CN114352689A - Speed reducer - Google Patents
Speed reducer Download PDFInfo
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- CN114352689A CN114352689A CN202210082609.2A CN202210082609A CN114352689A CN 114352689 A CN114352689 A CN 114352689A CN 202210082609 A CN202210082609 A CN 202210082609A CN 114352689 A CN114352689 A CN 114352689A
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Abstract
The application relates to a speed reducer, which comprises a shell, a planetary gear mechanism and a locking assembly; the planetary gear mechanism comprises a central wheel, a gear ring, a planet carrier and a planet wheel; the gear ring is connected to the shell in a sliding mode along the axial direction of the gear ring; the locking assembly comprises two locking pieces and a locking driving piece, the two locking pieces are respectively positioned on two axial sides of the gear ring, the locking piece in one locking assembly is fixedly connected to the shell, and the locking piece in the other locking assembly is fixedly connected to the planet carrier; the locking driving piece of the locking assembly is used for driving the gear ring to axially slide and tightly abut against the locking piece of the locking assembly. The position of the gear ring is adjusted to adjust the transmission ratio of the speed reducer, so that the rotating speed of the cutter is adjusted on the basis that the main motor runs at the rated rotating speed, the time that the main motor runs at the speed lower than the rated rotating speed is shortened, and the service life of the main motor is guaranteed.
Description
Technical Field
The application relates to the field of speed reduction equipment, in particular to a speed reducer.
Background
When the machine tool is used for drilling and milling a workpiece, the main motor drives the cutter to rotate so as to remove redundant materials on the workpiece by using the cutter. In the process of removing redundant materials on the workpiece by the cutter, the reaction force of the workpiece to the cutter blocks the rotation of the cutter; and the larger the back bite (generally, the vertical distance between the processed surface and the surface to be processed on the workpiece) is, the larger the reaction force of the workpiece to the tool is.
In the process of processing the workpiece: during rough machining, a large back-draft tool amount is selected to quickly remove redundant materials, and a low tool rotating speed is selected to ensure that the torque applied by a main motor to a tool overcomes the reaction force of a workpiece to the tool; in the fine machining process, a small back-cut amount and a high tool rotating speed are selected to ensure the machining precision.
At present, the rotating speed of a main motor is controlled by a frequency converter to meet the requirements of rough machining and finish machining, namely, the main motor is controlled to operate at a lower rotating speed during rough machining; and controlling the main motor to run at a higher rotating speed during the fine machining.
When the frequency converter is used for controlling the rotating speed of the main motor, the main motor can run for a long time at a speed lower than the rated rotating speed, and the service life of the main motor is shortened.
Disclosure of Invention
In order to reduce the time that main motor runs at the speed that is less than rated speed to guarantee main motor's life, this application provides a speed reducer.
The application provides a speed reducer adopts following technical scheme:
a speed reducer comprises a shell, a planetary gear mechanism and a locking assembly; the planetary gear mechanism comprises a central wheel, a gear ring, a planet carrier and a planet wheel; the central wheel is rotationally connected to the shell around the axis of the central wheel, the gear ring is coaxial with the central wheel, the gear ring is rotationally connected to the shell around the axis of the gear ring, the gear ring is axially and slidably connected to the shell along the axis of the gear ring, the planet carrier is rotationally connected to the shell, the rotation axis of the planet carrier is overlapped with the rotation axis of the central wheel, the planet wheel is rotationally connected to the planet carrier around the axis of the planet carrier, and the planet wheel is meshed with the gear ring and the central wheel simultaneously;
the locking assembly comprises two locking pieces and a locking driving piece, the two locking pieces are respectively positioned on two axial sides of the gear ring, the locking piece in one locking assembly is fixedly connected to the shell, and the locking piece in the other locking assembly is fixedly connected to the planet carrier;
the locking driving piece of the locking assembly is used for driving the gear ring to axially slide and tightly abut against the locking piece of the locking assembly.
By adopting the technical scheme, the motor shaft of the main motor is connected with the central wheel, and the planet carrier is connected with the cutter.
