CN112343971B - Closed speed reducer with movable gear and fixed gear compound transmission - Google Patents
Closed speed reducer with movable gear and fixed gear compound transmission Download PDFInfo
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- CN112343971B CN112343971B CN202011147325.4A CN202011147325A CN112343971B CN 112343971 B CN112343971 B CN 112343971B CN 202011147325 A CN202011147325 A CN 202011147325A CN 112343971 B CN112343971 B CN 112343971B
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of gear transmission, in particular to a closed speed reducer adopting movable tooth and fixed tooth composite transmission. The eccentric shaft section on the input shaft can drive the planet wheel to revolve around the axis of the input shaft, so that the fixed teeth of the planet wheel on the peripheral side of the planet wheel are meshed with the fixed teeth of the middle shell on the inner side of the middle shell to form primary transmission, and meanwhile, the transmission balls on the output shaft groove of the output shaft are meshed with the cycloid track of the planet wheel on the right side of the planet wheel to form secondary transmission; the invention adopts a closed structure, the structure of the speed reducer becomes simpler and more compact, and the large transmission ratio can be realized through the combination of the tooth numbers.
Description
Technical Field
The invention relates to the technical field of gear transmission, in particular to a closed speed reducer adopting movable tooth and fixed tooth composite transmission.
Background
With the continuous development of movable tooth transmission, a plurality of novel movable tooth reducers are developed in succession, the movable tooth transmission can meet the requirements of compact structure, high transmission efficiency, wide transmission ratio range, large bearing capacity and the like, and can be widely applied to the industrial fields of robots, aerospace and the like. However, most of the existing two-stage movable-tooth reducers have complex structures and large space sizes, and therefore, the reducer with a more compact structure is developed to meet the development requirements of more new technologies and new equipment.
Disclosure of Invention
The invention aims to effectively simplify the structure and make the structure more compact by adopting a closed structure of movable tooth and fixed tooth compound transmission, can obtain a large transmission ratio by adjusting the number of teeth, is more suitable for a robot joint, can carry out parameterization and serialization design and is suitable for application in multiple fields.
In order to achieve the technical problem, the invention provides the following technical scheme:
a closed speed reducer with movable tooth and fixed tooth compound transmission comprises: the device comprises an input shaft (1), a sealing ring (2), a clamp spring (3), a left end cover (4), a gasket (5), a middle shell (6), a planet wheel (7), a transmission ball (8), an output shaft (9), a right end cover (10), a deep groove ball bearing (11-a), a deep groove ball bearing (11-b), a deep groove ball bearing (11-c), a deep groove ball bearing (11-d), an input shaft left end (101), an input shaft shoulder (102), an input shaft eccentric shaft section (103), an input shaft right end (104), a middle shell through hole (601), middle shell fixed teeth (602), planet wheel fixed teeth (701), a planet wheel track (702), a planet wheel boss (703), an output shaft groove (901) and an output shaft inner hole (902); the left end cover (4) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through a screw; the sealing ring (2) is fixedly arranged on a left end cover (4), the left end (101) of an input shaft of the input shaft (1) is hinged in an inner hole of the left end cover (4) through a deep groove ball bearing (11-a), the left side of the deep groove ball bearing (11-a) in the inner hole of the left end cover (4) is fixed through a snap spring (3), the planet wheel (7) is hinged on an input shaft eccentric shaft section (103) of the input shaft (1) through two deep groove ball bearings (11-b), the two deep groove ball bearings (11-b) on the input shaft eccentric shaft section (103) of the input shaft (1) are arranged on the right side of an input shaft shoulder (102) of the input shaft (1), the deep groove ball bearings (11-b) are arranged on the left side of a planet wheel boss (703) on the inner side of the planet wheel (7), the outer teeth of a planet wheel fixed teeth (701) on the outer side of the planet wheel (7) are meshed with the inner middle shell fixed teeth (602) on the inner side of the middle shell (6), primary transmission is formed, a deep groove ball bearing (11-d) is fixedly mounted at the right end (104) of the input shaft (1), and the outer ring of the deep groove ball bearing (11-d) is matched with an output shaft inner hole (902) of the output shaft (9); the transmission balls (8) are arranged in a plurality of output shaft grooves (901) on the left side surface of the output shaft (9), the transmission balls (8) are matched with the planet wheel track (702) on the right side of the planet wheel (7) to form secondary transmission, and the right end cover (10) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through screws; the right end cover (10) is hinged to the output shaft (9) through two deep groove ball bearings (11-c), the right side of the deep groove ball bearing (11-c) on the output shaft (9) is fixed through a clamp spring (3), and the sealing ring (2) is fixedly installed on the right end cover (10).
