CN105626816B - One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism - Google Patents
One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism Download PDFInfo
- Publication number
- CN105626816B CN105626816B CN201610055847.9A CN201610055847A CN105626816B CN 105626816 B CN105626816 B CN 105626816B CN 201610055847 A CN201610055847 A CN 201610055847A CN 105626816 B CN105626816 B CN 105626816B
- Authority
- CN
- China
- Prior art keywords
- shock wave
- wave device
- oscillating tooth
- centre wheel
- profile curve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism, one end of input shaft extends to the outside of drive end bearing bracket, it is connected with prime mover, the other end of input shaft is plugged on the middle part of shock wave device, the outer raceway flank profil of shock wave device on the inside of oscillating tooth with connecting, oscillating tooth is located in the axial channel of oscillating tooth gear by pin, bearing A is equipped between shock wave device and oscillating tooth gear, on input shaft, at neighbouring bearing A, it is socketed circlip A, the outside of oscillating tooth connects with the outer raceway flank profil of centre wheel, the side of centre wheel passes through rear end cap, it is connected with working machine, and shock wave device, oscillating tooth gear and centre wheel are each provided in babinet, bearing B is equipped between centre wheel and babinet, on input shaft, at neighbouring bearing B, it is socketed circlip B, babinet two sides opening, two sides respectively with front end face, rear end face is connected.The present invention shortens driving-chain to greatest extent, improves transmission efficiency and reliability, and the number of teeth for participating in engaging is more, and rigidity is big, large carrying capacity, stable drive.
Description
The present invention relates to variable ratio transmission field for technical field.
Background technology proposes machine driven system higher and higher want with the development and the progress of science and technology of production
Ask.And conventional be at the uniform velocity driven has been difficult to the requirement for meeting system, therefore works out and wanted suitable for development such as new technology, new equipments
The desired transmission device asked, has become the more and more important development trend of mechanical transmission fields.
In numerous gear ratio mechanisms, for non-circular gear, its pitch curve shape is specially designed according to movement needs, because
This can realize the accurate non-uniform movement of two between centers.Compared with other are non-at the uniform velocity than the mechanism of transmission, such as cam and connecting rod
Mechanism, it accurately can be designed and manufactured by the characteristics of motion with clear advantage, such as noncircular gear pair, and kinematic accuracy is high；
The non-circular gear of pitch curve closing can obtain periodic variable ratio transmission；And it is with compact-sized, it is easy to accomplish dynamic
The advantages that balance.But its fabricate it is complicated, it is of high cost, and non-circular gear in order to avoid direct with high-revolving prime mover phase
Even, it can use and be used cooperatively with cylinder gear speed reducer, therefore driving-chain can be caused tediously long so that efficiency reduces.
Mobile tooth and small tooth difference Planetary Gear Transmission abbreviation Oscillating Tooth Gear Reducer, be it is a kind of be used for transmit two machines between centers rotary motion
The advantages that tool is driven, it has, and drive mechanism is compact, gear range is wide, large carrying capacity, transmission efficiency.It is 1999, old
Will with et al.《Mechanical engineering journal》, 35 (1)：Variable ratio transmission is simplified into linear movement and sinusoidal motion in 30-33 texts
Superposition, it is proposed that the design method of non-at the uniform velocity oscillating tooth mechanism, the composition of the oscillating tooth mechanism is identical with common oscillating tooth mechanism, is all
By shock wave device, oscillating tooth gear, centre wheel and oscillating tooth composition, by controlling the profile geometry of shock wave device and centre wheel to realize, gear ratio passes
It is dynamic, but the Transmission Function simplified cannot fully meet non-uniform movement requirement complicated and changeable in actual production.Liu great Wei etc.
People was in 2014《Mechanical engineering journal》, 50 (1)：It is theoretical that non-circular gear is used for reference in 47-54 texts, it is proposed that non-at the uniform velocity push-rod oscillating tooth
The flank profil of mechanism, wherein shock wave device employs helical line function, and the tooth curve of centre wheel is determined by gearratio, it can be achieved that the multicycle
The transmission effect of non-circular gear.Its deficiency is：Need to be used in series with reducing gear during use, oscillating tooth machine can not have been given play to
Structure big retarding than characteristic.