During rough machining, the first locking assembly acts to enable the gear ring to abut against the locking piece fixedly connected to the shell, namely the gear ring is fixed with the shell (the rotating speed of the gear ring is 0), the rotating speed of the cutter is low (the rotating speed of the cutter is lower than that of the central wheel), and sufficient cutting force is generated to remove redundant materials on the workpiece; during finish machining, the second locking assembly acts to enable the gear ring to be abutted against the locking piece fixedly connected to the planet carrier, namely the gear ring is fixed with the planet carrier, and the rotating speed of the cutter is high (the rotating speed of the cutter is equal to that of the central wheel) so as to guarantee machining precision.
In the process, the rotating speed of the cutter is adjusted on the basis that the main motor runs at the rated rotating speed by adjusting the transmission ratio of the speed reducer, and the time that the main motor runs at the speed lower than the rated rotating speed is shortened, so that the service life of the main motor is guaranteed.
Preferably, the locking element comprises a locking toothing for engagement by the ring gear.
Through adopting above-mentioned technical scheme, realize the relative fixed between ring gear to the locking piece to the drive ratio of speed reducer is adjusted in the realization.
Preferably, the locking piece further comprises a locking ring and a plurality of elastic pieces, the axis of the locking ring is overlapped with the rotation axis of the central wheel, the locking tooth part is connected to the locking ring, the elastic pieces are located on one side, facing the gear ring, of the locking ring, and the elastic pieces are arranged at intervals in the circumferential direction of the locking ring;
along the axial direction of the locking ring, under the condition of no external force, one end of the elastic sheet is connected with the locking ring, and the distance from the other end of the elastic sheet to the gear ring is not more than the distance from the locking tooth part to the gear ring;
in the circumferential direction of the lock ring, the elastic piece is inclined forward toward one end of the ring gear in the acceleration direction of the ring gear.
By adopting the technical scheme, in the process that the gear ring moves and tightly abuts against the locking piece, the gear ring firstly contacts the elastic piece, the elastic piece is used for buffering, and the gear ring is accelerated by means of friction force between the elastic piece and the gear ring (if the acceleration direction is the same as the rotation direction of the gear ring, the rotation speed of the gear ring is increased, and if the acceleration direction is opposite to the rotation direction of the gear ring, the rotation speed of the gear ring is reduced), so that the rotation speed difference between the locking piece and the gear ring is reduced, and the gear ring is meshed with the locking tooth part conveniently.
Preferably, the locking piece further comprises a friction ring, the friction ring is coaxial with the locking ring, and the friction ring is connected to the elastic sheet.
Through adopting above-mentioned technical scheme, utilize the area of contact between friction ring increase and the ring gear, it is even to be favorable to atress between lock ring and the ring gear, and then stable provides acceleration for the ring gear to be convenient for ring gear and locking tooth portion mesh mutually.
Preferably, the locking teeth are provided with a guide portion toward an end of the ring gear.
Through adopting above-mentioned technical scheme to the ring gear meshes with the locking teeth portion mutually.
Preferably, the locking drive comprises a locking electromagnet, and the gear ring is ferromagnetic or magnetic.
By adopting the technical scheme, the controller is utilized to control the locking electromagnet to be powered on or powered off so as to generate or not generate magnetic force, and the magnetic force is utilized to attract the gear ring so as to drive the gear ring to axially slide.
Preferably, the central wheel, the planet wheel and the planet carrier are all free of ferromagnetism and magnetism.
Through adopting above-mentioned technical scheme, avoid locking electromagnet's magnetic force to produce the influence to sun gear, planet wheel and planet carrier, be favorable to improving the stability of planetary gear mechanism operation.
Preferably, the ring gear includes skeleton and cladding piece, the cladding piece cover is established to the skeleton on, the cladding piece meshes with the planet wheel mutually, the cladding piece does not have ferromagnetism and magnetism, the skeleton has ferromagnetism or magnetism.
