CN117605807A - Power split harmonic speed reducer - Google Patents
Power split harmonic speed reducer Download PDFInfo
- Publication number
- CN117605807A CN117605807A CN202410095856.5A CN202410095856A CN117605807A CN 117605807 A CN117605807 A CN 117605807A CN 202410095856 A CN202410095856 A CN 202410095856A CN 117605807 A CN117605807 A CN 117605807A
- Authority
- CN
- China
- Prior art keywords
- planetary gear
- gear mechanism
- harmonic reducer
- power
- wave generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 239000010687 lubricating oil Substances 0.000 claims description 63
- 238000002347 injection Methods 0.000 claims description 42
- 239000007924 injection Substances 0.000 claims description 42
- 238000007789 sealing Methods 0.000 claims description 29
- 239000003921 oil Substances 0.000 claims description 24
- 238000005461 lubrication Methods 0.000 claims description 17
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 230000001050 lubricating effect Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005489 elastic deformation Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 230000002035 prolonged effect Effects 0.000 description 4
- 239000000314 lubricant Substances 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0456—Lubrication by injection; Injection nozzles or tubes therefor
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0467—Elements of gearings to be lubricated, cooled or heated
- F16H57/0479—Gears or bearings on 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/048—Type of gearings to be lubricated, cooled or heated
- F16H57/0482—Gearings with gears having orbital motion
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a power split harmonic reducer, which belongs to the technical field of reducers and comprises a wave generator, wherein an input shaft is arranged at the input end of the wave generator, an output shaft is arranged at the output end of the wave generator, the wave generator comprises an elliptical cam, the elliptical cam is in power connection with the output shaft, and a planetary gear mechanism is coaxially arranged at the inner side of the elliptical cam; the planetary gear mechanism is in power connection with an input shaft and an output shaft of the wave generator. The invention has simple structure and convenient installation, and can transmit motion and power into a limited space; the planetary gear mechanism can realize power split in various modes, adapt to different application scenes, reduce input torque of the harmonic reducer, and prolong the service life of the harmonic reducer body.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a power split harmonic speed reducer.
Background
Harmonic gear transmission is a novel transmission form which appears with the development of space technology. The harmonic reducer is mainly composed of three basic components: the flexible wheel, the rigid wheel and the wave generator are in common use for the wave generator to generate controllable elastic deformation of the flexible wheel and to be meshed with the rigid wheel for transmitting motion and power. The harmonic reducer has the advantages of large torque, high transmission ratio, light weight, small volume, high precision and the like, and is widely applied to industries such as electronics, aerospace, robots and the like. However, compared with the RV speed reducer and the planetary speed reducer, the torque transmitted by the harmonic speed reducer is smaller, and the main reason is that the flexible gear cannot bear larger torque, and the fatigue fracture of the flexible gear is easily accelerated by the larger torque to influence the service life.
The invention patent with the publication number CN110307299B relates to a planetary harmonic combined speed reducer. The planetary gear is meshed with the first annular gear of the rigid gear and the gear part of the gear shaft at the same time, revolves around the gear shaft while rotating around the pin shaft, and the planetary gear frame is used as an output part to transmit output to the wave generator. The wave generator, the flexible gear, the rigid gear and the first bearing form a second harmonic speed reducing gear train, the flexible gear is forced to deform under the action of the wave generator, the outer gear ring and the second inner gear ring are meshed for transmission, and the first bearing is connected to an external output device for outputting power.
However, the planetary harmonic combined speed reducer has the advantages of high speed reduction ratio, small volume, high transmission precision and the like, and the rigid gear is provided with the first annular gear and the second annular gear, so that the number of parts is reduced, the processing of parts is complicated, the assembly mode is single, and the suitability is reduced; the planetary reduction stage and the harmonic reduction stage share an internal gear, and an internal interference problem also exists.
Disclosure of Invention
The invention aims to provide a power split harmonic speed reducer with a simple structure, which utilizes a planetary gear mechanism to realize power split in various modes, so that the input torque of the speed reducer is reduced, the service life is prolonged, and different application scenes can be adapted.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the power splitting harmonic reducer comprises a wave generator, a flexible gear and a rigid gear, wherein the output end of the wave generator is sleeved in the flexible gear, the rigid gear is sleeved outside the flexible gear, the wave generator drives the flexible gear to rotate, and the outer wall of the flexible gear is in staggered tooth fit with the inner wall of the rigid gear; the wave generator comprises an elliptic cam and a flexible bearing, wherein the elliptic cam is sleeved in the flexible bearing. The flexible wheel is sleeved outside the flexible bearing, and the elliptical cam is mutually pressed with the inner wall of the flexible wheel through the flexible bearing. The flexible gear is a thin-wall gear capable of generating larger elastic deformation, and the waveform generator can enable the flexible gear to generate controllable elastic deformation. After the wave generator is arranged in the flexible gear, a section of the flexible gear is forced to be changed into an irregular curved surface from the original circular shape through the flexible bearing, the teeth close to the two ends of the long axis of the elliptical cam are completely meshed with the inner teeth of the rigid gear, and the teeth close to the two ends of the short axis of the elliptical cam are completely separated from the inner teeth of the rigid gear. Teeth on other portions of the flex gear perimeter are in transition states of engaged and disengaged engagement. When the wave generator continuously operates, the shape of the flexible gear is continuously changed, so that the engagement state of the flexible gear and the rigid gear is also continuously changed, and the cycle from engagement to disengagement and then engagement to disengagement is repeated.
The elliptic cam is in power connection with an output shaft of the wave generator, and a planetary gear mechanism is arranged between the elliptic cam and an input shaft of the wave generator; the planetary gear mechanism is in power connection with an input shaft and an output shaft of the wave generator; an elliptical cam can cooperate with the planetary gear mechanism.
