CN109854686A - A kind of single-stage high drive ratio geared-down device - Google Patents
A kind of single-stage high drive ratio geared-down device Download PDFInfo
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- CN109854686A CN109854686A CN201910185663.8A CN201910185663A CN109854686A CN 109854686 A CN109854686 A CN 109854686A CN 201910185663 A CN201910185663 A CN 201910185663A CN 109854686 A CN109854686 A CN 109854686A
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- 238000009434 installation Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 abstract description 26
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 241001274660 Modulus Species 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001268 conjugating effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005404 monopole Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The embodiment of the invention discloses a kind of single-stage high drive ratio geared-down devices, comprising: at least three planetary gears, central gear, cup type shell and fixed internal gear disc；Central gear is external gear, and cup type shell and fixed internal gear disc are respectively arranged with the first ring gear and the second ring gear；Central gear, the first ring gear and the second ring gear are coaxial arrangement, and are meshed simultaneously at least three planetary gears respectively；Central gear rotation is driven by external torque, cup type shell is used for output torque.Single-stage high drive ratio geared-down device of the invention, can provide bigger transmission ratio, be conducive to the transmission stiffness and bearing capacity that improve transmission, and reduce processing and manufacturing cost；The service life is longer, maintenance cost is lower；Part category and negligible amounts, lighter in weight, easy to disassemble and maintenance, alternative harmonic gear reducer etc. have important practical value.
Description
Technical field
The present invention relates to gear transmission technology field more particularly to a kind of single-stage high drive ratio geared-down devices.
Background technique
Retarder is robot and the indispensable core key part of servo-system, for by the lesser torque of motor and
Higher revolving speed is converted into larger torque and drives joint motions compared with the slow-speed of revolution.Currently, harmonic gear reducer is widely used in
The fields such as robot, aerospace.Harmonic gear transmission realizes movement conversion by thin-walled parts flexible deformation flexible, main
Wanting part is flexbile gear, firm gear and wave producer.The module of harmonic gear reducer is smaller, and mechanical processing technique is complicated, to cutter
It is more demanding.But flexible part is easy to produce fatigue rupture, restricted lifetime in use；And this harmonic gear
Transmission can only generally bear pure torsion load, and composite load ability is poor, when the composite load for bearing torque, moment of flexure and axial force etc.
When, load capacity is decreased obviously, or even cannot be normally driven；Therefore, it is necessary to a kind of novel retarders.
Summary of the invention
In view of this, the invention solves a technical problem be to provide a kind of single-stage high drive ratio geared-down device.
According to an aspect of the present invention, a kind of single-stage high drive ratio geared-down device is provided, comprising: at least three planets
Gear, central gear, cup type shell and fixed internal gear disc；The central gear is external gear, the cup type shell and described solid
Determine internal gear disc and is respectively arranged with the first ring gear and the second ring gear；The central gear, first ring gear and described
Two ring gears are coaxial arrangement, and are meshed simultaneously at least three planetary gear respectively；It is driven by external torque
The central gear rotation, the cup type shell are used to export the output torque of single-stage high drive ratio geared-down device.
Optionally, the fixed ring gear is provided with central through hole, is provided with and is used on the inner wall of the central through hole
The internal tooth being meshed at least three planetary gear forms the second ring gear；In first ring gear and described second
Gear ring surrounds retarder cavity, and the central gear and at least three planetary gear are arranged in the retarder cavity
It is interior.
Optionally, the central gear includes: gear and input shaft；The gear and the input shaft are fixed
Connection；The bottom end of the cup type shell is provided with to be connected and coaxial installation through-hole with first ring gear, described defeated
Enter axis and the installation through-hole is rotatablely connected；Wherein, the input shaft is for inputting the external torque.
Optionally, comprising: front supporting plate, rear carrier plate and planet wheel spindle；The planet wheel spindle and the planetary gear center
Hole rotation connection, the front supporting plate and the rear carrier plate are connect with the both ends of the planet wheel spindle respectively.
Optionally, the central axis includes: connecting shaft；The connecting shaft is fixedly connected with the gear, the tooth
Ontology is taken turns between the connecting shaft and the input shaft, and the outer diameter of the gear is greater than the connecting shaft and institute
State the diameter of input shaft；The front supporting plate and the rear carrier plate are respectively arranged with the first center installation through-hole and the installation of the second center
Through-hole；The connecting shaft and the first center installation through-hole clearance fit, second center installation through-hole and the input
Shaft clearance cooperation；Wherein, between the cup type shell and the front supporting plate, the rear carrier plate is located at the fixed internal gear disc
In the retarder cavity.