Further, the planet wheel (7) comprises: the planet gear fixing teeth (701), the planet gear track (702) and the planet gear boss (703), the planet gear fixing teeth (701) on the outer side of the planet gear are meshed with the middle shell fixing teeth (602) on the inner side of the middle shell, and the planet gear boss (703) is arranged in an inner hole on the inner side of the planet gear (7).
Furthermore, the planet wheel fixed teeth (701) are gears with any one tooth form of an involute gear, a string gear, a cycloid gear and a circular arc gear.
Further, the planet track (702) can be any one of a cycloid track and a chord line track.
Further, the planet wheel track (702) is meshed with a transmission ball (8) arranged on a right end cover (10).
Furthermore, the middle shell (6) comprises a middle shell through hole (601) on the peripheral side and middle shell fixed teeth (602) on the inner side, the middle shell through holes (601) uniformly distributed on the peripheral side are connected with the left end cover (4) and the right end cover (10) through screws, and the middle shell fixed teeth (602) on the inner side of the middle shell (6) are meshed with the planet wheel fixed teeth (701) on the peripheral side of the planet wheel (7).
Furthermore, a planet gear fixed tooth (701) on the peripheral side of the planet gear (7) and a middle shell fixed tooth (602) on the inner side of the middle shell (6) form primary transmission; a planet wheel track (702) on the right side of the planet wheel (7) and a transmission ball arranged on an output shaft groove (901) of the output shaft (1) form secondary transmission; in the primary transmission, the input of the input shaft (1) and the output of the planet wheel (7) are simultaneously used as the input of the secondary transmission part. The calculation formula of the total transmission ratio of the speed reducer is as follows:
i＝(Z1*Z4)/(Z1*Z4-Z2*Z3)
wherein, Z1: the number of teeth of planet wheel fixed teeth (701) on the periphery of the planet wheel (7); z2: the tooth number of the middle shell fixing teeth (602) on the inner side of the middle shell (6) is set; z3: the number of teeth of a planet wheel track (702) on the right side of the planet wheel (7); z4: the number of teeth of the transmission ball (8); by adjusting the number of teeth, the denominator of the ratio equation can be adjusted to 1, thereby achieving a large ratio.
Compared with the prior art, the closed speed reducer adopting movable tooth and fixed tooth compound transmission has the beneficial effects that:
1. compared with the existing oscillating tooth transmission speed reducer, the closed type speed reducer adopting the oscillating tooth and fixed tooth composite transmission has the advantages that the structure is simple and compact.
2. The invention provides a closed speed reducer with movable teeth and fixed teeth in composite transmission, which adjusts the denominator of a transmission ratio formula to 1 by designing the number of teeth, thereby realizing large transmission ratio.
3. The invention provides a closed speed reducer with movable teeth and fixed teeth in composite transmission, wherein the structure of the speed reducer can be parameterized and designed in series, and the speed reducer is suitable for being applied to the field.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall assembly structure of the present invention;
FIG. 2 is a schematic illustration of the input shaft configuration of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of the construction of the planet of FIG. 1 of the present invention;
FIG. 4 is a schematic cross-sectional view of the planet wheel of FIG. 1 according to the present invention;
FIG. 5 is a schematic illustration of the construction of the center housing of FIG. 1 according to the present invention;
FIG. 6 is a schematic illustration of the output shaft of FIG. 1 according to the present invention;
reference numerals: 1-an input shaft; 2-sealing ring; 3-a clamp spring; 4-left end cap; 5-a gasket; 6-middle shell; 7-a planet wheel; 8-a drive ball; 9-an output shaft; 10-right end cap; 11-a-deep groove ball bearing; 11-b-deep groove ball bearing; 11-c-deep groove ball bearing; 11-d-deep groove ball bearing; 101-input shaft left end; 102-input shaft shoulder; 103-input shaft eccentric shaft section; 104-right end of input shaft; 701-planet gear fixed teeth; 702-a planet wheel track; 703-a planet wheel boss; 601-middle shell through hole; 602-middle shell fixed teeth; 901-output shaft groove; 902-output shaft bore.