The planetary gear mechanism comprises a planet wheel, a planet carrier, a sun wheel and a planet gear ring; the planet carrier is connected with the planet wheel, the planet carrier is connected with the sun wheel in a rotating way, the planet wheel is arranged on the periphery of the sun wheel in a surrounding way, the planet wheel and the sun wheel are arranged in the planet gear ring, and the sun wheel and the planet gear ring are meshed with the planet wheel; the planet carrier is connected with the input shaft of the wave generator.
By adopting the technical scheme, the traditional harmonic reducer is combined with the planetary gear mechanism, power is input from the planet carrier, power split is realized through the planetary gear mechanism, a part of power is transmitted to the harmonic reducer through the planetary gear mechanism and then is output through the output shaft of the wave generator, and a part of power is directly transmitted to the output shaft of the wave generator through the planetary gear mechanism, so that torque can be split, namely, a part of torque is transmitted to the planetary gear mechanism through the harmonic reducer, and a part of torque is transmitted to the planetary gear mechanism, so that the input torque of the harmonic reducer is relatively reduced, and the service life of the harmonic reducer is prolonged.
In addition, the planetary gear mechanism can be matched with the elliptical cam through different parts, such as a planetary gear or a sun gear, to realize power connection with the elliptical cam, so that power and torque split in different modes and different proportions can be realized, and the planetary gear mechanism can be applied to different use scenes. And moreover, the traditional harmonic reducer and the traditional planetary gear mechanism are utilized for improvement, and the component structure is changed little or not, so that the requirement on the component strength is reduced, and the adaptability is improved.
According to one embodiment of the invention, the planetary gear ring is in dynamic connection with the elliptical cam; the sun gear is in power connection with the output end of the wave generator.
Further, the planetary gear ring is integrally formed by connecting with the elliptical cam, the end face of the elliptical cam is provided with a groove, the inner side wall of the groove is provided with teeth, an inner gear ring is formed, and the planetary gear is meshed with the elliptical cam.
According to one embodiment of the invention, the sun gear is in dynamic connection with the elliptical cam and the planetary gear ring is in dynamic connection with the output shaft of the wave generator.
According to one embodiment of the present invention, a two-stage planetary gear mechanism is arranged between the elliptical cam and the input shaft of the wave generator, and the two-stage planetary gear mechanisms share the same planet carrier; the number of teeth of the sun gears in the two-stage planetary gear mechanism is equal; the sun gear of one planetary gear mechanism is in power connection with the elliptical cam, and the sun gear of the other planetary gear mechanism is in power connection with the output shaft of the wave generator.
According to one embodiment of the invention, the planetary gear mechanism is provided with a lubrication assembly; the lubrication assembly comprises an oil conveying pipeline and an injection pipeline which are communicated with each other from front to back, and the output end of the injection pipeline is arranged opposite to a planet wheel and/or a sun wheel in the planetary gear mechanism; the oil pipeline is provided with a temperature control part for adjusting the temperature of lubricating oil entering the injection pipeline through the oil pipeline; the connecting section of the oil conveying pipeline and the injection pipeline is provided with a gas conveying pipeline, and the gas conveying pipeline is provided with a pressure adjusting piece for adjusting the air pressure of the air flow entering the injection pipeline through the gas conveying pipeline.
Therefore, the lubrication assembly is utilized to lubricate the meshed parts in the planetary gear mechanism, and lubricating oil can be transmitted to the meshed parts in the harmonic speed reducer matched with the planetary gear mechanism through the operation of the planetary gear mechanism, so that the meshing relationship of the related parts is enhanced, defects such as jamming and the like are avoided, and the sensitivity and the accuracy of power transmission are ensured.
The temperature control part can adjust the temperature of the lubricating oil according to the requirement, so that the fluidity of the lubricating oil is ensured, and the lubricating effect is improved. The pressure regulating part is arranged to provide different pressure air flows for the injection pipeline according to the requirements, so that the flow speed and the flow direction of lubricating oil are regulated and controlled, and the consumption of the lubricating oil can be saved on the premise of ensuring the lubricating range and the lubricating effect.
According to one embodiment of the invention, the pressure regulating member comprises a shell, wherein the bottom of the shell is connected with an air outlet pipe, and the side of the shell is connected with a first air inlet pipe; the inside configuration of casing has the sealing plug, and the top of first intake pipe is located to the sealing plug, and the lateral wall of sealing plug and the inside wall butt of casing, and the top of sealing plug links to each other with the top of casing through first spring, and the bottom of sealing plug links to each other with the bottom of casing through the second spring.
From this, utilize first intake pipe to the inside gas-feeding of casing, through the cooperation of sealing plug and first spring, second spring, can be in the inside of casing certain high-pressure gas of temporarily storing, this part high-pressure gas can be discharged to the injection line through the outlet duct, mix with lubricating oil to improve the velocity of flow of lubricating oil, the high-speed lubricating oil is sprayed by the exit end of injection line under wrapping up in of air current and goes out, and spray all around under the drive of air current, enlarge lubricated scope.
According to one embodiment of the invention, the oil pipeline is provided with a temperature control section, and the temperature control piece is arranged opposite to the temperature control section; the inside configuration of control by temperature change section has the rotor, and the rotor includes the pivot, and the outside of pivot encircles and disposes guide vane, and guide vane keeps away from the end connection of pivot has the blower casing, and the blower casing disposes the water conservancy diversion recess.
Therefore, the temperature control section is further reduced by the aid of the rotating part, lubricating oil flow speed of the temperature control section can be further reduced by the aid of the rotating part, lubricating oil can be scattered, and temperature balance control of the lubricating oil is facilitated.
