CN111637199A - Planetary differential speed reducing mechanism and speed reducer - Google Patents

Planetary differential speed reducing mechanism and speed reducer Download PDF

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CN111637199A
CN111637199A CN202010520825.1A CN202010520825A CN111637199A CN 111637199 A CN111637199 A CN 111637199A CN 202010520825 A CN202010520825 A CN 202010520825A CN 111637199 A CN111637199 A CN 111637199A
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stage
gear
gears
planetary differential
parallel
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祝宗煌
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a planetary differential speed reducing mechanism and a speed reducer, which consist of a planet carrier, a parallel multi-stage external gear arranged on the planet carrier and a single-stage gear meshed with the parallel multi-stage external gear. The mechanism is characterized in that one or more planet carriers are arranged, a plurality of parallel multi-stage external gears are arranged on the planet carriers, the number of single-stage gears is equal to the number of stages of the parallel multi-stage external gears, and the plurality of single-stage gears are coaxially assembled. When the mechanism runs, the plurality of parallel multi-stage external gears are meshed with each single-stage gear and revolve around the central shaft of the single-stage gear, and rotate, the speed reduction is realized by utilizing the speed difference formed by different meshing transmission ratios of the parallel multi-stage external gears and each single-stage internal gear, the reduction ratio far larger than that of the traditional planetary reducer can be realized in the same limited volume, and the planetary reducer has higher use value.

Description

Planetary differential speed reducing mechanism and speed reducer
Technical Field
The invention relates to a speed reducing mechanism, in particular to a planetary differential speed reducing mechanism and a speed reducer, and belongs to the technical field of mechanical transmission.
Background
The reducer is an independent part consisting of gear transmission, worm transmission and gear-worm transmission enclosed in a rigid shell, and is commonly used as a speed reduction transmission device between a prime mover and a working machine. The function of matching the rotation speed and transmitting the torque between the prime mover and the working machine or the actuating mechanism is very extensive in modern machinery. The speed reducer plays a role in matching rotating speed and transmitting torque between the prime mover and the working machine or the actuating mechanism, and is a relatively precise machine. Its purpose is to reduce the speed and increase the torque. It has various types, different models and different purposes. The speed reducers are various in types and can be divided into gear speed reducers, worm speed reducers and planetary gear speed reducers according to the transmission types; the speed reducer can be divided into a single-stage speed reducer and a multi-stage speed reducer according to different transmission stages; according to the shape of the gear, the gear can be divided into a cylindrical gear reducer, a conical gear reducer and a conical-cylindrical gear reducer; according to the arrangement form of transmission, the speed reducer can be divided into an expansion type speed reducer, a shunt type speed reducer and a coaxial type speed reducer.
The planetary gear reducer is also called a planetary reducer and a servo reducer. In the reducer family, the planetary reducer is widely applied to transmission systems such as servo motors, stepping motors, direct current motors and the like due to the advantages of small size, high transmission efficiency, wide reduction range, high precision and the like. The function of the device is mainly used for reducing the rotating speed, increasing the torque and reducing the rotational inertia ratio of the load/the motor on the premise of ensuring the precision transmission.
The planetary speed reducing mechanism has wide universality, and has the characteristics of small volume, light weight, high bearing capacity, long service life, stable operation, low noise and the like. The method is widely applied to the fields of engineering machinery, metallurgy, automobiles, robots, aerospace and the like. The traditional way of realizing the speed reduction of the planetary reducer is to take out the revolution of the planet wheel by taking the central sun wheel as input, or to take out the rotation of the internal gear by fixing the revolution of the planet wheel. The single-stage planetary reducer is difficult to realize large reduction ratio in a limited volume, the large reduction ratio needs to be realized in a multi-stage transmission mode, and the volume of the reducer is increased while the reduction ratio is improved.
