CN110056637A - Active-tooth transmission without output gap - Google Patents
Active-tooth transmission without output gap Download PDFInfo
- Publication number
- CN110056637A CN110056637A CN201810052358.7A CN201810052358A CN110056637A CN 110056637 A CN110056637 A CN 110056637A CN 201810052358 A CN201810052358 A CN 201810052358A CN 110056637 A CN110056637 A CN 110056637A
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- Prior art keywords
- tooth
- oscillating
- active
- gear
- flexible ring
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 43
- 210000000515 tooth Anatomy 0.000 claims abstract description 183
- 230000035939 shock Effects 0.000 claims abstract description 26
- 239000000203 mixture Substances 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Active-tooth transmission of the present invention without output gap, by shock wave device, Tooth wheel with changeable teeth and firm tooth gear three parts composition.The wherein shock wave device of active-tooth transmission is designed as being made of flexible ring and driver two parts.The expansionary force that flexible ring is tightened with certain tightness to be installed on the inside of all oscillating tooths of Tooth wheel with changeable teeth, and generated by the deformation of itself, by whole oscillating tooths outward tight against in the flank profil of firm tooth gear, making to engage gapless between oscillating tooth and the flank profil of firm tooth gear.Simultaneously, flexible ring is by all work oscillating tooths of engaging-in firm tooth gear, the working side contact surface of oscillating tooth slot on oscillating tooth carrier is pushed against by pin shaft, and all inoperative oscillating tooths that return will be nibbled out, it is pushed against by pin shaft on the inoperative contact surface of oscillating tooth slot on oscillating tooth carrier, positive and negative both direction pushes against gapless simultaneously, to rotate and reverse all very close to each other.
Description
Technical field of the invention:
The invention belongs to mechanical drive gear reducer technical fields more particularly to a kind of be able to achieve to nibble without the rigidity for exporting gap
Close gearing speed-reducer.
Technical background of the invention:
The main force for the modern mechanical transmission that rigid engagement transmission is.In rigid engagement transmission device, in order to consider heat expansion,
Lubrication and the problems such as mismachining tolerance, must provide certain preset clearance between mesh piece.The cumulative reaction of these preset clearances exists
Output end exactly exports gap, i.e. generation " hysterisis error ", referred to as " return difference " or " lost motion ".Output is driven caused by gap
Error directly affects the transmission accuracy of drive apparatus, brings drawback to the precision drives application such as robot and Precision Machining.How
The output gap for reducing positive drive is always the field that professional person makes great efforts research.
The current means for reducing output gap are to reduce mismachining tolerance aspect to carry out from the accuracy of manufacture is improved mostly.
But rigid engagement is driven preset clearance necessary to itself, must be permanently present, single to eliminate from processing technology,
It should not eliminate.So wanting to realize gapless output, only by the innovative design of drive mechanism, necessary preset clearance
It is enclosed in inside drive mechanism and is not delivered to output block, be possible to realize.The research achievement of this side is very poor so far.
It is extensive in universal speed reducer and precision machinery people's retarder field by the transmission device that Oscillating Tooth Gear Reducer principle designs
It uses.Wherein most typical rolling free gear drive mechanism, (prior art) as shown in Figure 1, is made of three major parts: 1, swash
Wave device J；2, Tooth wheel with changeable teeth (H+R+X)；3, firm tooth gear G.The oscillating tooth number of teeth is Zh, the tooth number Z of firm tooth gearg；Zh=Zg±1.Its
Middle shock wave device J is installed with eccentric amount e, outer diameter DjEccentric disc；The tooth curve C of the gear teeth of firm tooth gear G, is oscillating tooth
The envelope curve of constant speed conjugate movement is done under shock wave device J driving；The Tooth wheel with changeable teeth H of rolling free gear transmission, is rolled by one group
The oscillating tooth idler wheel R of transmission, pin shaft X and oscillating tooth carrier the H composition of idler wheel.The both ends of pin shaft X are in the oscillating tooth slot of oscillating tooth carrier H.
