CN101881318A - General reducer with eccentric engagement pairs - Google Patents
General reducer with eccentric engagement pairs Download PDFInfo
- Publication number
- CN101881318A CN101881318A CN 201010207152 CN201010207152A CN101881318A CN 101881318 A CN101881318 A CN 101881318A CN 201010207152 CN201010207152 CN 201010207152 CN 201010207152 A CN201010207152 A CN 201010207152A CN 101881318 A CN101881318 A CN 101881318A
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- China
- Prior art keywords
- eccentric
- engagement
- power input
- input shaft
- engaging tooth
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a general reducer with eccentric engagement pairs, comprising a shell, a power input shaft and a power output shaft, wherein an eccentric sleeve is fixedly arranged in the circumferential direction of the power input shaft, is engaged with engaging coggings on the shell by one-to-one correspondence through engaged teeth and is engaged with external gears on the power output shaft in small teeth difference through internal gears. The power input mechanism of the invention adopts the engagement pairs without teeth difference, which is similar to spline engagement, therefore, the relative autorotation speed of the engaging coggings and the engaged teeth is zero and autorotation of a driving fluted disc is eliminated, thus eliminating the high-frequency waves generated in the driving process of the reducers with small teeth different in the prior art, avoiding unnecessary additional motion, improving the driving efficiency and ensuring the motion to be output without hindrance. The general reducer has fewer components than the cycloidal pinwheel reducers in the prior art and has simple and compact structure, small volume and low cost.
Description
Technical field
The present invention relates to a kind of speed reducer, particularly a kind of general reducer with eccentric engagement pairs.
Background technique
Retarder is that the higher rotating speed with power engine eases down to the device that is suitable for the working machine operating rate, extensive use in the equipment industry.Development along with the equipment industry has proposed higher requirement to retarder.What generally use in the prior art is the multi-stage gear retarder, and the multi-stage gear retarder is that when requiring reduction speed ratio big slightly, it is complicated that its structure seems by multiple sets of teeth wheel engagement pair match velocity ratio, and volume is also very big; Plane table thermoconductivity meter can obtain bigger reduction speed ratio, but need be disposed radially multiple sets of teeth wheel and gear shaft, and structure is comparatively complicated, and the structural configuration difficulty, and volume is big.In order to address the above problem, little tooth difference speed reducer has appearred, and have smaller volume and obtain bigger gear ratio; The working principle of little tooth difference speed reducer is: input shaft is rotatably assorted by eccentric bushing cycloid wheel is set, the few tooth difference engagement of cycloid wheel and pin tooth, engaging speed reducer structure in forming; When power drove the eccentric bushing rotation, cycloidal-pin wheel was done revolution and is done rotation again; Again because the number of teeth difference of cycloidal-pin wheel and internal gear seldom, so the motion that cycloidal-pin wheel is done around heart cover center is reverse low speed spinning motion, passes to the purpose that output shaft just can reach deceleration.The little tooth difference speed reducer of prior art is because cycloid wheel has revolution and two kinds of motions of rotation, componental movement can not be used for transmission, produce useless high frequency waves, motion artifacts can occur or other additional movement occur, cause the transmission efficiency of little tooth difference speed reducer lower or cause power to export.
Therefore, need a kind of retarder, the high frequency waves that produce in the little tooth difference speed reducer transmission process in can the elimination prior art avoid useless additional movement to exist, and improve transmission efficiency, and make motion output smoothly.
Summary of the invention
In view of this, purpose of the present invention provides a kind of general reducer with eccentric engagement pairs, and the high frequency waves that produce in the little tooth difference speed reducer transmission process in can the elimination prior art avoid useless additional movement to exist, and improve transmission efficiency, and make motion output smoothly.
