WO2014002144A1 - 遊星差動減速装置 - Google Patents
遊星差動減速装置 Download PDFInfo
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- WO2014002144A1 WO2014002144A1 PCT/JP2012/004234 JP2012004234W WO2014002144A1 WO 2014002144 A1 WO2014002144 A1 WO 2014002144A1 JP 2012004234 W JP2012004234 W JP 2012004234W WO 2014002144 A1 WO2014002144 A1 WO 2014002144A1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
- F16H3/724—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously using external powered electric machines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
- F16H48/10—Differential gearings with gears having orbital motion with orbital spur gears
Definitions
- the present invention relates to a planetary differential reduction device that switches two rotating members rotating at the same speed to a differential rotation state as necessary.
- a differential mechanism generally configured by combining spur gears is used to switch between a synchronous rotation state and a differential rotation state.
- the differential mechanism composed of spur gears has a complicated structure and lacks reliability.
- a phase difference is imparted using an input from a phase rotation source, and a differential mechanism is configured by combining a spur gear and a bevel gear.
- An object of the present invention is to propose a planetary differential reduction device that is smaller, more compact, and more reliable than a differential mechanism that uses a spur gear and a bevel gear.
- a planetary differential reduction device that synchronously rotates and differentially rotates a first output shaft and a second output shaft, A fixed first sun gear; A second sun gear having the same number of teeth as the first sun gear and disposed adjacent to the first sun gear in the direction of the device axis; A first planetary gear meshing with the first sun gear; A second planetary gear having the same number of teeth as the first planetary gear and meshing with the second sun gear; A common planet carrier supporting the first planetary gear and the second planetary gear; A first internal gear meshing with the first planetary gear; Meshing with the second planetary gear, and having a second internal gear having the same number of teeth as the first internal gear, The first internal gear is connected to the first output shaft, the second internal gear is connected to the second output shaft, and the second sun gear is connected to the second output shaft. It is an input element to which rotation for differentially rotating the motor with respect to the first output shaft is input.
- the first output shaft when the first output shaft is driven to rotate, the first internal gear connected to the first output shaft rotates.
- the second internal gear also rotates at the same speed in the same direction as the first internal gear, and the second output shaft connected thereto also rotates at the same speed in the same direction. Therefore, the third output shaft can be rotated synchronously with the first output shaft.
- the differential rotation When switching to the differential rotation state, the differential rotation is input to the second sun gear.
- the input rotation When the second sun gear rotates, the input rotation is decelerated at a predetermined reduction ratio and output from the second internal gear.
- the second internal gear is switched to the differential rotation state with respect to the first internal gear by superimposing the differential reduction output rotation on the rotation of the first internal gear. That is, the second output shaft connected to the second internal gear is switched to a predetermined differential rotation state with respect to the first output shaft.
- a planetary reduction unit may be inserted between the second internal gear and the second output shaft.
- an internal gear of the planetary reduction unit may be connected to the first internal gear and integrally rotated, and a deceleration output may be extracted from the planet carrier of the planetary reduction unit and transmitted to the second output shaft.
- the planetary gear reduction unit rotates the sun gear, the planet carrier, and the internal gear together at the same speed, and the second output shaft is moved to the first output shaft.
- the output shaft can be rotated synchronously, and if there is a differential rotation input, it can be switched to the differential rotation state.
- the planetary differential reduction device of the present invention employs a configuration in which planetary gear reduction mechanisms are combined to realize a differential mechanism that switches the first output shaft and the second output shaft between a synchronous rotation state and a differential rotation state. Yes. Therefore, it is possible to realize a compact and highly reliable differential mechanism as compared with a differential mechanism configured by combining a spur gear and a differential mechanism configured by combining a spur gear and a bevel gear.
- FIG. 1A It is a longitudinal cross-sectional view of the planetary differential reduction mechanism of the planetary differential reduction gear to which the present invention is applied.
- 1B is a front view of the planetary differential speed reduction mechanism of FIG. 1A.
- FIG. It is a skeleton figure of the planetary differential speed reducer of FIG.
- FIG. 1A, 1B, and 2 a planetary differential reduction gear according to an embodiment of the present invention will be described with reference to FIGS. 1A, 1B, and 2.
- FIG. The illustrated planetary differential speed reducer is for, for example, synchronously rotating and differentially rotating a double roll composed of an outer roll and an inner roll.
- the planetary differential reduction device 1 includes a roll driving main motor 2, a differential motor 3, and a planetary differential reduction mechanism 4.