The content of the invention is not required to combine with reducing gear the object of the present invention is to provide one kind, and can realize axial shock wave
It is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism.
The invention mainly comprises shock wave device, oscillating tooth gear, centre wheel, input shaft, output shaft, bearing A, bearing B, circlip
A, circlip B, babinet, drive end bearing bracket, rear end cap and oscillating tooth, wherein, one end of input shaft extends to the outside of drive end bearing bracket, with original
Motivation is connected, and the other end of input shaft is plugged on the middle part of shock wave device, the outer raceway flank profil of shock wave device with connecting on the inside of oscillating tooth,
Oscillating tooth is located in the axial channel of oscillating tooth gear by pin, and bearing A is equipped between shock wave device and oscillating tooth gear, on input shaft,
At neighbouring bearing A, circlip A is socketed.The outside of oscillating tooth connects with the outer raceway flank profil of centre wheel, and the side of centre wheel passes through
Rear end cap, is connected with working machine, and above-mentioned shock wave device, oscillating tooth gear are identical with the axis of centre wheel, and shock wave device, oscillating tooth gear and center
Wheel is each provided in babinet, and bearing B is equipped between centre wheel and babinet, on input shaft, at neighbouring bearing B, is socketed elasticity gear
Enclose B.Babinet two sides opening, two sides are connected with front end face, rear end face respectively.
Geometric parameter：The maximum number of oscillating tooth rotates a circle gearratio i for shock wave deviceHKThe periodicity m of change1, m1To be big
In 1 positive integer, and meet equation ZK=m1+ 1, wherein ZKCentered on the number of teeth taken turns, the number of oscillating tooth corresponds to the guide groove of oscillating tooth gear
Number, and be uniformly distributed in a circumferential direction.
The rectangular equation of shock wave device theoretic profile curve is
In formula, xH、yH、zH--- the rectangular co-ordinate of shock wave device theoretic profile curve；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve.
The rectangular equation of centre wheel theoretic profile curve is
In formula, xK、yK、zK--- the rectangular co-ordinate of centre wheel theoretic profile curve；
iHKFor resultant gear ratio；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
--- centre wheel corner；
nK--- the periodicity of centre wheel theoretic profile curve.
The rectangular equation of shock wave device practical tooth curved surface is
In formula, xGH、yGH、zGH--- the rectangular co-ordinate of shock wave device practical tooth curved surface；
R is oscillating tooth radius；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
U, v --- spherical equation parameter.
The rectangular equation of centre wheel practical tooth curved surface is
In formula, xGK、yGK、zGK--- the rectangular co-ordinate of centre wheel practical tooth curved surface,
R is oscillating tooth radius；
--- centre wheel corner；
U, v --- spherical equation parameter；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
nH--- the periodicity of shock wave device theoretic profile curve.
Continuous transmission is realized to enable to subtract speed change integration Cylinder Sine Oscillating Tooth Gear Reducer, its resultant gear ratio iHKIt should meetI in formulajFor the speed reducing ratio of mechanism, iHKFor resultant gear ratio,For shock wave device corner, and
The radius r of its oscillating tooth should be necessarily less than or the minimum profile curvature radius equal to theoretic profile curve, i.e. r≤ρmin.In order to reduce shock wave
Device, centre wheel contacted with oscillating tooth between abrasion, bearing can be installed on shock wave device and centre wheel, thus effectively reduce oscillating tooth with
Abrasion between flank profil.