General reducer with eccentric engagement pairs of the present invention, comprise housing, power input shaft and pto, fixedly install eccentric bushing at circumferencial direction on the described power input shaft, described eccentric bushing cylindrical is rotatably assorted and is with the transmission fluted disc, transmission fluted disc cylindrical is provided with engaging tooth, it is concentric with power input shaft and with the corresponding one by one engagement of engaging tooth the engagement teeth groove is set to be fixed in housing, and described engagement teeth groove is not narrower than the engaging tooth facewidth in a circumferential direction and the twice offset sum of eccentric bushing in the groove width of circumferencial direction; The groove that the twice offset sum of the root diameter of engaging tooth and eccentric bushing is not more than the engaging tooth flute profile is along circular diameter, and the twice offset sum of the tip diameter of engaging tooth and eccentric bushing is not more than the bottom land circular diameter of engagement teeth groove; Described pto is provided with external gear in the circumferencial direction secure fit, and the transmission fluted disc is provided with internal gear in the circumferencial direction secure fit, the few tooth difference engagement of described internal gear and external gear.
Further, described engagement teeth groove profile line in a circumferential direction is identical with the sports envelope curve of engaging tooth under eccentric bushing drives;
Further, the tooth top of described engaging tooth is an evagination circular arc in the teeth outline of circumferencial direction, and the engagement teeth groove is the indent circular arc that radius equals engaging tooth tooth top radius of arc and eccentric bushing offset sum at the shape line of circumferencial direction;
Further, engaging tooth is a columnar tooth, and the engagement teeth groove is the cylindricality teeth groove;
Further, the one-body molded formation eccentric shaft structure of described power input shaft and eccentric bushing, described pto and external gear are one-body molded, and described engagement teeth groove directly is arranged at shell inner surface; The coaxial setting of described power input shaft and pto, the pto inner end is coaxial with it to be provided with axial cylindrical groove; The power input shaft inner end extends into axial cylindrical groove and is rotatably assorted at circumferencial direction with it, and outboard end passes housing and is rotatably assorted with it;
Further, described housing is provided with the output shaft bearing with coaxial the extending internally of pto, and described pto is supported in the output shaft bearing by at least two rolling bearing I that are set up in parallel vertically;
Further, described power input shaft inner end is rotatably assorted with axial cylindrical groove by rolling bearing III, and outboard end and housing are rotatably assorted at circumferencial direction by rolling bearing IV; Described transmission fluted disc is rotatably assorted by eccentric rolling bearing and eccentric bushing cylindrical;
Further, the eccentric shaft that described power input shaft and eccentric bushing are formed is provided with equilibrium block, is 180 ° of phase angles between the off-centre of described equilibrium block and eccentric shaft.
Beneficial effect of the present invention: general reducer with eccentric engagement pairs of the present invention, power input mechanism adopts the engagement pair that does not have the tooth difference, be similar to spline engagement, therefore, the relative rotation rotating speed of engagement teeth groove and engaging tooth is zero, elimination the spinning motion of transmission fluted disc, thereby the high frequency waves that produce in the little tooth difference speed reducer transmission process in can the elimination prior art, avoid useless additional movement to exist, improve transmission efficiency, and make the expedite smooth output of motion; Parts of the present invention are few, simple and compact for structure than the cycloidal-pin wheel retarder of prior art, volume is little, and cost is low.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is a structural representation of the present invention;
Fig. 2 be Fig. 1 along A-A to view.
Embodiment
Fig. 1 is a structural representation of the present invention, Fig. 2 be Fig. 1 along A-A to view, as shown in the figure: the general reducer with eccentric engagement pairs of present embodiment, comprise housing 4, power input shaft 1 and pto 2, fixedly install eccentric bushing 3 at circumferencial direction on the described power input shaft 1, described eccentric bushing 3 cylindricals are rotatably assorted and are with transmission fluted disc 5, transmission fluted disc 5 cylindricals are provided with engaging tooth 51, it is concentric and with the corresponding one by one engagement of engaging tooth 51 engagement teeth groove 6 is set to be fixed in housing 4 and power input shaft 1, and described engagement teeth groove 6 is not narrower than engaging tooth 51 facewidth in a circumferential direction and the twice offset sum of eccentric bushing 3 in the groove width of circumferencial direction; The twice offset sum of the root diameter of engaging tooth 51 and eccentric bushing 3 is not more than the groove of engagement teeth groove 6 shapes along circular diameter, and groove just meshes the diameter of a circle of the groove of teeth groove 6 along the place along circular diameter; The twice offset sum of the tip diameter of engaging tooth 51 and eccentric bushing 3 is not more than the bottom land circular diameter of engagement teeth groove 6, and the bottom land circular diameter just meshes the diameter of a circle at the bottom land place of teeth groove 6; Described pto 2 is provided with external gear 91 in the circumferencial direction secure fit, and transmission fluted disc 5 is provided with internal gear 52 in the circumferencial direction secure fit, described internal gear 52 and external gear 51 few tooth difference engagements.