Optionally, the input shaft is rotatablely connected by bearing and the installation through-hole；The planet wheel spindle passes through bearing
It is rotatablely connected with the planetary gear centre bore.
Optionally, the input shaft, the connecting shaft and the gear are integrally formed.
Optionally, the bottom of the cup type shell is provided with the connecting hole for being connected with torque output equipment；Its
In, the connecting hole includes: threaded hole.
Optionally, the edge of the fixed internal gear disc is provided with mounting hole, wherein the mounting hole include: through-hole or
Threaded hole.
Optionally, the planetary gear quantity is multiple, circumferential direction of multiple planetary gears along the central gear
It is uniformly distributed；The reduction ratio of the single-stage high drive ratio geared-down device is 50-330.
Single-stage high drive ratio geared-down device of the invention, can provide bigger transmission ratio, with harmonic gear transmission formula
Retarder etc., which is compared, can export consistent or bigger torque；Gear has the transmission for being conducive to improve transmission compared with large modulus
Rigidity and bearing capacity, and reduce processing and manufacturing cost；There is no flexible member, the service life is longer, maintenance cost is lower；It can
To reduce drive gap, increase transmission stiffness and bearing capacity；Part category and negligible amounts, lighter in weight, it is easy to disassemble and
Maintenance, alternative harmonic gear reducer etc. have important practical value.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without any creative labor, also
Other attached drawings can be obtained according to these attached drawings:
Fig. 1 is the composition schematic diagram of one embodiment of single-stage high drive ratio geared-down device according to the present invention；
Fig. 2 is the schematic cross-sectional view of one embodiment of single-stage high drive ratio geared-down device according to the present invention；
Fig. 3 is that the planetary gear arrangement of one embodiment of single-stage high drive ratio geared-down device according to the present invention is shown
It is intended to.
Specific embodiment
With reference to the accompanying drawings to invention is more fully described, wherein illustrating exemplary embodiment of the present invention.Under
Face will combine the attached drawing in the embodiment of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, show
So, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.Various descriptions are carried out to technical solution of the present invention below with reference to figure and embodiment.
" first " hereinafter, " second " etc. is distinguish in description, there is no other special meanings.
As shown in Figure 1-3, the present invention provides a kind of single-stage high drive ratio geared-down device, comprising: at least three planet teeth
Wheel, central gear 4, cup type shell 10 and fixed internal gear disc 1.Central gear 4 is external gear, cup type shell 10 and fixed internal gear disc
1 is respectively arranged with the first ring gear 18 and the second ring gear 17.Central gear 4, the first ring gear 18 and the second ring gear 17 are
Coaxial arrangement, and be meshed simultaneously at least three planetary gears respectively.Central gear 4 is driven to rotate by external torque,
Cup type shell 10 is used for output torque.
Planetary gear refer in addition to can as fixed axis gear around oneself rotation axis rotation other than, their rotation
The gear that axis is also rotated around the axis of other gears, the rotation around oneself axis are known as " rotation ", around turning for other Gear axis
It is dynamic referred to as " to revolve ".Planetary gear quantity can be 3,4 etc., be single-row arrangement.External torque can provide for motor etc.
Torque, cup type shell 10 at least three planetary gears, central gear driving under, can be realized relative to fixed internal gear disc
1 spinning movement, output torque.
The gear range of single-stage high drive ratio geared-down device of the invention is 50-330, and transmission efficiency can achieve
0.70-0.85 can provide bigger transmission ratio and more ranges of choice in a limited space, defeated in same motor torque
In the case of entering, compared with harmonic speed reducer, consistent or bigger torque can be exported.
In one embodiment, fixed ring gear 1 is provided with central through hole, is provided with and is used on the inner wall of central through hole
The internal tooth being meshed at least three planetary gears forms the second ring gear 17.First ring gear 18 is enclosed with the second ring gear 17
At retarder cavity, central gear 1 and at least three planetary gears are arranged in retarder cavity.At the bottom of cup type shell 10
Portion is provided with the connecting hole for being connected with torque output equipment, and connecting hole includes threaded hole etc..
The centre bore of planet wheel spindle 8 and planetary gear 3 is rotatablely connected, front supporting plate 2 and rear carrier plate 7 respectively with planet wheel spindle 8
Both ends connection.Front supporting plate 2 and rear carrier plate 7 play the role of planet carrier, and planet wheel spindle 8 can pass through bearing and planetary gear 3
Centre bore rotation connection.When at least three planetary gears are revolved, front supporting plate 2 and rear carrier plate 7 are also rotated itself.
