CN109027145B - Composite multiple eccentric gear transmission speed changing device - Google Patents
Composite multiple eccentric gear transmission speed changing device Download PDFInfo
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- CN109027145B CN109027145B CN201810845544.6A CN201810845544A CN109027145B CN 109027145 B CN109027145 B CN 109027145B CN 201810845544 A CN201810845544 A CN 201810845544A CN 109027145 B CN109027145 B CN 109027145B
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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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
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Abstract
A composite multiple eccentric gear transmission speed change device is characterized in that a first heavy eccentric speed change mechanism comprises a first eccentric sleeve, a first outer gear, a first pin shaft and a combined gear with inner and outer teeth, wherein the first eccentric sleeve is sleeved on a first connecting shaft and comprises a plurality of first eccentric structures which are uniformly equally divided along the periphery and are arranged at intervals along the axial direction, the first eccentric structures have the same eccentric amount, and the periphery of each first eccentric structure is provided with the first outer gear; the second eccentric speed change mechanism comprises a combined gear, a second pin shaft and a first inner gear, wherein each first eccentric structure corresponding to the first eccentric sleeve is provided with one combined gear, and the first pin shaft fixedly connected with the box body penetrates through a first pin hole in the first outer gear; and a second pin shaft fixedly connected with the box body penetrates through a second pin hole in the combined gear, the inner teeth of each combined gear are meshed with the corresponding first outer gears, the outer teeth are meshed with the first inner gears, and the first inner gears are coaxially and fixedly connected with the output shaft. The device has the advantages of large speed ratio, strong bearing capacity, high efficiency, low noise and the like.
Description
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a composite multiple eccentric gear transmission speed change device which is suitable for various fields of national economy and national defense industry, and is particularly suitable for places with great requirements on speed increasing or reducing speed ratio.
Background
The common speed change mechanism comprises a parallel shaft gear transmission mode, a cycloid pin gear speed reduction transmission mode, a planetary gear transmission mode and a gear transmission mode with small tooth difference, and when the required speed ratio is large, the gear transmission modes are generally used in series.
The parallel shaft gear transmission, two external gears or an internal gear and an external gear mesh, only one gear meshes to bear during the transmission of the structure, the torque transmitted is also large when the required speed ratio is large, the load born by the gear is increased, the gear is easy to wear, and the service life of the gear is greatly shortened. The large speed ratio is realized, enough rigidity and strength are ensured, the transmission stage number is generally increased in a parallel shaft gear transmission mode, and the gear module is required to be increased to improve the bearing capacity of the gear, so that the volume and the weight of the speed reducer are very large, the appearance can only be set to be an irregular square structure, and the aesthetic feeling is not enough.
When the cycloidal-pin gear is used for occasions with larger speed ratio, the cycloidal-pin gear generally adopts a two-stage or even three-stage series connection type, and as the running time is prolonged, the engaged pin teeth and the balance wheel gradually change from rolling friction into sliding friction, so that the transmission efficiency is reduced; on the other hand, the abrasion is intensified to cause damage, and the operation reliability is not ensured.
The planetary gear transmission and the gear transmission with less tooth difference have the advantages of stronger bearing capacity, very stable operation and very high reliability, but when the required speed ratio is larger, 2-stage or even more-stage series connection is needed, so that the axial and radial sizes are larger and larger, the structure is complex, the volume is larger, and the weight is obviously increased.
Disclosure of Invention
In order to solve the above problems, the present invention provides a compound multiple eccentric gear transmission speed changing device, comprising a first heavy eccentric speed changing mechanism and a second heavy eccentric speed changing mechanism which are installed in a box body, wherein the first heavy eccentric speed changing mechanism comprises a first eccentric sleeve, a first external gear, a first pin shaft and a combined gear, the inner circumference of the combined gear is provided with internal teeth, the outer circumference of the combined gear is provided with external teeth, the first eccentric sleeve is sleeved on a first connecting shaft, the first eccentric sleeve comprises a plurality of first eccentric structures which are uniformly equally divided along the outer circumference and are arranged at intervals along the axial direction, and correspondingly, the outer circumference of each first eccentric structure is provided with a corresponding first external gear; the second eccentric speed change mechanism comprises a combined gear, a second pin shaft and a first internal gear, wherein one combined gear is arranged corresponding to each first eccentric structure of the first eccentric sleeve, the internal teeth and the external teeth of each combined gear are consistent with the eccentric direction of the first eccentric structure in the radial eccentric direction, the eccentric amounts of the internal teeth and the external teeth of each combined gear are the same, and the first pin shaft fixedly connected with the box body extends through the first pin holes in all the first external gears along the axial direction; and a second pin shaft fixedly connected with the box body extends through the second pin holes on all the combined gears along the axial direction, the inner teeth of each combined gear are meshed with the corresponding first outer gears, the outer teeth of each combined gear are meshed with the first inner gears, and the first inner gears are coaxially and fixedly connected with the output shaft.