When work, shock wave device J driving oscillating tooth idler wheel R is engaged with the gear tooth profile of firm tooth gear G, then is passed to push by pin shaft X and be lived
Braces H realizes retarded motion.
The outstanding technical performance of active-tooth transmission, is demonstrate,proved by the comparative test of domestic and international specialized company and practical application
It is bright.But principle discussed in the academic paper and patent document for the related movable teeth reducer announced and structure are shown, defeated
Out the problem of gap on, the feelings of existing various active-tooth transmissions and traditional gear drive or Cycloidal pin-wheel drive device
Condition is similar.To make up foozle, fever deforms and the needs of lubrication and existing preset clearance, is all to be directly delivered to oscillating tooth
On the output shaft of retarder, so output gap not can avoid.But due to the oscillating tooth in Oscillating Tooth Gear Reducer be can radially from by
Movement, this, which just gives to design by structure, realizes that the defeated transmission of gapless provides possibility.
Task of the invention:
On the basis of Oscillating Tooth Gear Reducer principle, design one kind can retain be driven between mesh piece necessary to it is reserved between
Gap, and it is able to achieve the drive mechanism for allowing these gaps not influence output movement, it creates a kind of qualified without output gap
Precision drive retarder.
Technical solution of the present invention:
The active-tooth transmission of gapless output, by shock wave device (P+Q), Tooth wheel with changeable teeth (R+X+F) and firm tooth gear G tri- are big
Component is constituted, as shown in Figure 2.It is characterized in that, the shock wave device of the active-tooth transmission is by flexible ring Q and eccentric drive
Two component compositions of device P；Tooth wheel with changeable teeth is made of tri- group parts of oscillating tooth carrier F, one group of rolling free gear R and oscillating tooth pin shaft X；Gu
Gear is that the internal tooth that the tooth curve being provided with by ring gear G and thereon is C is constituted.
The structure of shock wave device:
The flexible ring Q (abbreviation Q ring) of shock wave device in the gapless active-tooth transmission, being one can produce elasticity
The thin wall circular of deformation.The outer diameter D of Q ringq=Dj+μ。DjIt is exactly to generate interior permanent tooth G's with envelope principle in Oscillating Tooth Gear Reducer structure
When gear tooth profile curve C, the due theoretical outer diameter of shock wave device.μ is appropriate excessively cooperation；The internal diameter D of Q ringn, it is according to Q ring
Strength demand is determined when work；The eccentricity of Q ring is e2；The width of Q ring generally takes with the oscillating tooth idler wheel contacted with wide.
It is D that the structure of driver P in shock wave device, which is an outer diameter,p, it is installed on the eccentric wheel of input shaft with bearing bearing, it is eccentric
Amount is e1Disk.Driver P outer diameter DpNominal size are as follows: Dp/2=Dn/2-e2.
When the size of transmission device is larger or the driving of more waves, shock wave device can also use two or more round wheel shape drivers
The one-point or multi-point inscribe in Q ring and form.It, can symmetrical placement two circle wheel drives when the oscillating tooth number of teeth and permanent tooth teeth number difference are 2
Dynamic device, as shown in Figure 3a.Shock wave device shape is ellipse at this time, i.e., double wave driving structure is when size is larger or revolving speed is higher
The rigidity of rotating mass equilibrium and enhancing Q ring drive area, can in symmetric position inscribe Q ring, arrange two or two with
On circle wheel shape driver, as shown in Fig. 3 b and Fig. 3 c.
