JP4172516B2 - Planetary differential reducer - Google Patents

Planetary differential reducer Download PDF

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JP4172516B2
JP4172516B2 JP2006348781A JP2006348781A JP4172516B2 JP 4172516 B2 JP4172516 B2 JP 4172516B2 JP 2006348781 A JP2006348781 A JP 2006348781A JP 2006348781 A JP2006348781 A JP 2006348781A JP 4172516 B2 JP4172516 B2 JP 4172516B2
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隆雄 横井
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本発明は、トロコイド系歯形と円弧歯形を組み合わせ、構成した遊星差動減速機に関するものである。   The present invention relates to a planetary differential reduction gear configured by combining a trochoidal tooth profile and an arc tooth profile.

この種の遊星差動減速機の一例を図１に示す。偏心軸５に軸受けされた遊星歯車２は、左端面にハイポトロコイド溝１３、右端面にオルダム継ぎ手の溝１４が形成されている。遊星歯車２は、自転回転しないように中間オルダム継ぎ手３によって減速機ハウジング９に固定されたカバー４に偏心運動を吸収できるようにボール７とボール６を介して偏心運動可能に継合されている。また、遊星歯車２は、隙間無く配列されたボール環８を介して右端面にエピトロコイド曲線によって創成されたエピトロコイド溝１２を形成した出力歯車１と噛み合っている。ハイポトロコイド曲線によって創成されたハイポトロコイド溝１３の歯数は、ボール環８のボール数より１歯多く、エピトロコイド溝１２の歯数は、ボール環８のボール数より１歯少なく、偏心軸５が回転することによって遊星歯車２は出力歯車１の周りを公転しながらボール環８を歯数差分自転回転させる。ボール環８は、出力歯車１に対して公転回転と自転回転し、出力歯車１を自転回転させる。この結果、出力歯車１は、遊星歯車２との歯数差分だけ自転回転を行う遊星差動減速機。   An example of this type of planetary differential reducer is shown in FIG. The planetary gear 2 supported by the eccentric shaft 5 has a hypotrochoid groove 13 on the left end surface and an Oldham joint groove 14 on the right end surface. The planetary gear 2 is joined to the cover 4 fixed to the speed reducer housing 9 by the intermediate Oldham coupling 3 so as to absorb the eccentric motion so as to be able to absorb the eccentric motion via the ball 7 and the ball 6 so as not to rotate. . The planetary gear 2 meshes with the output gear 1 in which an epitrochoid groove 12 created by an epitrochoid curve is formed on the right end surface via ball rings 8 arranged without gaps. The number of teeth of the hypotrochoid groove 13 created by the hypotrochoid curve is one more than the number of balls of the ball ring 8, the number of teeth of the epitrochoid groove 12 is one less than the number of balls of the ball ring 8, and the eccentric shaft 5 Is rotated, the planetary gear 2 rotates the ball ring 8 while rotating around the output gear 1, and rotates the ball ring 8 by a difference in the number of teeth. The ball ring 8 revolves and rotates with respect to the output gear 1 to rotate the output gear 1. As a result, the output gear 1 is a planetary differential speed reducer that rotates by the same number of teeth as that of the planetary gear 2.

遊星歯車２の歯数をＺ１，遊星歯車２と噛み合うボール環８の数をＺ２とする。また、出力歯車１と噛み合う側のボール環８の数をＺ３とし、出力歯車１の歯数をＺ４とすると、この差動減速機の減速比は、減速比＝１−（Ｚ１／Ｚ２）・（Ｚ３／Ｚ４）で、この式において、Ｚ２，Ｚ３はボール環８で同じでものあるから、減速比＝１−（Ｚ１／Ｚ４）となる。   The number of teeth of the planetary gear 2 is Z1, and the number of the ball rings 8 meshing with the planetary gear 2 is Z2. Further, if the number of ball rings 8 on the side meshing with the output gear 1 is Z3 and the number of teeth of the output gear 1 is Z4, the reduction ratio of this differential reduction gear is the reduction ratio = 1− (Z1 / Z2) · (Z3 / Z4) In this equation, Z2 and Z3 are the same in the ball ring 8, so the reduction ratio = 1− (Z1 / Z4).