Compared with the prior art, the invention has the following beneficial effects:
1. the traditional harmonic reducer is combined with the planetary gear mechanism, so that power split is realized, input torque of the harmonic reducer is relatively reduced, and the service life of the harmonic reducer is prolonged; different components in the planetary gear mechanism are matched with the elliptical cam to realize power and torque split in different modes and different proportions, so that the planetary gear mechanism can be applied to different use scenes;
2. the temperature control part is arranged in the lubricating assembly, and the temperature of the lubricating oil is adjusted according to the requirement, so that the fluidity of the lubricating oil is ensured, and the lubricating effect is improved; the pressure regulating part is arranged to provide air flows with different pressures for the injection pipeline according to the requirements, so that the flow speed and the flow direction of the lubricating oil are regulated and controlled, and the consumption of the lubricating oil can be saved on the premise of ensuring the lubricating range and the lubricating effect;
3. the oil pipeline sets up the control by temperature change section, and control by temperature change section cooperation rotates the piece, further reduces the lubricating oil velocity of flow of control by temperature change section to rotate the piece and can break up lubricating oil, promote lubricating oil to converge again, also be favorable to the temperature equilibrium control of lubricating oil.
Therefore, the power split harmonic speed reducer has a simple structure, reduces input torque of the speed reducer, prolongs service life, can be adapted to different application scenes, is high in adaptability, can further improve sensitivity and accuracy of power split through the arrangement of the lubricating assembly, and ensures use effects.
Drawings
FIG. 1 is a simplified schematic diagram of a power splitting harmonic reducer according to embodiment 1 of the present invention;
FIG. 2 is a simplified schematic diagram of a wave generator of a power splitting harmonic reducer according to embodiment 1 of the present invention;
FIG. 3 is a simplified schematic diagram of an application of a power splitting harmonic reducer according to embodiment 1 of the present invention;
FIG. 4 is a simplified schematic diagram of a power splitting harmonic reducer according to embodiment 2 of the present invention;
FIG. 5 is a simplified schematic diagram of a power splitting harmonic reducer according to embodiment 3 of the present invention;
FIG. 6 is a schematic view showing the structure of a lubrication assembly according to embodiment 4 of the present invention;
FIG. 7 is a schematic view of the pressure regulating member shown in FIG. 6;
fig. 8 is a schematic structural view of a temperature control section according to embodiment 5 of the present invention;
FIG. 9 is a schematic view illustrating an internal structure of the temperature control section shown in FIG. 8;
FIG. 10 is an enlarged partial schematic view of portion A of FIG. 9;
FIG. 11 is a schematic view of the guide member of FIG. 9 in a disassembled configuration;
fig. 12 is a schematic view of the rotor shown in fig. 9.
Reference numerals: an elliptical cam 10; an inner gear ring 11; a flexible bearing 12; a flexspline 13; rigid wheel 14; an input shaft 15; an output shaft 16; a planetary gear 21; a carrier 22 and a sun gear 23; a first sun gear 231; a second sun gear 232; a planetary ring gear 24; an oil delivery line 31; an injection line 32; a gas line 33; a pressure adjusting member 40; a housing 41; an outlet duct 42; a first intake pipe 43; a second intake pipe 44; a sealing plug 45; a first spring 46; a second spring 47; a slide bar 48; a temperature control member 50; a temperature control section 60; a temperature-guiding housing 61; a third spring 62; a flow guide 63; a flow sleeve 64; a first connecting ring 65; a second connecting ring 66; an elastic member 67; a rotating member 70; a rotation shaft 71; guide vanes 72; a deflector shell 73; the flow guiding groove 74.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the detailed description and the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
Fig. 1-3 schematically illustrate a power splitting harmonic reducer according to an embodiment of the invention. As shown in fig. 1, the device comprises a wave generator, a flexible wheel 13 and a rigid wheel 14, wherein the output end of the wave generator is sleeved in the flexible wheel 13, the rigid wheel 14 is sleeved outside the flexible wheel 13, the wave generator drives the flexible wheel 13 to rotate, and the outer wall of the flexible wheel 13 is in staggered tooth fit with the inner wall of the rigid wheel 14; the wave generator comprises an elliptical cam 10 and a flexible bearing 12, wherein the elliptical cam 10 is sleeved inside the flexible bearing 12. The flexible gear 13 is sleeved outside the flexible bearing 12, and the elliptical cam 10 is mutually pressed with the inner wall of the flexible gear 13 through the flexible bearing 12. The flexible gear 13 is a thin-wall gear capable of generating larger elastic deformation, and the waveform generator can enable the flexible gear 13 to generate controllable elastic deformation. After the wave generator is arranged in the flexible gear 13, one section of the flexible gear 13 is forced to be changed into an irregular curved surface from the original circular shape through the flexible bearing 12, the teeth close to the two ends of the long axis of the elliptical cam 10 are completely meshed with the inner teeth of the rigid gear 14, and the teeth close to the two ends of the short axis of the elliptical cam 10 are completely separated from the inner teeth of the rigid gear 14. The teeth on the other portions of the circumference of the flexspline 13 are in a transition state of engagement and disengagement. When the wave generator is continuously operated, the shape of the flexible gear 13 is continuously changed, so that the engagement state of the flexible gear 13 and the rigid gear 14 is also continuously changed, and the cycle from engagement to disengagement and then engagement to disengagement is repeated. The output end of the harmonic reducer can be a flexspline 13 or a rigid spline 14. In this embodiment, referring to fig. 1, the output shaft 16 is in power connection with the flexspline 13, and in other embodiments, the output shaft 16 may be configured to be in power connection with the rigid spline 14.