The Chinese patent with application number 201510467142.3 discloses a differential planetary reducer, which comprises a base, a primary annular gear, a secondary annular gear, an input shaft, an output shaft, a central wheel, a planet wheel and a planet carrier; the method is characterized in that: the central wheel is divided into a first-stage central wheel and a second-stage central wheel which are respectively fixed on the input shaft or are integrated with the input shaft; the planet wheel is divided into a primary planet wheel and a secondary planet wheel, and the primary planet wheel is simultaneously meshed with a primary central wheel and a primary inner gear ring to form a primary speed reduction system; the secondary planet wheel is simultaneously meshed with the secondary central wheel and the secondary inner gear ring to form a secondary speed reduction system; the primary planet gear and the secondary planet gear share a planet carrier; and the secondary inner gear ring is fixedly connected with the output shaft. However, the normal operation of the speed reducer can be realized only by using a speed reducer which needs two-stage speed reduction, the used gears are all ring gear gears and do not relate to external gears, and the structure form is single, so that the speed reducer is not beneficial to transmission with other devices such as a motor and the like.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art and providing a novel planetary differential reduction mechanism and a reduction gear.
In order to solve the problems in the prior art, the invention can realize the reduction ratio which is far larger than that of the traditional planetary reducer in the same volume. Through the coaxial assembly of a plurality of single-stage gears through the planet carrier, a plurality of parallel multi-stage external gears are meshed with each single-stage gear and revolve and rotate around the central shaft of the single-stage gear. When a single-stage gear is fixed and one single-stage gear or a planet carrier is driven, if the pitch circle radius of each stage of gear on the parallel multi-stage external gear is equal, and the pitch circle radius of each other output single-stage gear is also equal to that of the fixed single-stage gear, according to a basic motion law, the output rotating speed is also 0, and the reduction ratio is infinite; if the pitch circle radii of the gears on the parallel multi-stage external gears are different, the pitch circle radii of the fixed single-stage gear and the unfixed single-stage gear are different, other unfixed single-stage gears have certain rotating speed to make up for the speed difference caused by the difference of the pitch circle radii, and the mechanism just utilizes the difference to realize speed reduction. Therefore, the main principle of the invention is to realize speed reduction by utilizing the speed difference formed by different transmission ratios between the parallel multi-stage external gear and each single-stage internal gear. The closer the pitch circle radius of the non-fixed single-stage gear and the fixed single-stage internal gear is, the larger the reduction ratio is, and therefore, the large reduction ratio can be realized in a limited volume.
In the present invention, a plurality of parallel multistage gears constitute a set of planetary gear sets, a reduction gear including only one set of planetary gear sets is called a single-stage planetary differential reduction gear, the output of one single-stage planetary differential reduction gear is used as the input of another single-stage planetary differential reduction gear, and a plurality of single-stage reduction gears are connected in series to constitute a multistage planetary differential reduction gear. And, as a further arrangement of the present invention, the planet carrier may be eliminated.
In order to achieve the above object, the present invention adopts the following technical solutions:
a planetary differential reduction mechanism comprising: the planet carrier, install the parallelly connected multistage external gear on the planet carrier and with the multistage external gear meshing's that connects in parallel single stage gear, the planet carrier is provided with one or more, and the multistage external gear that connects in parallel is provided with a plurality ofly, single stage gear's quantity with the stage number of the multistage external gear that connects in parallel equals, the coaxial assembly of a plurality of single stage gear, in the reduction gears operation process, the parallelly connected multistage external gear of several and each single stage gear meshing and do revolution and rotation around the single stage gear center pin.
Preferably, the parallel multistage external gear is formed by integral machining or assembly, and the assembly is formed by: one or more of pins, screws and welding.
Preferably, the number of the gear stages is the number of the gear stages for reducing speed in the device, and the gear for driving the mechanism and other mechanisms is not reduced to the number of the gear stages, for example, a single-stage gear is also provided with a stage gear which is not meshed with the parallel external gear of the mechanism and is used for driving other mechanisms, and the gear is still a single-stage gear.
More preferably, the speed reducing mechanism has a plurality of bearings, and the bearings may be disposed between two single-stage gears to reduce friction generated between the members during rotation.