Eliminate mechanism in the output gap of the structure:
Eccentric driver P is inside Q ring around center of circle O1Plane motion is done, as shown in Figure 4.Driver P function is at this time
From the deformation of the ring body of the inside of Q ring driving Q ring, play the role of Oscillating Tooth Gear Reducer shock wave device, and whether is rotated with ring body itself
It is unrelated.Q ring is installed in the space on the inside of whole oscillating tooth idler wheels, and since Q ring is the flexible ring gently excessively cooperated, Q ring passes through
The elasticity tension of itself holds out against whole oscillating tooth idler wheel automatic load sharings in the flank profil of firm tooth gear.Due to elastic Q
Ring is flexible radially, so Q ring can be with permanent tooth flank profil C, the foozle of oscillating tooth idler wheel R, pin shaft X and oscillating tooth slot S
Size and shape automatically.
According to the mechanical characteristic of hin shell member, Q ring becomes " a rigid convex to shape automatically with pressure because of " tight "
Wheel ".Although Q ring can produce micro-deformation on the basis of theoretical off-centre operation, the perimeter of Q ring is forever constant.The power of tightening of Q ring is
It being formed after assembly, this is tightened power and acts on whole oscillating tooths, whether with work, and it is unrelated with magnitude of load；Simultaneously
The flank profil of firm tooth gear, the advancing side of oscillating tooth idler wheel with nibble out the state of side, it is always symmetrical inside retarder.Oscillating tooth rolling
It is also always symmetrical to take turns the power being pushed against in the flank profil of firm tooth gear.It is the internal force between mesh piece that this, which pushes against power, not externally
Export work done, therefore the transmission efficiency of Q ring tightened power and nor affect on retarder.
Oscillating tooth idler wheel R is radially movable in the oscillating tooth slot S being supported on oscillating tooth disk F by oscillating tooth pin shaft X.Oscillating tooth
The number of idler wheel differs 1 with the number of teeth of firm tooth gear, thus oscillating tooth idler wheel and its pin shaft on circumferential position with firm tooth gear
Internal tooth be staggered one by one, as shown in Figure 4.After Q ring is packed into the inside of whole oscillating tooths with certain tightness, tensile force will be whole
Oscillating tooth idler wheel R is pushed against in the flank profil of firm tooth gear, at this time between the oscillating tooth idler wheel and Q ring of the left and right sides and Q ring and permanent tooth
It is all very close to each other between flank profil on gear G.When input shaft rotates counterclockwise, the left side of engaging-in firm tooth gear flank profil is all
Oscillating tooth idler wheel R is pushed against on the flank of tooth of all power transmission sides of flank profil of firm tooth gear, and gap is not present；And nibble out firm tooth gear
The all oscillating tooth idler wheel R ' in right side are then pushed against on the flank of tooth of all non-power transmission side of flank profil of firm tooth gear, and gap is also not present.It is living
Tooth idler wheel engages the movement generated with the flank profil of firm tooth gear, is to push oscillating tooth carrier F to export by oscillating tooth pin shaft X.Right side is all
Oscillating tooth pin shaft X ' is the tension force P in Q circle1', reaction force P when oscillating tooth idler wheel is engaged with the flank profil of firm tooth gear2' be total to
Under same-action, the right side of oscillating tooth slot S ' is pushed against with resultant force P3 ', gapless exists；At the same time, all oscillating tooth pin shaft X on the left side,
Equally with the presence of the tension force P1 of Q ring and firm tooth gear flank profil meshing point reaction force P2, resultant force of the pin shaft X in two power
The left side that oscillating tooth slot S is pushed against under the action of P3, eliminates backlass.No matter driver is positive or rotates backward at this time,
It is entirely direct-drive in intimate contact between each force transmission element, completely eliminates hysterisis error.And it is appreciated in transmission device to mend
Preset clearance δ and δ ' necessary to foozle, heat expansion and receiving oil film still have, but gap delta and δ ' this moment, are all located at
Not by pressure and the side being driven also is not done simultaneously on oscillating tooth slot S and S ', so all output shaft will not be transmitted to by transmission
On, therefore preset clearance is just closed in internal system without exporting.