The elliptical cam 10 is in power connection with an output shaft 16 of the wave generator, and a planetary gear mechanism is arranged between the elliptical cam 10 and an input shaft 15 of the wave generator; the planetary gear mechanism is in power connection with an input shaft 15 and an output shaft 16 of the wave generator; the elliptical cam 10 can cooperate with a planetary gear mechanism.
Wherein the planetary gear mechanism comprises a planet wheel 21, a planet carrier 22, a sun wheel 23 and a planet gear ring; the planet carrier 22 is connected with the planet wheel 21, the planet carrier 22 is rotationally connected with the sun wheel 23, the planet wheel 21 is arranged on the periphery of the sun wheel 23 in a surrounding mode, the planet wheel 21 and the sun wheel 23 are arranged in the planet gear ring, and the sun wheel 23 and the planet gear ring are meshed with the planet wheel 21. In this embodiment, the planetary gear ring is integrally formed with the elliptical cam 10, the end surface of the elliptical cam 10 is provided with a groove, the inner side wall of the groove is provided with teeth, an inner gear ring 11 is formed, and the planetary gears 21 are meshed with the elliptical cam 10. The planet carrier 22 is connected to the input shaft 15 of the wave generator.
In other embodiments, the end face of the elliptical cam 10 is provided with a groove, and the planetary gear is sleeved inside the groove and is in close contact with the inner side wall of the groove. The inner side walls of the grooves are provided with teeth and form an inner gear ring 11, the outer walls of the planetary gear rings are provided with outer teeth, and the planetary gear rings can be meshed with the elliptical cams 10.
As such, the power split harmonic reducer of the present embodiment has the following power transmission paths: the power is input to the planet wheel 21 from the planet carrier 22, then a part of the power passes through the planet gear ring, namely the elliptical cam 10 of the wave generator, is decelerated by the harmonic speed reducer to the flexible wheel 13, and passes through the flexible wheel 13 to the output shaft 16; the other part of power is directly connected with the output shaft 16 through the sun gear 23; the two parts of power eventually merge into the output shaft 16.
The power splitting principle of the power splitting harmonic reducer of this embodiment is as follows: under the condition of no loss, the speed ratio of the harmonic reducer is 50 under the assumption that the rotation speed of the input shaft 15 is 1000rpm, the torque is 3Nm, the torque of the rear sun gear 23 is 1Nm distributed through the planet carrier 22, and the elliptical cam 10, namely the torque of the planet gear ring is 2 Nm. Then 100Nm of the torque of the flexspline 13 and 101Nm of the torque of the output shaft 16 can be calculated. The rotational speed of the output shaft 16 and the sun gear 23 is 29.7rpm, based on the input power being equal to the output power. Through calculation, it can be found that a part of input torque passes through the harmonic reducer, and when a part of input torque is directly output through the sun gear 23, the rotating speed is increased relative to the original harmonic reducer, but the speed ratio of the harmonic reducer body can be increased or a set of planetary gear reduction mechanism is added from the output end, as shown in fig. 3, so that the rotating speed and the torque of the output end meet the use requirements. By comparing the original input rotation speed of 1000rpm and the torque of 3Nm, the power split harmonic reducer of the embodiment can be obviously found to split the torque, one part of the torque passes through the harmonic reducer, and the other part of the torque passes through the planetary gear, so that the input torque of the harmonic reducer is relatively reduced, and the service life of the harmonic reducer is prolonged.
Example 2
Fig. 4 schematically shows a power splitting harmonic reducer according to another embodiment of the invention, differing from example 1 in that:
the planetary gear 24 is independently provided from the elliptical cam 10, the planetary gear 24 is in power connection with the output shaft 16 of the wave generator, and the sun gear 23 is in power connection with the elliptical cam 10.
The power transmission path of the power split harmonic reducer of this embodiment is as follows: the power is input from the planet carrier 22, a part of the power passes through the sun gear 23, and the part of the power is output from the flexible gear 13 after being decelerated by the harmonic reducer by utilizing the elliptical cam 10 in power connection with the sun gear 23; the other part of the power is directly output through the planetary gear 24 and is combined with the power output by the flexspline 13 to the output shaft 16 for output.
Example 3
Fig. 5 schematically shows a power splitting harmonic reducer according to another embodiment of the invention, differing from example 1 in that:
a two-stage planetary gear mechanism is arranged between the elliptical cam 10 and the input shaft 15 of the wave generator, wherein a planetary gear ring 24 and the elliptical cam 10 are independently arranged, and the two-stage planetary gear mechanism shares the same planet carrier 22; the number of teeth of the sun gear 23 in the two-stage planetary gear mechanism is equal, and the first sun gear 231 in the one-stage planetary gear mechanism and the second sun gear 232 in the two-stage planetary gear mechanism are respectively; wherein the second sun gear 232 in the secondary planetary gear mechanism is in power connection with the elliptical cam 10 and the first sun gear 231 in the primary planetary gear mechanism is in power connection with the output shaft 16 of the wave generator.
The power transmission path of the power split harmonic reducer of this embodiment is as follows:
power is input from the planet carrier 22, the power is transmitted through two sun gears respectively, a part of the power passes through the second sun gear 232, is in power connection with the elliptical cam 10 through the second sun gear 232, and is output from the output shaft 16 after being decelerated through the harmonic reducer; the other part of the power is directly output through the first sun gear 231 and is output together with the power output from the harmonic reducer to the output shaft 16.