Still preferably, the tooth profile of the aforementioned gear is: the tooth profile of the gear is set according to different working environments.
More preferably, the single-stage gear is selected from a single-stage external gear or a single-stage internal gear, and the single-stage internal gear is engaged with the plurality of parallel gears to be rotated.
The planetary differential reduction mechanism also comprises one or more shafts, a connecting frame and a gasket, and the planetary differential reduction mechanism operates by being matched with the shafts, the connecting pieces and the gasket.
A planetary differential speed reducer comprises a shell and the planetary differential speed reducing mechanism arranged in the shell.
The invention has the advantages that:
because the speed difference is utilized for speed reduction, the reduction ratio far greater than that of the traditional planetary reducer can be realized in the same limited volume as long as the pitch circle radius of the single-stage gear is close enough to the fixed pitch circle radius of the single-stage gear, and the use value is high.
Drawings
FIG. 1 is an exploded view of example 1 of the present invention;
FIG. 2 is a quarter sectional view of embodiment 1 of the present invention;
FIG. 3 is a sectional view of embodiment 1 of the present invention;
FIG. 4 is an exploded view of embodiment 2 of the present invention;
FIG. 5 is a sectional view of embodiment 2 of the present invention;
FIG. 6 is an exploded view of embodiment 3 of the present invention;
FIG. 7 is a profile view of embodiment 3 of the present invention;
FIG. 8 is a quarter sectional view of embodiment 4 of the present invention with an input gear;
figure 9 is a quarter sectional view of a non-input gear of embodiment 4 of the present invention.
The meaning of the reference symbols in the figures:
1-single-stage external gear 1-1, 2-parallel two-stage external gear 1-2, 3-planet carrier 1-3, 4-single-stage internal gear 1-4, 5-single-stage internal gear 1-5, 6-bearing 1-6, 7-planet carrier 2-7, 8-parallel two-stage external gear 2-8, 9-single-stage external gear 2-9, 10-single-stage external gear 2-10, 11-planet carrier 2-11, 12-bearing 2-12, 13-bearing 3-13, 14-single-stage internal gear 3-14, 15-single-stage internal gear 3-15, 16-single-stage internal gear 3-16, 17-planet carrier 3-17, 18-parallel three-stage external gear 3-18, 19-single-stage external gear 3-19, 20-first-stage planet carrier 4-20, 21-first-stage speed reduction output flange 4-21, 22-second-stage planet carrier 4-22, 23-second-stage planet carrier 4-23, 24-single-stage external gear 4-24, 25-parallel second-stage external gear 4-25, 26-single-stage internal gear 4-26, 27-first-stage planet carrier 4-27, 28-single-stage external gear 4-28, 29-parallel second-stage external gear 4-29, 30-single-stage internal gear 4-30, 31-single-stage internal gear 4-31, 32-connecting seat 4-32, 33-single-stage internal gear 4-33.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The planetary differential reduction mechanism of the present invention is composed of a carrier, a parallel multi-stage external gear mounted on the carrier, and a single-stage gear meshed with the parallel multi-stage external gear. The mechanism is characterized in that one or more planet carriers are arranged, a plurality of parallel multi-stage external gears are arranged on each planet carrier, the number of the single-stage gears is equal to the number of the stages of the parallel multi-stage external gears, the plurality of single-stage gears are coaxially assembled, and the plurality of parallel multi-stage external gears are meshed with the single-stage gears and revolve and rotate around the central shaft of the single-stage gear.
