CN108468760A - Internal tooth flexbile gear speed reducer - Google Patents
Internal tooth flexbile gear speed reducer Download PDFInfo
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- CN108468760A CN108468760A CN201810563297.0A CN201810563297A CN108468760A CN 108468760 A CN108468760 A CN 108468760A CN 201810563297 A CN201810563297 A CN 201810563297A CN 108468760 A CN108468760 A CN 108468760A
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- China
- Prior art keywords
- teeth portion
- gear
- planetary
- teeth
- flexbile gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- 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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
- F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of internal tooth flexbile gear speed reducers comprising：Planetary gear set is provided with the first engaging section and the second engaging section in the planetary gear set；First engaging section of ring gear, the ring gear and planetary gear set connects；Flexbile gear, is provided with interior teeth portion on the flexbile gear inner wall, and the second engaging section of the interior teeth portion and planetary gear set connects；And shell, vessel is provided in the shell, the planetary gear set, ring gear and flexbile gear are arranged in vessel.The present invention has higher joggled strength, can reduce part processing precision requirement while reach high-precision exporting, manufacturing cost is low, and gear wear is smaller, and invertibity is preferable.
Description
Technical field
The present invention relates to speed reducer fields, and in particular to a kind of internal tooth flexbile gear speed reducer.
Background technology
Speed reducer plays a part of to match rotating speed between prime mover and working machine or executing agency and transmits torque, is a kind of
Accurate machinery relatively.Purpose using it is to reduce rotating speed, increases torque.Its type is various, and model is different, variety classes
There is different purposes, wherein planetary reducer and harmonic wave speed reducing machine is common type.
Planetary reducer is combined closely by an internal gear on tooth case shell, there are one ring tooth centers from external impetus institute
The sun gear of driving, fall between have one group by more gear combinations in the planetary gear set on planet carrier, planet carrier
On be provided with output shaft, when power drive sun tooth, planetary gear rotation can be driven, and follow the track of internal gear along center
Revolution, planetary rotation drive output shaft to export power；Especially a kind of differential teeth planetary decelerator, can cross and accomplish than common
The reduction ratio of planetary reducer bigger, it is A to have two layers of ring gear, planetary gear quantity, and A is at this time>=2 arbitrary integer,
Planetary gear is engaged this two layers of internal tooth simultaneously, and one of ring gear is standard tooth form, and the number of teeth is assumed to be N, another ring gear
It is then to become heterodont, the number of teeth is N+A or N-A, and two ring gears are because of difference with teeth, to form output；
But it exists with inevitable defect：
1. joggled strength is weaker：Wherein becoming the ring gear of heterodont, when being engaged with planetary gear, flute profile can not be engaged completely,
For localized contact, and the number of teeth engaged is less, therefore causes joggled strength insufficient, and carrying torsion declines；
2. back clearance is larger：Ring gear due to becoming heterodont can not completely be engaged with planetary gear, also be easy tod produce larger
Gear back gaps then need higher machining accuracy to improve back clearance；
3. gear wear is larger：When becoming the ring gear of heterodont with planetary gear engaged transmission, while there are rolling friction and cunning
Dynamic friction causes gear easy to wear.
Harmonic wave speed reducing machine has one layer of ring gear, number of teeth N, a wave producer, wave number A, and A is>=2 times
It anticipates integer, an external tooth flexbile gear, number of teeth N-A, wave producer ejects external tooth flexbile gear when use, makes flexbile gear position of cusp
External tooth is engaged with ring gear, and because of difference with teeth between the two, to form output, harmonic gear reducer has high-precision, Gao Cheng
The advantages that carrying power is compared with common retarder, due to the use of material to lack 50%, volume and weight at least reduce 1/3；
But it exists with inevitable defect：
1. requirement on machining accuracy is high, allow part tolerance small：Its back clearance is close by ring gear and engaging for flexbile gear external tooth
Degree determines, therefore for ring gear, the size requirement of wave producer, flexbile gear external tooth is high, makes up to the effect tightly engaged；
2. detent torque is larger, the cost of deformation bearing must be increased：Between wave producer and flexbile gear inner wall, need to install additional
One can deformation bearing reduce the friction of wave producer and flexbile gear inner wall, therefore starting moment, needing to make deformation axis simultaneously
It holds and flexbile gear generation type becomes, cause detent torque bigger than normal, and the presence of deformation bearing also increases cost；
3. invertibity is poor：It is certain need output end inversely to input when, due to higher detent torque become it is higher
Grip force, it is therefore desirable to which higher reverse input torsion could operate, and be easy injury gear, cause use condition limited.