Example 4
Fig. 6 to 7 schematically show a power split harmonic reducer according to another embodiment of the present invention, which is different from example 1 in that:
the planetary gear mechanism is provided with a lubrication assembly; the lubrication assembly comprises an oil conveying pipeline 31 and an injection pipeline 32 which are communicated with each other from front to back, and the output end of the injection pipeline 32 is arranged opposite to a planet wheel 21 or a sun wheel 23 in the planetary gear mechanism; the oil delivery pipe 31 is provided with a temperature control 50 for adjusting the temperature of the lubricating oil entering the injection pipe 32 via the oil delivery pipe 31; the connection section of the oil delivery line 31 and the injection line 32 is provided with an air delivery line 33, and the air delivery line 33 is provided with a pressure adjusting member 40 for adjusting the air pressure of the air flow entering the injection line 32 via the air delivery line 33.
Therefore, the lubrication assembly is utilized to lubricate the meshed parts in the planetary gear mechanism, and lubricating oil can be transmitted to the meshed parts in the harmonic speed reducer matched with the planetary gear mechanism through the operation of the planetary gear mechanism, so that the meshing relationship of the related parts is enhanced, defects such as jamming and the like are avoided, and the sensitivity and the accuracy of power transmission are ensured.
The temperature control 50 can be arranged to adjust the temperature of the lubricating oil as required, thereby ensuring the fluidity of the lubricating oil and improving the lubricating effect. The pressure adjusting member 40 is provided to provide different pressure airflows to the injection line as needed, thereby regulating the flow rate and direction of the lubricating oil, and thus saving the amount of the lubricating oil on the premise of ensuring the lubrication range and the lubrication effect.
The pressure regulating member 40 comprises a shell 41, wherein an air outlet pipe 42 is connected to the bottom of the shell 41, and a first air inlet pipe 43 is connected to the side of the shell 41; the inside of casing 41 disposes sealing plug 45, and sealing plug 45 locates the top of first intake pipe 43, and sealing plug 45's lateral wall and the inside wall butt of casing 41, and sealing plug 45's top links to each other with the top of casing 41 through first spring 46, and sealing plug 45's bottom links to each other with the bottom of casing 41 through second spring 47.
Therefore, the first air inlet pipe 43 is used for conveying air into the shell 41, a certain amount of high-pressure air can be temporarily stored in the shell 41 through the cooperation of the sealing plug 45, the first spring 46 and the second spring 47, the part of high-pressure air can be discharged to the injection pipeline 32 through the air outlet pipe 42 and mixed with lubricating oil, so that the flow rate of the lubricating oil is improved, the lubricating oil with high speed is sprayed from the outlet end of the injection pipeline 32 under the wrapping of air flow, and the lubricating range is enlarged by spraying the lubricating oil around under the driving of the air flow.
Further, a sliding rod 48 is disposed on one side of the sealing plug 45 away from the air outlet pipe 42, the sliding rod 48 is sleeved in the first spring 46 and is slidably connected with the top of the housing 41, and the sliding rod 48 is always sleeved in the top cover of the housing 41 and ensures the air tightness of the interior of the housing 41 through a sealing gasket.
Further, the second spring 47 is a conical spring, so that the second spring 47 has a high elastic coefficient, and can generate a large deformation amount, so that the maximum limit of the air pressure inside the housing 41 can be increased, i.e. the high air pressure can be increased. And the conical spring has good shock absorption and shock absorption effects, and can reduce noise and prolong the service life.
Further, a second air inlet pipe 44 is connected to the side of the housing 41, and the second air inlet pipe 44 and the first air inlet pipe 43 are disposed on the same side of the sealing plug 45. Solenoid valves are provided in each of the air outlet pipe 42, the first air inlet pipe 43, and the second air inlet pipe 44. The first air inlet pipe 43 is used as a main air inlet channel and is responsible for the main task of conveying air to the inside of the shell 41 during the pressure regulation process; the second intake pipe 44 is used for auxiliary intake, and auxiliary intake can be performed in the event of a failure of the first intake pipe 43 or an excessive air pressure adjustment range, a short air pressure adjustment time, or the like. In the process of conveying gas to the inside of the shell 41 by the first gas inlet pipe 43 and the second gas inlet pipe 44, the electromagnetic valve connected with the gas outlet pipe 42 is in a closed state, the gas is input from the first gas inlet pipe 43 and the second gas inlet pipe 44 so that the gas pressure in the shell 41 is increased, and in the process, the pressure in the shell 41 can be regulated and controlled by sliding of the sealing bag, so that the overlarge pressure is avoided. When the air needs to be exhausted, the electromagnetic valve of the air outlet pipe 42 is opened, the prestoring pressure in the shell 41 is released, so that the injection of the lubricating oil can be realized by utilizing the instant strong impact force, the injection mode of regulating and controlling the lubricating oil can be realized by continuously or intermittently conveying the air through the first air inlet pipe 43 and the second air inlet pipe 44, for example, the intermittent injection and the continuous injection of the lubricating oil can be realized, and the injection force of the lubricating oil can be regulated.
