CN105276097A - Double-level differential movement type few-tooth-difference planetary gear transmission mechanism - Google Patents

Double-level differential movement type few-tooth-difference planetary gear transmission mechanism Download PDF

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Publication number
CN105276097A
CN105276097A CN201510827603.3A CN201510827603A CN105276097A CN 105276097 A CN105276097 A CN 105276097A CN 201510827603 A CN201510827603 A CN 201510827603A CN 105276097 A CN105276097 A CN 105276097A
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China
Prior art keywords
level
gear
tooth
order
bent axle
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Pending
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CN201510827603.3A
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Chinese (zh)
Inventor
朱才朝
郭沛霖
谭建军
周烨
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Chongqing University
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Chongqing University
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Priority to CN201510827603.3A priority Critical patent/CN105276097A/en
Publication of CN105276097A publication Critical patent/CN105276097A/en
Pending legal-status Critical Current

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a double-level differential movement type few-tooth-difference planetary gear transmission mechanism. The mechanism comprises double levels of differential movement type few-tooth-difference planetary gears. The first-level differential movement type few-tooth-difference planetary gear comprises a first-level gear shell inner gear ring (1) and a first-level outer gear cycloidal gear (7) engaged with the first-level gear shell inner gear ring. The second-level differential movement type few-tooth-difference planetary gear comprises a second-level gear shell inner gear ring (15) and a second-level outer gear cycloidal gear (13) engaged with the second-level gear shell inner gear ring. The periphery of the first-level gear shell inner gear ring (1) extends to form a stepped groove, and the outer wall of the second-level gear shell inner gear ring (15) is embedded into the stepped groove of the first-level gear shell inner gear ring (1) through supporting bearings (10). The mechanism has the following beneficial effects that the transmission ratio of few-tooth-difference planetary transmission is increased, multiple tumbler bearings are used, the service life of the tumbler bearings is prolonged, meanwhile, the size is small, and installation and use are facilitated.