Through adopting above-mentioned technical scheme, in the planetary gear mechanism operation process, all there is frictional wear between cladding piece and the planet wheel, between planet wheel and the sun gear, and then produces tiny wearing and tearing powder, because of wearing and tearing powder does not have ferromagnetism and magnetism, avoids locking electromagnet's magnetic force to lead to wearing and tearing powder gathering, and wearing and tearing powder is taken away to usable lubricating oil, is favorable to improving the stability of planetary gear mechanism operation.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the rotating speed of the cutter is adjusted on the basis that the main motor runs at the rated rotating speed by adjusting the transmission ratio of the speed reducer, and the time that the main motor runs at the speed lower than the rated rotating speed is shortened, so that the service life of the main motor is guaranteed;
2. in the process that the gear ring moves and tightly abuts against the locking piece, the gear ring contacts the elastic sheet firstly, the elastic sheet is used for providing buffering, and acceleration is provided for the gear ring by means of friction force between the elastic sheet and the elastic sheet so as to reduce the speed difference between the locking piece and the gear ring and facilitate meshing of the gear ring and the locking tooth part;
3. the cladding piece, the central wheel, the planet wheel and the planet carrier do not have ferromagnetism and magnetism, and when the locking electromagnet is electrified to attract the gear ring, the stable operation of the planetary gear mechanism is facilitated.
Drawings
Fig. 1 is a schematic view of the overall structure of a reduction gear.
Fig. 2 is a sectional view of the speed reducer.
Fig. 3 is a schematic structural view of the locking assembly.
Fig. 4 is an enlarged view at a in fig. 2.
Description of reference numerals: 1. a housing; 2. an input shaft; 3. an output shaft; 4. a planetary gear mechanism; 41. a center wheel; 42. a ring gear; 421. a framework; 422. a covering member; 43. a planet carrier; 44. a planet wheel; 5. a locking assembly; 51. a locking member; 511. a locking ring; 512. an elastic sheet; 513. a friction ring; 514. a locking tooth portion; 515. a guide portion; 52. locking the driving piece; 521. and locking the electromagnet.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
Referring to fig. 1, the embodiment of the present application discloses a speed reducer, which includes a housing 1, an input shaft 2, and an output shaft 3.
The input shaft 2 is rotatably connected to the housing 1 about its axis. The input shaft 2 is used for being connected to a motor shaft of a main motor, and the speed reducer receives power from the main motor. The output shaft 3 is arranged coaxially with the input shaft 2, and the output shaft 3 is rotatably connected to the housing 1 around its own axis. The output shaft 3 is used for connecting objects such as a cutter and the like, and the speed reducer is used for outputting power outwards.
Referring to fig. 2, the speed reducer further includes a planetary gear mechanism 4 and a lock assembly 5. The planetary gear mechanism 4 includes a sun gear 41, a ring gear 42, a carrier 43, and planet gears 44.
The central wheel 41 is coaxially and fixedly connected to the input shaft 2, so that the central wheel 41 is rotatably connected to the housing 1 around the axis thereof. The ring gear 42 is coaxial with the central wheel 41, the ring gear 42 is rotationally connected to the casing 1 about its own axis, and the ring gear 42 is slidably connected to the casing 1 in its own axial direction. The planet carrier 43 is fixedly connected to the output shaft 3 so that the planet carrier 43 is rotationally connected to the housing 1, and the rotational axis of the planet carrier 43 coincides with the rotational axis of the sun gear 41. The planet wheels 44 are connected to the planet carrier 43 in rotation about their own axis, and the planet wheels 44 are in engagement with both the ring gear 42 and the central wheel 41.
Referring to fig. 2 and 3, the locking assembly 5 includes a locking member 51 and a locking actuator 52. Two locking assemblies 5 are provided, and the two locking assemblies 5 are distributed along the axial direction of the center wheel 41. The lock member 51 of one latch assembly 5 is fixedly connected to the housing 1 and the lock member 51 of the other latch assembly 5 is fixedly connected to the planet carrier 43. The ring gear 42 is located between the two locking assemblies 5. The lock drive 52 of the present lock assembly 5 is adapted to drive the ring gear 42 to slide axially and abut against the lock member 51 of the present lock assembly 5.
The locking actuator 52 includes a locking electromagnet 521 and a controller. The locking electromagnet 521 is fixedly connected to the housing 1, and in the present locking assembly 5, the locking electromagnet 521 is located on a side of the locking member 51 facing away from the ring gear 42. At the same time, the locking electromagnet 521 avoids the input shaft 2 and the output shaft 3. In one embodiment, the locking electromagnet 521 may be provided in a ring shape and disposed coaxially with the center wheel 41, and the input shaft 2 or the output shaft 3 may pass through the locking electromagnet 521.