The rolling movable gear driving device of large speed ratio or small size usually uses oscillating tooth club structure, as shown in Figure 5.It is living
Tooth roller structure is to be combined into one oscillating tooth idler wheel R and oscillating tooth pin shaft X, becomes oscillating tooth roller RX.The middle section of oscillating tooth roller RX with
The engagement of the flank profil of shock wave device and firm tooth gear, both ends are located in the oscillating tooth slot on oscillating tooth carrier, push oscillating tooth carrier movement.On oscillating tooth carrier
There is the bar axially across oscillating tooth carrier, final movement is exported by bar.Oscillating tooth roller structure, is equivalent to oscillating tooth idler wheel
Special case when oscillating tooth idler wheel R is equal with oscillating tooth pin shaft X outer diameter in structure, so it realizes the principle and technology for eliminating output gap
Scheme, it is identical with aforementioned oscillating tooth roller structure.
The invention has the advantages that
The present invention is in structure and mode of transfer force, between completely eliminating between the component that stress engages in positive drive
Gap realizes the gapless output of real meaning.
Due to the effect of tightening of the soft ring of Q on shock wave device, whenever whole oscillating tooths are all to be adjacent in firm tooth gear and oscillating tooth
On the joggleword face of frame, the noise of transmission will not be also reduced because of the impact that moment occurs there are gap.
Since the soft ring under closed state has the characteristic for being able to maintain its perimeter, any one is engaged with oscillating tooth idler wheel
Position stress increase, the trend " flattened " will occur to reduce stress；And at the same time, soft ring is nibbled with other oscillating tooth idler wheels
The small position of stress at conjunction, just generate " heaving " trend and increase pressure, until with the contact point of all oscillating tooth idler wheels simultaneously
Reach stress equalization.Therefore Q ring plays the role of good load.
Highly preferred embodiment of the present invention --- Novel penetrating-rod-type is without output gap teeth-adjustable reducer
The present embodiment is a large speed ratio of the Oscillating Tooth Gear Reducer structure design exported using oscillating tooth roller and bar, small size
Gapless output speed reducer.The embodiment, which is removed, has large carrying capacity, compact-sized, high transmission accuracy, high-efficient low noise
The characteristics of outside, prior characteristic does not have idle running when being output shaft positive decommuntation rotation, be high-precision, high rigidity without outlet chamber
Gap precision drive retarder.
The Novel penetrating-rod-type gapless exports movable tooth transmission reducer, by shock wave device (P+Q), Tooth wheel with changeable teeth (RX+F+W) and consolidates
Gear G composition, as shown in Figure 6.Its shock wave device is made of a flexible ring Q (abbreviation Q ring) and driver P；Oscillating tooth tooth
Wheel is the output bar W composition for being provided with the oscillating tooth carrier F of radial oscillating tooth slot S by oscillating tooth roller RX, and passing axially through oscillating tooth carrier；
On firm tooth gear G, it is provided with the internal tooth that tooth curve is C.
The outer circle of Q ring is tightened in the inside of all oscillating tooth roller RX with certain tightness, makes whole oscillating tooth roller RX tight against solid
In the internal tooth flank profil of gear G.Driver P is an eccentric disc with bearing support.In driver P loading Q ring, eccentric disc
On highest point Q ring inner surface is pushed against with certain tightness.
When input shaft rotation, whole oscillating tooth roller RX are whole internal tooth teeth that the Q ring being tauted is pushed against firm tooth gear G
Gear motion is done on exterior feature.At this point, all oscillating tooth rollers in the left side are the right sides for being pushed against the internal tooth flank profil of firm tooth gear；On the contrary, right
The all oscillating tooth rollers in side are then the left sides for being pushed against the internal tooth flank profil of firm tooth gear.At this time from the oscillating tooth both ends roller RX and oscillating tooth carrier F
On oscillating tooth slot S slot between relationship from the point of view of, since the internal tooth flank profil of firm tooth gear is equivalent to inclined-plane, necessarily whole oscillating tooths are rolled
Stick all pushes the power transmission side of the oscillating tooth slot S on oscillating tooth carrier F to, and gap is stayed in the side of oscillating tooth slot S opposite not power transmission.At this time without
It is positive by shock wave device or rotates backward, is all directly driven between each force transmission element, it is very close to each other, to realize gapless
Slow down and exports.