従来の遊星差動減速機の図１において、偏心軸５が回転することによって偏心軸５に軸受けされた遊星歯車２が自転回転をしないように、また偏心運動を吸収する為にオルダム継ぎ手３が必要になる。オルダム継ぎ手３は、図２の（ホ）、（ヘ）に示すよう偏心運動を吸収する為に長溝１５、１６を両面に９０度位相を異ならして設け、遊星歯車２とカバー４にボール７、ボール６を介して継合しなければならない。このために、減速機の構造が複雑になり、部品数が多いことから価格が高く、又剛性が低いという問題を有していた。
特公平０７−６２４９５号公報 加茂精工株式会社 「ボール減速機」のカタログ In FIG. 1 of the conventional planetary differential speed reducer, the Oldham coupling 3 is provided so that the planetary gear 2 supported by the eccentric shaft 5 does not rotate by rotation of the eccentric shaft 5 and absorbs the eccentric motion. I need it. As shown in FIGS. 2E and 2F, the Oldham joint 3 is provided with long grooves 15 and 16 that are 90 degrees out of phase on both sides to absorb the eccentric motion. , It must be joined via the ball 6. For this reason, the structure of the speed reducer is complicated, and there are problems that the price is high and the rigidity is low due to the large number of parts.
Japanese Patent Publication No. 07-62495 Kamo Seiko Co., Ltd. “Ball Reducer” Catalog

本発明は、このような問題に鑑みて考案されたものである。この種の遊星差動減速機においてオルダム継ぎ手３の部材を無くすることによって、機構の簡素化による価格の低減及び高い剛性を有した遊星差動減速機を提供することを課題としている。   The present invention has been devised in view of such problems. It is an object of the present invention to provide a planetary differential reducer having a reduced cost and high rigidity by simplifying the mechanism by eliminating the Oldham coupling 3 member in this kind of planetary differential reducer.

本発明は、図３に於ける偏心軸５に従来のボール環８の代わりに同じボール数のボール１０と１１を、両端面に埋め込んだ遊星歯車２ａを設置して、減速機ハウジング９に固定されたカバーの端面にハイポトロコイド曲線によって創成されたハイポトロコイド溝１３を形成した固定歯車４ａと噛み合せる。また、出力歯車１は、端面にエピトロコイド曲線によって創成されたエピトロコイド溝１２を形成して、遊星歯車２ａと噛み合う。   In the present invention, planetary gears 2a in which balls 10 and 11 having the same number of balls are embedded in both end faces instead of the conventional ball ring 8 are installed on the eccentric shaft 5 in FIG. The end face of the cover is meshed with a fixed gear 4a formed with a hypotrochoid groove 13 created by a hypotrochoid curve. Further, the output gear 1 is formed with an epitrochoid groove 12 created by an epitrochoid curve on the end face, and meshes with the planetary gear 2a.

偏心軸５が回転するによって、遊星歯車２ａは固定歯車４ａに対して公転運動をしながら固定歯車４ａとの歯数差分だけ自転回転する。遊星歯車２ａは、出力歯車１に対しても同様の運動を行う。出力歯車１は遊星歯車２ａの自転分を回転しながらさらに、遊星歯車２ａとの歯数差によって生ずる自転回転をする。この結果、出力歯車１は、固定歯車４との歯数差分だけ自転回転を行う。   As the eccentric shaft 5 rotates, the planetary gear 2a rotates by a difference in the number of teeth from the fixed gear 4a while revolving with respect to the fixed gear 4a. The planetary gear 2 a performs the same movement with respect to the output gear 1. The output gear 1 further rotates by rotating due to the difference in the number of teeth from the planetary gear 2a while rotating the rotation of the planetary gear 2a. As a result, the output gear 1 rotates by a difference in the number of teeth from the fixed gear 4.

固定歯車４ａの歯数をＺ１，固定歯車４ａと噛み合う側の遊星歯車２ａの歯数をＺ２とする。また、出力歯車１と噛み合う側の歯数をＺ３とし、出力歯車１の歯数をＺ４とすると、この差動減速機の減速比は、減速比＝１−（Ｚ１／Ｚ２）・（Ｚ３／Ｚ４）で、この式において、Ｚ２，Ｚ３の歯数は同じであるから、減速比＝１−（Ｚ１／Ｚ４）となり、従来の減速機と同じ計算になる。   The number of teeth of the fixed gear 4a is Z1, and the number of teeth of the planetary gear 2a on the side meshing with the fixed gear 4a is Z2. Further, if the number of teeth on the side meshing with the output gear 1 is Z3 and the number of teeth of the output gear 1 is Z4, the reduction ratio of this differential reduction gear is the reduction ratio = 1− (Z1 / Z2) · (Z3 / Z4), since the number of teeth of Z2 and Z3 is the same in this equation, the reduction ratio = 1− (Z1 / Z4), which is the same calculation as the conventional reduction gear.