The controller is connected to the locking electromagnet 521 to control the locking electromagnet 521 to be powered on or powered off. When the controller controls the locking electromagnet 521 to be electrified, the locking electromagnet 521 generates magnetic force to attract the gear ring 42, so that the gear ring 42 is driven to axially slide and tightly abut against the locking piece 51.
The lock member 51 includes a lock ring 511, an elastic piece 512, a friction ring 513, and a locking tooth 514.
The lock ring 511 is disposed coaxially with the center wheel 41, and the outer diameter of the lock ring 511 is larger than or equal to the outer diameter of the ring gear 42, and the inner diameter of the lock ring 511 is smaller than the inner diameter of the ring gear 42.
In the lock member 51 fixedly connected to the housing 1, the outer circumference of the lock ring 511 may be fixedly connected to the inner circumference of the housing 1 by welding, interference fit, or the like.
In the lock member 51 fixedly connected to the housing 1, the outer circumference of the lock ring 511 may be fixedly connected to the inner circumference of the housing 1 by welding, interference fit, or the like. In the lock member 51 fixedly connected to the carrier 43, the inner periphery of the lock ring 511 may be fixedly connected to the surface of the carrier 43 by welding, interference fit, or the like.
The elastic piece 512 is located on the side of the lock ring 511 facing the ring gear 42, and a plurality of elastic pieces 512 are provided at intervals around the circumference of the lock ring 511. One end of the elastic piece 512 is fixedly connected to the lock ring 511 in the axial direction of the lock ring 511. The elastic sheet 512 may be made of metal such as aluminum, copper, etc. so that the elastic sheet 512 has no magnetism or ferromagnetism, and the elastic sheet 512 is not easily deformed along its length and width direction.
In the circumferential direction of the lock ring 511, the elastic piece 512 is inclined forward toward one end of the ring gear 42 in the acceleration direction of the ring gear 42. Specifically, an elastic piece 512 fixedly attached to the lock ring 511 of the carrier 43, the elastic piece 512 being inclined forward in the rotational direction of the output shaft 3 toward one end of the ring gear 42. An elastic piece 512 fixedly attached to the lock ring 511 of the housing 1, one end of the elastic piece 512 facing the ring gear 42 is inclined rearward in the rotational direction of the output shaft 3.
The friction ring 513 is coaxial with the lock ring 511, the friction ring 513 is located on the side of the elastic piece 512 facing the ring gear 42, and the friction ring 513 is fixedly connected to the elastic piece 512. Meanwhile, the outer diameter of the friction ring 513 is equal to the outer diameter of the lock ring 511, the inner diameter of the friction ring 513 is smaller than the outer diameter of the ring gear 42, and the inner diameter of the friction ring 513 is larger than the inner diameter of the lock ring 511.
Referring to fig. 2 and 4, the locking teeth 514 are annular, the locking teeth 514 are fixedly connected to the bottom ring coaxially, and the locking teeth 514 are located on the side of the locking ring 511 facing the ring gear 42. The outer periphery of the lock tooth portion 514 is provided with teeth with which the ring gear 42 is engaged, and the end portion of the lock tooth portion 514 toward the ring gear 42 is provided with a guide portion 515. In the present embodiment, the teeth on the locking tooth portion 514 are chamfered toward one end of the ring gear 42 to form the guide portion 515.
Meanwhile, in the absence of external force, the distance from the locking teeth 514 to the ring gear 42 is greater than the distance from the friction ring 513 to the ring gear 42. Also, the length of the locking teeth 514 in the axial direction of the ring gear 42 is smaller than the length of the ring gear 42, so that the ring gear 42 can mesh with the locking teeth 514 and the pinion 44 at the same time.
