CN113803420A - Speed reducer and using method thereof - Google Patents
Speed reducer and using method thereof Download PDFInfo
- Publication number
- CN113803420A CN113803420A CN202111129805.2A CN202111129805A CN113803420A CN 113803420 A CN113803420 A CN 113803420A CN 202111129805 A CN202111129805 A CN 202111129805A CN 113803420 A CN113803420 A CN 113803420A
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- Prior art keywords
- gear
- cycloidal
- reducer
- needle
- ring
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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
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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
- F16H1/36—Toothed gearings for conveying rotary motion with gears having orbital motion with two central gears coupled by intermeshing orbital gears
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
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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
- 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
Abstract
The invention discloses a speed reducer and a using method thereof, wherein the speed reducer comprises a planetary speed reducing module and a cycloidal needle speed reducing module which are arranged in a speed reducer shell, the planetary speed reducing module comprises a sun gear, a planetary gear carrier, a planetary outer gear ring and a planetary gear, the planetary gear is arranged on the planetary gear carrier, the sun gear is fixedly sleeved outside the motor output end of a motor and is meshed with the planetary gear, the planetary outer gear ring is fixedly connected with the speed reducer shell, and the outer gear ring is meshed with the planetary gear inside the speed reducer shell; the cycloidal needle speed reduction module comprises a cycloidal needle eccentric wheel set arranged on a planet wheel carrier, the cycloidal needle eccentric wheel set is positioned in a cycloidal needle outer gear ring, and the cycloidal needle outer gear ring is engaged with a cycloidal gear in the cycloidal needle outer gear ring; the modular design can be realized, and various reduction ratio combinations can be changed to meet different requirements.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a modularized speed reducer with a speed reduction ratio capable of being changed through module combination change and a using method thereof.
Background
At present, a speed reducer is mostly needed to be used as a speed reduction transmission device between a prime mover and a working machine in the mechanical field, the speed reducer plays a role in matching rotating speed and transmitting torque between the prime mover and the working machine or an actuating mechanism, the speed reducer is generally used for low-rotating-speed and high-torque transmission equipment, a motor, an internal combustion engine or other high-speed running power is meshed with a large gear on an output shaft through a gear with a small number of teeth on an input shaft of the speed reducer to achieve the purpose of speed reduction, the existing speed reducer also achieves an ideal speed reduction effect through a plurality of pairs of gears with the same principle, the ratio of the number of the teeth of the large gear and the small gear is a transmission ratio, but the speed reducer in the prior art mostly has the problems that the transmission ratio is fixed, and the transmission ratio cannot be changed so as to be suitable for different requirements.
Disclosure of Invention
The invention aims to provide a speed reducer and a using method thereof, and solves the problems that the transmission ratio of the existing speed reducer is fixed and cannot be changed to meet different requirements in the prior art.
In order to achieve the aim, the invention provides a speed reducer, which comprises a planetary speed reduction module and a cycloidal needle speed reduction module which are arranged in a speed reducer shell, wherein the planetary speed reduction module comprises a sun gear, a planetary gear carrier, a planetary outer gear ring and a planetary gear; the cycloidal needle speed reduction module comprises a cycloidal needle eccentric wheel set arranged on a planet wheel carrier, the cycloidal needle eccentric wheel set is positioned in a cycloidal needle outer gear ring, and the cycloidal needle outer gear ring is meshed with a cycloidal gear in the cycloidal needle outer gear ring.
In the above scheme, it is preferable that the end of the reducer casing is provided with a reducer end cover, the reducer end cover is provided with a limiting hole, and a limiting column is arranged in the limiting hole.
It can also be preferred that the outer wall of the speed reducer casing is provided with a motor casing groove with an annular recess, and a fixing clamp spring is installed in the casing groove.
Preferably, the cylindrical surface of the outer wall of the speed reducer shell is sleeved with a bearing.
Preferably, the outer wall of the cycloid needle outer gear ring is provided with a concave fixing groove, the inner wall of the reducer shell is provided with a convex fixing key, and when the reducer shell is sleeved outside the cycloid needle outer gear ring, the fixing key slides into the fixing groove.
Preferably, the planet carrier comprises an annular planet carrier baffle ring, and a screw hole wall protrusion structure in a protrusion internal thread hole shape is arranged on the side wall of the planet carrier baffle ring.