- the planetary differential reduction mechanism 4 includes a first output shaft 5 connected to an outer roll (not shown) and a second output shaft 6 connected to an inner roll (not shown) in a synchronous rotation state by the main motor 2 and the main motor. 2 and the differential motor 3 can be switched and driven in a differential rotation state.
- the planetary differential reduction mechanism 4 includes a cylindrical fixed case 11 and a cylindrical rotary case 12 that extends coaxially forward from the front end of the fixed case 11.
- An inner case 13 that extends coaxially from the rear end to the inside of the fixed side case 11 is fixed to the rotation side case 12.
- a pair of ball bearings 14 and 15 arranged at regular intervals in the direction of the device axis 4 a are mounted between the fixed case 11 and the inner case 13, and the rotary case 12 is interposed via these bearings 14 and 15. Is supported by the stationary case 11 in a rotatable state.
- the rear end opening of the stationary case 11 is sealed by a disk-shaped end plate 16 fixed thereto.
- An annular first output shaft 5 is fixed to the front end of the rotation side case 12 in a coaxial state.
- a disk-shaped second output shaft 6 is rotatably attached to the inside of the first output shaft 5 via a cross roller bearing 17, and the front side opening of the rotation side case 12 is opened by the second output shaft 6. Blocked.
- the fixed case 11 incorporates a first planetary reduction unit 20 and a second planetary reduction unit 30 that constitute the special planetary differential reduction unit 10 of the planetary differential reduction mechanism 4.
- 12 includes a third planetary reduction unit 40 that further decelerates and outputs the differential reduced rotation output of the special planetary differential reduction unit 10.
- a coupling 7 is connected coaxially to the back side of the end plate 16 that seals the rear end of the fixed case 11, and the output rotation of the differential motor 3 is a special planet through the coupling 7. Input to the differential reduction unit 10.
- the first planetary reduction unit 20 of the special planetary differential reduction unit 10 meshes with the first sun gear 21 on the fixed side disposed in a state where the central axis coincides with the device axis 4 a and the first sun gear 21.
- the first sun gear 21 includes a hollow shaft portion 21 a, and the rear end portion of the hollow shaft portion 21 a is coaxially fixed inside a central through hole 16 a formed in the end plate 16.
- the first planet carrier 23 is a common planet carrier that also functions as a planet carrier of the second planetary reduction unit 30 described later, and rotates about the device axis 4a.
- the first internal gear 24 is fixed coaxially to the rear end of the inner case 13. Therefore, the first internal gear 24 rotates integrally with the inner case 13, the rotation side case 12 and the first output shaft 5.
- the second planetary speed reducing unit 30 of the special planetary differential speed reducing unit 10 is connected to the output shaft (not shown) of the differential motor 3 via the coupling 7 and is a second sun gear for differential rotation input. 31, one or more second planetary gears 32 meshed with the second sun gear 31, and a second internal gear 34 for reduced rotation output meshed with the second planetary gear 32. Yes.
- the second planetary gear 32 is supported by the first planetary carrier 23 so as to be rotatable about the planetary shaft 25 common to the first planetary gear 22 of the first planetary reduction unit 20.
- the second sun gear 31 has the same number of teeth as the first sun gear 21, and includes a solid shaft portion 31a and a tooth portion 31b having a slightly larger diameter formed at the front end of the shaft portion 31a. External teeth are formed on the outer peripheral surface of the tooth portion 31b.
- the shaft portion 31 a passes through the hollow portion of the hollow shaft portion 21 a of the first sun gear 21 of the first planetary reduction unit 20 and protrudes outward from the end plate 16 and is fixed to the coupling 7.
- the first planetary carrier 23 supporting the second planetary gear 32 has a disk-shaped end plate portion 23a located on the front side of the second sun gear 31 and a front side in a coaxial state from the front end surface of the end plate portion 23a.
- a planetary shaft 25 is fixed to a portion on the outer peripheral edge side of the rear end face of the end plate portion 23a so as to extend rearward in parallel with the device axis 4a.
- a first planetary gear 22 is attached to a front end portion of the planetary shaft 25, that is, a rear end side portion of the planetary differential speed reducing mechanism 4, and a second planetary gear 32 is attached to a front portion thereof. Yes.
- the first and second planetary gears 22 and 32 are gears having the same number of teeth, and the first internal gear 24 and the second internal gear 34 are also gears having the same number of teeth.
- the second internal gear 34 is coaxially fixed to the rear end of the cup-shaped output member 35 disposed coaxially inside the inner case 13.