以上の結果、図３に示すよう遊星差動減速機構からオルダム継ぎ手３の部材を無くすることができ、製作価格を低減するとともに高い剛性を有することができた。     As a result, the member of the Oldham coupling 3 can be eliminated from the planetary differential reduction mechanism as shown in FIG. 3, and the manufacturing cost can be reduced and the rigidity can be increased.

以下の図面に基づいて、本発明の実施形態を詳細に説明する。   An embodiment of the present invention will be described in detail based on the following drawings.

本発明の実施形態である遊星差動減速機の断面図を図3に示す。また、図４の（イ）、(ロ)、（ハ）、（ニ）は、図３における歯車歯形の組合せを示す。また、図５の(イ)、(ロ）、（ハ）、（ニ）には、実施可能で同様な効果が得られる歯車歯形の組合せを示す。また、図８は従来技術の遊星差動減速機の基準となる歯形の噛み合わせ位置を示す。図９は、本発明実施例の基準となる歯形の噛み合わせ位置を示す。   FIG. 3 shows a cross-sectional view of the planetary differential reducer that is an embodiment of the present invention. Further, (a), (b), (c), and (d) in FIG. 4 show combinations of gear tooth profiles in FIG. Further, (a), (b), (c), and (d) in FIG. 5 show combinations of gear tooth profiles that can be implemented and obtain similar effects. FIG. 8 shows the meshing position of the tooth profile, which is a reference for the conventional planetary differential reducer. FIG. 9 shows a meshing position of the tooth profile which is a reference of the embodiment of the present invention.

実施例の図４の（イ）、（ニ）に示すように出力歯車１の右端面にエピトロコイド曲線によって創成されたエピトロコイド溝１２を形成し、偏心軸５に回転自在に軸受けした遊星歯車２ａの両面に図４の（ロ）と（ハ）のようにボール１０、１１を同位相、同等配にして埋め込みＥ３だけ偏心して噛み合わせた。ボール１０の数はエピトロコイド溝１２の歯数より一つ多いものとする。出力歯車１と同心上に固定歯車４ａを配置し、左端面に遊星歯車２ａのボール11より１歯多くハイポトロコイド曲線によって創成されたハイポトロコイド溝１３を形成して遊星歯車２ａとＥ３だけ偏心して噛み合わせた。この結果、出力歯車1の歯数と固定歯車４ａの歯数の関係は、固定歯車４ａの方が２枚多くなる。   As shown in FIGS. 4 (a) and 4 (d) of the embodiment, an epitrochoid groove 12 created by an epitrochoid curve is formed on the right end surface of the output gear 1, and the planetary gear rotatably supported by the eccentric shaft 5 is formed. As shown in FIGS. 4B and 4C, the balls 10 and 11 are placed in the same phase and in the same arrangement on both surfaces of 2a so that only the embedded E3 is eccentric and meshed. It is assumed that the number of balls 10 is one more than the number of teeth of the epitrochoid groove 12. A fixed gear 4a is arranged concentrically with the output gear 1, and a hypotrochoid groove 13 created by a hypotrochoid curve is formed on the left end face by one hypothesis than the ball 11 of the planetary gear 2a. I meshed. As a result, the relationship between the number of teeth of the output gear 1 and the number of teeth of the fixed gear 4a is two more in the fixed gear 4a.

実施例では、固定歯車４ａをハイポトロコイド溝１３として歯数Ｚ１を２２枚、遊星歯車２ａのボール１０、１１のそれぞれの歯数Ｚ２，Ｚ３を２１個にした。出力歯車１はエピトロコイド溝１２として歯数Ｚ４を２０枚にしたものである。   In the embodiment, the fixed gear 4a is a hypotrochoid groove 13, the number of teeth Z1 is 22, and the number of teeth Z2 and Z3 of each of the balls 10 and 11 of the planetary gear 2a is 21. The output gear 1 is an epitrochoid groove 12 having 20 teeth Z4.

遊星歯車２ａは、出力歯車１及び固定歯車４ａの軸心からＥ３だけ偏心して配置され、固定歯車４ａと出力歯車１は、同心軸上に配置する。   The planetary gear 2a is arranged eccentrically by E3 from the axis of the output gear 1 and the fixed gear 4a, and the fixed gear 4a and the output gear 1 are arranged on a concentric shaft.