Detailed Description
The technical solution of the present invention will be clearly and completely described by the following detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the closed speed reducer with movable teeth and fixed teeth compound transmission comprises: the device comprises an input shaft (1), a sealing ring (2), a clamp spring (3), a left end cover (4), a gasket (5), a middle shell (6), a planet wheel (7), a transmission ball (8), an output shaft (9), a right end cover (10), a deep groove ball bearing (11-a), a deep groove ball bearing (11-b), a deep groove ball bearing (11-c), a deep groove ball bearing (11-d), an input shaft left end (101), an input shaft shoulder (102), an input shaft eccentric shaft section (103), an input shaft right end (104), a middle shell through hole (601), middle shell fixed teeth (602), planet wheel fixed teeth (701), a planet wheel track (702), a planet wheel boss (703), an output shaft groove (901) and an output shaft inner hole (902); the left end cover (4) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through a screw; the sealing ring (2) is fixedly arranged on a left end cover (4), the left end (101) of an input shaft of the input shaft (1) is hinged in an inner hole of the left end cover (4) through a deep groove ball bearing (11-a), the left side of the deep groove ball bearing (11-a) in the inner hole of the left end cover (4) is fixed through a snap spring (3), the planet wheel (7) is hinged on an input shaft eccentric shaft section (103) of the input shaft (1) through two deep groove ball bearings (11-b), the two deep groove ball bearings (11-b) on the input shaft eccentric shaft section (103) of the input shaft (1) are arranged on the right side of an input shaft shoulder (102) of the input shaft (1), the deep groove ball bearings (11-b) are arranged on the left side of a planet wheel boss (703) on the inner side of the planet wheel (7), the outer teeth of a planet wheel fixed teeth (701) on the outer side of the planet wheel (7) are meshed with the inner middle shell fixed teeth (602) on the inner side of the middle shell (6), primary transmission is formed, a deep groove ball bearing (11-d) is fixedly mounted at the right end (104) of the input shaft (1), and the outer ring of the deep groove ball bearing (11-d) is matched with an output shaft inner hole (902) of the output shaft (9); the transmission balls (8) are arranged in a plurality of output shaft grooves (901) on the left side surface of the output shaft (9), the transmission balls (8) are matched with the planet wheel track (702) on the right side of the planet wheel (7) to form secondary transmission, and the right end cover (10) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through screws; the right end cover (10) is hinged to the output shaft (9) through two deep groove ball bearings (11-c), the right side of the deep groove ball bearing (11-c) on the output shaft (9) is fixed through a clamp spring (3), and the sealing ring (2) is fixedly installed on the right end cover (10).
Preferably, the planet gear fixed teeth (701), the planet gear track (702) and the planet gear boss (703), the planet gear fixed teeth (701) on the outer side of the planet gear are meshed with the middle shell fixed teeth (602) on the inner side of the middle shell, and the planet gear boss (703) is arranged in an inner hole on the inner side of the planet gear (7).
Preferably, the planet wheel fixed teeth (701) are gears with any one tooth form of an involute gear, a string gear, a cycloid gear and a circular arc gear.
Preferably, the planet track (702) can be any one of a curve track and a cycloid track.
Preferably, the planet wheel track (702) is meshed with a transmission ball (8) arranged on a right end cover (10).
Preferably, the middle shell (6) comprises a middle shell through hole (601) on the peripheral side and middle shell fixed teeth (602) on the inner side, the middle shell through holes (601) uniformly distributed on the peripheral side are connected with the left end cover (4) and the right end cover (10) through screws, and the middle shell fixed teeth (602) on the inner side of the middle shell (6) are meshed with the planet wheel fixed teeth (701) on the peripheral side of the planet wheel (7).
Preferably, the planet gear fixed teeth (701) on the periphery of the planet gear (7) and the middle shell fixed teeth (602) on the inner side of the middle shell (6) form a primary transmission; a planet wheel track (702) on the right side of the planet wheel (7) and a transmission ball arranged on an output shaft groove (901) of the output shaft (1) form secondary transmission; in the primary transmission, the input of the input shaft (1) and the output of the planet wheel (7) are simultaneously used as the input of the secondary transmission part. The calculation formula of the total transmission ratio of the speed reducer is as follows:
i＝(Z1*Z4)/(Z1*Z4-Z2*Z3)
wherein, Z1: the number of teeth of planet wheel fixed teeth (701) on the periphery of the planet wheel (7); z2: the tooth number of the middle shell fixing teeth (602) on the inner side of the middle shell (6) is set; z3: the number of teeth of a planet wheel track (702) on the right side of the planet wheel (7); z4: the number of teeth of the transmission ball (8); by adjusting the number of teeth, the denominator of the ratio equation can be adjusted to 1, thereby achieving a large ratio.