Detailed description of the invention:
Fig. 1 shows the basic structures of existing Oscillating Tooth Gear Reducer.
Fig. 2 indicates the basic knot scheme of transmission device oscillating tooth roller structure of the present invention.
Fig. 3 indicates several different structure schemes of driver in transmission device of the present invention.
Fig. 4 indicates the effect explanation in the elimination gap of transmission device of the present invention.
Fig. 5 indicates the basic structure scheme of transmission device oscillating tooth roller structure of the present invention.
Fig. 6 indicates highly preferred embodiment of the present invention --- Novel penetrating-rod-type is without output gap movable tooth transmission reducer.
Claims (8)
1. a kind of active-tooth transmission without output gap, by shock wave device, Tooth wheel with changeable teeth and firm tooth gear three parts composition are special
Sign is: the shock wave device of the active-tooth transmission is made of flexible ring Q and driver P.
2. a kind of active-tooth transmission without output gap according to claim 1, it is further characterized in that: the shock wave device
The flexible ring Q of middle setting, outer diameter D q=Dj+ μ, wherein Dj is that the round shock wave device that Oscillating Tooth Gear Reducer generated profile calculates is theoretical
Outer diameter, μ are interference fit.
3. a kind of active-tooth transmission without output gap according to claim 1 or 2, it is further characterized in that: it is described
The driver P being arranged in shock wave device is one eccentrically mounted inside flexible ring Q, and with the flexible ring Q phase inscribe
Disk.
4. a kind of active-tooth transmission without output gap according to claim 1 to 3, it is further characterized in that: institute
Stating flexible ring Q is that the becket that can produce flexible deformation becomes suitable for doing eccentric motion under the driving of driver P
The shock-wave generating device of Oscillating Tooth Gear Reducer.
5. a kind of active-tooth transmission without output gap according to claim 1 to 4, it is further characterized in that: it is described
The driver P being arranged in shock wave device can be two or more disks with the flexible ring Q phase inscribe, by bullet
Property soft ring bearing be unicast, double wave or more waves shock wave cam structure.
6. -5 any a kind of active-tooth transmission without output gap according to claim 1, it is further characterized in that: it is described
Flexible ring Q is tightened with certain tightness to be installed on the inside of all oscillating tooths of Tooth wheel with changeable teeth, so that whole oscillating tooths are outward tight against solid
In the flank profil of gear, make oscillating tooth and the flank profil of firm tooth gear engages gapless.
7. -6 any a kind of active-tooth transmission without output gap according to claim 1, it is further characterized in that: it is described
All work oscillating tooths of engaging-in firm tooth gear are pushed against the work side contacts of oscillating tooth slot on oscillating tooth carrier by pin shaft by flexible ring Q
Face；All inoperative oscillating tooths of return will be nibbled out simultaneously, are pushed against by pin shaft on the inoperative contact surface of oscillating tooth slot on oscillating tooth carrier,
Forward and backward direction pushes against simultaneously, and gap is enclosed in inside drive mechanism and is not exported.