The implementation principle of the speed reducer in the embodiment of the application is as follows: the motor shaft of the main motor is connected with the central wheel 41, and the planet carrier 43 is used for connecting the cutter. During rough machining, the first locking assembly 5 acts to enable the gear ring 42 to abut against the locking piece 51 fixedly connected to the shell 1, namely the gear ring 42 is fixed with the shell 1 (the rotating speed of the gear ring 42 is 0), so that the rotating speed of the cutter is low (the rotating speed of the cutter is lower than that of the central wheel 41), and a sufficient cutting force is generated to remove redundant materials on the workpiece; during finish machining, the second locking assembly 5 acts to enable the ring gear 42 to abut against the locking piece 51 fixedly connected to the planet carrier 43, which is equivalent to the fact that the ring gear 42 is fixed to the planet carrier 43, and the rotating speed of the tool is higher (the rotating speed of the tool is equal to the rotating speed of the central wheel 41), so as to ensure the machining precision.
Meanwhile, in the process of moving the ring gear 42 away from one lock member 51 toward the other lock member 51, the ring gear 42 first contacts the friction ring 513:
first, there is a difference in rotational speed between the ring gear 42 and the friction ring 513, and further, an acceleration is provided to the ring gear 42 by the friction force of the friction ring 513 to the ring gear 42 (if the acceleration direction is the same as the rotational direction of the ring gear 42, the rotational speed of the ring gear 42 is increased, and if the acceleration direction is opposite to the rotational direction of the ring gear 42, the rotational speed of the ring gear 42 is decreased); meanwhile, the reaction force of the ring gear 42 on the friction ring 513 is transmitted to the elastic piece 512, so that one end of the elastic piece 512 connected with the friction ring 513 has a tendency of rotating around the end connected with the locking ring 511 as a fulcrum and moving away from the locking ring 511, and the tendency causes the elastic piece 512 and the friction ring 513 to support the ring gear 42 to block the ring gear 42 from approaching the locking tooth 514;
subsequently, the difference in the rotational speed between the ring gear 42 and the friction ring 513 is gradually reduced to zero, and the frictional force between the ring gear 42 and the friction ring 513 is reduced, so that the ring gear 42 continues to approach the locking teeth 514 by the magnetic force generated by the locking electromagnet 521, the elastic pieces 512 are elastically deformed, and at the same time, the ring gear 42 is engaged with the locking teeth 514 by the guide portion 515.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. A speed reducer, characterized in that: comprises a shell (1), a planetary gear mechanism (4) and a locking component (5); the planetary gear mechanism (4) comprises a central wheel (41), a gear ring (42), a planet carrier (43) and a planet wheel (44); the central wheel (41) is connected to the shell (1) in a rotating mode around the axis of the central wheel, the gear ring (42) is coaxial with the central wheel (41), the gear ring (42) is connected to the shell (1) in a rotating mode around the axis of the gear ring, the gear ring (42) is connected to the shell (1) in a sliding mode along the axial direction of the gear ring, the planet carrier (43) is connected to the shell (1) in a rotating mode, the rotating axis of the planet carrier (43) is overlapped with the rotating axis of the central wheel (41), the planet wheel (44) is connected to the planet carrier (43) in a rotating mode around the axis of the gear ring (42) and the central wheel (41), and the planet wheel (44) is meshed with the gear ring (42) and the central wheel (41) simultaneously;
the locking assembly (5) comprises two locking pieces (51) and a locking driving piece (52), the two locking pieces (5) are respectively positioned at two axial sides of the gear ring (42), the locking piece (51) in one locking assembly (5) is fixedly connected to the shell (1), and the locking piece (51) in the other locking assembly (5) is fixedly connected to the planet carrier (43);
the locking driving piece (52) of the locking assembly (5) is used for driving the gear ring (42) to axially slide and abut against the locking piece (51) of the locking assembly (5).
2. The speed reducer according to claim 1, wherein: the locking element (51) comprises a locking toothing (514), wherein the locking toothing (514) is used for meshing with a gear ring (42).