In the present embodiment, described engagement teeth groove 6 profile line in a circumferential direction is identical with the sports envelope curve of engaging tooth 51 under eccentric bushing 3 drives; When high speed rotating is made at the center line moving power output shaft center of transmission fluted disc 5, obtain the interior envelope profile of tooth that meshes teeth groove 6 on the housing by this motion, promptly form the engagement teeth groove; Be beneficial to design and processing, and guarantee kinematic accuracy; For 5 of transmission fluted discs are revolved round the sun, and do not do rotation, can obtain the envelope profile of tooth of engagement teeth groove 6 on the housing 4, engagement teeth groove 6 can stop 5 rotations of transmission fluted disc, can also bear the moment of reaction of pto 2 power output.
In the present embodiment, the tooth top of described engaging tooth 51 is an evagination circular arc in the teeth outline of circumferencial direction, and engagement teeth groove 6 is the indent circular arc that radius equals engaging tooth 51 tooth top radius of arc and eccentric bushing 3 offset sums at the shape line of circumferencial direction; Motion stabilization is level and smooth, and precision is higher, no motion artifacts.
In the present embodiment, engaging tooth 51 is a columnar tooth, and engagement teeth groove 6 is the cylindricality teeth groove; Be beneficial to processing, the contact of face is arranged when guaranteeing motion, thereby guarantee stability of transmission, improve load capacity.
In the present embodiment, described power input shaft 1 and eccentric bushing 3 one-body molded formation eccentric shaft structures, described pto 2 is one-body molded with external gear 91, as shown in the figure, and the pto 2 one-body molded output fluted discs 9 that are provided with, external gear 91 is arranged on the output disc 9; Described engagement teeth groove 6 directly is arranged at housing 4 internal surfaces; Described power input shaft 1 and pto 2 coaxial settings, pto 2 inner ends are coaxial with it to be provided with axial cylindrical groove 21; Power input shaft 1 inner end extends into axial cylindrical groove 21 and is rotatably assorted at circumferencial direction with it, and inner end is meant that power input shaft 1 ecto-entad penetrates the direction of housing 4; Outboard end passes housing 4 and is rotatably assorted with it; The supporting structure of this structure is beneficial to the coaxality that guarantees pto and power input shaft and stability is installed, thereby guarantees kinematic accuracy and operation stability.
In the present embodiment, described housing 4 is provided with output shaft bearing 41 with pto 2 coaxial extending internally, described pto 2 is supported in output shaft bearing 41 by at least two rolling bearing I 7 that are set up in parallel vertically, and in the present embodiment, rolling bearing I 7 is two; Structural volume is little, and guarantees supporting ﹠ stablizing and the long-term coaxality that guarantees.
In the present embodiment, described power input shaft 1 inner end is rotatably assorted with axial cylindrical groove by rolling bearing III13, and outboard end and housing 4 are rotatably assorted at circumferencial direction by rolling bearing IV10; Described transmission fluted disc 5 is rotatably assorted with eccentric bushing 3 cylindricals by eccentric rolling bearing 8.
In the present embodiment, described power input shaft 1 is provided with equilibrium block 11 with the eccentric shaft that eccentric bushing 3 is formed, and is 180 ° of phase angles between the off-centre of described equilibrium block 11 and eccentric shaft; Reduce to move the vibration of generation, prolong mechanism working life.