Description

A kind of two differential formula planet-gear transmission mechanism
Technical field
The invention belongs to a kind of driving mechanism, be specifically related to a kind of planet-gear transmission mechanism.
Background technique
The driving mechanism that planet-gear transmission is made up of internal gear pair, eccentric element and the output mechanism of a pair number of teeth difference little (usual number of teeth difference is 1 ~ 2).It has that volume is little, quality is light, velocity ratio is large, compact structure, transmission accuracy are high, efficiency is high, bearing capacity is strong, be convenient to standardization, seriation and industrialization manufacture and design, are convenient to assembling, are convenient to the features such as integrated Mechatronic control system and servo drive system.Along with the continuous progress of science and technology and every profession and trade day by day urgent to the demand of high, precision and frontier industrial products, planet-gear transmission has been widely used in the fields such as Aero-Space, boats and ships, instrument, radar, military equipment, mechanical automation, is particularly useful for industrial automation (FA) products such as the industrial robots greatly developed in country " 13 " planning and " made in China 2025 ".
Along with developing rapidly of highi degree of accuracy, ultra-high precision process equipment and level of processing, the machining accuracy of component and the transmission accuracy of planet-gear transmission system have not been re-used as the principal element of this type of belt drive of constraint development.Researcher generally believes in the industry, and the life-span being positioned at rotary arm bearing eccentric element transmitting motion and power is the weak link of whole planetary drive with small teeth difference system.After the physical dimension of rotary arm bearing reaches the optimization of optimum degree, the main cause of rotary arm bearing life-span deficiency is caused to be that the stress of rotary arm bearing is very severe and cannot be optimized, rotary arm bearing is subject to the effect of space force system of load significantly alternation change usually, makes its very easily fatigue failure.In addition, the velocity ratio of existing single-stage less-tooth-difference planetary transmission is generally within 100, even if two-stage combined type less-tooth-difference planetary transmission is difficult to substantially significantly expand velocity ratio without when enlarging markedly at volume.Above restraining factors hinder further developing of planet-gear transmission.
Chinese patent literature CN1776252A disclosed " shaft-assembled type serial less-tooth-difference planetary transmission " in 2005, it is in series by two-stage K-H-V type planetary drive with small teeth difference, the output of first order K-H-V type planetary drive with small teeth difference is as the input of second level K-H-V type planetary drive with small teeth difference, the velocity ratio of this type of belt drive is the product of two-stage planetary drive with small teeth difference velocity ratio, be easy to amplify velocity ratio, but the combination of the mere in-line of two-stage planetary drive with small teeth difference increases the volume of transmission device, bring the trouble that structure is not compact, volume increases.In addition, this type of belt drive does not inherently solve the problem that rotary arm bearing stress is severe, the life-span is not enough.
Summary of the invention
For the technical problem existed in prior art, technical problem to be solved by this invention is just to provide a kind of two differential formula planet-gear transmission mechanism, it can increase the velocity ratio of planetary drive with small teeth difference under volume is without the condition enlarged markedly, the bearing pressure of single rotary arm bearing can be reduced simultaneously, extend the working life of rotary arm bearing.
Technical problem to be solved by this invention is realized by such technological scheme, it comprises two differential formula small teeth number difference planet gear, wherein, the first order external tooth cycloid wheel that first order differential type small teeth number difference planet gear comprises first order tooth shell ring gear and engages with first order tooth shell ring gear, the second level external tooth cycloid wheel that second level differential type small teeth number difference planet gear comprises second level tooth shell ring gear and engages with second level tooth shell ring gear, the first input Curved shaft support bearing of input bent axle leading portion on the tooth shell of first order tooth shell ring gear stretches out outside first order tooth shell ring gear, first order external tooth cycloid wheel is installed by the first input bent axle rotary arm bearing in input bent axle stage casing, input bent axle back segment installs second level external tooth cycloid wheel by the second input bent axle rotary arm bearing, the side of first order external tooth cycloid wheel has bent axle, bent axle is by being arranged on bent axle rotary arm bearing corresponding on the side of second level external tooth cycloid wheel, first order external tooth cycloid wheel is connected with second level external tooth cycloid wheel, form multicrank parallel-crank mechanism, the peripheral expansion of first order tooth shell ring gear forms step trough, and second level tooth shell annular gear outer-wall is embedded in the step trough of first order tooth shell ring gear by spring bearing.
Working principle of the present invention is as follows:
Input bent axle drives first order external tooth cycloid wheel by the first input bent axle rotary arm bearing, and make it to engage with first order tooth shell ring gear, first order external tooth cycloid wheel does planetary motion; Multiple bent axle forms multicrank parallelogram output mechanism jointly with input bent axle, the output of first order small teeth number difference planet gear is rotated and is input to second level small teeth number difference planet gear with differential form, drive second level external tooth cycloid wheel 13 to engage with second level tooth shell ring gear, will to rotate and power exports from second level tooth shell ring gear.
Under normal circumstances, type of belt drive of the present invention is gearing down, and input bent axle, as input link, has two kinds of gearing down forms:
1, when first order tooth shell ring gear 1 is fixed, when second level tooth shell ring gear 15 is for exporting, then velocity ratio is:
i 1 = z c 1 z p 2 z c 1 z p 2 - z c 2 z p 1 - - - ( 1 )
In formula, z c1for the number of teeth of first order external tooth cycloid wheel, z p1for the number of teeth of first order tooth shell ring gear, z c2for the number of teeth of second level external tooth cycloid wheel, z p2for the number of teeth of second level tooth shell ring gear.
2, when second level tooth shell ring gear is fixed, when first order tooth shell ring gear 1 is for exporting, then velocity ratio is:
i 2 = - z c 2 z p 1 z c 1 z p 2 - z c 2 z p 1 - - - ( 2 )
Formula (1), positive sign represents that input, outbound course are identical in (2), and negative sign represents that input, outbound course are contrary.Number of teeth z c1, z p1, z c2, z p2following relation should be met:
z c 1 < z p 1 z c 2 < z p 2 z c 1 > z c 2 - - - ( 3 )
From formula (1), (2), (3), as long as meet above-mentioned constraint conditio, number of teeth coupling is comparatively easy, and the molecule of gear ratio calculation formula is the number of teeth is multiplied, and easily realizes velocity ratio and increases.Placement due to two-stage small teeth number difference planet gear is differential type, change traditional in-line type of belt drive, change single rotary arm bearing into multiple rotary arm bearing, thus reduce the bearing pressure of single rotary arm bearing, greatly optimize the stress of rotary arm bearing, extend rotary arm bearing working life, and then extend machine life.Because second level tooth shell annular gear outer-wall is embedded in the step trough of first order tooth shell ring gear by spring bearing, structure is simple, obviously reduces relative to the volume of two-stage series connection combination.