In one embodiment, central gear 4 includes: gear 41 and input shaft 42, gear 41 and input shaft
42 are fixedly connected.The bottom end of cup type shell 10 is provided with to be connected and coaxial installation through-hole with the first ring gear 18, input
Axis 42 and installation through-hole are rotatablely connected, and input shaft 42 is for inputting external torque.Central axis includes: connecting shaft 43, connecting shaft 43
It is fixedly connected with gear 41.Input shaft 42, connecting shaft 43 and gear 41 can be integrally formed.Gear 41
Between connecting shaft 43 and input shaft 42, the outer diameter of gear 41 is greater than the diameter of connecting shaft 43 and input shaft 42.Input shaft
42 can be connected to motor, and input shaft 42 is rotated relative to fixed ring gear 1 under the effect of external force, and cup type shell 10 exports low
Decelerating effect is realized in fast spinning movement.
In one embodiment, front supporting plate 2 and rear carrier plate 7 are respectively arranged in the first center installation through-hole and second and feel at ease
Fill through-hole, connecting shaft 43 and the first center installation through-hole clearance fit, the second center installation through-hole and 42 clearance fit of input shaft.
Between cup type shell 10 and front supporting plate 2, rear carrier plate 7 is located in retarder cavity fixed internal gear disc 1.
Each planetary gear 3 is provided with 2 the Ith bearings 5, and the Ith bearing 5 is provided with pin shaft 8, pin sleeve is cased with outside pin shaft 8
Cylinder 6, pin shaft sleeve are located between 2 the Ith bearings 5, pin shaft 8 by shaft hole matching be threadedly coupled and rear carrier plate 7 and front supporting plate 2
It connects, is provided with circlip for hole 11 in the centre bore of planetary gear 3.Planetary gear 3 and central gear 4, fixed internal gear disc 1
The second ring gear 17, cup type shell 10 the first ring gear 18 engage respectively, planetary gear 3 and central gear 4, the second internal tooth
Enclosing the 17, first ring gear 18 is profile modified gear, forms gear driving pair, and gear surface is coated with wide warm aviation grease.
Input shaft 42 is rotatablely connected by bearing and installation through-hole.4 side of central gear is equipped with the IIth bearing 9, and
II bearing 9 is mounted in the installation through-hole on cup type shell 10, the connecting shaft 43 in 4 left side of central gear and the center of front supporting plate 2
Inner hole forms small―gap suture cooperation.The outer edge of fixed internal gear disc 1 has mounting hole, fixes for its installation, mounting hole include through-hole,
Threaded hole etc..
The part category and negligible amounts of single-stage high drive ratio geared-down device of the invention, and such as cup type shell
10, the parts such as central gear are mostly hollow structure, therefore can realize lighter weight under the premise of same volume and performance
Amount；The planetary gear modulus of single-stage high drive ratio geared-down device is the 2 of the harmonic gear of identical reduction ratio and outer dimension
To 3 times, biggish modulus is conducive to improve the transmission stiffness and bearing capacity of transmission, and single-stage large transmission ratio of the invention
There is no the flexible member in harmonic gear transmission in gear reduction unit, the service life is longer, maintenance cost is lower.
The planetary gear modulus of single-stage high drive ratio geared-down device compares the biggish modulus of harmonic gear, can be improved
Mechanical processing technique, without using special low module process tool.At least one planetary gear is along the circumferential uniform of central gear
Distribution.As shown in figure 3, planetary gear can be set to three, planetary gear 3, planetary gear 15 and planetary gear 16 can be real
Existing three pairs of gear pairs engage simultaneously, reduce drive gap, improve transmission accuracy.
It in one embodiment, can be according to the parameter designings such as transmission ratio planetary gear 3, central gear 4, the first ring gear
18 and second ring gear 17, the number of teeth etc..Single-stage high drive ratio geared-down device is a kind of transmission bigger than single-stage of monopole big retarding
Than gear reduction unit, reduction ratio is 50 to 330.First ring gear 18 and the second ring gear 17 and at least three planetary gear sets
At gear driving pair, the first ring gear 18 and the second ring gear 17 and at least three planetary gears can all be profile modified gear,
Take displacement to guarantee each gear sub-center away from matching.
The method that gear is processed using cutter and processed gear relative position is changed is known as conjugating revised law, using change
The gear of position revised law processing is known as the displacement such as profile modified gear, including tangent modification, radial shift.For example, the first ring gear 18
It is 0.1-5 with the second ring gear 17 and at least three planetary gear moduluses, modification coefficient 0.01-3.First ring gear 18
It can be coated with aviation grease with the second ring gear 17 and at least three planetary gear surfaces, for example, wide temperature aviation lubrication
Rouge etc..