- the output member 35 includes a large-diameter cylindrical portion 35a, a disk-shaped end plate portion 35b extending from the front end portion toward the center, and a small-diameter cylindrical portion protruding coaxially forward from the center portion of the end plate portion 35b. 35c.
- the output member 35 is rotatably supported inside the inner case (hollow shaft portion) 13 via the cross roller bearing 36.
- the shaft portion 23b of the planet carrier 23 is coaxially inserted from the rear side into the small diameter cylindrical portion 35c, and the front end portion of the shaft portion 23b is rotatable by the small diameter cylindrical portion 35c via a ball bearing. It is supported by.
- the third planetary speed reduction unit 40 incorporated in the rotation side case 12 is a two-stage planetary gear speed reduction mechanism comprising a front planetary speed reduction part 50 and a rear stage planetary speed reduction part 60 in this example.
- a common internal gear 54 is provided.
- the internal gear is coaxially fixed inside the rotation side case 12 and rotates integrally with the rotation side case 12.
- the front stage planetary reduction unit 50 is engaged with the front stage sun gear 51, the front stage planetary gear 52 meshed with the front stage sun gear 51, the front stage planetary carrier 53 that supports the front stage planetary gear 52 in a rotatable state, and the front stage planetary gear 52. And a gear 54.
- the front sun gear 51 is press-fitted and fixed from the front side to the small-diameter cylindrical portion 35 c of the output member 35 of the second planetary reduction unit 30.
- the front planetary carrier 53 includes a disk-shaped end plate portion 53a and a planetary shaft 53b extending rearward from the rear end surface.
- the post-stage planetary reduction unit 60 includes a post-stage sun gear 61, a post-stage planetary gear 62 meshed with the post-stage planetary gear 62, a post-stage planetary carrier 63 that supports the post-stage planetary gear 62 in a rotatable state, and a post-stage planetary gear 62.
- a meshing front stage and a common internal gear 54 are provided.
- the rear stage sun gear 61 is fixed by press-fitting a rear end side shaft part 61 a into a center through hole formed in the end plate part 53 a of the front stage planetary carrier 53.
- the post-stage planetary carrier 63 has a structure in which the planetary shaft 63a is attached to the disk-shaped second output shaft 6. In this example, three planetary shafts 63a are arranged at equal angular intervals, and a rear planetary gear 62 is attached to each of them.
- an outer roll (not shown) is connected to the first output shaft 5 to differentially rotate the outer roll and the inner roll arranged concentrically, and the second output shaft is connected to the inner roll (not shown). 6 are connected.
- the first output shaft 5 is rotationally driven by the main motor 2, and the second sun gear 31 for differential rotational input is rotationally driven by the differential motor 3.
- the synchronous rotation state of the outer roll and the inner roll that is, the case where the first output shaft 5 and the second output shaft 6 rotate in the same direction at the same speed will be described.
- the main motor 2 is driven out of the main motor 2 and the differential motor 3.
- the rotation side case 12, the inner case 13, and the first internal gear 24 of the first planetary speed reduction unit 20 fixed to the first output shaft 5 are integrally formed at the same speed and in the same direction. Rotate to.
- the first sun gear 21 of the first planetary speed reducing unit 20 is fixed to the stationary case 11 so as not to rotate, the first planet carrier 23 rotates at a predetermined speed via the first planetary gear 22. Since the second planetary gear 32 of the second planetary reduction unit 30 is supported by the common planetary shaft 25 in the first planetary carrier 23, the second internal gear 34 meshing with the second planetary gear 32 is connected to the first internal gear 24. Rotate in the same direction at the same speed.
- the internal gear 54 (third internal gear) fixed to the first output shaft 5 and the rotary case 12 to which the second internal gear 24 is fixed are fixed.
- the input-side front sun gear 51 (third sun gear) rotates in the same direction at the same speed. Therefore, the rear planetary carrier 63 (third planet carrier) on the output side also rotates in the same direction at the same speed, and the second output shaft 6 fixed thereto also rotates in the same direction at the same speed. That is, the first output shaft 5 and the second output shaft 6 rotate synchronously.
- the input rotation of the differential motor 3 is decelerated via the second and third planetary speed reduction units 30 and 40 and transmitted to the second output shaft 6, and the second output shaft 6 is transmitted to the first output shaft 5.
- the differential rotation is performed at a speed higher or lower than the transmitted differential rotation.