When the present invention moves, the high speed rotating of power engine is by power input shaft 1 input, eccentric bushing drives 5 motions of transmission fluted disc, since the effect of engagement teeth groove 6, the center line moving power input shaft center line rotation of transmission fluted disc 5, and the transmission fluted disc does not carry out rotation, because the center line moving power input shaft center line of transmission fluted disc 5 rotation, as can be seen from Figure 2, by internal gear 52 drive external gears 91 backward rotation of transmission fluted disc, thereby drive the low speed rotation that pto 2 is finished retarder.
When the number of teeth difference of the internal gear 52 of transmission fluted disc 5 and external gear 91 is 1, when transmission fluted disc 5 center line moving power input shaft center lines change 1 circle, output fluted disc 9 on the pto 2 counterclockwise changes 1 tooth, and at this moment, the reduction speed ratio of retarder is external gear 91 numbers of teeth.
The present invention compares with multistage cylinder gear speed reducer, can significantly simplify progression; Compare with planetary reducer, with reducing diameter under the power; Compare with the cycloidal-pin wheel retarder, can increase specific power; Compare with worm reducer, can raise the efficiency; Compare with harmonic speed reducer, can increase transmission power; Compare with three-ring speed reducer, two ring retarders, can simplified structure, this retarder number of components is less.
Explanation is at last, above embodiment is only unrestricted in order to technological scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technological scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1. general reducer with eccentric engagement pairs, comprise housing, power input shaft and pto, fixedly install eccentric bushing at circumferencial direction on the described power input shaft, it is characterized in that: described eccentric bushing cylindrical is rotatably assorted and is with the transmission fluted disc, transmission fluted disc cylindrical is provided with engaging tooth, it is concentric with power input shaft and with the corresponding one by one engagement of engaging tooth the engagement teeth groove is set to be fixed in housing, and described engagement teeth groove is not narrower than the engaging tooth facewidth in a circumferential direction and the twice offset sum of eccentric bushing in the groove width of circumferencial direction; The groove that the twice offset sum of the root diameter of engaging tooth and eccentric bushing is not more than the engaging tooth flute profile is along circular diameter, and the twice offset sum of the tip diameter of engaging tooth and eccentric bushing is not more than the bottom land circular diameter of engagement teeth groove; Described pto is provided with external gear in the circumferencial direction secure fit, and the transmission fluted disc is provided with internal gear in the circumferencial direction secure fit, the few tooth difference engagement of described internal gear and external gear.
2. general reducer with eccentric engagement pairs according to claim 1 is characterized in that: described engagement teeth groove profile line in a circumferential direction is identical with the sports envelope curve of engaging tooth under eccentric bushing drives.
3. general reducer with eccentric engagement pairs according to claim 2, it is characterized in that: the tooth top of described engaging tooth is an evagination circular arc in the teeth outline of circumferencial direction, and the engagement teeth groove is the indent circular arc that radius equals engaging tooth tooth top radius of arc and eccentric bushing offset sum at the shape line of circumferencial direction.
4. general reducer with eccentric engagement pairs according to claim 3 is characterized in that: engaging tooth is a columnar tooth, and the engagement teeth groove is the cylindricality teeth groove.
5. general reducer with eccentric engagement pairs according to claim 4, it is characterized in that: the one-body molded formation eccentric shaft structure of described power input shaft and eccentric bushing, described pto and external gear are one-body molded, and described engagement teeth groove directly is arranged at shell inner surface; The coaxial setting of described power input shaft and pto, the pto inner end is coaxial with it to be provided with axial cylindrical groove; The power input shaft inner end extends into axial cylindrical groove and is rotatably assorted at circumferencial direction with it, and outboard end passes housing and is rotatably assorted with it.
6. general reducer with eccentric engagement pairs according to claim 5, it is characterized in that: described housing is provided with the output shaft bearing with coaxial the extending internally of pto, and described pto is supported in the output shaft bearing by at least two rolling bearing I that are set up in parallel vertically.
7. general reducer with eccentric engagement pairs according to claim 6 is characterized in that: described power input shaft inner end is rotatably assorted by rolling bearing III and axial cylindrical groove, and outboard end and housing are rotatably assorted at circumferencial direction by rolling bearing IV; Described transmission fluted disc is rotatably assorted by eccentric rolling bearing and eccentric bushing cylindrical.