Example 1:
as shown in fig. 1 to 3, the gear tooth profile is an involute tooth profile, a parallel two-stage external gear scheme is used, four parallel two-stage external gears 1-2(2) are arranged on a planet carrier 1-3(3) as planet gears, a single-stage external gear 1-1(1) as a central sun gear, a single-stage external gear 1-1(1), a single-stage internal gear 1-4(4) and a single-stage internal gear 1-5(5) are coaxially assembled by using a bearing 1-6(6), a first-stage gear of the parallel two-stage external gear 1-2(2) is meshed with the single-stage external gear 1-1(1), the single-stage internal gear 1-5(5), a second stage is meshed with the single-stage internal gear 1-4(4), and a planet carrier 1-3(3) is used for keeping the four parallel two-stage external gears 1, when the single-stage internal gear 1-5(5) and the single-stage external gear 1-1(1) are fixed as input, the single-stage internal gear 1-4(4) is output. The output rotation speed is as follows:
Figure BDA0002530556800000061
the reduction ratio is:
Figure BDA0002530556800000062
wherein is wiRotational speed r of single-stage internal gear 1-1(1)1Is the pitch circle radius r of the single-stage internal gear 1-1(1)2-1,r2-2Is a parallel two-stage external gear 1-2(2) the pitch circle radius of the first stage and the second stage, r4Is the pitch circle radius of the single-stage gear 1-4 (4).
In the mechanism, single-stage internal gears 1-4(4) or single-stage internal gears 1-5(5) can be fixed to drive planet carriers 1-3(3), the rotating speed of the planet carriers 1-3(3) is used as input, other single-stage gears are used as output, and the reduction ratio is not described again.
Example 2:
as shown in fig. 4 and 5, the gear tooth profile is involute tooth profile, a parallel two-stage external gear scheme is adopted, six parallel two-stage external gears 2-8(8) are arranged on a planet carrier 2-7(7) and a planet carrier 2-11(11) to be used as planet gears, a single-stage external gear 2-9(9) and a single-stage external gear 2-10(10) are coaxially assembled by using a bearing 2-12(12), the first stage gear of the parallel two-stage external gears 2-8(8) is meshed with the single-stage external gears 2-9(9), the second stage is meshed with the single-stage external gears 2-10(10), one of the single-stage external gears is fixed at the moment, the driving planet carrier 2-11(11) or the parallel two-stage external gears 2-8(8) is used as output, and the output and the reduction ratio are not described again.
Example 3:
as shown in fig. 6 and 7, the gear tooth profile is an involute tooth profile, a parallel three-stage gear scheme is adopted, four parallel three-stage external gears 3-18(18) are arranged on a planet carrier 3-17(17) to serve as planet gears, a single-stage external gear 3-19(19), a single-stage internal gear 3-14(14), a single-stage internal gear 3-15(15) and a single-stage internal gear 3-16(16) are coaxially assembled by using a bearing 3-13(13), a first stage gear of the parallel three-stage external gears 3-18(18) is meshed with the single-stage internal gear 3-14(14) and the single-stage external gear 3-19(19), a second stage is meshed with the single-stage internal gear 3-15(15), a third stage is meshed with the single-stage internal gear 3-16(16), one single-stage internal gear is fixed, the planet carrier 3-17(17) or the single-stage, the other two single-stage internal gears are used as outputs to form a speed reducing mechanism with one input and two outputs. Further examples of numbers of stages are not illustrated.
Example 4:
as shown in fig. 8 and 9, an example of the embodiment of the two-stage planetary differential reducer is shown. The single-stage internal gears 4-30(30), the single-stage internal gears 4-31(31), the single-stage external gears 4-28(28) and the parallel two-stage external gears 4-29(29) are parts of a first-stage speed reducer, and the single-stage internal gears 4-33(33), the single-stage internal gears 4-26(26), the single-stage external gears 4-24(24) and the parallel two-stage external gears 4-25(25) are parts of a second-stage speed reducer. In FIG. 8, four parallel two-stage external gears 4-29(29) are arranged on the first-stage planetary gear carrier 4-20(20) and the first-stage planetary gear carrier 4-27(27) as a first-stage planetary gear set, four parallel two-stage external gears 4-25(25) are arranged on the second-stage planetary gear carrier 4-22(22) and the second-stage planetary gear carrier 4-23(23) as a second-stage planetary gear set, the two-stage planetary differential reducer is connected through a first-stage output flange 4-21(21) and a connecting seat 4-32(32), a single-stage internal gear 4-30(30) and a single-stage internal gear 4-33(33) are fixed, a single-stage external gear 4-28(28) is used as an input, a single-stage internal gear 4-31(31) is an output of the first-stage reducer and is fixedly connected with the output flange, the output flange is fixedly connected with the single-stage external gear 4-24(24) and used as the input of the second-stage speed reducer, and finally, the single-stage internal gear 4-26(26) is used as the output of the whole second-stage gear, and the reduction ratio is not described in detail.