3. The speed reducer according to claim 2, wherein: the locking piece (51) further comprises a locking ring (511) and a plurality of elastic sheets (512), the axis of the locking ring (511) is overlapped with the rotation axis of the central wheel (41), the locking tooth part (514) is connected to the locking ring (511), the elastic sheets (512) are positioned on one side, facing the gear ring (42), of the locking ring (511), and the elastic sheets (512) are arranged at intervals in the circumferential direction of the locking ring (511);
along the axial direction of the locking ring (511), under the condition of no external force, one end of the elastic sheet (512) is connected with the locking ring (511), and the distance from the other end of the elastic sheet (512) to the gear ring (42) is not more than the distance from the locking tooth part (514) to the gear ring (42);
in the circumferential direction of the lock ring (511), the elastic piece (512) is inclined forward toward one end of the ring gear (42) in the acceleration direction of the ring gear (42).
4. A reducer according to claim 3, wherein: the locking piece (51) further comprises a friction ring (513), the friction ring (513) is coaxial with the locking ring (511), and the friction ring (513) is connected to the elastic sheet (512).
5. The speed reducer according to claim 2, wherein: the end of the locking tooth (514) facing the ring gear (42) is provided with a guide (515).
6. The speed reducer according to claim 1, wherein: the locking driving piece (52) comprises a locking electromagnet (521), and the gear ring (42) has ferromagnetism or magnetism.
7. The speed reducer of claim 6, wherein: the central wheel (41), the planet wheel (44) and the planet carrier (43) are all free of ferromagnetism and magnetism.
8. The speed reducer according to claim 6 or 7, wherein: ring gear (42) include skeleton (421) and cladding piece (422), cladding piece (422) cover is established to skeleton (421) on, cladding piece (422) mesh mutually with planet wheel (44), cladding piece (422) do not have ferromagnetism and magnetism, skeleton (421) have ferromagnetism or magnetism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210082609.2A CN114352689A (en) | 2022-01-24 | 2022-01-24 | Speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210082609.2A CN114352689A (en) | 2022-01-24 | 2022-01-24 | Speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114352689A true CN114352689A (en) | 2022-04-15 |
Family
ID=81092999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210082609.2A Pending CN114352689A (en) | 2022-01-24 | 2022-01-24 | Speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114352689A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1746540A (en) * | 2004-09-11 | 2006-03-15 | 韩文明 | Mechanical stepless transmission device with automatic speed change |
| CN201074667Y (en) * | 2007-08-08 | 2008-06-18 | 刘硕毅 | Moment limiter with emergency system |
| CN101547825A (en) * | 2007-04-11 | 2009-09-30 | 丰田自动车株式会社 | Vehicle steering control system |
| CN103596791A (en) * | 2011-06-08 | 2014-02-19 | 博格华纳扭矩输出系统公司 | Gearbox integrated in rotor of electrical motor |
| CN105864410A (en) * | 2016-05-12 | 2016-08-17 | 吴小杰 | Two-stage planet hub reduction gear |
| CN207935363U (en) * | 2016-10-28 | 2018-10-02 | Zf 腓德烈斯哈芬股份公司 | The planetary transmission and machine tool speed transmission that can be shifted gears |
| CN113639016A (en) * | 2020-04-27 | 2021-11-12 | 福州锐智新能源科技有限公司 | Two-gear planetary gear speed variator of single actuator |
-
2022
- 2022-01-24 CN CN202210082609.2A patent/CN114352689A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1746540A (en) * | 2004-09-11 | 2006-03-15 | 韩文明 | Mechanical stepless transmission device with automatic speed change |
| CN101547825A (en) * | 2007-04-11 | 2009-09-30 | 丰田自动车株式会社 | Vehicle steering control system |
| CN201074667Y (en) * | 2007-08-08 | 2008-06-18 | 刘硕毅 | Moment limiter with emergency system |
| CN103596791A (en) * | 2011-06-08 | 2014-02-19 | 博格华纳扭矩输出系统公司 | Gearbox integrated in rotor of electrical motor |
| CN105864410A (en) * | 2016-05-12 | 2016-08-17 | 吴小杰 | Two-stage planet hub reduction gear |
| CN207935363U (en) * | 2016-10-28 | 2018-10-02 | Zf 腓德烈斯哈芬股份公司 | The planetary transmission and machine tool speed transmission that can be shifted gears |
| CN113639016A (en) * | 2020-04-27 | 2021-11-12 | 福州锐智新能源科技有限公司 | Two-gear planetary gear speed variator of single actuator |
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