8. general reducer with eccentric engagement pairs according to claim 7 is characterized in that: the eccentric shaft that described power input shaft and eccentric bushing are formed is provided with equilibrium block, is 180 ° of phase angles between the off-centre of described equilibrium block and eccentric shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102071520A CN101881318B (en) | 2010-06-23 | 2010-06-23 | General reducer with eccentric engagement pairs |
| PCT/CN2010/075000 WO2011160313A1 (en) | 2010-06-23 | 2010-07-06 | Universal speed reducer with eccentric engagement pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102071520A CN101881318B (en) | 2010-06-23 | 2010-06-23 | General reducer with eccentric engagement pairs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101881318A true CN101881318A (en) | 2010-11-10 |
| CN101881318B CN101881318B (en) | 2012-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102071520A Expired - Fee Related CN101881318B (en) | 2010-06-23 | 2010-06-23 | General reducer with eccentric engagement pairs |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101881318B (en) |
| WO (1) | WO2011160313A1 (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103032525A (en) * | 2013-01-18 | 2013-04-10 | 王榕生 | Zero-tooth-difference internal gear pair transmission mechanism with planetary gear elastic deformation ring |
| CN103030014A (en) * | 2012-12-28 | 2013-04-10 | 浙江通业印刷机械有限公司 | Non-stop paper feeding phase regulating mechanism |
| CN103277464A (en) * | 2013-05-07 | 2013-09-04 | 北京邮电大学 | Pure-rolling cycloid-pin wheel planetary reducer |
| CN103427551A (en) * | 2012-05-24 | 2013-12-04 | 常州至精精机有限公司 | Driving device |
| TWI464337B (en) * | 2012-06-14 | 2014-12-11 | Ju Wen Hsiao | Reducer |
| CN106090137A (en) * | 2016-08-16 | 2016-11-09 | 杭州安费诺飞凤通信部品有限公司 | A kind of tooth-difference cycloid gear reduction |
| CN107237867A (en) * | 2017-07-04 | 2017-10-10 | 东莞市乐宏塑料五金制品有限公司 | A kind of decelerator and method of work |
| CN108869643A (en) * | 2018-07-29 | 2018-11-23 | 浙江尤奈特电机有限公司 | A kind of radial equilibrium little tooth difference speed reducer of carrier driving wheel |
| CN108999940A (en) * | 2018-09-28 | 2018-12-14 | 李诗濛 | Retarder and brake apparatus with the retarder |
| CN110219947A (en) * | 2019-05-16 | 2019-09-10 | 天津德恒源科技有限公司 | Industrial small-tooth-difference speed reducer |
| CN111022587A (en) * | 2019-11-18 | 2020-04-17 | 衡阳翔润机械有限公司 | Cycloidal speed reducer |
| CN113153982A (en) * | 2021-05-08 | 2021-07-23 | 南京南传智能技术有限公司 | Cycloidal flexible gear speed reducer |
| CN113431876A (en) * | 2021-06-28 | 2021-09-24 | 深圳市泉锲科技有限公司 | Speed reducer with few differential teeth |
| CN114427591A (en) * | 2021-12-30 | 2022-05-03 | 深圳市泉锲科技有限公司 | Speed reducer with few differential teeth for motor |
| CN116707221A (en) * | 2023-08-01 | 2023-09-05 | 哈尔滨艾拓普科技有限公司 | Vector matrix cycloid motor speed reducer |
| CN117394593A (en) * | 2023-10-18 | 2024-01-12 | 东莞市伟创动力科技有限公司 | Middle motor and control method for middle motor |
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| CN109281995B (en) * | 2018-11-23 | 2024-04-16 | 深圳新创技术研究有限公司 | Rolling cycloid planetary speed change mechanism |
| CN110848337A (en) * | 2019-12-16 | 2020-02-28 | 中能（天津）智能传动设备有限公司 | Photo-thermal engineering heliostat driving speed reducer with large output torque |