Preferably, a third triple eccentric speed change mechanism is arranged in front of the output shaft and comprises a third connecting shaft, a third eccentric sleeve, a third external gear, a third pin shaft and a third internal gear which are coaxially and fixedly connected with the first internal gear, wherein the third connecting key shaft extends in the direction far away from the first external gear, the third eccentric sleeve is sleeved on the third connecting key shaft, the third eccentric sleeve comprises a plurality of third eccentric structures which are uniformly equally divided along the periphery and are arranged at intervals along the axial direction and have the same eccentric amount, a corresponding third external gear is arranged on the periphery of each third eccentric structure, a third pin shaft fixedly connected with the box body extends through third pin holes on all the third external gears along the axial direction, and a corresponding third external gear is arranged on the periphery of each third eccentric structure, all the third external gears are meshed with the third internal gear, and the third internal gear is coaxially and fixedly connected with the output shaft.
Preferably, the first eccentric sleeve comprises two first eccentric structures with opposite eccentric directions or three first eccentric structures which are uniformly arranged at 120 degrees with each other; the third eccentric sleeve comprises two third eccentric structures with opposite eccentric directions or three third eccentric structures which are uniformly arranged at 120 degrees with each other.
Preferably, the first pin shaft, the second pin shaft and the third pin shaft are in a cantilever fixed installation mode or an installation mode with two ends supported.
Preferably, regarding the cantilever fixed mounting form, the first pin, the second pin and the third pin are all mounted on the fixing plate extending from the inner wall of the box body through corresponding second support bearings.
Preferably, regarding the two-end support installation mode, a first support body radially extends from a first gear shaft of the first inner gear through a first support bearing, the first pin shaft and the second pin shaft penetrate through one end of the first outer gear and are fixed on the first support body, and the other end of the first pin shaft and the second pin shaft are fixedly connected with the box body; and a third support body extends out of the third gear shaft of the third internal gear along the radial direction through a third support bearing arranged on the third gear shaft, one end of the third pin shaft penetrating through the third external gear is fixed on the third support body, and the other end of the third pin shaft is fixedly connected with the box body.
Preferably, the first internal gear and the third connecting key shaft are of an integrated structure or a split assembly structure.
Preferably, the keys arranged on the first connecting shaft and the third connecting shaft are one of flat keys, rectangular splines or involute splines.
Preferably, one end of the first connecting shaft close to the first internal gear is mounted on a first gear shaft of the first internal gear through a bearing; one end of the third connecting key shaft close to the third internal gear is arranged on a third gear shaft of the third internal gear through a bearing.
Preferably, the first connecting shaft is used as an input end, the output shaft is used as an output end, and the speed changing device is a speed reducing device; the output shaft is used as an input end, the first connecting shaft is used as an output end, and the speed change device is a speed increasing device.
By arranging the multiple eccentric transmission gear pairs to be used in combination in the radial direction and the axial direction, multiple continuous variable transmission can be obtained, so that the output shaft can obtain variable speed motion with larger speed ratio, and the variable speed transmission device can be used in deceleration occasions and acceleration transmission occasions. Compared with the traditional gear transmission, the composite multiple gear transmission speed change mechanism has the advantages that the available transmission ratio is larger under the condition of the same external dimension or the same volume; under the condition of the same transmission ratio, the coordination of axial and radial dimensions can be considered simultaneously, and a relatively compact and attractive appearance is obtained. The invention has the advantages of large speed ratio, strong bearing capacity, high efficiency, good stability, long service life, low noise, beautiful appearance and the like.