Single-stage high drive ratio geared-down device in above-described embodiment, can provide bigger biography in a limited space
Dynamic ratio, reduction ratio are generally 50 to 330, and transmission ratio is big, range of choice is wide；It can provide and be passed with harmonic gear under the same volume
The consistent or bigger transmission ratio of reduction device, therefore under same motor torque input condition, this scheme and harmonic gear
Driven type retarder, which is compared, can export consistent or bigger torque；Planetary gear modulus is identical reduction ratio and shape ruler
2 to 3 times of very little harmonic gear are conducive to improve the transmission stiffness and bearing capacity of transmission, and this scheme compared with large modulus
In there is no the flexible member in harmonic gear transmission, the service life is longer, maintenance cost is lower；
Single-stage high drive ratio geared-down device in above-described embodiment, planetary gear have biggish mould compared to harmonic gear
Number, can also be improved mechanical processing technique, without using special low module process tool；It, can using at least three planetary gears
To reduce drive gap, increase transmission stiffness and bearing capacity；The threaded hole that cup type shell is equipped with facilitates connection to be set by driving
Standby, the threaded hole that fixed ring gear is equipped with is easily installed on any pedestal fixed；Part category and negligible amounts, weight compared with
Gently, reliability and service life are high, easy to disassemble and maintenance.
Single-stage high drive ratio geared-down device in above-described embodiment, alternative harmonic gear reducer significantly improve biography
Dynamic stiffness and bearing capacity, improve service life, and reduce processing and manufacturing cost.
Any technical solution disclosed in aforementioned present invention unless otherwise stated, if it discloses numberical range,
Disclosed numberical range is preferred numberical range, and any it should be appreciated by those skilled in the art preferred numberical ranges
The only obvious or representative numerical value of technical effect in many enforceable numerical value.It, can not since numerical value is more
Exhaustion, so the present invention just discloses technical solution of the component values to illustrate the present invention, also, the above-mentioned numerical value enumerated is not
The limitation to the invention protection scope should be constituted.
Meanwhile if aforementioned present invention discloses or relates to the components or structural member of connection fastened to each other, except another
There is statement outer, is fixedly connected it is to be understood that connection (such as using bolt or screw connection) can be removedly fixed, it can also be with
Understand are as follows: non-removable to be fixedly connected with (such as riveting, welding), certainly, connection fastened to each other or integral structure
(such as manufacturing using casting technique is integrally formed) is replaced (obviously can not be using except integrally formed technique).
In addition, for indicating the art of positional relationship or shape applied in any technical solution disclosed in aforementioned present invention
Its meaning includes approximate with its, similar or close state or shape to language unless otherwise stated.Either component provided by the invention
Either being assembled by multiple individual component parts, or the separate part that integrally formed technique manufactures.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；Although referring to preferred embodiment pair
The present invention is described in detail, it should be understood by those ordinary skilled in the art that: still can be to of the invention specific
Embodiment is modified or some technical features can be equivalently replaced；Without departing from the spirit of the technical scheme of the invention,
It should all cover within the scope of the technical scheme claimed by the invention.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (10)
1. a kind of single-stage high drive ratio geared-down device characterized by comprising
At least three planetary gears, central gear, cup type shell and fixed internal gear disc；The central gear is external gear, described
Cup type shell and the fixed internal gear disc are respectively arranged with the first ring gear and the second ring gear；The central gear, described
One ring gear and second ring gear are coaxial arrangement, and are meshed simultaneously at least three planetary gear respectively；
The central gear is driven to rotate by external torque, the cup type shell is for exporting single-stage high drive ratio geared-down device
Output torque.
2. single-stage high drive ratio geared-down device as described in claim 1, which is characterized in that
The fixed ring gear is provided with central through hole, is provided on the inner wall of the central through hole for described at least three
The internal tooth that a planetary gear is meshed forms the second ring gear；First ring gear and second ring gear surround deceleration
Device cavity, the central gear and at least three planetary gear are arranged in the retarder cavity.
3. single-stage high drive ratio geared-down device as claimed in claim 2, which is characterized in that
The central gear includes: gear and input shaft；The gear is fixedly connected with the input shaft；The cup
The bottom end of shell body is provided with to be connected and coaxial installation through-hole with first ring gear, the input shaft and the peace
Fill through-hole rotation connection；Wherein, the input shaft is for inputting the external torque.