8. -7 any a kind of active-tooth transmission without output gap according to claim 1, it is further characterized in that: it is described
Flexible ring Q is radially flexible, and while keeping its perimeter, is carried to the realization of whole oscillating tooths.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810052358.7A CN110056637A (en) | 2018-01-19 | 2018-01-19 | Active-tooth transmission without output gap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810052358.7A CN110056637A (en) | 2018-01-19 | 2018-01-19 | Active-tooth transmission without output gap |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110056637A true CN110056637A (en) | 2019-07-26 |
Family
ID=67315280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810052358.7A Pending CN110056637A (en) | 2018-01-19 | 2018-01-19 | Active-tooth transmission without output gap |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110056637A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111706661A (en) * | 2020-06-28 | 2020-09-25 | 周江 | Movable tooth transmission device with preset internal tooth profile |
| CN111895059A (en) * | 2020-07-15 | 2020-11-06 | 深圳市泉锲科技有限公司 | Forming design method of speed reducer |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2133565Y (en) * | 1992-09-01 | 1993-05-19 | 朱国昌 | Moving tooth harmonic transmission drawing machine |
| CN101070900A (en) * | 2006-05-12 | 2007-11-14 | 杨光笋 | Cosine tooth-outline wheel three-wave speed reducer |
| DE102007019607A1 (en) * | 2007-04-02 | 2008-10-16 | Wittenstein Ag | Coaxial gear, in particular hollow shaft gear for industrial drive technology |
| CN201339693Y (en) * | 2008-06-27 | 2009-11-04 | 陈仕贤 | Novel penetrating-rod-type oscillating tooth transmission structure |
| CN201461867U (en) * | 2009-07-03 | 2010-05-12 | 北京工业大学 | Oscillating-tooth harmonic transmission device |
| CN101725690A (en) * | 2008-11-04 | 2010-06-09 | 陈仕贤 | Discrete tooth harmonic transmission |
| CN202914703U (en) * | 2012-09-14 | 2013-05-01 | 锕玛科技股份有限公司 | Clearance compensation structure of harmonic transmission device |
| CN104767319A (en) * | 2015-03-11 | 2015-07-08 | 燕山大学 | Electromagnetism harmonic wave oscillating tooth transmission device |
| CN106402362A (en) * | 2016-09-23 | 2017-02-15 | 燕山大学 | Real-time gap-eliminating type weak-rigidity push rod oscillating gear transmission device |
-
2018
- 2018-01-19 CN CN201810052358.7A patent/CN110056637A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2133565Y (en) * | 1992-09-01 | 1993-05-19 | 朱国昌 | Moving tooth harmonic transmission drawing machine |
| CN101070900A (en) * | 2006-05-12 | 2007-11-14 | 杨光笋 | Cosine tooth-outline wheel three-wave speed reducer |
| DE102007019607A1 (en) * | 2007-04-02 | 2008-10-16 | Wittenstein Ag | Coaxial gear, in particular hollow shaft gear for industrial drive technology |
| CN201339693Y (en) * | 2008-06-27 | 2009-11-04 | 陈仕贤 | Novel penetrating-rod-type oscillating tooth transmission structure |
| CN101725690A (en) * | 2008-11-04 | 2010-06-09 | 陈仕贤 | Discrete tooth harmonic transmission |
| CN201461867U (en) * | 2009-07-03 | 2010-05-12 | 北京工业大学 | Oscillating-tooth harmonic transmission device |
| CN202914703U (en) * | 2012-09-14 | 2013-05-01 | 锕玛科技股份有限公司 | Clearance compensation structure of harmonic transmission device |
| CN104767319A (en) * | 2015-03-11 | 2015-07-08 | 燕山大学 | Electromagnetism harmonic wave oscillating tooth transmission device |
| CN106402362A (en) * | 2016-09-23 | 2017-02-15 | 燕山大学 | Real-time gap-eliminating type weak-rigidity push rod oscillating gear transmission device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111706661A (en) * | 2020-06-28 | 2020-09-25 | 周江 | Movable tooth transmission device with preset internal tooth profile |
| CN111895059A (en) * | 2020-07-15 | 2020-11-06 | 深圳市泉锲科技有限公司 | Forming design method of speed reducer |
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Application publication date: 20190726 |
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