- the third planetary speed reduction unit 40 is composed of a two-stage planetary speed reduction mechanism, but a single-stage planetary speed reduction mechanism can also be used. Further, when there is no need to greatly reduce the differential input rotation, the third planetary speed reduction unit 40 is omitted, and the planetary differential speed reduction mechanism 4 is configured using only the special planetary speed reduction unit 10. It is also possible. Furthermore, although the planetary differential reduction gear 1 of this example is used for switching the outer roll and the inner roll constituting the double roll to the synchronous rotation state and the differential rotation state, the other two rotating members are used. Needless to say, can be used to switch between the synchronous rotation state and the differential rotation state.
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Abstract
Description
固定側の第1太陽歯車と、
前記第1太陽歯車と同一の歯数を有し、当該第1太陽歯車に対して装置軸線の方向に隣接配置した第2太陽歯車と、
前記第1太陽歯車に噛み合っている第1遊星歯車と、
前記第1遊星歯車と同一の歯数を有し、前記第2太陽歯車に噛み合っている第2遊星歯車と、
前記第1遊星歯車および前記第2遊星歯車を支持している共通遊星キャリアと、
前記第1遊星歯車に噛み合っている第1内歯車と、
前記第2遊星歯車に噛み合っており、前記第1内歯車と同一の歯数の第2内歯車とを備えており、
前記第1内歯車は前記第1出力軸の側に連結されており、前記第2内歯車は前記第2出力軸の側に連結されており、前記第2太陽歯車は、前記第2出力軸を前記第1出力軸に対して差動回転させるための回転が入力される入力要素であることを特徴としている。
遊星差動減速装置1は、ロール駆動用の主モータ2、差動用モータ3および遊星差動減速機構4を備えている。遊星差動減速機構4は、不図示の外ロールに連結される第1出力軸5および不図示の内ロールに連結される第2出力軸6を、主モータ2による同期回転状態と、主モータ2および差動用モータ3による差動回転状態に切り替え駆動することができる。
本例では、同心状に配置されている外ロールおよび内ロールを差動回転するために、不図示の外ロールが第1出力軸5に連結され、不図示の内ロールには第2出力軸6が連結されている。また、第1出力軸5は主モータ2によって回転駆動され、差動回転入力用の第2太陽歯車31が差動用モータ3によって回転駆動される。
Claims (3)
- 第1出力軸(5)および第2出力軸(6)を同期回転および差動回転させる遊星差動減速装置(1)であって、
固定側の第1太陽歯車(21)と、
前記第1太陽歯車(21)と同一の歯数を有し、当該第1太陽歯車(21)に対して装置軸線(4a)の方向に隣接配置した第2太陽歯車(31)と、
前記第1太陽歯車(21)に噛み合っている第1遊星歯車(22)と、
前記第1遊星歯車(22)と同一の歯数を有し、前記第2太陽歯車(31)に噛み合っている第2遊星歯車(32)と、
前記第1遊星歯車(22)および前記第2遊星歯車(32)を支持している共通遊星キャリア(23)と、
前記第1遊星歯車(22)に噛み合っている第1内歯車(24)と、
前記第2遊星歯車(32)に噛み合っており、前記第1内歯車(24)と同一の歯数の第2内歯車(34)とを備えており、
前記第1内歯車(24)は前記第1出力軸(5)の側に連結されており、前記第2内歯車(34)は前記第2出力軸(6)の側に連結されており、前記第2太陽歯車(31)は、前記第2出力軸(6)を前記第1出力軸(5)に対して差動回転させるための回転が入力される入力要素であることを特徴とする遊星差動減速装置(1)。 - 請求項1において、
前記第2内歯車(34)および前記第2出力軸(6)の間を連結している遊星減速部(40)を備えており、
前記遊星減速部(40)は、
前記第2内歯車(34)と一体回転する第3太陽歯車(51)と、
前記第3太陽歯車(51)に噛み合っている第3遊星歯車(52)と、
前記第3遊星歯車(52)に噛み合っており、前記第1内歯車(24)と一体回転する第3内歯車(54)と、
前記第3遊星歯車(52)を支持している遊星キャリア(63)とを備えており、
前記遊星キャリア(63)は前記第2出力軸(6)に連結されていることを特徴とする遊星差動減速装置(1)。 - 請求項2において、
円筒状の固定側ケース(11)と円筒状の回転側ケース(12)とを有し、
前記回転側ケース(12)は、前記固定側ケース(11)に対して同軸状態で隣接配置されており、前記回転側ケース(12)の端には、前記固定側ケース(11)の内側に同軸状態に延びている内側ケース(13)が固定されており、当該内側ケース(13)は前記固定側ケース(11)によって前記装置軸線(4a)を中心として回転自在の状態で支持されており、
前記固定側ケース(11)における前記回転側ケース(12)とは反対側の端には端板(16)が固定されており、
前記回転側ケース(12)における前記固定側ケース(11)とは反対側の端には、同軸状態で円環状の前記第1出力軸(5)が固定されており、
前記第1出力軸(5)の内側には、前記装置軸線(4a)を中心として回転自在の状態で、円盤状の前記第2出力軸(6)が配置されており、