Invention content
The technical problem to be solved in the present invention is to provide a kind of internal tooth flexbile gear speed reducers, have higher joggled strength, can
With reduce part processing precision requirement and meanwhile reach high-precision export, manufacturing cost is low, and gear wear is smaller, invertibity compared with
It is good.
In order to solve the above technical problem, the present invention provides a kind of internal tooth flexbile gear speed reducers comprising：
Planetary gear set is provided with the first engaging section and the second engaging section in the planetary gear set；
First engaging section of ring gear, the ring gear and planetary gear set connects；
Flexbile gear, is provided with interior teeth portion on the flexbile gear inner wall, and the second engaging section of the interior teeth portion and planetary gear set connects；
And shell, vessel is provided in the shell, the planetary gear set and flexbile gear are arranged in vessel.
Further, the planetary gear set includes at least two planetary power wheels, the planetary power wheel and flexbile gear it is interior
Teeth portion engagement connection, the flexbile gear deform upon under the elongate support of planet power wheel.
Further, the planetary gear set further includes support wheel, the quantity of the quantity and planetary power wheel of the support wheel
Unanimously, the support wheel is arranged between two adjacent planetary power wheels, and the support wheel abuts the internal tooth being arranged in flexbile gear
In portion.
Further, the planetary power wheel surface is provided with the first teeth portion and the second teeth portion, multiple planets
First teeth portion of power wheel cooperatively forms the first engaging section, and the second teeth portion of multiple planetary power wheels cooperatively forms
Two engaging sections, the teeth quantity in first teeth portion is consistent with the teeth quantity in the second teeth portion or the tooth in the first teeth portion
Tooth quantity is more than the teeth quantity in the second teeth portion or the teeth quantity in the first teeth portion is less than the teeth number in the second teeth portion
Amount.
Further, the support wheel surface is provided with third teeth portion, the interior teeth portion in third teeth portion and flexbile gear
Engagement connection.
Further, the support wheel surface is additionally provided with the 4th teeth portion, and the 4th teeth portion is engaged with ring gear
Connection.
Further, positive wheel is provided among the planetary gear set, the sun wheel is connect with the first power end, the flexbile gear
On be provided with the second power end, first power end and the second power end are respectively set to power input module and power output
Component.
Further, the planet carrier of the planetary gear set is connect with the first power end, and it is dynamic that second is provided on the flexbile gear
Power end, first power end and the second power end are respectively set to power input module and power output component.
Beneficial effects of the present invention：
1. improving joggled strength, the interior teeth portion flute profile of deformable flexbile gear can keep standard tooth form, be nibbled with planetary gear set
It when conjunction, can completely engage, improve joggled strength, increase carrying torsion；
2. back clearance is smaller, allow lower machining accuracy, due to flexbile gear can deformation, material elastic stress act on
Under, can nature inwardly collect engagement, therefore planetary gear set dimensional tolerance can be absorbed, and because flexbile gear only be arranged in inside
Planetary gear set engages, therefore there is no the positional precision problems that flexbile gear external tooth is engaged with ring gear, can reduce part processing essence
Degree requires, while ensureing good output accuracy；
3. gear wear is smaller, when deformable flexbile gear is with planetary gear set engaged transmission, can be considered normal ring gear with
External gear engages, and maintains rolling friction state, reduces gear wear；
4. detent torque is smaller, and the cost of deformation bearing is reduced, internal tooth flexbile gear is ejected by planetary power wheel, when startup
It need not make bearing deformation, therefore detent torque is smaller, while not need deformation bearing to reduce friction, therefore can reduce into
This；
5. invertibity is preferable, since detent torque is smaller, that is, grip force is smaller, thus need not be too high it is reverse defeated
Entering torsion can operate, and invertibity improves.