The pressure regulator 40 can supply high-pressure gas to the injection line 32 to realize lubrication oil injection, thereby improving lubrication effect and expanding lubrication range. The second spring 47 in the casing 41 is located between the sealing plug 45 and the air outlet pipe 42, the position of the sealing plug 45 can be adjusted in the process of conveying air to the casing 41 through the first air inlet pipe 43 and the second air inlet pipe 44, the air pressure in the casing 41 is prevented from being too high, the air flow can be conveyed to the casing 41 through the first air inlet pipe 43 and the second air inlet pipe 44 in the process of exhausting air to the injection pipeline 32 through the air outlet pipe 42, the second spring 47 is continuously deformed under the action of multiple air flows, the space between the sealing plug 45 and the air outlet pipe 42 is in an unstable state, the air pressure of the air flow exhausted by the air outlet pipe 42 is also in an unstable state, the air flow velocity of the air flow after regulation can enable the exhausted high-pressure air to form different effects on the injection force of the lubricating oil, the flow velocity and the injection angle of the lubricating oil injected by the injection pipeline 32 are also unstable, the injection force of the lubricating oil is different, the injection of the lubricating oil can be formed in different positions of the gears such as the planet wheel 21 and the sun wheel 23, and the like, and the injection range and the effect are enlarged. Therefore, poor lubrication effect caused by single lubrication injection site can be avoided, and excessive lubrication of partial area and insufficient lubrication of partial area of the planetary gear mechanism can be avoided.
Furthermore, the provision of the second spring 47 helps to urge the sealing plug 45 to snap back to its original position inside the housing 41. When the pressure in the housing 41 is released, the inner sealing plug 45 moves rapidly, which may impact and damage the air outlet pipe 42 arranged at the bottom of the housing 41, or may cause the sealing plug 45 to block the first air inlet pipe 43 and the second air inlet pipe 44, the movable range of the sealing plug 45 in the housing 41 can be controlled by the second spring 47, and the direction of the air flow of the first air inlet pipe 43 and the second air inlet pipe 44 is guided by the second spring 47, so that the air is promoted to flow rapidly towards the air outlet pipe 42.
Further, the pressure adjusting member 40 is matched with the sensor and the singlechip. The two sensors are respectively arranged at the air inlet end and the air outlet end of the pressure regulating element 40 and are used for monitoring the air pressure at two sides of the pressure regulating element 40, and the singlechip can control the opening or closing of the electromagnetic valves arranged on the first air inlet pipe 43, the second air inlet pipe 44 and the air outlet pipe 42 according to the detection result of the two sensors, so that the air pressure inside the shell 41 and the air flow entering the injection pipeline 32 are regulated, and the injection force and the injection angle of lubricating oil are regulated.
Example 5
Fig. 8 to 12 schematically show a power split harmonic reducer according to another embodiment of the present invention, which is different from example 1 in that:
the oil pipeline 31 is provided with a temperature control section 60, and the temperature control piece 50 is arranged opposite to the temperature control section 60. Further, the temperature control unit 50 includes a temperature control pipeline, a temperature control medium such as water is provided in the temperature control pipeline, the temperature control medium can flow through cooperation with the pump body, the temperature control pipeline can be wound on the outer wall of the temperature control section 60, and the temperature of the lubricating oil in the oil conveying pipeline 31 can be adjusted by utilizing the temperature change of the temperature control pipeline. In addition, the temperature control member 50 may further be provided with a fan, and the fan operates to make the air flow blow to the temperature control pipeline, so as to adjust the temperature of the air flow, and adjust the temperature of the lubricating oil in the temperature control section 60 through the air flow after the temperature change.
The outer side of the pipe wall of the temperature control section 60 can be further provided with a temperature guide shell 61 to improve the temperature guide effect, so that the temperature change of the lubricating oil in the temperature control section 60 is sensitive, the temperature control effect of the temperature control section 50 is improved, and the energy consumption is reduced.
The inside of the temperature control section 60 is provided with a rotating piece 70, the rotating piece 70 comprises a rotating shaft 71, a guide vane 72 is arranged on the outer side of the rotating shaft 71 in a surrounding mode, the end, far away from the rotating shaft 71, of the guide vane 72 is connected with a guide shell 73, and the guide shell 73 is provided with a guide groove 74. The guide vane 72 can divide the lubricating oil and cooperate with the guide shell 73 to further reduce the flow velocity of the lubricating oil in the temperature control section 60, thereby being beneficial to improving the temperature regulation efficiency. The diversion shell 73 is provided with the diversion groove 74, so that a certain amount of lubricating oil can be temporarily stored, the pressure of a local space inside the temperature control section 60 is changed, the flow speed and the flow direction of the lubricating oil in the local space are changed, the mixing of the lubricating oil is accelerated, the lubricating oil temporarily stored in the diversion shell 73 continuously overflows from the diversion groove 74 and is mixed with external lubricating oil along with the rotation of the rotating member 70 in the process, and particularly the diversion shell 73 is positioned outside the diversion blade 72, for example, the mixing of the lubricating oil in the direction of the inner wall of the temperature control section 60 and the lubricating oil in the middle area is facilitated, and the temperature balance of the lubricating oil is improved.
The provision of the rotating member 70 helps to further reduce the flow rate of the lubricating oil inside the temperature control section 60, and the rotating member 70 can break up and rejoin the lubricating oil, thereby facilitating temperature equalization of the lubricating oil.
Further, the third spring 62 is configured inside the temperature control section 60 of the oil conveying pipeline 31, the third spring 62 is arranged at the output end of the temperature control section 60, the lubricant flows to drive the rotating member 70 to move along the flow direction, the third spring 62 can intercept the rotating member 70 to prevent the rotating member 70 from entering the injection pipeline 32 along the oil conveying pipeline 31, and the rotating member 70 can move towards the input end of the temperature control section 60 under the elastic force of the third spring 62 after being contacted with the third spring 62, so that the rotating member 70 can slide back and forth inside the temperature control section 60, and therefore, the rotating member 70 can be utilized to generate extrusion effect on the fluid in the inner wall direction of the temperature control section 60, so that the probability that lubricant adheres to the inner wall of the temperature control section 60 is reduced or the lubricant is prevented from staying for too long time.
