CN106704493A - Tricyclic speed reducer capable of balancing inertia moment of annular plates - Google Patents
Tricyclic speed reducer capable of balancing inertia moment of annular plates Download PDFInfo
- Publication number
- CN106704493A CN106704493A CN201710054107.8A CN201710054107A CN106704493A CN 106704493 A CN106704493 A CN 106704493A CN 201710054107 A CN201710054107 A CN 201710054107A CN 106704493 A CN106704493 A CN 106704493A
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- plate
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- driving crank
- driving
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 33
- 238000003825 pressing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 238000010008 shearing Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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
- 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
-
- 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
- F16H2001/323—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 eccentric crankshafts driving or driven by a gearing
-
- 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
-
- 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
- F16H2001/328—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 balancing means
Abstract
The invention discloses a tricyclic speed reducer capable of balancing the inertia moment of annular plates. The tricyclic speed reducer comprises a driving shaft, a driven shaft, the annular plate, an output shaft and a plurality of shear springs. The driving shaft is sequentially provided with a first driving crank, a second driving crank and a third driving crank in the axial direction. The driven shaft is sequentially provided with a fist driven crank, a second driven crank and a third driven crank in the axial direction. The annular plates are connected with the driving shaft and the driven shaft through hinges correspondingly. The output shaft is sequentially provided with a first outer gear, a second outer gear and a third outer gear in the axial direction. A plurality of through holes are symmetrically formed in the circumference of the second annular plate, and a plurality of blind holes corresponding to the through holes are formed in the first annular plate and the third annular plate. The shear springs are arranged in the blind holes and the through holes. The technical problems that in the prior art, a tricyclic speed reducer with a moment balancing function is complex in structure, large in weight and thickness, high in production cost and the like are solved.
Description
Technical field
The present invention relates to mechanical transmission fields, more particularly to a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia.
Background technology
The decelerator being widely used at present includes three-ring speed reducer.During its general principle is three sets of parallel-crank mechanisms
Three pieces of ring flat-plates do translational motion, by the internal tooth wheel drive output shaft central gear on ring flat-plate by movement output.
The operation principle of three-ring speed reducer is as shown in Figure 1.DCFE is a parallel-crank mechanism in Fig. 1, and ring gear is connected
On connecting rod CF, while ring gear is engaged with the external gear on output shaft.When driving crank rotates around D points, ring gear is (even
Bar) translational motion is done, rotated around B points by the driving output shaft that engages with external gear, so that output campaign.It is parallel in order to overcome
Quadrangular mechanism takes three sets of identical parallelogram in the uncertain phenomenon of motion that respective location is present, three-ring speed reducer
The modes of the mutual wrong 120 ° of arrangements of mechanism.In the practical structures of three-ring speed reducer, three driving cranks being fixed together and solid
Three driving cranks for connecting together do translational motion using three structures of eccentric bushing of installing on an axle in the presence of three pieces
Ring flat-plate, and three pieces of ring flat-plates are arranged in order vertically.
In the moving link of three-ring speed reducer, two crank axles (wherein is motion inlet shaft), output shafts are
Axially symmetric structure, ignores its centrifugal intertia force and disregards, and discusses three pieces of inertia force of ring flat-plate.Due to three structures of ring flat-plate and
Size is essentially identical and be symmetrical structure, it is believed that ring flat-plate it is identical in quality, and the barycenter of ring flat-plate component is located at ring flat-plate
Symmetrical centre (the A points in Fig. 1).And three pieces of ring flat-plates in due to parallel-crank mechanism make translational motion, thereon any point
Movement locus be circumference.So the movement locus of center of mass point A is with B as the center of circle, the circumference with crank length CD as radius.
As driving crank constant velocity rotation, center of mass point A moves at the uniform velocity along the circumference, so as to produce centrifugal intertia force Pi。
Because three pieces of phases of ring flat-plate barycenter are mutually wrong 120 °, so pressing from both sides hexagonal angle degree between its centrifugal intertia force, and make
With on the circumference with CD as radius, as shown in Figure 2.
Because three centrifugal intertia forces are equal in magnitude, direction is mutually wrong 120 °, so(i is the label of ring flat-plate).