Drawings
The above features and technical advantages of the present invention will become more apparent and readily appreciated from the following description of the embodiments thereof taken in conjunction with the accompanying drawings.
FIG. 1 is a cross-sectional view of a compound multiple eccentric gear transmission shifting device showing an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a compound multiple eccentric gear transmission having a 180 symmetric eccentric throw in accordance with an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a composite multiple eccentric gear change mechanism with fixed mounting at both ends of a pin shaft according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a compound multiple eccentric gear transmission that utilizes cantilevered joint bearing mounted pins according to an embodiment of the present invention.
Detailed Description
An embodiment of a compound multiple eccentric gear transmission speed change device according to the present invention will be described below with reference to the accompanying drawings. Those of ordinary skill in the art will recognize that the described embodiments can be modified in various different ways, or combinations thereof, without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in the present description, the drawings are not to scale and like reference numerals refer to like parts.
The composite multiple eccentric gear transmission speed change device of the embodiment adopts multiple radial eccentric gear transmission pairs to be combined in the radial direction and/or the axial direction to form a plurality of eccentric speed change mechanisms, thereby realizing the purpose of great speed change.
In the following, three eccentric speed change mechanisms are taken as an example, and as shown in fig. 1, the three eccentric speed change mechanisms are installed in a box 100, and a first heavy eccentric speed change mechanism comprises a first eccentric sleeve 2, a first external gear 4, a first pin 5 and a combination gear 6, wherein an internal tooth 61 is arranged on the inner circumference of the combination gear 6, and an external tooth 62 is arranged on the outer circumference of the combination gear 6. Wherein, the eccentric amount of the first eccentric sleeve 2 in the radial direction is a. The second eccentric speed change mechanism comprises external teeth 62 in the combined gear 6, a second pin 7 and a first internal gear 8, wherein the internal teeth and the external teeth in the combined gear 6 are eccentric by an amount b in the radial direction.
The first eccentric sleeve 2 is sleeved on the first connecting shaft 1 and can be connected through a key. The first external gear 4 is mounted on the first eccentric sleeve 2 through the first bearing 3. The first pin 5 is a cantilever type fixed mounting structure, that is, a fixing plate 102 extends from the casing 100, one end of the first pin 5 passes through the fixing plate 102 and is fixed, and the other end of the first pin 5 axially extends through the first pin hole 41 of the first outer gear 4. So that the inner circumference of the first pin hole 41 rolls along the outer circumference of the first pin shaft 5. Similarly, the second pin 7 is also a cantilever-type fixed mounting structure, and is also fixedly connected with the inside of the box body, and extends through the second pin hole 63 on the combined internal gear 6 along the axial direction. The first external gear 4 meshes with the internal teeth 61, and the first internal gear 8 meshes with the external teeth 62. The inner circumference of the second pin hole 63 rolls along the outer circumference of the second pin shaft 7.
When power is input from the first key shaft 1, the mechanism is a speed reduction mechanism, and the operation principle thereof will be described in detail below.
When the first connecting shaft 1 is driven to rotate by power, the first connecting shaft 1 drives the first external gear 4 to move by using the first eccentric sleeve 2 and the first bearing 3, and the first external gear 4 is restricted by the fixedly installed first pin shaft 5 and cannot rotate but does circular oscillating motion, wherein the circular oscillating motion is that the inner circumference of the first pin hole 41 rolls along the outer circumference of the first pin shaft 5 in the process that the first external gear 4 is meshed with the inner teeth 61.
Similarly, the combination gear 6 cannot rotate but only can do circular oscillation because of the limitation of the second pin 7 fixedly installed, and the external teeth 62 are continuously meshed with the first internal gear 8, so that the first internal gear 8 is driven to do continuous rotation motion, and continuous second deceleration motion is realized.
In an alternative embodiment, a third triple eccentric transmission mechanism is further provided, and the third triple eccentric transmission mechanism comprises a third connecting shaft 9 fixedly connected with the first inner gear 8, a third eccentric sleeve 10, a third outer gear 12, a third pin 13 and a third inner gear 14, wherein the radial eccentricity of the third eccentric sleeve 10 is c.