Further, the inner wall of the temperature control section 60 is configured with a flow guiding member 63, the flow guiding member 63 includes a plurality of flow guiding sleeves 64 connected end to end, two ends of the flow guiding sleeve 64 are respectively connected with a first connecting ring 65 and a second connecting ring 66, and the inner diameter of the flow guiding sleeve 64 gradually becomes smaller along the direction from the first connecting ring 65 to the second connecting ring 66. The second connecting ring 66 of the flow sleeve 64 is arranged inside the first connecting ring 65 of the next flow sleeve 64 adjacent thereto.
Further, an elastic member 67 is provided on the outer portion of the second connecting ring 66, and the elastic member 67 can abut against the inner wall of the first connecting ring 65 of the next flow guiding sleeve 64. The elastic member 67 may be provided as a spring, a rubber pad, or the like.
Thus, through the structure of the plurality of guide sleeves 64, the temperature control section 60 can realize the regulation and control of the flow velocity of the lubricating oil, and the lubricating oil can be continuously mixed in the temperature control section 60 due to the continuous reduction and the expansion of the diameter of the guide sleeve 64, so that the temperature of the lubricating oil is further balanced. In addition, the arrangement of the flow guiding piece 63 makes the diameter of the inner wall of the temperature control section 60 in the oil pipeline 31 continuously change, and the collision probability between the rotating piece 70 and the inner wall of the temperature control section 60 can be improved by matching with the continuously moving rotating piece 70, so that the probability of adhesion of lubricating oil on the inner wall of the oil pipeline 31 and the surface of the rotating piece 70 is avoided; and the flow direction of the lubricating oil in the inner wall direction of the temperature control section 60 can be adjusted to accelerate the mixing of the lubricating oil in the inner wall direction and the lubricating oil in the central part of the oil delivery pipeline 31.
Conventional operations in the operation steps of the present invention are well known to those skilled in the art, and are not described herein.
While the foregoing embodiments have been described in detail in connection with the embodiments of the invention, it should be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and any modifications, additions, substitutions and the like made within the principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A power splitting harmonic reducer comprising a wave generator, the input end of which is provided with an input shaft (15) and the output end of which is provided with an output shaft (16); it is characterized in that the method comprises the steps of,
the wave generator comprises an elliptical cam (10), wherein the elliptical cam (10) is connected with the output shaft (16), and a planetary gear mechanism is coaxially arranged on the inner side of the elliptical cam (10); the planetary gear mechanism comprises a planet wheel (21), a planet carrier (22), a sun wheel (23) and a planet gear ring (24); the planet carrier (22) is connected with the planet wheel (21), the planet carrier (22) is rotationally connected with the sun wheel (23), the planet wheel (21) is circumferentially arranged on the periphery of the sun wheel (23), and the planet wheel (21) and the sun wheel (23) are both arranged in the planet gear ring (24); the planet carrier (22) is connected with the input shaft (15); the planetary gear mechanism is in power connection with the output shaft (16).
2. A power splitting harmonic reducer as defined in claim 1, wherein,
the planetary gear ring (24) is in power connection with the elliptical cam (10); the sun gear (23) is in power connection with the output end of the wave generator.
3. A power splitting harmonic reducer as defined in claim 1, wherein,
the sun gear (23) is in power connection with the elliptical cam (10), and the planetary gear ring (24) is in power connection with the output shaft (16).
4. A power splitting harmonic reducer as defined in claim 1, wherein,
a two-stage planetary gear mechanism is arranged between the elliptical cam (10) and the input shaft (15), and the two-stage planetary gear mechanism shares the same planet carrier (22).
5. A power splitting harmonic reducer as defined in claim 1, wherein,
the planetary gear mechanism is provided with a lubrication assembly; the lubricating assembly comprises an oil conveying pipeline (31) and an injection pipeline (32) which are communicated, and the output end of the injection pipeline (32) is arranged opposite to the planetary gear mechanism; the oil delivery line (31) is provided with a temperature control element (50) for adjusting the temperature of the lubricating oil entering the injection line (32) via the oil delivery line (31);
the connecting section of the oil conveying pipeline (31) and the injection pipeline (32) is provided with an air conveying pipeline (33), and the air conveying pipeline (33) is provided with a pressure adjusting piece (40) for adjusting the air pressure of the air flow entering the injection pipeline (32) through the air conveying pipeline (33).
6. A power splitting harmonic reducer as defined in claim 5 wherein,
the pressure regulating piece (40) comprises a shell (41), an air outlet pipe (42) is connected to the bottom of the shell (41), and a first air inlet pipe (43) is connected to the side of the shell (41);
the inside configuration of casing (41) has sealing plug (45), sealing plug (45) are located the top of first intake pipe (43), just the lateral wall of sealing plug (45) with the inside wall butt of casing (41), the top of sealing plug (45) pass through first spring (46) with the top of casing (41) links to each other, the bottom of sealing plug (45) pass through second spring (47) with the bottom of casing (41) links to each other.