前記第1内歯車(24)は、前記内側ケース(13)における前記回転側ケース(12)とは反対側の端に同軸状態に固定されており、
前記第1太陽歯車(21)は、前記端板(16)の中心部を貫通する状態で当該端板に固定した中空軸部(21a)を備えており、
前記第2太陽歯車(31)は、前記中空軸部(21a)の中空部を貫通して前記端板(16)の外側に突出している差動回転入力用の軸部(31a)を備えており、
前記第2内歯車(34)は、前記内側ケース(13)の内側に配置され、当該内側ケース(13)によって回転自在の状態で支持されている出力部材(35)に固定されており、
前記出力部材(35)は、前記装置軸線(4a)の方向の一方の側では前記共通遊星キャリア(23)を前記装置軸線(4a)を中心として回転自在の状態で支持し、他方の側では前記遊星減速部(40)の前記第3太陽歯車(51)が同軸状態で固定されている中空軸部(35c)を備えており、
前記共通遊星キャリア(23)は、前記第2太陽歯車(31)を前記装置軸線(4a)を中心として回転自在の状態で支持しており、
前記回転側ケース(12)の内部に、前記第3太陽歯車(51)、前記第3遊星歯車(52)、前記遊星キャリア(63)および前記第3内歯車(54)が配置されており、前記第3内歯車(54)は当該回転側ケース(12)に固定されていることを特徴とする遊星差動減速装置(1)。
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Application Number | Priority Date | Filing Date | Title |
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KR1020137006783A KR101847862B1 (ko) | 2012-06-29 | 2012-06-29 | 유성차동 감속장치 |
EP12820844.4A EP2698562B1 (en) | 2012-06-29 | 2012-06-29 | Planetary differential speed reducer |
JP2013505234A JP5450889B1 (ja) | 2012-06-29 | 2012-06-29 | 遊星差動減速装置 |
PCT/JP2012/004234 WO2014002144A1 (ja) | 2012-06-29 | 2012-06-29 | 遊星差動減速装置 |
US13/816,992 US8864617B2 (en) | 2012-06-29 | 2012-06-29 | Planetary differential reduction device |
TW101136354A TWI565891B (zh) | 2012-06-29 | 2012-10-02 | Planetary differential deceleration device |
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CN108343711A (zh) * | 2018-04-26 | 2018-07-31 | 郑州机械研究所有限公司 | 同轴式大扭矩空心轴输入输出行星传动装置 |
KR102030534B1 (ko) | 2019-05-07 | 2019-10-10 | 윤창진 | 양방향 회전이 가능한 원심분리기 |
KR102045972B1 (ko) | 2019-05-07 | 2019-11-18 | 윤창진 | 양방향 회전이 가능한 원심분리기 |
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- 2012-06-29 EP EP12820844.4A patent/EP2698562B1/en active Active
- 2012-06-29 WO PCT/JP2012/004234 patent/WO2014002144A1/ja active Application Filing
- 2012-06-29 KR KR1020137006783A patent/KR101847862B1/ko active IP Right Grant
- 2012-06-29 JP JP2013505234A patent/JP5450889B1/ja active Active
- 2012-06-29 US US13/816,992 patent/US8864617B2/en active Active
- 2012-10-02 TW TW101136354A patent/TWI565891B/zh active
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JPS6095250U (ja) * | 1983-12-05 | 1985-06-28 | 神鋼電機株式会社 | 歯車式減速機 |
JPH09211015A (ja) * | 1996-02-01 | 1997-08-15 | Tamagawa Seiki Co Ltd | 差動遊星型複速センサ |
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Also Published As
Publication number | Publication date |
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US20140004989A1 (en) | 2014-01-02 |
TWI565891B (zh) | 2017-01-11 |
US8864617B2 (en) | 2014-10-21 |
JP5450889B1 (ja) | 2014-03-26 |
KR20150027671A (ko) | 2015-03-12 |
KR101847862B1 (ko) | 2018-04-11 |
EP2698562B1 (en) | 2019-06-19 |
EP2698562A4 (en) | 2016-03-09 |
TW201400733A (zh) | 2014-01-01 |
EP2698562A1 (en) | 2014-02-19 |
JPWO2014002144A1 (ja) | 2016-05-26 |
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