本発明での歯数の配列から、Ｚ２とＺ３が必ず同じ歯数にすることから、減速比の計算式は、減速比＝１−（Ｚ１／Ｚ４）となる。実施例では、減速比＝１−（２２／２０）＝−１／１０となる。負の符号は、出力歯車１の回転方向が偏心軸５と反対方向に回転することを意味する。   Since Z2 and Z3 always have the same number of teeth from the arrangement of the number of teeth in the present invention, the reduction ratio calculation formula is reduction ratio = 1− (Z1 / Z4). In the embodiment, the reduction ratio = 1− (22/20) = − 1/10. The negative sign means that the rotation direction of the output gear 1 rotates in the direction opposite to the eccentric shaft 5.

従来の遊星差動減速機の噛み合い歯車の配置図を図６に示す。また、本件考案の実施例の噛み合い配置図を図７に示す。従来の遊星差動減速機のようにオルダム継ぎ手３が必要になるのは、図６のように出力歯車１に対してＥ１の距離だけ偏心させたボール環８に対してさらに同方向にＥ１と同じ距離にＥ２だけ偏心して、遊星歯車２を配置している為である。この基準となる噛み合いの状態を図８に示す。   FIG. 6 shows an arrangement of meshing gears of a conventional planetary differential reduction gear. FIG. 7 shows a meshing layout of the embodiment of the present invention. The Oldham's joint 3 is required as in the conventional planetary differential speed reducer, as shown in FIG. 6, with E1 further in the same direction with respect to the ball ring 8 that is eccentric with respect to the output gear 1 by a distance of E1. This is because the planetary gear 2 is arranged eccentrically by E2 at the same distance. FIG. 8 shows the state of meshing as a reference.

実施例では、この問題を解決するために固定歯車４ａのハイポトロコイド溝１３と遊星歯車２ａのボール１１との噛み合わせに於いて、図８のハイポトロコイド溝１３の歯の位置を半歯ずらして図９の如く噛み合わせることによって出力歯車１と固定歯車４ａを同心に配置することができることを示す。ハイポトロコイド溝１３の歯の位置を半歯ずらすことは、図８におけるハイポトロコイド溝１３の歯車の中心Ｏ３をボール環８の中心Ｏ２の周りに１８０度回転することによりエピトロコイド溝１２の歯車の中心Ｏ１と一致することにより、ハイポトロコイド溝１３の歯の位置を半歯回転することができる。この結果、出力歯車１と固定歯車４ａを同心に配置することができる。図８に於けるＥ１と図９のＥ３は同じ距離とする。   In the embodiment, in order to solve this problem, in the meshing of the hypotrochoid groove 13 of the fixed gear 4a and the ball 11 of the planetary gear 2a, the tooth position of the hypotrochoid groove 13 of FIG. It shows that the output gear 1 and the fixed gear 4a can be arranged concentrically by meshing as shown in FIG. Shifting the position of the teeth of the hypotrochoid groove 13 by a half tooth is achieved by rotating the gear center O3 of the hypotrochoid groove 13 in FIG. By matching the center O1, the tooth position of the hypotrochoid groove 13 can be rotated half a tooth. As a result, the output gear 1 and the fixed gear 4a can be arranged concentrically. E1 in FIG. 8 and E3 in FIG. 9 have the same distance.

以上のようにして構成した遊星差動減速機は、図１の偏心軸５に、遊星歯車２ａを回転自在に軸受けで支持し、偏心軸５が回転することにより遊星歯車２ａは、固定歯車４ａに対して公転回転して歯数差１枚分自転回転を生ずる。遊星歯車２ａは、出力歯車１に対しても公転回転を行う。出力歯車１は、遊星歯車２ａの自転回転分と公転回転によって固定歯車４ａとの歯数差分だけ自転回転する。   The planetary differential speed reducer configured as described above supports the planetary gear 2a on the eccentric shaft 5 of FIG. 1 by a bearing so that the planetary gear 2a rotates, and the planetary gear 2a rotates by the fixed gear 4a. Rotating with respect to the rotation, rotation of one tooth difference is generated. The planetary gear 2a also performs revolving rotation with respect to the output gear 1. The output gear 1 rotates by an amount corresponding to the difference in the number of teeth from the fixed gear 4a due to the rotation and revolution of the planetary gear 2a.