Description of the drawings
Fig. 1 is the planetary gear and flexbile gear cooperation schematic diagram of the present invention；
Fig. 2 is the cross section structure schematic diagram of the planet carrier driving of the present invention；
Fig. 3 is the cross section structure schematic diagram of positive wheel drive of the invention；
Fig. 4 is the configuration schematic diagram of Fig. 3 of the present invention；
Fig. 5 is the transmission schematic diagram that the present invention has support wheel；
Fig. 6 is the transmission schematic diagram for the support wheel that the present invention has single layer teeth；
Fig. 7 is the transmission schematic diagram for the support wheel that the present invention has the double-deck teeth；
Fig. 8 is the present invention with number of teeth planetary power wheel schematic diagram；
Fig. 9 is the first different number of teeth planetary power wheel schematic diagram of the invention；
Figure 10 is second of different number of teeth planetary power wheel schematic diagram of the invention.
Figure label explanation：1, planetary gear set, the 11, first engaging section, the 12, second engaging section, 13, ring gear, 14, planet
Power wheel, the 141, first teeth portion, the 142, second teeth portion, 15, support wheel, 151, third teeth portion, the 152, the 4th teeth portion,
16, planet carrier, 2, flexbile gear, 21, interior teeth portion, 3, shell, 4, sun wheel, the 5, first power end, the 6, second power end, A, ring gear are set
Seated position, B, flexbile gear installation position.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Shown in referring to Fig.1, an embodiment of internal tooth flexbile gear speed reducer of the invention has planetary gear set 1 and flexbile gear 2, row
It is provided with the first engaging section 11 and the second engaging section 12 in star-wheel group, the ring gear 13 of the first engaging section and planetary gear set connects,
Planetary gear set is rotated in ring gear internal messing；Interior teeth portion 21 is provided on flexbile gear inner wall, interior teeth portion is connect with the second engaging section, soft
Wheel engagement rotation on planetary gear set periphery；It forms first layer between planetary gear set and ring gear at this time to slow down, i.e. planetary reduction gear,
And form the second layer between flexbile gear and planetary gear set and slow down, since the number of teeth of flexbile gear interior teeth portion and the number of teeth of ring gear differ,
Therefore as tooth subtractive is fast, and planetary gear set, ring gear and flexbile gear form one after coordinating and merge slowing effect；
By the way that after flexbile gear inner wall is configured interior teeth portion, interior teeth portion is directly engaged with planetary gear set, so that internal tooth
The flute profile in portion can keep standard tooth form, when being engaged with planetary gear set, can completely engage, improve joggled strength, increase is held
Carry torsion；And when being rotated in the state of complete engagement, it can be considered that normal gear ring is engaged with gear, maintain rolling friction shape
State reduces gear wear；
And in the elastic foundation that flexbile gear can deform, the interior teeth portion meeting nature of inner wall setting inwardly collects engagement, because
This can absorb planetary gear set dimensional tolerance, and because flexbile gear is only engaged in internal planetary gear set with being arranged, therefore be not present
The positional precision problem that flexbile gear external tooth is engaged with ring gear, can reduce part processing precision requirement, while ensure good defeated
Go out precision, achievees the effect that back clearance is small, allows lower machining accuracy.