Owing to have employed technique scheme, the present invention has following advantage: the velocity ratio increasing planetary drive with small teeth difference, uses multiple rotary arm bearing, extends the working life of rotary arm bearing, and small volume, is beneficial to and installs and uses simultaneously.
Accompanying drawing explanation
Accompanying drawing of the present invention is described as follows:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the sectional view of B-B in Fig. 1;
Fig. 3 is the reduced graph that velocity ratio of the present invention is derived.
In figure: 1. first order tooth shell ring gear; 2. bent axle; 3. the first input bent axle rotary arm bearing; 4. the second input bent axle rotary arm bearing; 5. the first input Curved shaft support bearing; 6. input bent axle; 7. first order external tooth cycloid wheel; 8. first order pin tooth; 9. positioning ring; 10. spring bearing; 11. second input Curved shaft support bearings; 12. bent axle rotary arm bearings; 13. second level external tooth cycloid wheel; 14. second level pin teeth; 15. second level tooth shell ring gears; 16. circlips for shaft;
I, bent axle is inputted; II, the external gear of first order planetary drive with small teeth difference; III, the ring gear of first order planetary drive with small teeth difference; IV, the output crank shaft of first order planetary drive with small teeth difference; V, the external gear of second level planetary drive with small teeth difference; VI, the ring gear of second level planetary drive with small teeth difference.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
As depicted in figs. 1 and 2, the present invention includes two differential formula small teeth number difference planet gear, wherein, the first order external tooth cycloid wheel 7 that first order differential type small teeth number difference planet gear comprises first order tooth shell ring gear 1 and engages with first order tooth shell ring gear, the second level external tooth cycloid wheel 13 that second level differential type small teeth number difference planet gear comprises second level tooth shell ring gear 15 and engages with second level tooth shell ring gear;
The first input Curved shaft support bearing 5 of input bent axle 6 leading portion on the tooth shell of first order tooth shell ring gear 1 stretches out outside first order tooth shell ring gear, first order external tooth cycloid wheel 7 is installed by the first input bent axle rotary arm bearing 3 in input bent axle 6 stage casing, input bent axle 6 back segment installs second level external tooth cycloid wheel 13 by the second input bent axle rotary arm bearing 4, the side of first order external tooth cycloid wheel 7 has bent axle 2, bent axle 2 is by being arranged on bent axle rotary arm bearing 12 corresponding on the side of second level external tooth cycloid wheel 13, first order external tooth cycloid wheel 7 is connected with second level external tooth cycloid wheel 13, form multicrank parallel-crank mechanism, the peripheral expansion of first order tooth shell ring gear 1 forms step trough, and second level tooth shell ring gear 15 outer wall is embedded in the step trough of first order tooth shell ring gear 1 by spring bearing 10.
The second input Curved shaft support bearing 11 of rear on the tooth shell of second level tooth shell ring gear 15 of above-mentioned input bent axle 6 stretches out outside the tooth shell ring gear of the second level, the rear of input bent axle 6 stretches out outside the tooth shell ring gear of the second level to facilitate power source to input from output shaft 6, both can input from left side, can also input from right side, also can input from both sides simultaneously.
The side of first order external tooth cycloid wheel 7 have three bent axles 2, three bent axles 2 are uniform to input centered by bent axle 4, by being arranged on bent axle rotary arm bearing 12 corresponding on the side of second level external tooth cycloid wheel 13, first order external tooth cycloid wheel 7 is connected with second level external tooth cycloid wheel 13, as shown in Figure 2, on the side of second level external tooth cycloid wheel 13, three bent axles 2 are same uniform to input centered by bent axle 4.
Shown in Fig. 1, input bent axle 6 and bent axle 2 near tooth shell inwall one side be provided with circlip for shaft 16, respectively to first order external tooth cycloid wheel 7 and second level external tooth cycloid wheel 13 spacing, with the gap keeping cycloid wheel and tooth shell inwall to leave; In the middle of first order differential type small teeth number difference planet gear and second level differential type small teeth number difference planet gear, be provided with positioning ring 9, ensure gap needed for two-stage small teeth number difference planet gear independent operation.
In the present embodiment, first order tooth shell ring gear 1 is first order pin tooth 8 with the engaging tooth of first order external tooth cycloid wheel 7; Second level tooth shell ring gear 15 is second level pin tooth 14 with the engaging tooth of second level external tooth cycloid wheel 13.
Velocity ratio of the present invention is derived:
As shown in Figure 3, the rotation rotating speed being located at component i in transmission principle figure is respectively n i, wherein i=I, II, III, IV, V, VI, wherein II, V all does planetary motion around I, and the revolution rotating speed of planetary motion is n i, when whole mechanism adds negative revolution rotating speed-n iafter, II and III, V and VI makes internal messing ordinary transmission respectively.
N ifor revolution, n iIand n vthere are revolution and autobiography, n iII, n vIonly there is revolution degrees of freedom, only can turn round around own axes, specifically, have two kinds of form: n iII=0, n vI≠ 0; n iII≠ 0, n vI=0.
Under the condition being default reference system with the earth, whole mechanism adds negative revolution rotating speed-n i, obtain new reference system.In new reference system, revolution rotating speed n i-n i=0, II and III, V and VI makes internal messing ordinary transmission, (n respectively iI-n i) be the conversion rotating speed of component II, (n iII-n i) be the conversion rotating speed of component III, (n v-n i) be the conversion rotating speed of component V, (n vI-n i) be the conversion rotating speed of component VI.In new reference system, the rule that II engages with III, V gear ratio calculation engaged with VI meets internal messing ordinary transmission velocity ratio, meets following relation respectively:
n I I - n I n I I I - n I = z p 1 z c 1 - - - ( 4 )
n V - n I n V I - n I = z p 2 z c 2 - - - ( 5 )
Z c1for the number of teeth of first order external tooth cycloid wheel, i.e. the number of teeth of II; z p1for the number of teeth of first order tooth shell ring gear, the i.e. number of teeth of III; z c2for the number of teeth of second level external tooth cycloid wheel, i.e. the number of teeth of V; z p2for the number of teeth of second level tooth shell ring gear, the i.e. number of teeth of VI.
If 1 III fixing, VI outputs, then n iII=0, velocity ratio i can be calculated by formula (4), (5) 1:
Derivation:
By formula (4) left side molecule, denominator simultaneously divided by n iand arrange:
n I I n I = 1 - z p 1 z c 1 - - - ( 6 )
By formula (5) left side molecule, denominator simultaneously divided by n i:
n V n I - 1 n V I n I - 1 = z p 2 z c 2 - - - ( 7 )
In reference system new in post-conversion, II, V forms parallel-crank mechanism equally, because the arbitrfary point place angular velocity of parallel-crank mechanism is identical, therefore has:
n I I n I = n V n I - - - ( 8 )
According to formula (8), formula (6) formula is substituted into (7) formula, and arranges:
i 1 = n I n V I = z c 1 z p 2 z c 1 z p 2 - z c 2 z p 1
2. if VI fixing, III output, then n vI=0, in like manner, velocity ratio i can be calculated by formula (4), (5) 2:
i 2 = n I n I I I = - z c 2 z p 1 z c 1 z p 2 - z c 2 z p 1