Coordinate system is set up as shown in Figure 1, 2, and three centrifugal intertia forces are acted in three planes vertical with Z axis.It is false
If adjacent ring board shaft is a to the distance between plane of symmetry, then three inertia force Pi1、Pi2、Pi3Square to X, Y, Z axis is：
When decelerator is operated, inertia force has a moment of inertia for acting on clockwise to Y-axis in the horizontal plane.Therefore three pieces of rings
Although plate is static balance, but unbalance dynamic, so as to produce impact with vibration.Therefore have to carry out the moment of inertia of ring flat-plate
Balance.
In the prior art, it is proposed that the method for several three-ring speed reducer balances, wherein typical dynamic three rings of full balance double-drive
(machinery sets for decelerator, such as patent of invention (200920012531.7) and " full balanced dual drive three-ring speed reducer design and development "
Meter is delivered with manufacture the 2nd phase in 2011, Huang Kai) etc., its drip irrigation device is that middle ring flat-plate is arranged symmetrically with both sides ring flat-plate, and
The thickness of middle ring flat-plate is both sides ring flat-plate thickness sum, i.e., the quality of middle ring flat-plate is 2 times of both sides ring flat-plate quality.These schemes
The thickness and weight of ring flat-plate are increased, cost is improve, and needs dual drive, complex structure, high cost.
The content of the invention
It is an object of the present invention to provide a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia, solve three-ring speed reducer and put down
The prior art construction of the moment of inertia that weighs is complicated, and weight and thickness are big, the technical problem such as production cost is high.
The technical solution adopted in the present invention is：A kind of three-ring speed reducer that can balance ring flat-plate moment of inertia, including：
The first driving crank, the second driving crank, the driving shaft of the 3rd driving crank, first are disposed with the axial direction
Driving crank, the second driving crank, the 3rd driving crank are mutually 120 ° of angles and adjacent axial spacing is identical；
The first driving crank, the second driving crank, the driven shaft of the 3rd driving crank are disposed with the axial direction；
The ring flat-plate being connected through the hinge respectively with driving shaft and driven shaft, ring flat-plate includes the first ring flat-plate, the second ring flat-plate, the 3rd
Ring flat-plate, and it is provided with identical ring gear；
First ring flat-plate and the first driving crank and the first driving crank chain connection, the second ring flat-plate and the second driving crank and
Second driving crank chain connection, the 3rd ring flat-plate and the 3rd driving crank and the 3rd driving crank chain connection；
The first external gear, the second external gear, the output shaft of the 3rd external gear, the first external tooth are disposed with the axial direction
Wheel, the second external gear, the 3rd external gear respectively with the first ring flat-plate, the second ring flat-plate, the 3rd ring flat-plate ring gear engagement, and with it is defeated
Shaft is fixedly connected by key；
Some through holes are symmetrically arranged with the circumference of the second ring flat-plate, it is right to be provided with the first ring flat-plate, the 3rd ring flat-plate
Should be in some blind holes of through hole；
It is arranged at some shear springs in blind hole and through hole.
Further, some through holes are symmetrically arranged with the circumference of the second ring flat-plate, on the first ring flat-plate, the 3rd ring flat-plate
The some blind holes being provided with corresponding to through hole are specifically that 4 through holes are symmetrically arranged with the circumference of the second ring flat-plate, in the first ring
Plate, is provided with 4 blind holes corresponding to through hole on the 3rd ring flat-plate.
Further, it is specifically a rubber shear spring or tension and compression bullet to be arranged at blind hole with some shear springs in through hole
Spring.
Further, be specifically ring flat-plate with driving shaft and the hinged ring flat-plate of driven shaft by eccentric bushing and driving shaft and
Driven shaft chain connection.
By setting up the technical scheme of shear spring between each ring flat-plate, effectively reduce and even completely eliminated dynamic injustice
Weighing apparatus, and simple structure, weight, size and production cost are basically unchanged.