Wherein, planetary gear set includes at least two planetary power wheels 14, the support that the deformation of flexbile gear passes through planetary power wheel
It obtains, planetary power wheel is on the long axis after flexbile gear deformation at this time, and the outer teeth of planetary power wheel and the internal tooth of flexbile gear
Portion's engagement connection, when planetary power wheel rotates, you can flexbile gear is driven to realize rotation；It only needs to make flexbile gear shape when therefore starting
Become, detent torque is smaller, while not needing deformation bearing to reduce friction, can reduce cost；
And since detent torque is smaller, that is, grip force is smaller, therefore reverse input torsion that need not be too high is just
It can operate, invertibity improves, and invertibity is preferable.
Above-mentioned planetary gear set, ring gear and flexbile gear can be arranged in the vessel in shell 3, form effectively opposite position
Fixation is set, shell herein may be holder etc..
In one embodiment, with reference to shown in Fig. 2, the planet carrier 16 of planetary gear set is connect with the first power end 5, on flexbile gear
It is provided with the second power end 6, the first power end can be power input module, i.e. an input shaft, and the input shaft is directly and planet
Frame is fixedly connected, and input shaft rotates planet carrier rotation, and the second power end of drive is power output component, the input of power input module
After power, planet carrier drives planetary power wheel to revolve round the sun, and planetary power wheel engages progress with ring gear certainly while revolution
Turn, flexbile gear is driven to be rotated after planetary power wheel rotation；
In this embodiment, due to the presence for not having sun to take turns, one layer can be reduced and engage the teeth processing essence brought
Degree and teeth wear problem, can effectively reduce part processing precision requirement, while ensureing good output accuracy.
When above structure is taken turns without sun, the interior teeth portion number of teeth and internal tooth of the interior teeth portion number of teeth/flexbile gear of reduction ratio=flexbile gear
Enclose the difference of the number of teeth.
In one implements, with reference to shown in Fig. 3 and Fig. 4, sun wheel 4, sun wheel and the first power end 5 are provided among planetary gear set
It connects, the second power end 6 is provided on flexbile gear, the first power end can be power input module, and the second power end is that power is defeated
Go out component, after power input module input power, sun wheel rotation cooperatively forms effectively with planetary gear set, ring gear and flexbile gear
Differential teeth planetary slow down, flexbile gear exported by power output component；
Above-mentioned planetary reduction gear ratio=(the ring gear number of teeth/sun tooth number)+1
Tooth subtractive speed ratio=(difference of the interior teeth portion number of teeth and the ring gear number of teeth of the interior teeth portion number of teeth/flexbile gear of flexbile gear)
And merge reduction ratio=planetary reduction gear ratio * tooth subtractive speed ratios
It is 80 with the ring gear number of teeth, the planetary gear number of teeth is 30, positive tooth number is 20 and the interior teeth portion number of teeth of flexbile gear is 78
For：
Above-mentioned planetary reduction gear ratio=(80/20)+1=5
Tooth subtractive speed ratio=78/ (78-80)=- 39, negative sign indicate to reversely rotate
Merge reduction ratio=5*-39=-195, negative sign indicates to reversely rotate
In one embodiment, referring to Figure 5, planetary gear set further includes support wheel 15, and the quantity and planet of support wheel are dynamic
The quantity of wheels is consistent, and support wheel is arranged between two adjacent planetary power wheels, and support wheel abutting is arranged in flexbile gear
In teeth portion, the A in figure indicates that ring gear installation position, B indicate flexbile gear installation position；By support wheel can keep flexbile gear by
Tightly, teeth degree of engagement is high, and there is no de- tooth phenomenons；This support wheel is arranged on planet carrier, rotates, that is, is revolved round the sun together with planet carrier
Movement, and support wheel is with flexbile gear due to pushing against, under the rotation of flexbile gear, support wheel frictional rotation forms rotation.
Wherein, with reference to shown in Fig. 6, support wheel surface can also be arranged third teeth portion 151, third teeth portion and flexbile gear
Interior teeth portion engagement connection, after being connected by way of teeth engagement, the frictional force between support wheel and flexbile gear substantially reduces, flexbile gear
Rotation is more smooth.