Claims (4)

1. a two differential formula planet-gear transmission mechanism, comprise two differential formula small teeth number difference planet gear, wherein, the first order external tooth cycloid wheel (7) that first order differential type small teeth number difference planet gear comprises first order tooth shell ring gear (1) and engages with first order tooth shell ring gear, second level external tooth cycloid wheel (13) that second level differential type small teeth number difference planet gear comprises second level tooth shell ring gear (15) and engages with second level tooth shell ring gear; It is characterized in that:
First input Curved shaft support bearing (5) of input bent axle (6) leading portion on the tooth shell of first order tooth shell ring gear (1) is stretched out outside first order tooth shell ring gear, first order external tooth cycloid wheel (7) is installed by the first input bent axle rotary arm bearing (3) in input bent axle (6) stage casing, input bent axle (6) back segment installs second level external tooth cycloid wheel (13) by the second input bent axle rotary arm bearing (4), the side of first order external tooth cycloid wheel (7) has bent axle (2), bent axle (2) is by being arranged on bent axle rotary arm bearing (12) corresponding on the side of second level external tooth cycloid wheel (13), first order external tooth cycloid wheel (7) is connected with second level external tooth cycloid wheel (13), form multicrank parallel-crank mechanism, the peripheral expansion of first order tooth shell ring gear (1) forms step trough, and second level tooth shell ring gear (15) outer wall is embedded in the step trough of first order tooth shell ring gear (1) by spring bearing (10).
2. two differential formula planet-gear transmission mechanism according to claim 1, is characterized in that: second input Curved shaft support bearing (11) of rear on the tooth shell of second level tooth shell ring gear (15) of described input bent axle (6) is stretched out outside the tooth shell ring gear of the second level.
3. two differential formula planet-gear transmission mechanism according to claim 2, it is characterized in that: the side of first order external tooth cycloid wheel (7) has three bent axles (2), three bent axles (2) are uniform to input centered by bent axle (4), and on the side of second level external tooth cycloid wheel (13), three bent axles (2) are same uniform to input centered by bent axle (4).
4. two differential formula planet-gear transmission mechanism according to claim 3, it is characterized in that: be provided with circlip for shaft (16) in input bent axle (6) and the upper close tooth shell inwall one side of bent axle (2), in the middle of first order differential type small teeth number difference planet gear and second level differential type small teeth number difference planet gear, be provided with positioning ring (9).
CN201510827603.3A 2015-11-25 2015-11-25 Double-level differential movement type few-tooth-difference planetary gear transmission mechanism Pending CN105276097A (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107559388A (en) * 2016-06-30 2018-01-09 兄弟工业株式会社 Decelerator
CN108167392A (en) * 2017-12-27 2018-06-15 袁正敏 Balance wheel curved bar inner gearing type speed reducer
CN108488335A (en) * 2018-07-04 2018-09-04 郑州大学 A kind of speed changer based on small teeth number difference planet gear
CN108488326A (en) * 2018-04-25 2018-09-04 深圳市领略数控设备有限公司 More bent axle cycloidal planetary gear speed reducers
CN109139812A (en) * 2018-10-22 2019-01-04 中国船舶重工集团公司第七0七研究所 A kind of New-type cycloidal planetary reducer
CN109185398A (en) * 2018-10-18 2019-01-11 陕西长空齿轮有限责任公司 Few teeth difference involute deceleration mechanism