Brief description of the drawings
Fig. 1 is the principle schematic of three-ring speed reducer in the present invention；
Fig. 2 is the dynamic balance analysis of three-ring speed reducer；
Fig. 3 is a kind of schematic diagram of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Fig. 4 is the schematic cross-section at G-G in Fig. 3；
Fig. 5 is a kind of the second ring flat-plate schematic diagram of three-ring speed reducer that can balance ring flat-plate moment of inertia；
Fig. 6 is a kind of driving shaft schematic diagram of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Fig. 7 is a kind of left view of the driving shaft of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Fig. 8 is a kind of driven shaft schematic diagram of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Fig. 9 is a kind of driven shaft left view of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Figure 10 is a kind of schematic diagram of the single shear spring of the three-ring speed reducer that can balance ring flat-plate moment of inertia；
Figure 11 is 2 spring stress analyses at a kind of same phase of the three-ring speed reducer that can balance ring flat-plate moment of inertia
Schematic diagram.
Figure 12 is that a kind of three-ring speed reducer ring flat-plate inertia force that can balance ring flat-plate moment of inertia and spring force analysis are illustrated
Figure.
Specific embodiment
As shown in Fig. 3-Fig. 9, a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia, including：
3 eccentric bushings of setting are passed sequentially through in the axial direction constitutes the first driving crank 11, the second driving crank 12, the 3rd master
The driving shaft 1 of dynamic crank 13, and the first driving crank 11, the second driving crank 12, the 3rd driving crank 13 are mutually 120 ° of angles
And adjacent axial spacing is identical, as Figure 6-Figure 7；
Be disposed with the first driving crank 51 in the axial direction, the second driving crank 52, the 3rd driving crank 53 it is driven
Axle 5, such as Fig. 8-Fig. 9；
The ring flat-plate being connected through the hinge respectively with driving shaft 1 and driven shaft 5, ring flat-plate includes the first ring flat-plate 21, the second ring flat-plate
22, the 3rd ring flat-plate 23, and identical ring gear is provided with, as shown in Figure 5；
First ring flat-plate 21 and the first driving crank 11 and the chain connection of the first driving crank 51, the second ring flat-plate 22 and the second master
The chain connection of 12 and second driving crank of dynamic crank 52, the 3rd ring flat-plate 23 cuts with scissors with the 3rd driving crank 13 and the 3rd driving crank 53
Chain is connected, as shown in Figure 3；
The first external gear 41, the second external gear 42, the output shaft 4 of the 3rd external gear 43, are disposed with the axial direction
One external gear 41, the second external gear 42, the 3rd external gear 43 respectively with the first ring flat-plate 21, the second ring flat-plate 22, the 3rd ring flat-plate 23
Ring gear is engaged, and is fixedly connected by key with output shaft 4, as shown in Figure 3；
Some through holes 7 are symmetrically arranged with the circumference of the second ring flat-plate 22, in the first ring flat-plate 21, are all provided with the 3rd ring flat-plate 23
It is equipped with some blind holes 6 corresponding to through hole 7；
The some shear springs 3 in blind hole 6 and through hole 7 are arranged at, as shown in Figure 4.
Further, some through holes 7 are symmetrically arranged with the circumference of the second ring flat-plate 22, in the first ring flat-plate 21, the 3rd ring
The some blind holes 6 being provided with plate 23 corresponding to through hole 7 are specifically to be symmetrically arranged with 4 on the circumference of the second ring flat-plate 22 to lead to
Hole 7, in the first ring flat-plate 21, is provided with 4 blind holes 6 corresponding to through hole 7 on the 3rd ring flat-plate 23.
Further, it is specifically 8 rubber shear springs or drawing to be arranged at blind hole 6 with some shear springs 3 in through hole 7
Pressing spring.
Further, it is specifically that ring flat-plate 2 passes through eccentric bushing with active with driving shaft 1 and the hinged ring flat-plate 2 of driven shaft 5
Axle 1 and the chain connection of driven shaft 5.Additionally, ring flat-plate 2 is by rotating secondary and driving shaft 1 and the chain connection of driven shaft 5.
It should be noted that first, second and third driven song on first, second and third driving crank and driven shaft on driving shaft
Handle, can be configured in engineering practice by way of setting eccentric bushing.