With reference to shown in Fig. 7, the 4th teeth portion 152, the 4th teeth portion and internal tooth can also be arranged in above-mentioned support wheel surface
Circle engagement connection, at runtime, support wheel is engaged with ring gear and flexbile gear interior teeth portion simultaneously, and there is good operation to correct work(
Can, and stability higher when rotating.
In one embodiment, planetary power wheel surface is provided with the first teeth portion 141 and the second teeth portion 142, Duo Gehang
First teeth portion of star power wheel cooperatively forms the first engaging section, and the second teeth portion of multiple planetary power wheels cooperatively forms second
Engaging section；
Wherein, with reference to shown in Fig. 8, the teeth quantity in the first teeth portion can be consistent with the teeth quantity in the second teeth portion,
Therefore the corresponding ring gear number of teeth of the first engaging section (i.e. the first layer ring gear number of teeth) ring gear tooth corresponding with the second engaging section
Number is identical (i.e. the second layer ring gear number of teeth, since the application uses flexbile gear, second layer ring gear is an analog component)；
With reference to shown in Fig. 9, the teeth quantity in the first teeth portion can be more than the teeth quantity in the second teeth portion；Its tooth subtractive
Speed ratio can have more variation ranges；
Referring to Fig.1 shown in 0, the teeth quantity in the first teeth portion can be less than the teeth quantity in the second teeth portion；Its tooth is poor
Reduction ratio can have more variation ranges；
Above-mentioned planetary power wheel can change according to the variation of sun wheel, prepare random increase, the scope of application is also big
It is big to improve.
And when being prepared using structure described herein, due to the flexbile gear design of internal tooth setting, the assembly zero of speed reducer
Component is reduced, and can be assembled by pure plastic part, and manufacturing cost is substantially reduced.
Above example is only to absolutely prove preferred embodiment that is of the invention and being lifted, and protection scope of the present invention is not
It is limited to this.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, the present invention guarantor
Within the scope of shield.Protection scope of the present invention is subject to claims.
Claims (8)
1. a kind of internal tooth flexbile gear speed reducer, which is characterized in that it includes：
Planetary gear set is provided with the first engaging section and the second engaging section in the planetary gear set；
First engaging section of ring gear, the ring gear and planetary gear set connects；
Flexbile gear, is provided with interior teeth portion on the flexbile gear inner wall, and the second engaging section of the interior teeth portion and planetary gear set connects；
And shell, vessel is provided in the shell, the planetary gear set and flexbile gear are arranged in vessel.
2. internal tooth flexbile gear speed reducer as described in claim 1, which is characterized in that the planetary gear set includes at least two planets
Power wheel, the planetary power wheel engage connection with the interior teeth portion of flexbile gear, and the flexbile gear is under the elongate support of planet power wheel
It deforms upon.
3. internal tooth flexbile gear speed reducer as claimed in claim 2, which is characterized in that the planetary gear set further includes support wheel, institute
The quantity for stating support wheel is consistent with the quantity of planetary power wheel, the support wheel be arranged two adjacent planetary power wheels it
Between, the support wheel abutting is arranged in the interior teeth portion of flexbile gear.
4. internal tooth flexbile gear speed reducer as claimed in claim 2, which is characterized in that the planetary power wheel surface is provided with first
The first teeth portion in teeth portion and the second teeth portion, multiple planetary power wheels cooperatively forms the first engaging section, multiple described
Second teeth portion of planetary power wheel cooperatively forms the second engaging section, the teeth quantity in first teeth portion and the second teeth portion
The teeth quantity in consistent either the first teeth portion of teeth quantity be more than teeth quantity or the first teeth portion in the second teeth portion
Teeth quantity be less than the second teeth portion teeth quantity.
5. internal tooth flexbile gear speed reducer as claimed in claim 3, which is characterized in that the support wheel surface is provided with third teeth
Connection is engaged with the interior teeth portion of flexbile gear by portion, third teeth portion.