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Publication number Priority date Publication date Assignee Title
CN1888472A (en) * 2006-07-13 2007-01-03 重庆大学 Internal gear ring outputting planetary speed reducer
CN101561035A (en) * 2009-06-05 2009-10-21 北京瑞德信通用机械设备制造有限公司 Rod type output decelerator
CN102705452A (en) * 2012-05-25 2012-10-03 重庆大学 Two-stage conical internal cycloid transmission device
CN203214783U (en) * 2013-04-28 2013-09-25 江苏泰来减速机有限公司 Industrial robot double-cycloid speed reducer replacing RV-E type speed reducer
TW201402973A (en) * 2012-07-13 2014-01-16 Ind Tech Res Inst Two-stage cycloidal speed reducer with high reduction ratio
CN104620020A (en) * 2012-09-13 2015-05-13 纳博特斯克有限公司 Gear transmission and crankshaft structure used in said gear transmission

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1888472A (en) * 2006-07-13 2007-01-03 重庆大学 Internal gear ring outputting planetary speed reducer
CN101561035A (en) * 2009-06-05 2009-10-21 北京瑞德信通用机械设备制造有限公司 Rod type output decelerator
CN102705452A (en) * 2012-05-25 2012-10-03 重庆大学 Two-stage conical internal cycloid transmission device
TW201402973A (en) * 2012-07-13 2014-01-16 Ind Tech Res Inst Two-stage cycloidal speed reducer with high reduction ratio
CN104620020A (en) * 2012-09-13 2015-05-13 纳博特斯克有限公司 Gear transmission and crankshaft structure used in said gear transmission
CN203214783U (en) * 2013-04-28 2013-09-25 江苏泰来减速机有限公司 Industrial robot double-cycloid speed reducer replacing RV-E type speed reducer

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107559388A (en) * 2016-06-30 2018-01-09 兄弟工业株式会社 Decelerator
CN108167392A (en) * 2017-12-27 2018-06-15 袁正敏 Balance wheel curved bar inner gearing type speed reducer
CN108488326A (en) * 2018-04-25 2018-09-04 深圳市领略数控设备有限公司 More bent axle cycloidal planetary gear speed reducers
CN108488335A (en) * 2018-07-04 2018-09-04 郑州大学 A kind of speed changer based on small teeth number difference planet gear
CN108488335B (en) * 2018-07-04 2020-01-31 郑州大学 speed variator based on small tooth difference planetary gear
CN109185398A (en) * 2018-10-18 2019-01-11 陕西长空齿轮有限责任公司 Few teeth difference involute deceleration mechanism
CN109185398B (en) * 2018-10-18 2023-12-29 陕西长空齿轮有限责任公司 Involute speed reducing mechanism with small tooth difference
CN109139812A (en) * 2018-10-22 2019-01-04 中国船舶重工集团公司第七0七研究所 A kind of New-type cycloidal planetary reducer

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