本発明の遊星差動減速機は、遊星歯車２ａのボール１０，１１の数を同じ数にすることによって成立する。   The planetary differential speed reducer of the present invention is established by setting the number of balls 10 and 11 of the planetary gear 2a to the same number.

本発明の遊星差動減速機は、図４の(ロ)、(ハ)のように両面に配置するボール１０、１１の配列を同位相にすることよって成立する。   The planetary differential speed reducer of the present invention is established by arranging the balls 10 and 11 arranged on both surfaces in the same phase as shown in FIGS.

本発明の遊星差動減速機は、出力歯車１、遊星歯車２ａ、固定歯車４ａの位置における歯形の組合せは表１の８種類となる。どの組合せにおいても、同様の効果を得ることができる。   In the planetary differential reduction gear of the present invention, there are eight types of tooth profile combinations shown in Table 1 at the positions of the output gear 1, the planetary gear 2a, and the fixed gear 4a. In any combination, the same effect can be obtained.

Figure 0004172516
Figure 0004172516

以上の結果から、オルダム継ぎ手３の部材を無くすることができ、簡単な構造でコストを安くすることができた。また、従来のボール環８を遊星歯車２ａに埋め込み保持することにより剛性を高くすることができた。また、偏心量Ｅ３を従来の遊星差動減速機の半分にできるため振動や騒音を低減させることができ、低価格で高性能な遊星差動減速機を提供できる。   From the above results, the members of the Oldham joint 3 can be eliminated, and the cost can be reduced with a simple structure. Further, the rigidity can be increased by embedding and holding the conventional ball ring 8 in the planetary gear 2a. Further, since the eccentric amount E3 can be reduced to half that of the conventional planetary differential reducer, vibration and noise can be reduced, and a low-cost and high-performance planetary differential reducer can be provided.

従来の遊星差動減速機の断面図である。It is sectional drawing of the conventional planetary differential reducer. 図１の各歯車の側面図である。It is a side view of each gear of FIG. 実施形態の遊星差動減速機の断面図である。（実施例１）It is sectional drawing of the planetary differential reduction gear of embodiment. Example 1 図３の各歯車の側面図である。（実施例１）FIG. 4 is a side view of each gear in FIG. 3. Example 1 図３の別の歯車組み合わせの側面図である。（実施例１）FIG. 4 is a side view of another gear combination of FIG. 3. Example 1 図１の歯車の組合せ位置を示す側面図である。It is a side view which shows the combination position of the gearwheel of FIG. 図３の歯車の組合せ位置を示す側面図である。（実施例１）It is a side view which shows the combination position of the gearwheel of FIG. Example 1 図１の歯車の基準となる噛み合い位置の図である。It is a figure of the meshing position used as the reference | standard of the gearwheel of FIG. 図３の歯車の基準となる噛み合い位置の図である。（実施例１）It is a figure of the meshing position used as the reference | standard of the gearwheel of FIG. Example 1

符号の説明Explanation of symbols

１ 出力歯車
２ 従来の遊星差動減速機の遊星歯車
２ａ 実施例の遊星歯車
３ オルダム継ぎ手
４ カバー
４ａ 固定歯車
５ 偏心軸
６ オルダム継ぎ手のカバー側のボール
７ オルダム継ぎ手の遊星歯車側のボール
８ ボール環
９ ハウジング
１０ 遊星歯車右側面に埋め込まれたボール
１１ 遊星歯車左側面に埋め込まれたボール
１２ エピトロコイド溝
１３ ハイポトロコイド溝
１４ 遊星歯車右側面のオルダム溝
１５ オルダム継ぎ手の左側面のオルダム溝
１６ オルダム継ぎ手の右側面のオルダム溝
１７ カバーの左側面のオルダム溝
Ｅ１ 出力歯車とボール環の偏心距離
Ｅ２ ボール環と遊星歯車の偏心距離
Ｅ３ 出力歯車と遊星歯車の偏心距離
Ｏ１ エピトロコイド溝の歯車の中心
Ｏ２ ボール環の中心
Ｏ３ ハイポトロコイド溝の歯車の中心 DESCRIPTION OF SYMBOLS 1 Output gear 2 Planetary gear of the conventional planetary differential reduction gear 2a Planetary gear of the example 3 Oldham coupling 4 Cover 4a Fixed gear 5 Eccentric shaft 6 Ball on the cover side of the Oldham joint 7 Ball on the planetary gear side of the Oldham joint 8 Ball Ring 9 Housing 10 Ball embedded in planetary gear right side 11 Ball embedded in planetary gear left side 12 Epitrochoid groove 13 Hypotrochoid groove 14 Oldham groove on right side of planetary gear 15 Oldham groove on left side of Oldham coupling 16 Oldham Oldham groove on right side of joint 17 Oldham groove on left side of cover E1 Eccentric distance of output gear and ball ring E2 Eccentric distance of ball ring and planetary gear E3 Eccentric distance of output gear and planetary gear O1 Center of epitrochoid groove gear O2 Center of ball ring O3 Center of hypotrochoid groove gear