Underdraw principle of the invention below, and each ring flat-plate can produce a centrifugal intertia force in motion process,
The centrifugal intertia force is in the symmetrical plane of ring flat-plate, if the vector of centrifugal intertia force or its torque is zero, it becomes possible to eliminate
It is uneven.The purpose that shear spring is set between ring flat-plate is exactly in this way, the counter spring force square (shearing produced using shear spring
Torque) the centrifugal intertia force square that ring flat-plate is produced is offset, so as to reduce or eliminate the unbalance dynamic of whole device.
The following is quantitative analysis：
Assuming that 4 through holes such as M21, M22, M23, M24 are offered on the circumference of the second ring flat-plate 22, in the first ring flat-plate 21,
The corresponding position of 3rd ring flat-plate 23 opens up blind hole M11, M12, M13, M14, M31, M32, M33, M34 respectively, used as shear spring
Mounting hole；8 rubber shear springs as shown in Figure 10 are installed in shear spring mounting hole.Decelerator will be forced when installing and cut
Cut spring and produce detrusion, the shearing force for installing rear spring is respectively applied on three pieces of ring flat-plates.
As shown in figure 11, by taking the upper left spring center M21 of the second ring flat-plate 22 as an example, when the M11 on the first ring flat-plate 21 with
When M21 overlaps, the deflection of spring is 0, and bounce is 0.Three sets of mechanism mutual wrong 120 ゜ when now due to installing, when the second ring flat-plate 22
When upper left side spring center point position moves to the M21 points shown in Figure 11, the upper left side spring center of the first ring flat-plate 21 is located at M11 points,
The upper left spring center of 3rd ring flat-plate 23 is located at M31 points.The deflection of spring is b, and the shearing force F=Kb, K of spring are spring
Rigidity.
Because 4 shear spring central distributions are on the circumference with A as the center of circle, and stress is identical with deformation.Therefore by 4
The counter-force unification of individual spring is reduced to：A points are acted on, size is F12=4F1, a constant total power of direction.Wherein F12Represent
Counter spring force between first ring flat-plate 21 and the second ring flat-plate 22.F1Represent the bullet that the one of blind hole on the first ring flat-plate 21 is subject to
Spring counter-force.
Centrifugal intertia force, the shearing force of shear spring are considered simultaneously, then the force diagram of ring flat-plate is as shown in figure 12, wherein F23Table
Show 22 pairs of counter spring forces of the 3rd ring flat-plate 23 of the second ring flat-plate, F21Represent 22 pairs of counter spring forces of the first ring flat-plate 21 of the second ring flat-plate, F32
Represent 23 pairs of counter spring forces of the second ring flat-plate 22 of the 3rd ring flat-plate.
Install additional after shear spring, three ring flat-plates are in inertia force Pi1、Pi2、Pi3, counter spring force F1,F3It is right under collective effect
The resultant couple of three reference axis is：
When decelerator is operated, install additional after shear spring, three ring flat-plates are right under inertia force, counter spring force collective effect
Three torques of reference axis can significantly reduce, if meeting
2a·F3cos60-2a·Pi3Cos30=0
That is K=m ω2=0 condition, then the torque to three reference axis be 0, reach the purpose of complete equipilibrium.
By setting up the technical scheme of shear spring between each ring flat-plate, unbalance dynamic is effectively reduced or completely eliminates,
And simple structure, the weight of three-ring speed reducer, size and production cost are basically unchanged.
More than, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (4)
1. a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia, it is characterised in that including：
The first driving crank (11), the second driving crank (12), the master of the 3rd driving crank (13) are disposed with the axial direction
Moving axis (1), first driving crank (11), the second driving crank (12), the 3rd driving crank (13) be mutually 120 degree of angles and
Adjacent axial spacing is identical；
Be disposed with the first driving crank (51) in the axial direction, the second driving crank (52), the 3rd driving crank (53) from
Moving axis (5)；
The ring flat-plate being connected through the hinge respectively with the driving shaft (1) and the driven shaft (5), the ring flat-plate includes the first ring flat-plate
(21), the second ring flat-plate (22), the 3rd ring flat-plate (23), and it is provided with identical ring gear；
First ring flat-plate (21) and first driving crank (11) and the first driving crank (51) chain connection, described second
Ring flat-plate (22) and second driving crank (12) and the second driving crank (52) chain connection, the 3rd ring flat-plate (23) and institute
State the 3rd driving crank (13) and the 3rd driving crank (53) chain connection；
The first external gear (41), the second external gear (42), the output shaft of the 3rd external gear (43) are disposed with the axial direction
(4), first external gear (41), the second external gear (42), the 3rd external gear (43) respectively with first ring flat-plate (21),
Two ring flat-plates (22), the ring gear engagement of the 3rd ring flat-plate (23), and be fixedly connected by key with the output shaft (4)；
Some through holes (7) are symmetrically arranged with the circumference of second ring flat-plate (22), in first ring flat-plate (21), the 3rd ring
The some blind holes (6) corresponding to the through hole (7) are provided with plate (23)；
It is arranged at some shear springs (3) in the blind hole (6) and the through hole (7).