In the use of the present invention, making shock wave device be connected with prime mover, after driving moment clockwise is applied to shock wave device, swash
Ripple device is with constant angular velocity ωHRotate clockwise, so that oscillating tooth is subject to the axial thrust produced by shock wave device flank profil, force with
The oscillating tooth of heart tooth profile engagement does linear relative movement along the axial channel of oscillating tooth gear.At the same time, in being subject to due to oscillating tooth
The constraint of heart tooth profile, oscillating tooth gear axial channel, along in shock wave device raceway and the motion process of oscillating tooth gear axial channel, pushes away
Dynamic centre wheel is with ωKRotate, since flank profil is derived according to shock wave device outer teeth profile and gearratio in centre wheel, so defeated
Shaft can have the gearratio for subtracting speed change feature to be rotated according to given.It is achieved thereby that axial shock wave subtracts speed change biography
It is dynamic.
Compared with existing mechanism, the present invention has following features：
(1) compared with constant speed oscillating tooth mechanism, on the premise of any component is not increased, realize and slow down and speed change integration biography
It is dynamic, so as to shorten driving-chain to greatest extent, improve transmission efficiency and reliability.
(2) compared with non-circular gear, subtract that speed change integration Cylinder Sine oscillating tooth mechanism is easily manufactured, its tooth form is relatively not rounded
Gear is simply many, and the number of teeth for simultaneously participating in engagement is more, and rigidity is big, large carrying capacity, stable drive.
(3) compared with general oscillating tooth gear, it is with self-balancing, the characteristics of axial shock wave.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is mechanism resultant gear ratio curve；
Fig. 3 is the theoretic profile curve of shock wave device；
Fig. 4 is the theoretic profile curve of centre wheel；
Fig. 5 is the practical tooth curved surface of shock wave device；
Fig. 6 is the practical tooth curved surface of centre wheel；
Fig. 7 is the installation diagram of the present invention.
In above-mentioned attached drawing, 1, input shaft, 2, drive end bearing bracket, 3, shock wave device, 4, oscillating tooth, 5, centre wheel, 6, bearing B, 7, bullet
Property baffle ring B, 8, oscillating tooth gear, 9, rear end cap, 10, babinet, 11, bearing A, 12 circlip A.
For specific implementation method in the simplified schematic diagram that Fig. 1 to Fig. 7 is the present invention, one end of input shaft 1 extends to drive end bearing bracket
2 outside, is connected with prime mover, and the other end of input shaft is plugged on the middle part of shock wave device 3, the outer raceway flank profil of shock wave device and work
The inner side of tooth 4 connects, and oscillating tooth is located at by pin in the axial channel of oscillating tooth gear 5, and axis is equipped between shock wave device and oscillating tooth gear
A6 is held, on input shaft, at neighbouring bearing A, is socketed circlip A7.The outside of oscillating tooth and the outer raceway flank profil phase of centre wheel 8
Connecing, the side of centre wheel passes through rear end cap 9, is connected with working machine, and above-mentioned shock wave device, oscillating tooth gear are identical with the axis of centre wheel,
And shock wave device, oscillating tooth gear and centre wheel are each provided in babinet 10, bearing B11 is equipped between centre wheel and babinet, in input shaft
On, at neighbouring bearing B, it is socketed circlip B12.Babinet two sides opening, two sides are connected with front end face, rear end face respectively.
Constituting can realize that the single-row of axial shock wave subtracts speed change integration cylinder oscillating tooth mechanism.To realize the biography of high order elliptic gear
Exemplified by dynamic ratio, illustrate the concrete scheme for subtracting speed change integration rolling free gear mechanism.
Table 1 subtracts speed change integration Cylinder Sine Oscillating Tooth Gear Reducer parameter
| Parameter | Numerical value | Parameter | Numerical value |
| Speed reducing ratio ij | 4 | Ball oscillating tooth radius r/mm | 4 |
| The periodicity n of transmission ratio functiong | 3 | Raceway radius r1/mm | 4.4 |
| The parameter ε of transmission ratio function | 0.1 | Shock wave device theoretic profile curve cycle number nH | 1 |
| Theoretic profile amplitude e/mm | 4 | Centre wheel theoretic profile curve cycle number nK | 4 |
| Theoretic profile sweep R/mm | 25 |
First, using the axial direction of input shaft as z-axis direction, it is radially x, the direction of y-axis, establishes rectangular coordinate system, according to sharp
Theoretic profile curvilinear equation (1) formula and shock wave device practical tooth surface equation (3) formula of ripple device, and the parameter in table 1 is brought into,
Theoretic profile curve and practical tooth curved surface rectangular co-ordinate data can be obtained, and Fig. 2 can be obtained according to obtained data
Shown theoretic profile curve and the practical tooth curved surface shown in Fig. 3, so as to establish the outer raceway flank profil of shock wave device, table 2 provides
The partial rectangular coordinate values of shock wave device theoretic profile curve.
2 shock wave device theoretic profile curve data of table
Then, according to by the gearratio to be realizedWherein ijFor speed reducing ratio, ib
For gear ratio, the periodicity by the shock wave device theoretic profile curve provided in table 1 is 1, and the periodicity of transmission ratio function is 3, in
The periodicity of heart wheel theoretic profile curve is 4, and the speed reducing ratio i of whole mechanism can be obtained by the derivation of equationj=z2/z1=z2
=m1+ 1=4.And by given parameter ε=1, the changing rule of resultant gear ratio can be obtained, as shown in Fig. 2, being given in table 3
The partial data of resultant gear ratio curve.
3 resultant gear ratio curve data of table
Finally, it is bent by theoretic profile equation (2) formula of centre wheel and the practical tooth of centre wheel under the same coordinate system
Face equation (4) formula, the centre wheel practical tooth that similarly can obtain shown in centre wheel theoretic profile curve and Fig. 6 shown in Fig. 4 are bent
Face, so as to establish the interior raceway flank profil of centre wheel, and gives the partial data of centre wheel theoretic profile curve in table 4.
4 centre wheel theoretic profile curve data of table
The number of oscillating tooth is 3, is equally provided with 3 axial channels on the oscillating tooth wheel sleeve that cross sectional shape is annulus, and
When mechanism operates, the inner surface of oscillating tooth gear cannot interfere with shock wave device, and outer surface cannot interfere with centre wheel, therefore in this example
Selection internal diameter is 23mm, outside diameter 27mm.
Shock wave device and input shaft, centre wheel and output shaft are made of one, and oscillating tooth gear is affixed with engine base, shock wave device, centre wheel
Axis of rotation overlapped with the central axis of oscillating tooth gear, three rolling free gears are installed in the axial channel of oscillating tooth gear, are axially led
Groove is uniformly distributed on oscillating tooth carrier circumference, and installation diagram is as shown in Figure 7.After shock wave device is connected with prime mover, rotation counterclockwise is living
Tooth is under the action of shock wave device flank profil, and guide groove does linear relative movement vertically, it is achieved that the effect of axial shock wave, at the same time
Centre wheel is promoted to rotate counterclockwise, since each oscillating tooth is involved in engaging, active oscillating tooth number is oscillating tooth sum.Due to
The flank profil of centre wheel is come out according to gearratio reverse, so the rotating speed of centre wheel is the rotating speed and gearratio of shock wave device at this time
iHKRatio, wherein iHKIt is the function on shock wave device corner, rotates and change with shock wave device.So as to fulfill the continuous of movement
Transmit, reach realization and subtract the integrated requirement of speed change.
Claims (1)
1. one kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism, mainly including shock wave device, oscillating tooth gear, centre wheel, input
Axis, output shaft, bearing A, bearing B, circlip A, circlip B, babinet, drive end bearing bracket, rear end cap and oscillating tooth, its feature exist
In：One end of input shaft extends to the outside of drive end bearing bracket, is connected with prime mover, and the other end of input shaft is plugged in shock wave device
Portion, the outer raceway flank profil of shock wave device on the inside of oscillating tooth with connecting, and oscillating tooth is located in the axial channel of oscillating tooth gear by pin, defeated
Enter and bearing A is equipped between axis and oscillating tooth gear, on input shaft, at neighbour's bearing A, be socketed circlip A, the outside of oscillating tooth is with
The outer raceway flank profil of heart wheel connects, and the side of centre wheel passes through rear end cap, is connected with working machine, above-mentioned shock wave device, oscillating tooth gear and
The axis of centre wheel is identical, and shock wave device, oscillating tooth gear and centre wheel are each provided in babinet, and axis is equipped between centre wheel and babinet
Hold B, on centre wheel, at neighbour's bearing B, be socketed circlip B, babinet two sides opening, two sides respectively with drive end bearing bracket, after
End cap is connected, and the maximum number of oscillating tooth rotates a circle gearratio i for shock wave deviceHKThe periodicity m of change1, m1To be just whole more than 1
Number, and meet equation ZK=m1+ 1, wherein ZKCentered on the number of teeth taken turns, the number of oscillating tooth corresponds to the guide groove number of oscillating tooth gear, and
It is uniformly distributed on circumferencial direction,
The rectangular equation of shock wave device theoretic profile curve is
In formula, xH、yH、zH--- the rectangular co-ordinate of shock wave device theoretic profile curve；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve,
The rectangular equation of centre wheel theoretic profile curve is
In formula, xK、yK、zK--- the rectangular co-ordinate of centre wheel theoretic profile curve；
iHKFor resultant gear ratio；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
--- centre wheel corner；
nK--- the periodicity of centre wheel theoretic profile curve,
The rectangular equation of shock wave device practical tooth curved surface is
In formula, xGH、yGH、zGH--- the rectangular co-ordinate of shock wave device practical tooth curved surface；
R is oscillating tooth radius；
--- shock wave device corner；
nH--- the periodicity of shock wave device theoretic profile curve；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
U, v --- spherical equation parameter,
The rectangular equation of centre wheel practical tooth curved surface is
In formula, xGK、yGK、zGK--- the rectangular co-ordinate of centre wheel practical tooth curved surface,
R is oscillating tooth radius；
--- centre wheel corner；
U, v --- spherical equation parameter；
E --- shock wave device axial direction shock wave amplitude；
The radius on cylindrical surface where R --- shock wave device theoretic profile curve；
nH--- the periodicity of shock wave device theoretic profile curve,
Continuous transmission is realized to enable to subtract speed change integration Cylinder Sine Oscillating Tooth Gear Reducer, its resultant gear ratio iHKIt should meetI in formulajFor the speed reducing ratio of mechanism, iHKFor resultant gear ratio,For shock wave device corner, and
The radius r of its oscillating tooth should be necessarily less than or the minimum profile curvature radius equal to theoretic profile curve, i.e. r≤ρmin, in order to reduce shock wave
Device, centre wheel contacted with oscillating tooth between abrasion, bearing is installed on shock wave device and centre wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055847.9A CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055847.9A CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105626816A CN105626816A (en) | 2016-06-01 |
| CN105626816B true CN105626816B (en) | 2018-05-01 |
Family
ID=56042023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610055847.9A Active CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105626816B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109165410B (en) * | 2018-07-26 | 2023-04-18 | 燕山大学 | Involute drilling method for high-performance sports car air duct brake disc |
| CN109798329A (en) * | 2019-01-26 | 2019-05-24 | 天津大学 | A kind of axial direction shock wave type high robot joint speed reducer |