Claims (2)

ハウジングに固定された固定歯車と、固定歯車と同心軸延長上に回転自在に軸受けされた出力歯車と、固定歯車の軸心より偏心した偏心軸上に回転自在に軸受けされ、固定歯車及び出力歯車と噛み合う遊星歯車により構成される遊星差動減速機構に於いて、固定歯車の歯数をＺ１とし、固定歯車と噛み合う側の偏心軸上の遊星歯車の歯数をＺ２とする。また、固定歯車と同心軸延長上に回転自在に軸受けされた出力歯車の歯数をＺ４とし、出力歯車と噛み合う側の偏心軸上の遊星歯車の歯数をＺ３とする。固定歯車の歯数Ｚ１と遊星歯車の歯数Ｚ２、及び遊星歯車の歯数Ｚ３と出力歯車の歯数Ｚ４は、それぞれ一枚の歯数差で噛み合うことによって構成される。また、遊星歯車の固定歯車と噛み合う側の歯形と出力歯車と噛み合う側の歯形は、遊星歯車の両端面にそれぞれ別体で形成し、遊星歯車に固定配列される。このとき、両側に配置される歯数Ｚ２とＺ３は同じ歯数であり、歯形は同位相に配置固定されることを特徴とした遊星差動減速機。 A fixed gear fixed to the housing, an output gear rotatably supported on a concentric shaft extension of the fixed gear, and a fixed gear and an output gear rotatably supported on an eccentric shaft eccentric from the axis of the fixed gear In the planetary differential reduction mechanism configured by a planetary gear meshing with the fixed gear, the number of teeth of the fixed gear is Z1, and the number of teeth of the planetary gear on the eccentric shaft on the side meshing with the fixed gear is Z2. The number of teeth of the output gear rotatably supported on the concentric shaft extension with the fixed gear is Z4, and the number of teeth of the planetary gear on the eccentric shaft meshing with the output gear is Z3. The number of teeth Z1 of the fixed gear and the number of teeth Z2 of the planetary gear, and the number of teeth Z3 of the planetary gear and the number of teeth Z4 of the output gear are configured by meshing with each other by a difference in the number of teeth. Further, the tooth profile of the planetary gear that meshes with the fixed gear and the tooth profile of the planetary gear that meshes with the output gear are formed separately on both end faces of the planetary gear, and are fixedly arranged on the planetary gear. At this time, the planetary differential reducer characterized in that the number of teeth Z2 and Z3 arranged on both sides is the same number of teeth, and the tooth profile is arranged and fixed in the same phase . 請求項１において、ハウジングに固定された固定歯車の歯形、固定歯車の軸心より偏心した偏心軸上に回転自在に軸受けされた遊星歯車の一方の端面に形成された固定歯車と噛み合う側の歯形、また遊星歯車のもう一方の端面に形成された出力歯車と噛み合う側の歯形，固定歯車と同心軸延長上に回転自在に軸受けされた出力歯車の歯形の組み合わせを表１の８種類の組み合わせの何れかとした遊星差動減速機。
Figure 0004172516
 2. The tooth profile of the fixed gear fixed to the housing, the tooth profile of the side meshing with the fixed gear formed on one end face of the planetary gear rotatably supported on the eccentric shaft eccentric from the axis of the fixed gear. In addition, the combinations of the tooth shape of the planetary gear that is meshed with the output gear formed on the other end face and the tooth shape of the output gear that is rotatably supported on the extension of the fixed gear and the concentric shaft are shown in Table 1 . Any planetary differential reducer.
Figure 0004172516
JP2006348781A 2006-12-26 2006-12-26 Planetary differential reducer Expired - Fee Related JP4172516B2 (en)

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CN111237398A (en) * 2020-03-15 2020-06-05 河南烛龙高科技术有限公司 Single-stage close-packed combined tooth surface cycloid oscillating tooth transmission unit
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