The first internal gear 8 and the third key shaft 9 are coaxially and fixedly connected into a whole, and the third key shaft 9 extends in a direction away from the first external gear 4. The third eccentric sleeve 10 is sleeved on the third connecting key shaft 9, and the eccentric amount of the third eccentric sleeve 10 is c. The third external gear 12 is mounted on the third eccentric sleeve 10 through a third bearing 11. The third pin shaft 13 passes through a third pin hole in the third outer gear 12, the third pin shaft 13 is also a cantilever type fixed mounting structure, and the third inner gear 14 and the output shaft 15 are fixedly connected into a whole.
The third connecting key shaft 9 is arranged coaxially with the first connecting key shaft 1 and fixedly connected with the first internal gear 8, when the first internal gear 8 continuously reduces the speed twice and runs at a lower rotating speed, the third external gear 12 is driven by the third eccentric sleeve 10 and the third bearing 11, the third external gear 12 can not perform continuous rotating motion due to the limiting action of the third pin shaft 13 which is fixed and cantilever-mounted, and only can perform circular oscillating motion, when the third external gear 12 performs circular oscillating motion, the third internal gear 14 on the periphery of the third external gear is driven to perform continuous rotating motion, so that third speed reduction motion is realized, at the moment, the output shaft 15 fixedly connected with the third internal gear 14 into a whole obtains a very low rotating speed, and after the speed change mechanism performs continuous speed reduction transmission for several times through the radial and axial combined gear, a very large transmission speed ratio is obtained.
When the output shaft 15 is used as a power input end, the first connecting shaft 1 obtains a very large speed-increasing transmission ratio after three times of speed increasing, and the first connecting shaft 1 outputs high-speed motion.
In an optional embodiment, the first pin 5, the second pin 7, and the third pin 13 may be respectively set to N, where N is a natural number not less than 2. Preferably, the first pins 5, the second pins 7 and the third pins 13 are all uniformly distributed along the circumferential direction. Correspondingly, pin holes are distributed on the first external gear, the combination gear and the third external gear correspondingly.
In an alternative embodiment, the first pin 5, the second pin 7 and the third pin 13 are all mounted on the fixing plate 102 extending from the box 100 through the second support bearing 101, which has a structure that helps to reduce wear and prolong the service life.
In an alternative embodiment, the first pin 5, the second pin 7, and the third pin 13 may be configured in a cantilever fixed mounting manner, or may be configured in a fixed mounting manner using two ends of the pin as supporting points. As shown in fig. 3, in order to increase the structural stability of the second pin 5 and the third pin 7, a structural form with supports at two ends is adopted. Specifically, the first supporting body 17 may extend radially from the first gear shaft 81 of the first internal gear 8 through the first supporting bearing 16, one end of the first pin 5 and one end of the second pin 7, which penetrate through the first external gear, may be fixed on the first supporting body 17, and the other end is fixedly connected to the box body. Similarly, a third supporting body 19 extends radially through a third supporting bearing 18 provided on a third gear shaft 141 of the third internal gear, and one end of the third pin 13 passing through the third external gear 12 can be fixed on the third supporting body 18, and the other end is fixedly connected with the box body.
In an alternative embodiment, at least one of the first eccentric sleeve 2 and the third eccentric sleeve 10 may include a plurality of eccentric structures equally divided along the outer circumference and arranged at intervals along the axial direction, and the eccentric structures have the same eccentric amount, and the first eccentric sleeve 2 is taken as an example for description below. For example, the first eccentric sleeve 2 has N eccentric structures, which are arranged at intervals in the axial direction and are arranged uniformly along the outer circumference. Correspondingly, a corresponding first external gear 4 is arranged at the periphery of each eccentric configuration. And one combined gear is arranged corresponding to each first eccentric structure of the first eccentric sleeve, the eccentric direction of the internal teeth and the external teeth in each combined gear in the radial direction is consistent with the eccentric direction of the first eccentric structure, and the eccentric amounts of the internal teeth and the external teeth in each combined gear are the same. The plurality of eccentric structures can be bidirectional 180-degree symmetrical eccentric structures, eccentric structures which are uniformly arranged at 120 degrees mutually, or N (360/N) degrees uniformly and equally distributed eccentric structures. Of course, one-way eccentricity (i.e., eccentricity of the eccentric sleeve in only one direction) is also possible.