In the embodiment, the overall size of the closed speed reducer with the movable teeth and the fixed teeth in composite transmission is that the outer diameter is phi 70mm, and the total length is 85.1 mm; the planet wheel fixed teeth (701) on the periphery of the planet wheel (7) are string gears; the planet wheel track (702) on the right side of the planet wheel (7) is a cycloid track, the model of the deep groove ball bearing (11-c) is 688 open, and the models of the deep groove ball bearing (11-a), the deep groove ball bearing (11-b) and the deep groove ball bearing (11-d) are 6800; the size of the sealing ring (2) is 10 × 19 × 4 mm; the theoretical parameters of the oscillating and fixed gear transmissions are shown in the table below.
The working principle of the invention is as follows: when the input shaft (1) is rotated, an eccentric shaft section (103) on the input shaft can carry the planet wheel (7) to revolve around the axis of the input shaft (1), so that the string fixed teeth (701) of the planet wheel on the peripheral side of the planet wheel (7) are meshed with the string fixed teeth (602) of the middle shell on the inner side of the middle shell (6) to form primary transmission, and meanwhile, transmission balls (8) arranged on an output shaft groove (901) of an output shaft (9) are meshed with a cycloid track (702) of the planet wheel on the right side of the planet wheel (7) to form secondary transmission; the invention adopts a closed structure, the structure of the speed reducer becomes simpler and more compact, and the large transmission ratio can be realized through the combination of the tooth numbers.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
1. A closed speed reducer with movable teeth and fixed teeth in compound transmission is characterized by comprising: the device comprises an input shaft (1), a sealing ring (2), a clamp spring (3), a left end cover (4), a gasket (5), a middle shell (6), a planet wheel (7), a transmission ball (8), an output shaft (9), a right end cover (10), a first deep groove ball bearing (11-a), a second deep groove ball bearing (11-b), a third deep groove ball bearing (11-c) and a fourth deep groove ball bearing (11-d); the input shaft (1) includes: the device comprises an input shaft left end (101), an input shaft shoulder (102), an input shaft eccentric shaft section (103) and an input shaft right end (104); the middle housing (6) comprises: the middle shell through hole (601) and the middle shell fixed tooth (602); the planet wheel (7) comprises: the planet gear fixed teeth (701), the planet gear track (702) and the planet gear boss (703); the output shaft (9) includes: an output shaft groove (901) and an output shaft inner hole (902); the left end cover (4) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through a screw; the sealing ring (2) is fixedly arranged on a left end cover (4), the left end (101) of an input shaft of the input shaft (1) is hinged in an inner hole of the left end cover (4) through a first deep groove ball bearing (11-a), the left side of the first deep groove ball bearing (11-a) in the inner hole of the left end cover (4) is fixed through a clamp spring (3), the planet wheel (7) is hinged on an input shaft eccentric shaft section (103) of the input shaft (1) through two second deep groove ball bearings (11-b), two second deep groove ball bearings (11-b) on the input shaft eccentric shaft section (103) of the input shaft (1) are arranged on the right side of an input shaft shoulder (102) of the input shaft (1), the second deep groove ball bearings (11-b) are arranged on the left side of a planet wheel boss (703) on the inner side of the planet wheel (7), the outer teeth of a fixed gear (701) on the outer side of the planet wheel (7) are meshed with the inner teeth of a middle shell fixed gear (602) on the inner side of a middle shell (6), a first-stage transmission is formed, a fourth deep groove ball bearing (11-d) is fixedly installed on the right end (104) of the input shaft (1), and the outer ring of the fourth deep groove ball bearing (11-d) is matched with an output shaft inner hole (902) of the output shaft (9); the transmission balls (8) are arranged in a plurality of output shaft grooves (901) on the left side surface of the output shaft (9), the transmission balls (8) are matched with the planet wheel track (702) on the right side of the planet wheel (7) to form secondary transmission, and the right end cover (10) is fixedly arranged in a middle shell through hole (601) on the peripheral side of the middle shell (6) through screws; the right end cover (10) is hinged to the output shaft (9) through two third deep groove ball bearings (11-c), the right sides of the third deep groove ball bearings (11-c) on the output shaft (9) are fixed through the clamp springs (3), and the sealing ring (2) is fixedly installed on the right end cover (10).
2. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 1, wherein: the planet wheel (7) comprises: the planet gear fixing teeth (701), the planet gear track (702) and the planet gear boss (703), the planet gear fixing teeth (701) on the outer side of the planet gear are meshed with the middle shell fixing teeth (602) on the inner side of the middle shell, and the planet gear boss (703) is arranged in an inner hole on the inner side of the planet gear (7).
3. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 2, wherein: the planet wheel fixed teeth (701) are gears with any one tooth form of an involute gear, a string gear, a cycloid gear and a circular arc gear.
4. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 2, wherein: the planet wheel track (702) is any one of a cycloid track and a chord line track.
5. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 2, wherein: the planet wheel track (702) is meshed with a transmission ball (8) arranged on a right end cover (10).
6. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 1, wherein: the middle shell (6) comprises a middle shell through hole (601) on the peripheral side and middle shell fixing teeth (602) on the inner side, the middle shell through holes (601) which are uniformly distributed on the peripheral side are connected with the left end cover (4) and the right end cover (10) through screws, and the middle shell fixing teeth (602) on the inner side of the middle shell (6) are meshed with the planet wheel fixing teeth (701) on the peripheral side of the planet wheel (7).
7. The closed speed reducer with movable tooth and fixed tooth compound transmission as claimed in claim 1, wherein: the planet wheel fixed teeth (701) on the peripheral side of the planet wheel (7) and the middle shell fixed teeth (602) on the inner side of the middle shell (6) form primary transmission; a planet wheel track (702) on the right side of the planet wheel (7) and a transmission ball arranged on an output shaft groove (901) of the output shaft (9) form secondary transmission; in the primary transmission, the input of the input shaft (1) and the output of the planet wheel (7) are simultaneously used as the input of the secondary transmission part, and the calculation formula of the total transmission ratio of the speed reducer is as follows:
i＝(Z1*Z4)/(Z1*Z4-Z2*Z3)
wherein, Z1: the number of teeth of planet wheel fixed teeth (701) on the periphery of the planet wheel (7); z2: the tooth number of the middle shell fixing teeth (602) on the inner side of the middle shell (6) is set; z3: the number of teeth of a planet wheel track (702) on the right side of the planet wheel (7); z4: the number of teeth of the transmission ball (8); by adjusting the number of teeth, the denominator of the transmission ratio formula is adjusted to 1, thereby obtaining a large transmission ratio.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147325.4A CN112343971B (en) | 2020-10-23 | 2020-10-23 | Closed speed reducer with movable gear and fixed gear compound transmission |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147325.4A CN112343971B (en) | 2020-10-23 | 2020-10-23 | Closed speed reducer with movable gear and fixed gear compound transmission |
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| CN112343971A CN112343971A (en) | 2021-02-09 |
| CN112343971B true CN112343971B (en) | 2021-10-12 |
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| DE102020204205A1 (en) * | 2020-03-31 | 2021-09-30 | Zf Friedrichshafen Ag | Bead for housing feed-throughs |
| WO2021223112A1 (en) * | 2020-05-06 | 2021-11-11 | Abb Schweiz Ag | Gearbox housing and method of manufacturing the same |
| CN113339462A (en) * | 2021-05-28 | 2021-09-03 | 燕山大学 | String fixed tooth speed reducer with multiple tooth difference and large contact ratio |
| CN113483061B (en) * | 2021-06-30 | 2022-11-01 | 燕山大学 | Small-size sinusoidal gear reducer based on cross roller bearing |
| CN113757320B (en) * | 2021-09-15 | 2023-07-25 | 燕山大学 | String needle wheel speed reducer |
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| US6336887B1 (en) * | 1996-11-21 | 2002-01-08 | Aimbridge Pty Ltd. | Double orbital transmission |
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| 新型风电偏航减速机动力学仿真分析;鄂加强 等;《中南大学学报(自然科学版)》;20110831;第42卷(第8期);第2324-2331页 * |
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