switched in opposite with input shaft (1) that turns to of left output disc (12) or right output disc (13).
CN201410333830.6A 2014-07-14 2014-07-14 A kind of coaxial single input bidirectional output large speed ratio cycloidal reducer CN104121334B (en)

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CN201410333830.6A CN104121334B (en) 2014-07-14 2014-07-14 A kind of coaxial single input bidirectional output large speed ratio cycloidal reducer

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104791425A (en) * 2015-05-05 2015-07-22 天津职业技术师范大学 High-rigidity and large-speed-ratio cycloidal speed reducer of industrial robot
CN104888976A (en) * 2015-06-20 2015-09-09 罗名杨 Differential speed change mechanism applied to centrifugal machine
CN104959242A (en) * 2015-06-29 2015-10-07 宁波榕大环保装备有限公司 Differential speed change mechanism for centrifugal machine
CN110005779A (en) * 2019-04-17 2019-07-12 湖北汽车工业学院 A kind of small teeth number difference planet gear independent transmission device
CN110173544A (en) * 2019-06-14 2019-08-27 安徽工业大学 A kind of driving force distribution device
CN110173544B (en) * 2019-06-14 2021-04-23 安徽工业大学 Driving force distribution device

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Publication number Priority date Publication date Assignee Title
CN2356184Y (en) * 1999-03-19 1999-12-29 虞培清 Two stage double output shaft cycloid needle wheel speed reducer
US20060199692A1 (en) * 2005-03-04 2006-09-07 Bartolomej Janek Gear drive
CN1888473A (en) * 2006-07-26 2007-01-03 重庆大学 Single inputting and double outputting planetary speed reducer
CN203962876U (en) * 2014-07-14 2014-11-26 天津职业技术师范大学 The two-way output large speed ratio cycloidal reducer of a kind of coaxial single input

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2356184Y (en) * 1999-03-19 1999-12-29 虞培清 Two stage double output shaft cycloid needle wheel speed reducer
US20060199692A1 (en) * 2005-03-04 2006-09-07 Bartolomej Janek Gear drive
CN1888473A (en) * 2006-07-26 2007-01-03 重庆大学 Single inputting and double outputting planetary speed reducer
CN203962876U (en) * 2014-07-14 2014-11-26 天津职业技术师范大学 The two-way output large speed ratio cycloidal reducer of a kind of coaxial single input

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104791425A (en) * 2015-05-05 2015-07-22 天津职业技术师范大学 High-rigidity and large-speed-ratio cycloidal speed reducer of industrial robot
CN104888976A (en) * 2015-06-20 2015-09-09 罗名杨 Differential speed change mechanism applied to centrifugal machine
CN104959242A (en) * 2015-06-29 2015-10-07 宁波榕大环保装备有限公司 Differential speed change mechanism for centrifugal machine
CN110005779A (en) * 2019-04-17 2019-07-12 湖北汽车工业学院 A kind of small teeth number difference planet gear independent transmission device
CN110173544A (en) * 2019-06-14 2019-08-27 安徽工业大学 A kind of driving force distribution device
CN110173544B (en) * 2019-06-14 2021-04-23 安徽工业大学 Driving force distribution device

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