Fig. 2 shows that two crank eccentric structures which are 180 degrees symmetrical to each other are axially arranged on a first eccentric sleeve 2 and a third eccentric sleeve 10 respectively in the speed changing device of the present invention, and as shown in fig. 2, two groups of eccentric shafts of the first eccentric sleeve 2 are sequentially provided with two identical groups of first bearings 3, first outer gears 4 and combined gears 6 in a radial direction; wherein the first pin shaft 5 fixedly installed limits the rotation motion of the two first external gears 4 at the same time, so that the two first external gears 4 can only do 180-degree symmetrical circular oscillation motion; similarly, the second pin 7 fixedly installed on the box body also limits the two combination gears 6 to do rotary motion at the same time, so that the two combination gears 6 can only do symmetrical circular swing motion, and the two combination gears 6 can simultaneously drive the first internal gear 8 to do low-speed rotary motion. Two groups of third bearings 11 and third external gears 12 are respectively arranged on the peripheries of two groups of uniformly distributed eccentric structures of the third eccentric sleeve 10, a third pin 13 simultaneously penetrates through pin holes of the two third external gears 12, and the third pin 13 simultaneously limits the rotary motion of the two third external gears 12 and can only do circular oscillation motion. The eccentric sleeve is provided with a driving structure type which is symmetrical and eccentric with 180 degrees, partial acting forces generated when two groups of gears are meshed in motion can be balanced and offset, the structure is more beneficial to prolonging the service life of the gears, reducing the transmission noise of the gears and improving the stability of the mechanism.
In an alternative embodiment, the first internal gear 8 and the third connecting shaft 9 may be of an integral structure or may be integrated by a fixed coupling. Likewise, the third internal gear 14 and the output shaft 15 may be of an integral structure or may be integrated by fixed coupling.
In an alternative embodiment, the keys provided on the first connecting shaft 1 and the third connecting shaft 9 may be flat keys, rectangular splines or involute splines.
In an alternative embodiment, the end of the first key shaft 1 facing the first internal gear 8 is mounted on the first gear shaft 81 by a bearing. Similarly, the end of the third key shaft 9 facing the third internal gear 14 is mounted on the third gear shaft 141 through a bearing.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A composite multiple eccentric gear transmission speed change device comprises a first heavy eccentric speed change mechanism and a second heavy eccentric speed change mechanism which are arranged in a box body,
the first heavy eccentric speed change mechanism comprises a first eccentric sleeve, a first outer gear, a first pin shaft and a combined gear, wherein inner teeth are arranged on the inner circumference of the combined gear, and outer teeth are arranged on the outer circumference of the combined gear;
the second eccentric speed change mechanism comprises a combined gear, a second pin shaft and a first internal gear, wherein one combined gear is arranged corresponding to each first eccentric structure of the first eccentric sleeve, the eccentric directions of the internal teeth and the external teeth in each combined gear in the radial direction are consistent with the eccentric direction of the first eccentric structure, the eccentric amounts of the internal teeth and the external teeth of each combined gear are the same,
a first pin shaft fixedly connected with the box body extends through the first pin holes in all the first outer gears along the axial direction;
a second pin shaft fixedly connected with the box body extends through the second pin holes on all the combination gears along the axial direction,
the inner teeth of each combined gear are meshed with the corresponding first outer gears, the outer teeth of each combined gear are meshed with the first inner gears, and the first inner gears are coaxially and fixedly connected with the output shaft.
2. The compound multiple eccentric gear transmission speed change device according to claim 1, further comprising a third triple eccentric speed change mechanism in front of the output shaft, comprising a third connecting shaft fixedly coupled coaxially with the first internal gear, a third eccentric sleeve, a third external gear, a third pin shaft, and a third internal gear, wherein,
the third connecting key extends in the direction away from the first external gear in the axial direction, a third eccentric sleeve is sleeved on the third connecting key, the third eccentric sleeve comprises a plurality of third eccentric structures which are uniformly equally divided along the periphery and are arranged at intervals along the axial direction, the eccentric amount of each third eccentric structure is the same, a corresponding third external gear is arranged on the periphery of each third eccentric structure,
a third pin shaft fixedly connected with the box body extends through the third pin holes on all the third outer gears along the axial direction,
and a corresponding third external gear is arranged on the periphery of each third eccentric structure, all the third external gears are meshed with the third internal gear, and the third internal gear is coaxially and fixedly connected with the output shaft.