6. internal tooth flexbile gear speed reducer as claimed in claim 5, which is characterized in that the support wheel surface is additionally provided with the 4th tooth
Connection is engaged in tooth portion, the 4th teeth portion with ring gear.
7. internal tooth flexbile gear speed reducer as claimed in any one of claims 1 to 6, which is characterized in that set among the planetary gear set
Be equipped with positive wheel, the sun wheel is connect with the first power end, is provided with the second power end on the flexbile gear, first power end with
Second power end is respectively set to power input module and power output component.
8. internal tooth flexbile gear speed reducer as claimed in any one of claims 1 to 6, which is characterized in that the planet of the planetary gear set
Frame is connect with the first power end, and the second power end, first power end and the second power end difference are provided on the flexbile gear
It is set as power input module and power output component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563297.0A CN108468760A (en) | 2018-06-04 | 2018-06-04 | Internal tooth flexbile gear speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563297.0A CN108468760A (en) | 2018-06-04 | 2018-06-04 | Internal tooth flexbile gear speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108468760A true CN108468760A (en) | 2018-08-31 |
Family
ID=63261930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810563297.0A Pending CN108468760A (en) | 2018-06-04 | 2018-06-04 | Internal tooth flexbile gear speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108468760A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259891A (en) * | 2019-06-28 | 2019-09-20 | 深圳市优必选科技股份有限公司 | Planetary-harmonic combines retarder |
| CN114992288A (en) * | 2022-07-28 | 2022-09-02 | 常州南鹏机械有限公司 | Flexible transmission planetary reducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85205664U (en) * | 1985-12-28 | 1986-12-10 | 沈阳矿山机器厂 | Planetary reducer with internal gear |
| US6290625B1 (en) * | 1998-12-21 | 2001-09-18 | Harmonic Drive Systems, Inc. | Small backlash planetary gear assembly |
| JP2005188740A (en) * | 2003-12-05 | 2005-07-14 | Mitsubishi Heavy Ind Ltd | Reduction gear |
| CN102052429A (en) * | 2010-12-17 | 2011-05-11 | 西安益灵机电科技有限公司 | Flexible planet gear speed reducer |
| CN102226463A (en) * | 2011-05-25 | 2011-10-26 | 深圳市琛玛华夏科技有限公司 | Novel speed reducer and speed reduction motor |
| CN208252678U (en) * | 2018-06-04 | 2018-12-18 | 昆山汉升达传动科技有限公司 | Internal tooth flexbile gear speed reducer |
-
2018
- 2018-06-04 CN CN201810563297.0A patent/CN108468760A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85205664U (en) * | 1985-12-28 | 1986-12-10 | 沈阳矿山机器厂 | Planetary reducer with internal gear |
| US6290625B1 (en) * | 1998-12-21 | 2001-09-18 | Harmonic Drive Systems, Inc. | Small backlash planetary gear assembly |
| JP2005188740A (en) * | 2003-12-05 | 2005-07-14 | Mitsubishi Heavy Ind Ltd | Reduction gear |
| CN102052429A (en) * | 2010-12-17 | 2011-05-11 | 西安益灵机电科技有限公司 | Flexible planet gear speed reducer |
| CN102226463A (en) * | 2011-05-25 | 2011-10-26 | 深圳市琛玛华夏科技有限公司 | Novel speed reducer and speed reduction motor |
| CN208252678U (en) * | 2018-06-04 | 2018-12-18 | 昆山汉升达传动科技有限公司 | Internal tooth flexbile gear speed reducer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259891A (en) * | 2019-06-28 | 2019-09-20 | 深圳市优必选科技股份有限公司 | Planetary-harmonic combines retarder |
| CN114992288A (en) * | 2022-07-28 | 2022-09-02 | 常州南鹏机械有限公司 | Flexible transmission planetary reducer |
| CN114992288B (en) * | 2022-07-28 | 2022-12-09 | 常州南鹏机械有限公司 | Flexible transmission planetary reducer |
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