2. a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia according to claim 1, it is characterised in that in institute
Some through holes (7) are symmetrically arranged with the circumference for stating the second ring flat-plate (22), in first ring flat-plate (21), on the 3rd ring flat-plate (23)
The some blind holes (6) being provided with corresponding to the through hole (7) are specifically symmetrically to be set on the circumference of second ring flat-plate (22)
4 through holes (7) are equipped with, in first ring flat-plate (21), 4 corresponding to the through hole (7) are provided with the 3rd ring flat-plate (23)
Individual blind hole (6).
3. a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia according to claim 2, it is characterised in that set
Some shear springs (3) in the blind hole (6) with the through hole (7) are specifically 8 rubber shear springs or drawing-pressing spring.
4. a kind of three-ring speed reducer that can balance ring flat-plate moment of inertia according to claim 3, it is characterised in that with institute
State driving shaft (1) and the hinged ring flat-plate (2) of the driven shaft (5) be specifically the ring flat-plate (2) by eccentric bushing with
The driving shaft (1) and the driven shaft (5) chain connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054107.8A CN106704493A (en) | 2017-01-24 | 2017-01-24 | Tricyclic speed reducer capable of balancing inertia moment of annular plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054107.8A CN106704493A (en) | 2017-01-24 | 2017-01-24 | Tricyclic speed reducer capable of balancing inertia moment of annular plates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106704493A true CN106704493A (en) | 2017-05-24 |
Family
ID=58909524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710054107.8A Pending CN106704493A (en) | 2017-01-24 | 2017-01-24 | Tricyclic speed reducer capable of balancing inertia moment of annular plates |
Country Status (1)
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2480621Y (en) * | 2000-05-16 | 2002-03-06 | 李华敏 | Wholly balancing, uniform loading and vibration-damping two-stage three-circulation speed reducer |
| CN2509377Y (en) * | 2001-09-28 | 2002-09-04 | 陕西工学院 | Link cam speed reducer |
| CN201013845Y (en) * | 2007-02-09 | 2008-01-30 | 扬州大学 | Full symmetry type three rings two-phase B grade decelerator |
| US20090233750A1 (en) * | 2005-09-26 | 2009-09-17 | Nabtesco Corporation | Hollow speed reducer |
| CN201363399Y (en) * | 2009-03-27 | 2009-12-16 | 辽宁工业大学 | Full balanced dual drive three-ring speed reducer |
| JP2014173664A (en) * | 2013-03-08 | 2014-09-22 | Nabtesco Corp | Driving device |
-
2017
- 2017-01-24 CN CN201710054107.8A patent/CN106704493A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2480621Y (en) * | 2000-05-16 | 2002-03-06 | 李华敏 | Wholly balancing, uniform loading and vibration-damping two-stage three-circulation speed reducer |
| CN2509377Y (en) * | 2001-09-28 | 2002-09-04 | 陕西工学院 | Link cam speed reducer |
| US20090233750A1 (en) * | 2005-09-26 | 2009-09-17 | Nabtesco Corporation | Hollow speed reducer |
| CN201013845Y (en) * | 2007-02-09 | 2008-01-30 | 扬州大学 | Full symmetry type three rings two-phase B grade decelerator |
| CN201363399Y (en) * | 2009-03-27 | 2009-12-16 | 辽宁工业大学 | Full balanced dual drive three-ring speed reducer |
| JP2014173664A (en) * | 2013-03-08 | 2014-09-22 | Nabtesco Corp | Driving device |
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Application publication date: 20170524 |