7. A power splitting harmonic reducer as defined in claim 5 wherein,
the oil pipeline (31) is provided with a temperature control section (60), and the temperature control piece (50) and the temperature control section (60) are arranged oppositely;
the inside configuration of control by temperature change section (60) has rotor (70), rotor (70) include pivot (71), the outside of pivot (71) is encircled and is configured with guide vane (72), guide vane (72) keep away from the end-to-end connection of pivot (71) has shell (73), shell (73) are configured with water conservancy diversion recess (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410095856.5A CN117605807A (en) | 2024-01-24 | 2024-01-24 | Power split harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410095856.5A CN117605807A (en) | 2024-01-24 | 2024-01-24 | Power split harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117605807A true CN117605807A (en) | 2024-02-27 |
Family
ID=89952114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410095856.5A Pending CN117605807A (en) | 2024-01-24 | 2024-01-24 | Power split harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117605807A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10021237A1 (en) * | 2000-04-29 | 2001-11-15 | Neugart Gmbh & Co | Reduction gear has wave generator formed by planetary wheels, flexible spline with annular region engaged by planetary wheel bearer in form of multiple eccentric element |
| CN2823693Y (en) * | 2005-07-29 | 2006-10-04 | 上海澳瑞特润滑设备有限公司 | Injection lubricting device |
| CN2883114Y (en) * | 2006-03-16 | 2007-03-28 | 兰州铁路实验工厂 | Grease sprayer |
| KR20070070654A (en) * | 2005-12-29 | 2007-07-04 | 김영석 | Reduction unit |
| CN102979892A (en) * | 2012-12-25 | 2013-03-20 | 南通醋酸纤维有限公司 | Exposed gear lubricating device and lubricating technology |
| WO2015021971A1 (en) * | 2013-08-14 | 2015-02-19 | Schaeffler Technologies Gmbh & Co. Kg | Adjustment apparatus, in particular for combustion engines |
| CN111457063A (en) * | 2020-04-09 | 2020-07-28 | 深圳市奇齿龙科技有限公司 | Planet speed reducer with small tooth difference |
| CN111946796A (en) * | 2020-07-15 | 2020-11-17 | 珠海格力电器股份有限公司 | Multistage gear drive's harmonic speed reducer ware and robot |
| CN214064535U (en) * | 2020-12-14 | 2021-08-27 | 成都共同管业科技有限公司 | Lubricating oil spraying device |
| CN217207571U (en) * | 2021-12-31 | 2022-08-16 | 中石化四机石油机械有限公司 | Composite wheel train speed reducer |
| CN116877676A (en) * | 2023-06-01 | 2023-10-13 | 武汉船用机械有限责任公司 | Lubricating grease injection valve |
-
2024
- 2024-01-24 CN CN202410095856.5A patent/CN117605807A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10021237A1 (en) * | 2000-04-29 | 2001-11-15 | Neugart Gmbh & Co | Reduction gear has wave generator formed by planetary wheels, flexible spline with annular region engaged by planetary wheel bearer in form of multiple eccentric element |
| CN2823693Y (en) * | 2005-07-29 | 2006-10-04 | 上海澳瑞特润滑设备有限公司 | Injection lubricting device |
| KR20070070654A (en) * | 2005-12-29 | 2007-07-04 | 김영석 | Reduction unit |
| CN2883114Y (en) * | 2006-03-16 | 2007-03-28 | 兰州铁路实验工厂 | Grease sprayer |
| CN102979892A (en) * | 2012-12-25 | 2013-03-20 | 南通醋酸纤维有限公司 | Exposed gear lubricating device and lubricating technology |
| WO2015021971A1 (en) * | 2013-08-14 | 2015-02-19 | Schaeffler Technologies Gmbh & Co. Kg | Adjustment apparatus, in particular for combustion engines |
| CN111457063A (en) * | 2020-04-09 | 2020-07-28 | 深圳市奇齿龙科技有限公司 | Planet speed reducer with small tooth difference |
| CN111946796A (en) * | 2020-07-15 | 2020-11-17 | 珠海格力电器股份有限公司 | Multistage gear drive's harmonic speed reducer ware and robot |
| CN214064535U (en) * | 2020-12-14 | 2021-08-27 | 成都共同管业科技有限公司 | Lubricating oil spraying device |
| CN217207571U (en) * | 2021-12-31 | 2022-08-16 | 中石化四机石油机械有限公司 | Composite wheel train speed reducer |
| CN116877676A (en) * | 2023-06-01 | 2023-10-13 | 武汉船用机械有限责任公司 | Lubricating grease injection valve |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2418324C (en) | Hybrid compressor | |
| CN104081083B (en) | Turning device and rotating machine | |
| CN100379991C (en) | Variable displacement pump | |
| JP6313852B2 (en) | Oil feeding device between two oil containers rotating relative to each other and aircraft propeller turbomachine equipped with the device | |
| US9017205B2 (en) | Transmission unit | |
| KR20020015613A (en) | A stepless transmission and a transmission apparatus for vehicles suing the same | |
| CN102947594B (en) | Vehicular internal gear type oil pump | |
| JP2005172050A (en) | Belt type continuously variable transmission | |
| CN117605807A (en) | Power split harmonic speed reducer | |
| CN109681609B (en) | Harmonic speed reducer | |
| CN101666367B (en) | Clearance-free planetary drive device | |
| CN107327328B (en) | Variable valve timing driving mechanism for engine | |
| CN215410000U (en) | Decelerator and smart machine | |
| CN212985978U (en) | Planetary gear train reduction gears's lubricating structure and planetary gear train speed reducer | |
| KR100335600B1 (en) | Stepless transmission for vehicles | |
| CN105649974A (en) | Micro-type light quick-response electric gear pump | |
| US20030032517A1 (en) | Infinitely variable ratio transmission five piston variator | |
| WO1999024736A1 (en) | Continuously variable transmission and transmission apparatus for vehicles utilizing it | |
| TW463892U (en) | Planet type gear reducer | |
| KR20010059184A (en) | Drive system of oil pump for continuously variable transmission | |
| CN211166441U (en) | Transmission and automobile | |
| KR101538229B1 (en) | flow path structure of apparatus for adjusting the control times of gas valves | |
| KR100334356B1 (en) | An engine with rotary type piston utilizing high pressure fluid | |
| KR20140138449A (en) | Variable Speed Hydro-Dynamic Transmission with Geared PTO Drives | |
| JP2000065169A (en) | Continuously variable transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |