CN110094465B - Speed reducer - Google Patents
Speed reducer Download PDFInfo
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- CN110094465B CN110094465B CN201910397262.9A CN201910397262A CN110094465B CN 110094465 B CN110094465 B CN 110094465B CN 201910397262 A CN201910397262 A CN 201910397262A CN 110094465 B CN110094465 B CN 110094465B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 51
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000007789 sealing Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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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
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a speed reducer, comprising: the first face gear is used for being in driving connection with the power input piece; a second face gear coaxial with the first face gear and having a different number of teeth, the tooth surface of the second face gear being opposite to the tooth surface of the first face gear, and the second face gear rotating relative to the first face gear when the first face gear rotates; a cylindrical planetary gear meshed with the first face gear and the second face gear; and the planet carrier is matched with the cylindrical planet gear and is used for rotating around the axis of the first face gear under the drive of the cylindrical planet gear so as to output power. The speed reducer has the advantages of compact structure, simple design and convenient installation.
Description
Technical Field
The invention relates to a power transmission device, in particular to a speed reducer.
Background
Speed reducers are widely used in mechanical devices as means for transmitting rotational speed and torque. For example, large-gear-ratio precision reducers are often used in industrial robots, and the performance of the reducers has an important influence on the performance of a robot body, and is one of key functional components of the robot.
Disclosure of Invention
The invention aims to provide a speed reducer which is compact in structure, simple in design and convenient to install.
The invention discloses a speed reducer, comprising:
The first face gear is used for being in driving connection with the power input piece;
A second face gear coaxial with the first face gear and having a different number of teeth, the tooth surface of the second face gear being opposite to the tooth surface of the first face gear, and the second face gear rotating relative to the first face gear when the first face gear rotates;
a cylindrical planetary gear meshed with the first face gear and the second face gear;
And the planet carrier is matched with the cylindrical planet gear and is used for rotating around the axis of the first face gear under the drive of the cylindrical planet gear so as to output power.
In some embodiments, the second face gear is for driving connection with the power input.
In some embodiments, the decelerator comprises:
The input shaft is fixedly connected with the first face gear and is used for being in driving connection with the power input piece;
The intermediate transmission mechanism is connected between the input shaft and the second face gear, and the second face gear is in driving connection with the power input piece through the intermediate transmission mechanism.
In some embodiments, the intermediate transmission mechanism includes an equal speed reversing mechanism that reverses the rotational speed of the second face gear to the same rotational speed of the first face gear.
In some embodiments, the equal speed reversing mechanism includes:
A fixing frame;
the first gear is coaxial with the input shaft and is fixedly connected with the input shaft relatively;
The rotating shaft of the second gear is arranged on the fixing frame, and the second gear is externally meshed with the first gear;
the rotating shaft of the third gear is arranged on the fixing frame, and the third gear is externally meshed with the second gear;
the fourth gear is coaxial with the third gear and is relatively fixed;
and the fifth gear is externally meshed with the fourth gear, is coaxial with the second face gear and is relatively fixed.
In some embodiments, the speed reducer includes a plurality of the cylindrical planet gears, and the planet carrier is engaged with the plurality of cylindrical planet gears.
In some embodiments, the planet carrier comprises a housing carrier connected to a gear shaft of the cylindrical planet gear, the housing carrier being coaxial with and rotating relative to the first face gear and the second face gear; the shell frame is provided with a connecting part for power output; the shell frame is coaxial and can rotate relatively relative to the input shaft and the intermediate transmission mechanism; the shell frame, the input shaft and the fixing frame of the intermediate transmission mechanism form a sealing cavity, and the first face gear, the cylindrical planetary gear and the second face gear are positioned in the sealing cavity.
In some embodiments, the decelerator further comprises:
the first slewing bearing is arranged between the axial end face of the first face gear and the inner wall of the shell frame along the axial direction of the first face gear; and/or
The second slewing bearing is arranged between the axial end face of the second face gear and the inner wall of the shell frame along the axial direction of the first face gear.
In some embodiments, the speed reducer further comprises a support bearing with an inner ring disposed around the input shaft, and one end of the gear shaft of the cylindrical planetary gear, which is close to the input shaft, is connected to an outer ring of the support bearing.
In some embodiments, the first face gear and the second face gear are cycloidal gears.
In some embodiments, the second face gear is 1 tooth less than the first face gear.
Based on the speed reducer provided by the invention, the first face gear and the second face gear which are provided with tooth differences and have relative rotation speed differences are matched with the cylindrical planetary gear to transmit power, and the speed reduction and torque increase under different transmission ratios can be conveniently realized by designing different tooth differences and different speed differences of the first face gear and the second face gear. In addition, through the cooperation transmission power of cylinder planetary gear and face gear, compare in traditional bevel gear transmission, can reduce planetary gear axis direction movement error and to driven influence, design installation is more convenient simple.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a speed reducer according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of the structure of the reduction gear unit of the embodiment shown in FIG. 1;
Fig. 3 is a schematic diagram of the transmission principle of the embodiment of fig. 1 when the reducer is engaged with the power input member.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The reducer of the embodiment shown in fig. 1 comprises a first face gear 1, a second face gear 2, cylindrical planet gears 3 and a planet carrier 4. The first face gear 1 is used for being in driving connection with a power input piece 9; the second face gear 2 is coaxial with the first face gear 1 and has different tooth numbers, the tooth surface of the second face gear 2 is opposite to the tooth surface of the first face gear 1, and the second face gear 2 rotates relative to the first face gear 1 when the first face gear 1 rotates; the cylindrical planetary gear 3 is meshed with the first face gear 1 and the second face gear 2; the planet carrier 4 is matched with the cylindrical planet gear 3 and is used for rotating around the axis of the first face gear 1 under the drive of the cylindrical planet gear 3 so as to output the rotation speed and torque after speed reduction and torque increase to the next-stage mechanism.
When the speed reducer is in operation, the first face gear 1 is driven to rotate by the power input member 9, and may have the same rotation speed w1 as the power input member 9. The rotation speed of the second face gear 2 is w2, the second face gear 2 can be in driving connection with the power input piece 9 through the intermediate transmission mechanism 5 as shown in fig. 1 and 3, and the second face gear 2 obtains a rotation speed different from that of the first face gear 1 through the intermediate transmission mechanism 5 under the driving of the power input piece 9 when the speed reducer works.
In some embodiments, not shown in the figures, the second face gear 2 may also remain stationary, not driven by the power input 9, for example the second face gear 2 remains relatively fixed to the reducer housing, so that the rotation speed w2 of the second face gear 2 is 0 when the reducer is in operation, unlike the rotation speed of the first face gear 1.
When the speed reducer works, the first face gear 1 and the second face gear 2 are arranged face to face, namely the end face with the gear teeth of the first face gear 1 is opposite to the end face with the gear teeth of the second face gear 2; the first face gear 1 and the second face gear 2 have a tooth number difference. The cylindrical planetary gear 3 is clamped between the first face gear 1 and the second face gear 2, and is meshed with the first face gear 1 and the second face gear 2 respectively, the number of the cylindrical planetary gears 3 can be 1 or more, and the planet carrier 4 can be in various shapes such as a crank shaft shape, a shell shape and the like. As shown in fig. 1, the carrier 4 has a housing shape, and the gear shafts 31 of the plurality of cylindrical planetary gears 3 are provided in the mounting holes 41 of the carrier 4. When the speed reducer works, the cylindrical planetary gear 3 rotates and revolves under the action of the first face gear 1 and the second face gear 2 with the rotation speed difference and the tooth number difference, the planetary carrier 4 is driven to rotate through revolution, and the torque and the rotation speed are output outwards through the planetary carrier 4.
Assuming that the rotation speed of the planet carrier 4 when the speed reducer works is wx, the characteristic equation of the speed reducer in this embodiment is:
w1-(1+a)wx+aw2＝0 …(1)
a＝z2/z1＝(z1-k)/z1 (k≠0) …(2)
ratio of transmission: i=w1/wx … (3)
Wherein z1 is the number of teeth of the first face gear 1, z2 is the number of teeth of the second face gear 2, a is the ratio of the number of teeth of the second face gear 2 to the number of teeth of the first face gear 1, and k is the difference between the numbers of teeth of the first face gear 1 and the second face gear 2.
According to the formulas (1), (2) and (3), different gear ratios i can be obtained by providing different numbers of teeth z1, z2 of the first face gear 1 and the second face gear 2, and by providing different intermediate transmission mechanisms 5 to cause the first face gear 1 and the second face gear 2 to have different rotational speeds w1 and w 2.
When the intermediate transmission mechanism 5 is an equal rotation speed reversing mechanism, the equal rotation speed reversing mechanism makes the rotation speed of the first face gear 1 the same as the rotation speed of the first face gear 1 in opposite directions. Namely, the second face gear 2 is connected with the power input member 9 through the equal-rotation-speed reversing mechanism, and the second face gear 2 obtains the rotation speed w2= -w1 under the driving of the power input member 9 through the equal-rotation-speed reversing mechanism.
According to the formulas (1), (2) and (3), the gear ratio of the speed reducer at this time:
i＝(1+a)/(1-a)＝2/(1-a)-1
I.e. i=2z1/k-1 … (4) at this time
According to equation (4), when the second face gear 2 and the first face gear 1 are of a small tooth difference characteristic, i.e., k >0, and k is small, the reduction gear can obtain a large gear ratio. When the second face gear 2 has 1 tooth less than the first face gear 1, i.e. k=1, the gear ratio i=2z1-1 of the reduction gear can be obtained. Compared with the traditional planetary mechanism with small tooth difference, the speed reducer of the embodiment can easily obtain larger transmission ratio, namely, under the requirement of the same transmission ratio, the speed reducer of the embodiment can realize smaller size and more compact structure.
Face gear transmission is a non-parallel shaft gear transmission form different from bevel gear transmission, and the face gear transmission is meshed with the face gear through a cylindrical gear to carry out gear transmission. The speed reducer of the embodiment can conveniently realize speed reduction and torque increase under different transmission ratios by designing different tooth differences and different rotation speed differences of the first face gear 1 and the second face gear 2. By reasonably designing the tooth number difference and the rotation speed difference of the first face gear 1 and the second face gear 2, the speed reducer can also have a larger transmission ratio so as to meet the situation of needing a large transmission ratio. In addition, when the cylindrical planetary gear 3 of the speed reducer is installed or works in the axial direction to generate movement errors, the cylindrical planetary gear 3 is matched with the first face gear 1 and the second face gear 2 to transmit power, so that the conventional cone crown superposition requirement of bevel gear transmission is avoided, the influence on transmission when the axial direction of the planetary gear generates movement errors can be reduced, and the design and the installation are more convenient and simple. In addition, the reducer of the embodiment adopts face gear transmission, so that the contact ratio is large, and the fluctuation of the transmission ratio is small. When the cylindrical planetary gear 3 is a straight-tooth cylindrical gear, no axial force acts on the cylindrical planetary gear 3, so that the support can be simplified, and the structure of the speed reducer is simpler and more compact. In addition, the speed reducer of the embodiment adopts a face-to-face approximately symmetrical mounting arrangement mode of two face gears, so that mutual error compensation in the power transmission process can be realized during operation, for example, meshing gaps exist between the first face gear 1 and the second face gear 2 during transmission, and due to the fact that the two face gears are arranged face to face approximately symmetrically, the influence of the meshing gaps on transmission precision can be coupled and compensated to a certain extent, and therefore the transmission precision of the speed reducer is improved.
In some embodiments, the second face gear 2 is adapted for driving connection with the power input 9. I.e. the second face gear 2 of the reducer of the present embodiment rotates during operation.
In some embodiments, the reducer includes an input shaft 6 and an intermediate transmission 5. The input shaft 6 is fixedly connected with the first face gear 1 and is used for being in driving connection with the power input piece 9, and the intermediate transmission mechanism 5 is connected between the input shaft 6 and the second face gear 2 so as to enable the second face gear 2 to be in driving connection with the power input piece 9. In this embodiment, the first face gear 1 is indirectly connected with the power input member 9 through the input shaft 6, so that the driving connection between the first face gear 1 and the power input member 9 is more convenient. In addition, by providing the intermediate transmission mechanism 5 between the input shaft 6 and the second face gear 2, the provision of the intermediate transmission mechanism 5 can be made more convenient. The fixed connection between the input shaft 6 and the first face gear 1 may be, as shown in fig. 2, by providing a hub 7 fixedly connected to the first face gear 1, and then the hub 7 is fixedly connected to the input shaft 6 through a key groove 71.
In some embodiments, as shown in fig. 1 and 3, the equal speed reversing mechanism includes a mount 50, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, and a fifth gear 55. The mount 50 may be a housing in which the first gear 51, the second gear 52, the third gear 53, the fourth gear 54, and the fifth gear 55 may be disposed. The first gear 51 is coaxially and relatively fixedly connected with the input shaft 6; the rotating shaft of the second gear 52 is arranged on the fixed frame 50 and is externally meshed with the first gear 51; the rotating shaft of the third gear 53 is arranged on the fixed frame 50 and is externally meshed with the second gear 52; the fourth gear 54 is coaxial with and relatively fixed to the third gear 53; the fifth gear 55 is externally meshed with the fourth gear 54, and is coaxial with and relatively fixed to the second face gear 2. The input shaft 6 of the first face gear 1 is fixedly connected with the power input member 9, and the mount 50 may be fixed to the housing of the power input member 9 through the fixing hole 500. By setting the first gear 51 and the third gear 53 to have the same tooth number, the first gear 51, the second gear 52 and the third gear 53 to have the same modulus, the fourth gear 54 and the fifth gear 55 to have the same modulus, and the center distance between the first gear 51 and the third gear 53 to be equal to the center distance between the first gear and the third gear, the rotation speed of the second face gear 2 and the rotation speed of the first face gear 1 can be equal and opposite in direction during working.
In some embodiments, in the structure shown in fig. 3, the magnitude relation between the rotation speed w2 of the second face gear 2 and the rotation speed w1 of the first face gear 1 can be changed by changing the number of teeth of the first gear 51, the second gear 52, the third gear 53, the fourth gear 54, and the fifth gear 55, for example, the magnitude of w2 is made larger than w1. In some embodiments, in the structure shown in fig. 3, an idler gear is added between the first gear 51 and the third gear 53 to adjust the rotation speed direction of the second face gear 2, that is, the intermediate transmission mechanism can be designed in various forms.
In some embodiments, as shown in fig. 1, the speed reducer includes a plurality of cylindrical planetary gears 3, the planet carrier 4 is matched with the plurality of cylindrical planetary gears 3, the planet carrier 4 includes a housing carrier connected with gear shafts of the plurality of cylindrical planetary gears 3, the housing carrier is a housing-shaped planet carrier 4, and the housing carrier is coaxial with and rotates relatively to the first face gear 1; the housing frame is used for being coaxial with the input shaft 6 and rotating in a sealing manner relative to the input shaft; the housing frame is coaxial and relatively rotatable relative to the input shaft 6 and the intermediate transmission mechanism 5; the housing carrier, the input shaft 6 and the fixed mount of the intermediate drive 5 form a sealed cavity in which the first face gear 1, the cylindrical planetary gears 3 and the second face gear 2 are located. As shown in fig. 1, the housing frame can form a sealing cavity by rotating in a sealing manner relative to the housing of the intermediate transmission mechanism 5, and the housing of the intermediate transmission mechanism 5 rotates in a sealing manner relative to the input shaft 6, so that the speed reducer has good sealing performance, and the working accuracy of the speed reducer is facilitated to be maintained. The end part of the shell frame is provided with a connecting part, so that the shell frame can be conveniently connected with the next transmission mechanism, and the power output of the speed reducer after speed reduction and torque increase is facilitated.
In some embodiments, the speed reducer further includes a slew bearing 42, the slew bearing 42 comprising the first slew bearing and/or the second slew bearing. The first slewing bearing is arranged between the axial end surface of the first face gear 1 and the inner wall of the shell frame along the axial direction of the first face gear 1; the second slewing bearing is arranged between the axial end face of the second face gear 2 and the inner wall of the housing frame along the axial direction of the first face gear 1. In this embodiment, the provision of the slewing bearing 42 helps to ensure the stable reliability of rotation of the first face gear 1 and/or the second face gear 2 when in operation. The slewing bearing 42 may be a sliding bearing provided between the housing frame inner wall and the first face gear 1 and/or the second face gear 2.
In some embodiments, as shown in fig. 1 and 2, the speed reducer further includes a support bearing 8 having an inner ring disposed around the input shaft 6, and one end of the gear shaft of the cylindrical planetary gear 3 near the input shaft 6 is connected to an outer ring of the support bearing 8. The inner ring of the support bearing 8 may be arranged on the hub 7 as shown. The present embodiment can improve the stable reliability of rotation and revolution of the cylindrical planetary gear 3 by providing the support bearing 8. The support bearing 8 may be a roller bearing, such as a cylindrical roller bearing, with an inner race mounted on the hub 7 and an outer race cooperating with the gear shaft of the cylindrical planetary gear 3.
In some embodiments, the first face gear 1 and the second face gear 2 are cycloidal gears. By designing the first face gear 1 and the second face gear 2 as cycloid gears, the cylindrical planetary gear 3 is a planetary gear conjugate with both. Compared with the transmission of the traditional involute face gear, the transmission of the first face gear 1 and the second face gear 2 is facilitated to reduce contact stress, improve wear uniformity and tooth profile overlap ratio, facilitate bending strength improvement and reduce undercut phenomenon, and facilitate improvement of transmission efficiency.
In some embodiments, the second face gear 2 is 1 tooth less than the first face gear 1.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (9)
1. A speed reducer, characterized by comprising:
A first face gear (1) for driving connection with a power input (9);
A second face gear (2) coaxial with the first face gear (1) and having a different number of teeth, wherein a tooth surface of the second face gear (2) is opposite to a tooth surface of the first face gear (1), and the second face gear (2) rotates relative to the first face gear (1) when the first face gear (1) rotates;
a cylindrical planetary gear (3) meshed with the first face gear (1) and the second face gear (2);
The planet carrier (4) is matched with the cylindrical planet gear (3) and is used for rotating around the axis of the first face gear (1) under the drive of the cylindrical planet gear (3) so as to output power;
the rotation speed of the first face gear is w1, the rotation speed of the second face gear is w2, the rotation speed of the planet carrier when the speed reducer works is wx, and the characteristic equation of the speed reducer is as follows:
w1-(1+a)wx+aw2＝0；
a＝z2/z1＝(z1-k)/z1(k≠0)；
Ratio of transmission: i=w1/wx;
wherein z1 is the number of teeth of the first face gear, z2 is the number of teeth of the second face gear, a is the ratio of the number of teeth of the second face gear to the number of teeth of the first face gear, and k is the difference of the number of teeth of the first face gear and the number of teeth of the second face gear; the second face gear (2) is used for being in driving connection with the power input piece (9); the speed reducer comprises a plurality of cylindrical planet gears (3), and the planet carrier (4) is matched with the plurality of cylindrical planet gears (3).
2. The decelerator of claim 1, wherein the decelerator comprises:
the input shaft (6) is fixedly connected with the first face gear (1) and is used for being in driving connection with the power input piece (9);
The intermediate transmission mechanism (5) is connected between the input shaft (6) and the second face gear (2), and the second face gear (2) is in driving connection with the power input piece (9) through the intermediate transmission mechanism (5).
3. A reducer according to claim 2, wherein the intermediate transmission (5) comprises an equal speed reversing mechanism which reverses the rotation speed of the second face gear (2) to the rotation speed of the first face gear (1).
4. A decelerator as claimed in claim 3 wherein the constant speed reversing mechanism comprises:
A fixing frame (50);
A first gear (51) coaxially and relatively fixedly connected to the input shaft (6);
The rotating shaft of the second gear (52) is arranged on the fixing frame (50), and the second gear (52) is externally meshed with the first gear (51);
the rotating shaft of the third gear (53) is arranged on the fixing frame (50), and the third gear (53) is externally meshed with the second gear (52);
A fourth gear (54) coaxial with and fixed relative to the third gear (53);
And a fifth gear (55) which is externally meshed with the fourth gear (54), and is coaxial with and relatively fixed to the second face gear (2).
5. A reducer according to claim 2, characterized in that the planet carrier (4) comprises a housing carrier connected to the gear shaft of the cylindrical planet gear (3), which housing carrier is coaxial with and rotates relative to the first face gear (1) and the second face gear (2); the shell frame is provided with a connecting part for power output; the housing frame is coaxial and relatively rotatable relative to the input shaft (6) and the intermediate transmission mechanism (5); the shell frame, the input shaft (6) and the fixing frame (50) of the intermediate transmission mechanism (5) form a sealing cavity, and the first face gear (1), the cylindrical planetary gear (3) and the second face gear (2) are positioned in the sealing cavity.
6. The decelerator of claim 5, wherein the decelerator further comprises:
The first slewing bearing is arranged between the axial end face of the first face gear (1) and the inner wall of the shell frame along the axial direction of the first face gear (1); and/or
And a second slewing bearing (42) provided between the axial end surface of the second face gear (2) and the inner wall of the housing frame along the axial direction of the first face gear (1).
7. A reducer according to claim 2, further comprising a support bearing (8) having an inner race disposed around the input shaft (6), wherein the gear shaft of the cylindrical planetary gear (3) is connected to an outer race of the support bearing (8) near one end of the input shaft (6).
8. A reducer according to any one of claims 1 to 7, wherein the first face gear (1) and the second face gear (2) are cycloidal gears.
9. A reducer according to any one of claims 1 to 7, wherein the second face gear (2) has 1 fewer teeth than the first face gear (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910397262.9A CN110094465B (en) | 2019-05-14 | 2019-05-14 | Speed reducer |
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| CN201910397262.9A CN110094465B (en) | 2019-05-14 | 2019-05-14 | Speed reducer |
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| CN110094465B true CN110094465B (en) | 2024-06-14 |
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| CN112619952B (en) * | 2020-11-16 | 2023-01-24 | 重庆大学 | Spraying robot shoulder joint |
| CN113309826B (en) * | 2021-05-26 | 2022-09-30 | 集美大学 | Bionic jumping gear transmission device and transmission ratio adjusting method thereof |
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|---|---|---|---|---|
| CN102230519A (en) * | 2011-04-12 | 2011-11-02 | 河南科技大学 | Face gear-type planetary reduction gearbox |
| CN210218568U (en) * | 2019-05-14 | 2020-03-31 | 北京辐全智能科技股份有限公司 | Speed reducer |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1472055A (en) * | 1973-04-06 | 1977-04-27 | Srm Hydromekanik Ab | Control system for a transmission |
| US6132330A (en) * | 1997-11-12 | 2000-10-17 | Leggett; Aaron D. | Infinitely variable transmission |
| CN106394894B (en) * | 2016-11-01 | 2019-04-09 | 中国航空动力机械研究所 | Helicopter Transmission System |
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2019
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102230519A (en) * | 2011-04-12 | 2011-11-02 | 河南科技大学 | Face gear-type planetary reduction gearbox |
| CN210218568U (en) * | 2019-05-14 | 2020-03-31 | 北京辐全智能科技股份有限公司 | Speed reducer |
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