| CN114183297B (en) * | 2021-11-26 | 2024-06-18 | 明阳智慧能源集团股份公司 | Method and system for reducing reversing tooth clearance vibration of variable pitch system of wind turbine |
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| CN1699793A (en) * | 2005-06-16 | 2005-11-23 | 重庆大学 | Filtering speed reducer |
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| CN2061228U (en) * | 1989-07-19 | 1990-08-29 | 季爱国 | Circumscribed gear planetary reducer |
| CN2179489Y (en) * | 1993-10-21 | 1994-10-12 | 万中宝 | Compound stroke driving wave teeth speed reducer |
| CN2309443Y (en) * | 1997-04-29 | 1999-03-03 | 王鸿志 | Speed reducer for deep-well pump |
| CN1699793A (en) * | 2005-06-16 | 2005-11-23 | 重庆大学 | Filtering speed reducer |
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| CN103427548B (en) * | 2012-05-24 | 2016-08-03 | 常州至精精机有限公司 | Reducing motor |
| CN103427551A (en) * | 2012-05-24 | 2013-12-04 | 常州至精精机有限公司 | Driving device |
| CN103427548A (en) * | 2012-05-24 | 2013-12-04 | 常州至精精机有限公司 | Geared motor |
| CN103427547A (en) * | 2012-05-24 | 2013-12-04 | 常州至精精机有限公司 | Gear deceleration motor |
| CN103427551B (en) * | 2012-05-24 | 2016-08-03 | 常州至精精机有限公司 | Driving means |
| TWI464337B (en) * | 2012-06-14 | 2014-12-11 | Ju Wen Hsiao | Reducer |
| CN103030014A (en) * | 2012-12-28 | 2013-04-10 | 浙江通业印刷机械有限公司 | Non-stop paper feeding phase regulating mechanism |
| CN103032525A (en) * | 2013-01-18 | 2013-04-10 | 王榕生 | Zero-tooth-difference internal gear pair transmission mechanism with planetary gear elastic deformation ring |
| CN103277464B (en) * | 2013-05-07 | 2016-12-28 | 北京邮电大学 | A kind of pure rolling class cycloidal pinwheel planetary gear speed reducer |
| CN103277464A (en) * | 2013-05-07 | 2013-09-04 | 北京邮电大学 | Pure-rolling cycloid-pin wheel planetary reducer |
| CN106090137A (en) * | 2016-08-16 | 2016-11-09 | 杭州安费诺飞凤通信部品有限公司 | A kind of tooth-difference cycloid gear reduction |
| CN107237867A (en) * | 2017-07-04 | 2017-10-10 | 东莞市乐宏塑料五金制品有限公司 | A kind of decelerator and method of work |
| CN108869643A (en) * | 2018-07-29 | 2018-11-23 | 浙江尤奈特电机有限公司 | A kind of radial equilibrium little tooth difference speed reducer of carrier driving wheel |
| CN108999940A (en) * | 2018-09-28 | 2018-12-14 | 李诗濛 | Retarder and brake apparatus with the retarder |
| CN110219947A (en) * | 2019-05-16 | 2019-09-10 | 天津德恒源科技有限公司 | Industrial small-tooth-difference speed reducer |
| CN111022587A (en) * | 2019-11-18 | 2020-04-17 | 衡阳翔润机械有限公司 | Cycloidal speed reducer |
| CN113153982A (en) * | 2021-05-08 | 2021-07-23 | 南京南传智能技术有限公司 | Cycloidal flexible gear speed reducer |
| CN113431876A (en) * | 2021-06-28 | 2021-09-24 | 深圳市泉锲科技有限公司 | Speed reducer with few differential teeth |
| CN114427591A (en) * | 2021-12-30 | 2022-05-03 | 深圳市泉锲科技有限公司 | Speed reducer with few differential teeth for motor |
| CN116707221A (en) * | 2023-08-01 | 2023-09-05 | 哈尔滨艾拓普科技有限公司 | Vector matrix cycloid motor speed reducer |
| CN117394593A (en) * | 2023-10-18 | 2024-01-12 | 东莞市伟创动力科技有限公司 | Middle motor and control method for middle motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011160313A1 (en) | 2011-12-29 |
| CN101881318B (en) | 2012-07-25 |
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