3. The compound multiple eccentric gear transmission shifting apparatus of claim 2,
the first eccentric sleeve comprises two first eccentric structures with opposite eccentric directions or three first eccentric structures which are uniformly arranged at 120 degrees;
the third eccentric sleeve comprises two third eccentric structures with opposite eccentric directions or three third eccentric structures which are uniformly arranged at 120 degrees with each other.
4. The compound multiple eccentric gear transmission speed change device according to claim 2, wherein the first pin, the second pin, and the third pin are in cantilever fixed mounting or in mounting with two end supports.
5. The compound multiple eccentric gear transmission shifting apparatus of claim 4,
regarding the cantilever fixed mounting form, first round pin axle, second round pin axle, third round pin axle all install on the fixed plate that extends from the inner wall of box through corresponding second support bearing.
6. The compound multiple eccentric gear transmission variable speed device according to claim 4, characterized in that, regarding the two end support mounting,
a first support body radially extends from a first gear shaft of the first inner gear through a first support bearing, a first pin shaft and a second pin shaft penetrate through one end of the first outer gear and are fixed on the first support body, and the other end of the first pin shaft and the second pin shaft are fixedly connected with the box body;
and a third support body extends out of the third gear shaft of the third internal gear along the radial direction through a third support bearing arranged on the third gear shaft, one end of the third pin shaft penetrating through the third external gear is fixed on the third support body, and the other end of the third pin shaft is fixedly connected with the box body.
7. The compound multiple eccentric gear transmission shifting apparatus of claim 2,
the first internal gear and the third connecting key shaft are of an integrated structure or a split assembly structure.
8. The compound multiple eccentric gear transmission shifting apparatus of claim 2,
the keys arranged on the first connecting key shaft and the third connecting key shaft are one of flat keys, rectangular splines or involute splines.
9. The compound multiple eccentric gear transmission shifting apparatus of claim 2,
one end of the first connecting key shaft close to the first internal gear is arranged on a first gear shaft of the first internal gear through a bearing;
one end of the third connecting key shaft close to the third internal gear is arranged on a third gear shaft of the third internal gear through a bearing.
10. The compound multiple eccentric gear transmission shifting apparatus of claim 2,
the first key shaft is used as an input end, the output shaft is used as an output end, and the speed change device is a speed reduction device;
or the output shaft is used as the input end, the first connecting shaft is used as the output end, and the speed change device is a speed increasing device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810845544.6A CN109027145B (en) | 2018-07-27 | 2018-07-27 | Composite multiple eccentric gear transmission speed changing device |
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| CN201810845544.6A CN109027145B (en) | 2018-07-27 | 2018-07-27 | Composite multiple eccentric gear transmission speed changing device |
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| CN109027145B true CN109027145B (en) | 2020-07-14 |
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| US4762025A (en) * | 1986-07-31 | 1988-08-09 | Lew Hyok S | All orbiting gear planetary drive |
| JPS63285350A (en) * | 1987-05-15 | 1988-11-22 | Tsuoisu Kk | Speed reduction gear |
| US8517879B2 (en) * | 2010-08-31 | 2013-08-27 | Jtekt Corporation | Multi-stage reduction gear |
| JP2015124791A (en) * | 2013-12-25 | 2015-07-06 | 株式会社ジェイテクト | Gear device |
| CN204553708U (en) * | 2015-01-02 | 2015-08-12 | 李响 | The general cycloid reduction case of interlayer casing zero return difference |
| DE102016118428A1 (en) * | 2016-09-29 | 2018-03-29 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | cycloidal drive |
| CN106949197A (en) * | 2017-04-21 | 2017-07-14 | 杭州星河传动机械研究院有限公司 | A kind of escapement rolling sleeve type reductor |
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