In a modification of this embodiment, as shown in fig. 9, the single-stage external gear 4-28(28) and the single-stage external gear 4-24(24), the fixed single-stage internal gear 4-30(30) and the single-stage internal gear 4-33(33) are removed, the first-stage planetary gear carrier 4-27(27) is driven, the single-stage internal gear 4-31(31) is the output of the first-stage speed reducer, and is fixedly connected with the first-stage output flange 4-21(21) as the input of the second-stage speed reducer, the output flange simultaneously serves as the planetary gear carrier of the second stage, and finally the single-stage internal gear 4-26(26) serves as the output of. Further examples of stage reducers are not illustrated.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims (8)

1. A planetary differential reduction mechanism, comprising: planet carrier, install the parallelly connected multistage external gear on the planet carrier and with the multistage external gear meshing's that connects in parallel single gear, the planet carrier is provided with one or more, and the multistage external gear that connects in parallel is provided with a plurality ofly, single gear's quantity with the multistage external gear's that connects in parallel progression equals, the coaxial assembly of a plurality of single gear, the parallelly connected multistage external gear of several again with each single gear meshing and do revolution and rotation around the single gear center pin.
2. A planetary differential reduction mechanism according to claim 1, wherein the parallel multi-stage external gear is formed by integral machining or assembly.
3. A planetary differential reduction mechanism according to claim 2, wherein said assembly is formed by: one or more of pins, screws and welding.
4. A planetary differential reduction mechanism according to claim 2, characterized in that the number of stages of the parallel multi-stage external gear is the number of stages that perform a reduction function in the present device.
5. A planetary differential reduction mechanism according to claim 1, wherein the tooth profile of the gear is: one or more of an involute profile, a cycloid profile, a circular arc profile and a trochoidal profile.
6. A planetary differential reduction mechanism according to claim 1, wherein the single stage gear is selected from a single stage external gear or a single stage internal gear.
7. A planetary differential reduction mechanism according to any of claims 1 to 6, further comprising a shaft, a bearing, a connecting carrier and a spacer.
8. A planetary differential reduction gear comprising a housing, and further comprising the planetary differential reduction mechanism of claim 7 mounted in the housing.
CN202010520825.1A 2020-06-09 2020-06-09 Planetary differential speed reducing mechanism and speed reducer Pending CN111637199A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114165561A (en) * 2021-12-13 2022-03-11 华宏伟 Embedded intelligent planetary gear reducer

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Publication number Priority date Publication date Assignee Title
CN205350312U (en) * 2016-02-01 2016-06-29 上海奇步机器人有限公司 Planetary gear transmission device with embedded bearing mechanism
CN105782365A (en) * 2014-12-25 2016-07-20 比亚迪股份有限公司 Parking system for vehicle and vehicle with parking system
CN106438862A (en) * 2016-10-14 2017-02-22 重庆大学 Electric wheel side speed reduction device
CN212616132U (en) * 2020-06-09 2021-02-26 祝宗煌 Planetary differential speed reducing mechanism and speed reducer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105782365A (en) * 2014-12-25 2016-07-20 比亚迪股份有限公司 Parking system for vehicle and vehicle with parking system
CN205350312U (en) * 2016-02-01 2016-06-29 上海奇步机器人有限公司 Planetary gear transmission device with embedded bearing mechanism
CN106438862A (en) * 2016-10-14 2017-02-22 重庆大学 Electric wheel side speed reduction device
CN212616132U (en) * 2020-06-09 2021-02-26 祝宗煌 Planetary differential speed reducing mechanism and speed reducer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114165561A (en) * 2021-12-13 2022-03-11 华宏伟 Embedded intelligent planetary gear reducer

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