Preferably, the outer wall of the output end of the motor is provided with a concave connecting groove, the inner wall of the cycloidal needle eccentric wheel set or the cycloidal gear is provided with a convex connecting key, and when the cycloidal needle eccentric wheel set or the cycloidal gear is sleeved outside the output end of the motor, the connecting key slides into the connecting groove; the outer wall of the cycloid needle outer gear ring is provided with a sunken key groove, the inner wall of the reducer shell is provided with a raised key, and when the reducer shell is sleeved outside the cycloid needle outer gear ring, the key slides into the key groove.
Preferably, the edge of the end cover of the speed reducer is provided with an annular protruding structure of the end cover of the speed reducer, the protruding structure of the end cover of the speed reducer is used for limiting and mounting balls, the outer side of the end cover of the speed reducer is connected with an annular stop ring of the end cover of the speed reducer, and the balls are arranged in a space formed between the periphery of the protruding structure of the end cover of the speed reducer and the stop ring of the end cover of the speed reducer.
The use method of the speed reducer comprises the following steps,
and respectively replacing the cycloid needle outer gear ring and the cycloid gear of the cycloid needle speed reduction module with a replaced cycloid needle outer gear ring and a replaced cycloid gear with different tooth numbers to obtain different speed reduction ratios.
The using method of the speed reducer of the invention can also comprise the following steps,
and the cycloidal needle eccentric wheel set of the cycloidal needle speed reduction module is replaced by a secondary sun gear, and a cycloidal needle outer gear ring and a cycloidal gear of the cycloidal needle speed reduction module are respectively replaced by a secondary planet outer gear ring and a planet gear of the planet speed reduction module, so that the cycloidal needle speed reduction module is replaced by the planet speed reduction module to form a secondary planet speed reduction module, and different speed reduction ratios are obtained.
The invention has the following advantages:
the speed reducer and the use method thereof can solve the problems that the transmission ratio of the existing speed reducer is fixed and the transmission ratio cannot be changed to meet different requirements in the prior art, can realize modular design, and can change various speed reduction ratio combinations to meet different requirements.
Drawings
Fig. 1 is a sectional structural view of a speed reducer of the present invention.
Fig. 2 is a developed view of the parts of the speed reducer of the present invention.
Fig. 3 is a module development view of the speed reducer of the present invention.
Fig. 4 is a development view of a reduction structure of a cycloid needle of the reduction gear of the present invention.
Fig. 5 is a development view of a cycloid pin gear portion of the speed reducer of the present invention.
Fig. 6 is an expanded view of a replacement part of the speed reducing structure of the cycloidal pin of the speed reducer of the present invention.
Fig. 7 is a module diagram of an alternative part of the speed reducer cycloidal pin speed reducing structure of the speed reducer of the present invention.
Fig. 8 is a developed view of the planetary reduction structure of the reduction gear of the present invention.
Fig. 9 is a developed view of the components of the second stage planetary reduction structure of the speed reducer of the present invention.
Fig. 10 is a block diagram of a second-stage planetary reduction structure of the speed reducer of the present invention.
In the figure, 1 is a motor, 101 is a motor output end, 2 is a speed reducer casing, 201 is a casing groove, 3 is a sun gear, 4 is a planet carrier, 401 is a planet carrier stop ring, 402 is a screw hole wall convex structure, 5 is a cycloid needle outer gear ring, 501 is a cycloid gear, 6 is a cycloid needle eccentric wheel set, 7 is a planet outer gear ring, 8 is a planet gear, 9 is a speed reducer end cover, 901 is a speed reducer end cover convex structure, 10 is a limiting hole, 11 is a limiting column, 12 is a ball, 13 is a speed reducer end cover stop ring, 14 is a replacement cycloid needle outer gear ring, 1401 is a replacement cycloid gear, 15 is a secondary sun gear, and 16 is a secondary planet speed reducer end cover.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
A speed reducer, see fig. 1 to 3, which comprises a planetary speed reduction module and a cycloidal pin speed reduction module arranged in a speed reducer housing 2, wherein the planetary speed reduction module comprises a sun gear 3, a planetary carrier 4, a planetary outer gear ring 7 and a planetary gear 8, the planetary gear 8 is arranged on the planetary carrier 4, the sun gear 3 is fixedly sleeved outside a motor output end 101 of a motor 1 and is engaged with the planetary gear 8, the planetary outer gear ring 7 is fixedly connected with the speed reducer housing 2, and the outer gear ring 7 is engaged with the planetary gear 8 inside the speed reducer housing; the cycloidal needle speed reduction module comprises a cycloidal needle eccentric wheel set 6 arranged on the planet wheel carrier 4, the cycloidal needle eccentric wheel set 6 is positioned in a cycloidal needle external gear ring 5, and the cycloidal needle external gear ring 5 is meshed with a cycloidal gear 501 in the cycloidal needle external gear ring.
In the reducer of the present embodiment, referring to fig. 4 and 5, a cycloidal pin eccentric wheel is included in a cycloidal pin eccentric wheel set 6, the principle of the reducer is that the main transmission is divided into two stages, the first stage is a planetary reduction structure, a planetary outer gear ring 7 of the planetary reduction module is rigidly connected with a reducer housing 2, a motor output end 101 is fixedly connected with a sun gear 3, a planetary carrier 4 is driven to rotate by the sun gear 3, an input eccentric wheel set for driving the second-stage cycloidal pin to reduce speed, i.e., the cycloidal pin eccentric wheel set 6, the cycloidal pin outer gear ring 5 is also fixedly connected with the reducer housing 2, and an input eccentric wheel reduced by the cycloidal pin eccentric wheel set 6 drives a cycloidal gear 501 to rotate.
As a further preferable aspect of the speed reducer of this embodiment, in the speed reducer of this embodiment, a speed reducer end cover 9 may be disposed at an end of the speed reducer housing 2, a limiting hole 10 may be disposed on the speed reducer end cover 9, and a limiting post 11 may be disposed in the limiting hole 10. At this time, the limiting hole 10 of the cycloid gear 501 pushes the limiting post 11 on the speed reducer end cover 9, so as to drive the speed reducer end cover 9 to rotate. One end of the limiting column 11 is connected to the end cover 9 of the speed reducer.
When the speed reducer of the embodiment is used, the using method of the speed reducer may include the following steps, referring to fig. 6 and 7, replacing the cycloid needle outer gear ring 5 and the cycloid gear 501 of the cycloid needle speed reduction module with the replaced cycloid needle outer gear ring 14 and the replaced cycloid gear 1401 with different numbers of teeth respectively so as to obtain different speed reduction ratios.
For example, by replacing the cycloid needle outer ring gear 5 and the cycloid gear 501 with a replacement cycloid needle outer ring gear 14 and a replacement cycloid gear 1401, respectively, of which the number of teeth is increased, to obtain different reduction ratios; specifically, the current planetary reduction ratio is equal to about 1:3.5, the cycloidal pin reduction ratio is 1:16, and the total reduction ratio is 1: 56, different reduction ratios can be obtained by changing cycloidal needles to different tooth numbers, and the current design is that the cycloidal needles are changed from 1: 7, speed reduction ratio is changed to 1: 32 reduction ratio, obtaining 1: 122 reduce the speed ratio reducer.
When the speed reducer of the embodiment is used, the using method of the speed reducer can also comprise the following steps,
the cycloidal needle eccentric wheel set 6 of the cycloidal needle speed reduction module is replaced by a secondary sun gear 15, the cycloidal needle outer gear ring 5 and the cycloidal gear 501 of the cycloidal needle speed reduction module are respectively replaced by a secondary planet outer gear ring 7 and a planet gear 8 of the planet speed reduction module, the cycloidal needle speed reduction module is replaced by the planet speed reduction module, and the secondary planet speed reduction module is formed to obtain different speed reduction ratios.
Specifically, with reference to fig. 8, the cycloidal pin reduction module is replaced with the planetary reduction module to obtain a different reduction ratio, for example, the current design is a 1:16 reduction ratio, with reference to fig. 9 and 10, if replaced with a secondary sun gear 15, a replacement of about 1:3.5 reduction ratio planetary mechanism, obtaining about 1: 12 reduction ratio reducer. After the secondary sun gear 15 is replaced, a secondary planetary reducer end cover 16 can be connected in a matching mode.
As a further description, the reducer housing 2 may be cylindrical, the sun gear 3 may be annular, and the planet carrier 4 may be annular; the inner wall of the cycloid needle outer gear ring 5 is provided with meshing teeth, the cycloid needle outer gear ring 5 is meshed with the cycloid gear 501, the inner wall of the planet outer gear ring 7 is provided with the meshing teeth, the outer wall of the planet gear 8 is provided with the meshing teeth, and the planet outer gear ring 7 and the planet gear 8 are meshed through the meshing teeth. A through hole may be provided at the center of the cycloid gear 501, and the cycloid needle eccentric wheel set 6 may be located in the through hole to facilitate installation of the cycloid needle eccentric wheel set 6.
Example 2
The utility model provides a speed reducer, is similar with embodiment 1, and the difference is that the speed reducer of this embodiment can also be further, is provided with the sunken motor casing recess 201 of annular on the outer wall of speed reducer casing 2, installs fixed jump ring in the casing recess 201. The number of the motor shell grooves 201 is two, and the motor shell grooves 201 are two groove lines on the outer wall of the speed reducer shell 2.
Example 3
A speed reducer, similar to embodiment 1, except that, the speed reducer of this embodiment may further include a bearing sleeved on a cylindrical surface of an outer wall of the speed reducer housing 2.
In the above embodiment, it is also preferable that an annular protruding ring for limiting the bearing is provided on an outer wall of the rear end of the reducer housing 2.
The above embodiment may also preferably be configured such that the raised ring is provided with a mounting hole for mounting to the structural body by a bolt.
Example 4
A speed reducer, is similar to embodiment 1, the difference is that the speed reducer of this embodiment can further be provided with sunken fixed recess on the outer wall of cycloid needle outer ring gear 5, is provided with bellied fixed key on the inner wall of speed reducer casing 2, and when speed reducer casing 2 cover was established outside cycloid needle outer ring gear 5, the fixed key slided in the fixed recess.
Example 5
Similar to embodiment 1, the speed reducer of this embodiment is different in that, the planetary carrier 4 may further include an annular carrier ring 401, and a screw hole wall protrusion structure 401 in a shape of a protrusion internal thread hole is disposed at a side wall of the carrier ring 401.
Example 6
The speed reducer is similar to that in embodiment 1, and the difference is that the speed reducer in this embodiment may further include a concave connecting groove provided on an outer wall of the motor output end 101, a convex connecting key provided on an inner wall of the cycloidal pin eccentric wheel set 6 or the cycloidal gear 501, and the connecting key slides into the connecting groove when the cycloidal pin eccentric wheel set 6 or the cycloidal gear 501 is sleeved outside the motor output end 101.
In the above embodiment, it is also preferable that a concave key groove is formed in the outer wall of the outer cycloidal pin gear ring 7, a convex key is formed in the inner wall of the reducer housing 2, and when the reducer housing 2 is sleeved outside the outer cycloidal pin gear ring 5, the key slides into the key groove.
Example 7
Similar to embodiment 1, the speed reducer of this embodiment is different in that, an annular speed reducer end cover protruding structure 901 for limiting and mounting balls 12 is further disposed at an edge of a speed reducer end cover 9, an annular speed reducer end cover stopper ring 13 is connected to an outer side of the speed reducer end cover 9, and the balls 12 are disposed in a space formed between an outer periphery of the speed reducer end cover protruding structure 901 and the speed reducer end cover stopper ring 13.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A speed reducer comprises a planetary speed reduction module and a cycloidal needle speed reduction module which are arranged in a speed reducer shell (2), and is characterized in that the planetary speed reduction module comprises a sun gear (3), a planet carrier (4), a planetary outer gear ring (7) and a planetary gear (8), the planetary gear (8) is arranged on the planet carrier (4), the sun gear (3) is fixedly sleeved outside a motor output end (101) of a motor (1) and is meshed with the planetary gear (8), the planetary outer gear ring (7) is fixedly connected with the speed reducer shell (2), and the outer gear ring (7) is meshed with the planetary gear (8) in the speed reducer shell; the cycloidal needle speed reduction module comprises a cycloidal needle eccentric wheel set (6) arranged on a planet wheel carrier (4), the cycloidal needle eccentric wheel set (6) is positioned in a cycloidal needle outer gear ring (5), and the cycloidal needle outer gear ring (5) is meshed with a cycloidal gear (501) in the cycloidal needle outer gear ring.
2. The reducer according to claim 1, wherein the end of the reducer casing (2) is provided with a reducer end cover (9), the reducer end cover (9) is provided with a limiting hole (10), and the limiting hole (10) is provided with a limiting post (11).
3. A reducer according to claim 1, wherein the outer wall of the reducer casing (2) is provided with a motor casing groove (201) with an annular recess, and a fixing clamp spring is installed in the casing groove (201).
4. A reducer according to claim 1, in which the cylindrical surface of the outer wall of the reducer housing (2) is fitted with a bearing.
5. A reducer according to claim 3, wherein the outer wall of the outer ring gear (5) of the cycloidal pin is provided with a concave fixing groove, the inner wall of the reducer casing (2) is provided with a convex fixing key, and when the reducer casing (2) is sleeved outside the outer ring gear (5) of the cycloidal pin, the fixing key slides into the fixing groove.
6. The reducer according to claim 1, characterized in that the planet carrier (4) comprises an annular planet carrier stop ring (401), and a screw hole wall protrusion structure (401) in the shape of a protrusion internal thread hole is arranged on the side wall of the planet carrier stop ring (401).
7. The reducer according to claim 5, wherein the outer wall of the motor output end (101) is provided with a concave connecting groove, the inner wall of the cycloidal pin eccentric wheel set (6) or the cycloidal gear (501) is provided with a convex connecting key, and when the cycloidal pin eccentric wheel set (6) or the cycloidal gear (501) is sleeved outside the motor output end (101), the connecting key slides into the connecting groove; be provided with sunken keyway on the outer wall of cycloid needle outer ring gear (7), be provided with bellied key on the inner wall of speed reducer casing (2), when speed reducer casing (2) cover was established outside cycloid needle outer ring gear (5), the key slides in the keyway.
8. The reducer according to claim 2, wherein an annular reducer end cover protruding structure (901) for limiting and mounting the balls (12) is arranged at the edge of the reducer end cover (9), an annular reducer end cover baffle ring (13) is connected to the outer side of the reducer end cover (9), and the balls (12) are arranged in a space formed between the periphery of the reducer end cover protruding structure (901) and the reducer end cover baffle ring (13).
9. Use of a reducer according to any of claims 1-8, comprising the steps of,
and replacing the cycloid needle outer gear ring (5) and the cycloid gear (501) of the cycloid needle speed reduction module with a replaced cycloid needle outer gear ring (14) and a replaced cycloid gear (1401) with different tooth numbers respectively to obtain different speed reduction ratios.
10. The method for using a reducer according to claim 9, comprising the steps of,
the cycloidal needle eccentric wheel set (6) of the cycloidal needle speed reduction module is replaced by a secondary sun gear (15), the cycloidal needle outer gear ring (5) and the cycloidal gear (501) of the cycloidal needle speed reduction module are respectively replaced by a secondary planet outer gear ring (7) and a planet gear (8) of the planet speed reduction module, the cycloidal needle speed reduction module is replaced by the planet speed reduction module, and the secondary planet speed reduction module is formed to obtain different speed reduction ratios.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111129805.2A CN113803420A (en) | 2021-09-26 | 2021-09-26 | Speed reducer and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111129805.2A CN113803420A (en) | 2021-09-26 | 2021-09-26 | Speed reducer and using method thereof |
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| Publication Number | Publication Date |
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| CN113803420A true CN113803420A (en) | 2021-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111129805.2A Pending CN113803420A (en) | 2021-09-26 | 2021-09-26 | Speed reducer and using method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0020314A1 (en) * | 1979-05-21 | 1980-12-10 | FFV Industriprodukter Aktiebolag | Cycloidal transmission having external cam curves |
| CN201396404Y (en) * | 2009-05-11 | 2010-02-03 | 浙江欧迈特减速机械有限公司 | Coaxial planetary reduction gear |
| CN201843948U (en) * | 2010-11-04 | 2011-05-25 | 天津减速机股份有限公司 | Large-torque planet cycloidal gear speed reducer |
| CN206904187U (en) * | 2017-05-10 | 2018-01-19 | 泰兴协联众达化学有限公司 | A kind of cycloidal-pin wheel structure for chemical plant installations stirring reductor |
| CN207569150U (en) * | 2017-12-18 | 2018-07-03 | 沈阳新松智能驱动股份有限公司 | A kind of precision speed reduction device |
| CN213419799U (en) * | 2020-09-07 | 2021-06-11 | 珠海飞马传动机械有限公司 | High-precision cycloidal speed reducer for heavy industrial robot |
-
2021
- 2021-09-26 CN CN202111129805.2A patent/CN113803420A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0020314A1 (en) * | 1979-05-21 | 1980-12-10 | FFV Industriprodukter Aktiebolag | Cycloidal transmission having external cam curves |
| CN201396404Y (en) * | 2009-05-11 | 2010-02-03 | 浙江欧迈特减速机械有限公司 | Coaxial planetary reduction gear |
| CN201843948U (en) * | 2010-11-04 | 2011-05-25 | 天津减速机股份有限公司 | Large-torque planet cycloidal gear speed reducer |
| CN206904187U (en) * | 2017-05-10 | 2018-01-19 | 泰兴协联众达化学有限公司 | A kind of cycloidal-pin wheel structure for chemical plant installations stirring reductor |
| CN207569150U (en) * | 2017-12-18 | 2018-07-03 | 沈阳新松智能驱动股份有限公司 | A kind of precision speed reduction device |
| CN213419799U (en) * | 2020-09-07 | 2021-06-11 | 珠海飞马传动机械有限公司 | High-precision cycloidal speed reducer for heavy industrial robot |
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