4. single-stage high drive ratio geared-down device as claimed in claim 3 characterized by comprising
Front supporting plate, rear carrier plate and planet wheel spindle；The planet wheel spindle and the planetary gear centre bore are rotatablely connected, before described
Supporting plate and the rear carrier plate are connect with the both ends of the planet wheel spindle respectively.
5. single-stage high drive ratio geared-down device as claimed in claim 4, which is characterized in that
The central axis includes: connecting shaft；The connecting shaft is fixedly connected with the gear, and the gear is located at institute
It states between connecting shaft and the input shaft, and the outer diameter of the gear is greater than the straight of the connecting shaft and the input shaft
Diameter；The front supporting plate and the rear carrier plate are respectively arranged with the first center installation through-hole and the second center installation through-hole；The company
Spindle and the first center installation through-hole clearance fit, second center installation through-hole and the input shaft clearance fit；
Wherein, for the fixed internal gear disc between the cup type shell and the front supporting plate, the rear carrier plate is located at the retarder
In cavity.
6. single-stage high drive ratio geared-down device as claimed in claim 5, which is characterized in that
The input shaft is rotatablely connected by bearing and the installation through-hole；The planet wheel spindle passes through bearing and the planet tooth
The centre bore of wheel is rotatablely connected.
7. single-stage high drive ratio geared-down device as claimed in claim 5, which is characterized in that
The input shaft, the connecting shaft and the gear are integrally formed.
8. single-stage high drive ratio geared-down device as described in claim 1, which is characterized in that
The bottom of the cup type shell is provided with the connecting hole for being connected with torque output equipment；Wherein, the connection
Hole includes: threaded hole.
9. single-stage high drive ratio geared-down device as described in claim 1, which is characterized in that
The edge of the fixed internal gear disc is provided with mounting hole, wherein the mounting hole includes: through-hole or threaded hole.
10. single-stage high drive ratio geared-down device as described in any one of claim 1 to 9, which is characterized in that
The planetary gear quantity be it is multiple, multiple planetary gears are uniformly distributed along the circumferential direction of the central gear；
The reduction ratio of the single-stage high drive ratio geared-down device is 50-330.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185663.8A CN109854686A (en) | 2019-03-12 | 2019-03-12 | A kind of single-stage high drive ratio geared-down device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185663.8A CN109854686A (en) | 2019-03-12 | 2019-03-12 | A kind of single-stage high drive ratio geared-down device |
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| Publication Number | Publication Date |
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| CN109854686A true CN109854686A (en) | 2019-06-07 |
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| CN201910185663.8A Pending CN109854686A (en) | 2019-03-12 | 2019-03-12 | A kind of single-stage high drive ratio geared-down device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020007944A (en) * | 2000-08-22 | 2002-01-29 | 김석윤 | High ratio differential planetary gear reducer |
| CN1483949A (en) * | 2003-08-09 | 2004-03-24 | 宁国聚隆实业有限公司 | Multe-gear large transmission ratio single-stage planetary gear wheel speed variator |
| CN101191531A (en) * | 2006-11-28 | 2008-06-04 | 欧仁伟 | Planet decelerating method and device for differential gear |
| CN106641109A (en) * | 2016-11-22 | 2017-05-10 | 上海航天控制技术研究所 | Small planetary gear reducer with large transmission ratio |
| CN109268455A (en) * | 2018-10-25 | 2019-01-25 | 湖南科技大学 | A kind of second gear single-pinion planetary gear speed changer structure |
| CN210034303U (en) * | 2019-03-12 | 2020-02-07 | 北京大信高科智能科技有限公司 | Single-stage large transmission ratio gear reducer |
-
2019
- 2019-03-12 CN CN201910185663.8A patent/CN109854686A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020007944A (en) * | 2000-08-22 | 2002-01-29 | 김석윤 | High ratio differential planetary gear reducer |
| CN1483949A (en) * | 2003-08-09 | 2004-03-24 | 宁国聚隆实业有限公司 | Multe-gear large transmission ratio single-stage planetary gear wheel speed variator |
| CN101191531A (en) * | 2006-11-28 | 2008-06-04 | 欧仁伟 | Planet decelerating method and device for differential gear |
| CN106641109A (en) * | 2016-11-22 | 2017-05-10 | 上海航天控制技术研究所 | Small planetary gear reducer with large transmission ratio |
| CN109268455A (en) * | 2018-10-25 | 2019-01-25 | 湖南科技大学 | A kind of second gear single-pinion planetary gear speed changer structure |
| CN210034303U (en) * | 2019-03-12 | 2020-02-07 | 北京大信高科智能科技有限公司 | Single-stage large transmission ratio gear reducer |
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