| CN109780163B (en) * | 2019-01-26 | 2021-09-28 | 天津大学 | Reciprocating type cylindrical sine end face oscillating tooth speed reducer |
| CN109780162A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Two-stage tandem formula Cylinder Sine end face movable teeth reducer |
| CN109780164A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Secondary seal formula Cylinder Sine end face movable teeth reducer |
| CN110259890B (en) * | 2019-05-12 | 2022-03-29 | 天津大学 | Axial shock wave oscillating tooth speed reducer |
| CN110185747B (en) * | 2019-05-31 | 2021-10-15 | 燕山大学 | Guide frame fixed type two-stage sine oscillating tooth speed reducer |
| CN114110136B (en) * | 2021-11-30 | 2024-01-26 | 重庆大学 | Method for designing internal tooth profile of complex wave type movable tooth speed reducer and two-stage speed reducer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191103349A (en) * | 1911-02-09 | 1912-02-08 | Fedor Procofjewitsc Soprounoff | Improvements in Driving and Reversing Gearing. |
| US4069718A (en) * | 1976-09-13 | 1978-01-24 | The United States Of America As Represented By The Secretary Of The Army | Speed change device |
| JPS60179563A (en) * | 1984-02-24 | 1985-09-13 | Sanwa Tekki Corp | Cap type gearless transmission |
| RU2162554C1 (en) * | 1999-05-21 | 2001-01-27 | Пашуков Сергей Александрович | Ball cylindrical variable-speed drive |
| CN1468349A (en) * | 2000-09-07 | 2004-01-14 | 亚历山大・安德烈耶维奇・帕宁 | Ball-bearing planetary gear |
-
2016
- 2016-01-27 CN CN201610055847.9A patent/CN105626816B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191103349A (en) * | 1911-02-09 | 1912-02-08 | Fedor Procofjewitsc Soprounoff | Improvements in Driving and Reversing Gearing. |
| US4069718A (en) * | 1976-09-13 | 1978-01-24 | The United States Of America As Represented By The Secretary Of The Army | Speed change device |
| JPS60179563A (en) * | 1984-02-24 | 1985-09-13 | Sanwa Tekki Corp | Cap type gearless transmission |
| RU2162554C1 (en) * | 1999-05-21 | 2001-01-27 | Пашуков Сергей Александрович | Ball cylindrical variable-speed drive |
| CN1468349A (en) * | 2000-09-07 | 2004-01-14 | 亚历山大・安德烈耶维奇・帕宁 | Ball-bearing planetary gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105626816A (en) | 2016-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105626816B (en) | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism | |
| US11002353B2 (en) | Cycloidal pin wheel harmonic transmission device | |
| CN110397711B (en) | Cam shock wave type two-stage plane steel ball speed reducer | |
| CN107735193B (en) | The manufacturing method of roller bearing unit and the manufacturing method of vehicle | |
| WO2018147200A1 (en) | Planetary gear device | |
| CN105221669B (en) | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot | |
| CN105840742A (en) | Rolling push-rod oscillating tooth robot joint speed reducer | |
| CN106499775A (en) | A kind of transmission decelerating device | |
| WO2020238075A1 (en) | Double-arc gapped meshing small-tooth-difference planetary transmission device | |
| CN110259890B (en) | Axial shock wave oscillating tooth speed reducer | |
| CN104534030B (en) | Roller envelope internal messing Worm and Worm Gear Driving device | |
| CN108662114A (en) | Harmonic wave speed reducing machine | |
| CN105202148B (en) | Parallel connection subtracts the integrated rolling free gear mechanism of speed change | |
| CN104565216A (en) | Cycloidal pin wheel speed reducer and robot | |
| CN203686042U (en) | Hollow sleeve type 2K-V precision speed reducer | |
| CN106499774B (en) | A kind of transmission decelerating device | |
| CN203809622U (en) | Second-level hard gear face cycloid steel ball planetary reducer | |
| CN105041984B (en) | It is single-row to subtract speed change integration rolling free gear mechanism | |
| CN207261609U (en) | A kind of cycloidal-pin wheel harmonic drive | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN107178601A (en) | A kind of Eccentrically swinging gear device | |
| CN108533683B (en) | Convex-convex meshing pure rolling spiral bevel gear mechanism for crossed shaft transmission | |
| CN108533681B (en) | flat-convex meshing pure rolling gear mechanism with internal meshing transmission of parallel shafts | |
| JP6890563B2 (en) | Eccentric swing type speed reducer | |
| CN111120587B (en) | Centrosymmetric single-stage undercut cycloid needle roller speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201221 Address after: Room 1518, 15 / F, investment building, 1757 Tushan East Road, Bengbu City, Anhui Province Patentee after: Bengbu Jingtu Intelligent Technology Co., Ltd Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |