CN114198418B - Coupling, transmission device and nutation speed reducer - Google Patents
Coupling, transmission device and nutation speed reducer Download PDFInfo
- Publication number
- CN114198418B CN114198418B CN202111578080.5A CN202111578080A CN114198418B CN 114198418 B CN114198418 B CN 114198418B CN 202111578080 A CN202111578080 A CN 202111578080A CN 114198418 B CN114198418 B CN 114198418B
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- ring
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- inner ring
- annular
- elastic membrane
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- 238000010168 coupling process Methods 0.000 title claims abstract description 49
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 49
- 230000008878 coupling Effects 0.000 title claims abstract description 48
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 title abstract description 40
- 239000012528 membrane Substances 0.000 claims abstract description 48
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005452 bending Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
- F16D3/56—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
Abstract
A coupler, a transmission device and a nutation speed reducer are used for solving the problems that the existing coupler has transmission errors, is large in size and weight, and cannot be compatible with the requirements of small size, light weight, good radial rigidity and high transmission precision. The invention relates to a coupler, which is of a circular ring structure and comprises the following components in radial direction: an inner ring; an outer ring; the prestretched annular elastic membrane is integrally connected between the outer ring and the inner ring, so that the inner ring can deflect relative to the outer ring; the inner ring, the outer ring and the prestretched annular elastic membrane are coaxial; when the inner ring deflects relative to the outer ring, the prestretched annular elastic membrane deforms, and can adapt to the position change of the relative deflection of the inner ring and the outer ring. The coupling of the invention has the characteristics of small volume, light weight, compact structure, high transmission precision and low manufacturing cost when being applied to various transmission mechanisms.
Description
Technical Field
The invention relates to the technical field of transmission, in particular to a coupler, a transmission device and a nutation speed reducer.
Background
The coupling is widely applied to various mechanical equipment, but most of the couplings are low in radial rigidity in order to adapt to the deviation of the axial positions of an input end and an output end. This is naturally applicable to most applications where couplings are adapted, but if it is used in the output mechanism of nutating reducers, it is difficult to find a coupling of suitable performance among the various types of couplings available, not to mention a coupling of compact construction, high transmission accuracy, high radial bearing capacity and high torsional rigidity. For example, the radial rigidity and the torsional rigidity of various elastic couplings are very low; although the Hooke's joint has better torsional rigidity, it is non-constant speed, has theoretical transmission error, and has poor radial rigidity; the transmission accuracy of the ball cage is good, the radial rigidity is good, the volume and the weight are too large, and the requirements of the nutation speed reducer with high power density cannot be met.
Disclosure of Invention
In view of the above, the invention discloses a coupler and a transmission device, which are used for solving the problems that the existing coupler has transmission errors, large volume and weight, and cannot be compatible with the requirements of small volume, light weight, good radial rigidity and high transmission precision.
The invention adopts the technical proposal to realize the aim that:
the first aspect of the invention discloses a coupling, which is of a circular ring structure and comprises the following components in radial direction: an inner ring; an outer ring; the prestretched annular elastic membrane is integrally connected between the outer ring and the inner ring, so that the inner ring can deflect relative to the outer ring; the inner ring, the outer ring and the prestretched annular elastic membrane are coaxial; the prestretched annular elastic membrane is provided with an annular bulge structure protruding out of the outer annular ring surface and the inner annular ring surface; when the inner ring deflects relative to the outer ring, the prestretched annular elastic membrane deforms, and can adapt to the position change of the relative deflection of the inner ring and the outer ring.
Further optionally, the annular elastic membrane is of an annular convex structure with a convex side and a concave side, the outer periphery of the inner ring is tangent to the inner periphery of the annular elastic membrane, and the inner periphery of the outer ring is tangent to the outer periphery of the annular elastic membrane.
Further optionally, the concave surface and the convex surface of the annular bulge structure are annular corrugated bulges formed by arc surfaces, spline surfaces or cosine curved surface structures.
Further optionally, the outer peripheral edge of the inner ring and the inner peripheral edge of the pre-stretched annular elastic membrane are connected to form an integral structure; the inner peripheral edge of the outer ring and the outer peripheral edge of the annular elastic membrane are connected to form an integrated structure.
Further alternatively, the inner ring, the outer ring and the pre-stretched annular elastic membrane have equal thickness, and both sides of the inner ring and the outer ring are on the same plane.
Further optionally, the inner ring is provided with a plurality of first reaming holes along the circumferential direction of the inner ring, and the outer ring is provided with a plurality of second reaming holes along the circumferential direction of the outer ring.
Further optionally, the annular elastic membrane has a thickness S, and a difference between an inner diameter of the outer ring and an outer diameter of the inner ring is P, where S, P satisfies: s is less than or equal to 2%P.
Further optionally, when the inner ring and the outer ring deflect, the axis of the inner ring and the axis of the outer ring intersect, and an included angle between the two is less than or equal to 6 °.
In a second aspect, the invention discloses a transmission comprising: the coupling of the first aspect; the input component is provided with a first rotation axis, is fixedly connected with the inner ring or the outer ring, and correspondingly, is coaxial with the inner ring or the outer ring; the output part is provided with a second rotation axis, and correspondingly, the output part is fixedly connected with the outer ring or the inner ring, and the second rotation axis is coaxial with the outer ring or the inner ring.
Further optionally, the axis of the input member and the axis of the output member form an angle of 0 ° -6 °.
In a third aspect, the invention discloses a transmission comprising: the coupling of the first aspect; the two end faces of the ring sleeve are respectively provided with the shaft coupling, and the inner ring or the outer ring of the shaft coupling is respectively fixedly connected with the ring sleeve; the input component is provided with a first rotation axis, and correspondingly, the input component is fixedly connected with an outer ring or an inner ring on the coupling at one side of the ring sleeve, and the first rotation axis is coaxial with the outer ring or the inner ring; the output part is provided with a second rotation axis, is correspondingly fixedly connected with the outer ring or the inner ring on the coupler at the other side of the ring sleeve, and is coaxial with the outer ring or the inner ring.
Further optionally, the axis of the input member and the axis of the output member form an angle of 0 ° -6 °.
In a fourth aspect, the invention features a nutating reduction gear including the transmission of the second aspect.
The beneficial effects are that: the coupler is applied to a transmission mechanism, deformation generated by the annular elastic diaphragm can adapt to angular deviation between two output parts in the transmission mechanism, radial rigidity and torque are provided, and compared with the traditional coupler, the coupler is small in size and light in weight, the structure of the nutation speed reducer is more compact, fluctuation errors of output rotation angles cannot be generated in the transmission process, and meanwhile the coupler has the characteristics of high transmission precision and low manufacturing cost.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely examples of the present disclosure and other drawings may be made from these drawings by one of ordinary skill in the art without inventive effort.
FIG. 1 illustrates an isometric view of a coupling in an example embodiment of the invention;
FIG. 2 illustrates a front view of a coupling in an embodiment of the present invention;
FIG. 3 shows a cross-sectional view A-A of FIG. 2;
FIG. 4 shows a partial enlarged view at I of FIG. 3;
FIG. 5 illustrates a schematic view of an embodiment of the present invention coupling applied to a nutating decelerator;
FIG. 6 is a schematic diagram of a transmission according to an embodiment of the present invention;
FIG. 7 shows a schematic view of a further construction of a transmission according to an embodiment of the invention;
fig. 8 shows a further schematic structural view of a transmission according to an embodiment of the invention.
Reference numerals:
a 100-coupling; 101-an inner ring; 102-an outer ring; 103-an annular elastic membrane; 1011-first reaming; 1021-a second reaming hole; 200-loop; 300-an input component; 400-an output component; 500-nutating gears; 600-output shaft; 700-non-nutating gear; 800-hinging the bolt.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two, but does not exclude the case of at least one.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
The existing coupler has transmission errors when applied to the nutation speed reducer, has large volume and weight, and cannot be compatible with the advantages of small volume, light weight, good radial rigidity and high transmission precision.
The coupler of the invention utilizes the deformation generated by the annular elastic membrane to adapt to nutation movement, has small volume and light weight, can lead the structure of the nutation speed reducer to be more compact, and has the characteristics of high transmission precision and low manufacturing cost. In particular, the annular elastic membrane adopts an annular bulge structure, so that the effect is more remarkable, and the specific principle is described in detail in the following embodiments.
To further illustrate the technical solution of the present invention, the following specific embodiments are provided with reference to fig. 1 to 8.
Example 1
In the present embodiment, as shown in fig. 1 to 4, a coupling is provided, which is a circular ring structure, and includes an inner ring 101, an outer ring 102, and a pre-stretched annular elastic membrane 103 in a radial direction; the prestretched annular elastic membrane 103 is integrally connected between the outer ring 102 and the inner ring 101, so that the inner ring 101 can deflect relative to the outer ring 102; the inner ring 101, the outer ring 102 and the pretensioned annular elastic membrane 103 are coaxial; the prestretched annular elastic membrane 103 is provided with an annular bulge structure protruding from the annular surface of the outer ring 102 and the annular surface of the inner ring 101; when the inner ring 101 deflects relative to the outer ring 102, the pre-stretched annular elastic membrane 103 deforms, and can adapt to the position change of the relative deflection of the inner ring 101 and the outer ring 102.
In a preferred implementation of this embodiment, the annular elastic membrane 103 is in the form of a convex structure on one side and a concave structure on the other side, the outer periphery of the inner ring 101 is tangential to the inner periphery of the annular elastic membrane 103, and the inner periphery of the outer ring 102 is tangential to the outer periphery of the annular elastic membrane 103. The peripheral edge of the inner ring 101 is connected with the inner peripheral edge of the prestretched annular elastic membrane 103 to form an integral structure; the inner peripheral edge of the outer ring 102 is connected with the outer peripheral edge of the annular elastic membrane 103 to form an integral structure. Preferably, the concave surface and the convex surface of the annular bulge structure are annular corrugated bulges formed by arc surfaces, spline surfaces or cosine curved surface structures. When the raised structures are constructed from arcuate surfaces, they may be formed by a three-segment tangential arcuate configuration. Preferably, the inner ring, the outer ring and the prestretched annular elastic membrane have equal thickness, and both sides of the inner ring and the outer ring are on the same plane.
Specifically, the narrower the width of the inner ring and the outer ring is, the better the smaller the mounting size of the compression bolt is.
The annular elastic membrane in this embodiment adopts a pre-stretched structure, which also allows for a large angular difference and provides radial rigidity in case the inner and outer rings are all fixed.
Taking a nutating speed reducer as an example, as shown in fig. 5, an inner ring 101 is fixedly connected with an output shaft of the nutating speed reducer, an outer ring 102 is fixedly connected with a nutating gear 500 in the nutating speed reducer, the inner ring 101 is coaxially arranged with the output shaft 600, the outer ring 102 is coaxial with the nutating gear 500 in the nutating speed reducer, an included angle between the axis of the nutating gear 500 and the axis of the output shaft is larger than 0 degrees, and when the nutating gear 400 on the nutating speed reducer performs nutating motion on a non-nutating gear 700, the axis of the outer ring 102 is intersected with the axis of the inner ring 101, and the outer ring 102 locally straightens an annular convex structure along with the nutating motion of the nutating gear. The annular elastic diaphragm 103 is arranged into an annular bulge structure, under the action of the force of the nutation gear 400, a certain angle of deflection is generated between the axis of the inner ring 101 and the axis of the outer ring 102, the axes are intersected, and the rotation does not occur in the circumferential direction, so that the annular bulge structure has higher transmission precision, meanwhile, the deflection between the axis of the inner ring 101 and the axis of the outer ring 102 is in a state of bearing the direction of the radial force, the annular bulge structure is always kept in a straightened state in the direction of the radial force, the bending stress and the strain generated when the annular bulge structure is straightened are almost negligible, the radial rigidity of the annular elastic diaphragm 103 can be improved, and the safety coefficient of elastic instability of the annular bulge structure can be improved. Preferably, the annular elastic membrane 103 can be pre-molded, has a reserved deformation amount, can adapt to the rotation angle change of an output shaft on a transmission mechanism, and the inner ring 101, the outer ring 102 and the annular elastic membrane 103 are integrally molded.
Preferably, the annular elastic membrane 103 is made of spring steel with a yield strength not lower than 1000 Mpa.
Further alternatively, the inner ring 101 is provided with a plurality of first hinge bolt holes 1011 along its own circumference, and the outer ring 102 is provided with a plurality of second hinge bolt holes 1021 along its own circumference. Torque is transmitted through the hinged bolt holes, and meanwhile, the installation positioning precision is guaranteed in the installation process.
Preferably, the annular elastic membrane has a thickness S, and a difference between an inner diameter of the outer ring and an outer diameter of the inner ring is P, wherein S, P satisfies: s is less than or equal to 2%P, and overlarge bending stress of the annular elastic membrane is avoided.
Preferably, when the inner ring and the outer ring deflect, the axis of the inner ring is intersected with the axis of the outer ring, and the included angle of the two is smaller than or equal to 6 degrees, so that the coupler can be ensured to have radial rigidity, and larger bending stress can be generated when the bending radius of the bending part of the annular elastic diaphragm is prevented from being too small.
Example 2
The present embodiment provides an implementation example of a transmission, as shown in fig. 6, including a coupling 100 as exemplified in embodiment 1; an input member 300 having a first axis of rotation, the input member 300 being fixedly connected to the inner ring 101 or the outer ring 102, the first axis of rotation being coaxial with the inner ring 101 or the outer ring 102, respectively; the output member 400 has a second axis of rotation, and correspondingly the output member 400 is fixedly connected to the outer ring 102 or the inner ring 101, the second axis of rotation being coaxial with the outer ring 102 or the inner ring 101.
In this embodiment, the input member 300 may be fixedly connected to the outer ring 102 of the coupling 100, and the output member may be fixedly connected to the inner ring 101 of the coupling; the input member may be fixedly connected to the inner ring 101 of the coupling 100, and the output member 400 may be fixedly connected to the outer ring 102 of the coupling 100. The input member 300 and the output member 400 may be connected to the coupling through a hinge bolt, that is, a hinge bolt 800 is disposed in the first hinge hole 1011 and the second hinge hole 1021, and the hinge bolt 800 is screwed to the input member 300 and the output member 400 or fastened through nuts passing through the input member 300 and the output member 400.
In the transmission process, especially in the case that the input part 300 and the output part 400 have angular deviation, the transmission device in the embodiment can keep synchronous operation of the input part 300 and the output part 400, and has the characteristics of high transmission precision and compact structure.
Further preferably, the included angle between the first rotation axis and the second rotation axis is 0 ° -6 °, so that the inner ring 101 and the outer ring 103 of the coupling can operate at an allowable angle of deflection, and if the included angle is greater than 6 °, the curvature radius of the bending portion of the annular elastic membrane is too small, and a larger bending stress is generated when the annular elastic membrane is straightened.
Compared with the prior art, the coupling in the embodiment 1 is applied to the transmission device, has higher radial rigidity and has no corner deviation on the premise of allowing the input part and the output part of the transmission device to have a certain angle deviation.
Example 3
The present embodiment provides another example of implementation of the transmission, as shown in fig. 7 and 8, including a coupling 100 as exemplified in embodiment 1; the two end surfaces of the ring sleeve 200 are respectively provided with a coupler 100, and an inner ring 101 or an outer ring 102 of the coupler is respectively fixedly connected with the ring sleeve 200; the input component 300 is provided with a first rotation axis, and correspondingly, the input component 300 is fixedly connected with the outer ring 102 or the inner ring 101 on the coupling 100 at one side of the ring sleeve 200, and the first rotation axis is coaxial with the outer ring 102 or the inner ring 101; the output member 400 has a second rotation axis, and is fixedly connected to the outer ring 102 or the inner ring 101 of the coupling 100 on the other side of the ring 200, and the output member 400 is coaxial with the outer ring 102 or the inner ring 101.
In this embodiment, the outer ring 102 of the coupling 100 on both sides of the ring sleeve 200 may be fixedly connected with the ring sleeve 200 by a hinging bolt, that is, the hinging bolt sequentially passes through the outer ring 102 of the coupling 100 on one side, the ring sleeve 200 and the outer ring 102 of the coupling 100 on the other side, and the end of the hinging bolt 800 is fastened by a nut. The second reaming holes 1021 on the coupling 100 on both sides of the collar 200 are in clearance fit with the reaming bolts to achieve radial positioning. In this embodiment, the inner rings 101 of the coupling 100 at two sides of the ring sleeve 200 may be fixedly connected with the ring sleeve 200 through the hinge bolts 800, that is, the hinge bolts sequentially pass through the inner ring 101 of the coupling 100 at one side, the ring sleeve 200 and the inner ring 101 of the coupling 100 at the other side, and the other ends of the hinge bolts are fastened through nuts. The number of the bolt holes on the outer ring 102, the inner ring 101 and the ring sleeve 200 is plural, and the bolt holes are uniformly arranged along the respective circumferential directions.
Preferably, the number of the couplings 100 on both sides of the ring sleeve 200 in this embodiment is one, and the present embodiment is applicable to high-speed occasions. However, the number of the couplings 100 on both sides of the ring 200 in the present embodiment is not limited to 1, and may be plural, and the present invention is applicable to low rotational speed applications.
Further preferably, the included angle between the first rotation axis and the second rotation axis is 0 ° -6 °, so that the inner ring 101 and the outer ring 103 of the coupling can operate at an allowable angle of deflection, and if the included angle is greater than 6 °, the curvature radius of the bending portion of the annular elastic membrane is too small, and a larger bending stress is generated when the annular elastic membrane is straightened.
Compared with the prior art, the coupling in the embodiment 1 is applied to the transmission device, has higher radial rigidity and has no corner deviation on the premise of allowing the input part and the output part of the transmission device to have a certain angle deviation.
Example 4
This embodiment provides a nutating reduction gear comprising the transmission of embodiment 2 as an example.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that this disclosure is not limited to the particular arrangements, instrumentalities and methods of implementation described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (6)
1. A coupling for a nutating decelerator; the nutating speed reducer comprises an output shaft and a nutating gear; the coupler is characterized by being of a circular ring structure, and comprises the following components in the radial direction:
an inner ring; the device is used for being fixedly connected with the output shaft;
an outer ring; the nutating gear is fixedly connected with the nutating gear;
the prestretched annular elastic membrane is integrally connected between the outer ring and the inner ring, so that the inner ring can deflect relative to the outer ring; the inner ring, the outer ring and the prestretched annular elastic membrane are coaxial; the prestretched annular elastic membrane is provided with an annular bulge structure protruding out of the outer annular ring surface and the inner annular ring surface, the annular bulge structure is of a single bulge structure, one side of the annular bulge structure is a convex surface, and the other side of the annular bulge structure is a concave surface; the outer periphery of the inner ring is tangent to the inner periphery of the annular elastic membrane, and the inner periphery of the outer ring is tangent to the outer periphery of the annular elastic membrane; the two side surfaces of the inner ring and the outer ring are on the same plane;
when the inner ring deflects relative to the outer ring, the prestretched annular elastic membrane deforms and can adapt to the position change of the relative deflection of the inner ring and the outer ring;
the thickness of the annular elastic membrane is S, the difference between the inner diameter of the outer ring and the outer diameter of the inner ring is P, wherein S, P meets the following conditions: s is less than or equal to 2%P;
when the inner ring and the outer ring deflect, the axis of the inner ring is intersected with the axis of the outer ring, and the included angle of the two is smaller than or equal to 6 degrees.
2. The coupling of claim 1 wherein the concave and convex surfaces of the annular projection structure are annular corrugated projections formed by a circular arc surface, spline surface or cosine surface configuration.
3. A coupling as claimed in claim 1 wherein said inner peripheral edge is integrally connected to said inner peripheral edge of said pre-tensioned annular elastomeric membrane; the inner peripheral edge of the outer ring and the outer peripheral edge of the annular elastic membrane are connected to form an integrated structure.
4. A coupling as claimed in claim 3 wherein said inner ring, outer ring, pre-stretched annular elastomeric membrane has an equal thickness.
5. The coupling of claim 1 wherein the inner ring has a plurality of first hinge holes in its circumferential direction and the outer ring has a plurality of second hinge holes in its circumferential direction, wherein the plurality of first hinge holes are used to secure the inner ring to the output shaft and the plurality of second hinge holes are used to secure the outer ring to the nutating gear.
6. A nutating reducer provided with a coupling according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111578080.5A CN114198418B (en) | 2021-12-22 | 2021-12-22 | Coupling, transmission device and nutation speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111578080.5A CN114198418B (en) | 2021-12-22 | 2021-12-22 | Coupling, transmission device and nutation speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114198418A CN114198418A (en) | 2022-03-18 |
| CN114198418B true CN114198418B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111578080.5A Active CN114198418B (en) | 2021-12-22 | 2021-12-22 | Coupling, transmission device and nutation speed reducer |
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| CN (1) | CN114198418B (en) |
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