CN114427591A - Speed reducer with few differential teeth for motor - Google Patents
Speed reducer with few differential teeth for motor Download PDFInfo
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- CN114427591A CN114427591A CN202111669670.9A CN202111669670A CN114427591A CN 114427591 A CN114427591 A CN 114427591A CN 202111669670 A CN202111669670 A CN 202111669670A CN 114427591 A CN114427591 A CN 114427591A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000009467 reduction Effects 0.000 claims abstract description 29
- 239000000463 material Substances 0.000 claims abstract description 14
- 230000010355 oscillation Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The application relates to the technical field of speed reducers, and provides a few poor tooth speed reducers for motors, wherein, include: installing a base body; the eccentric driving shaft is provided with at least 2 layers of eccentric cam parts along the axial direction of the eccentric driving shaft; at least 2 layers of swing teeth, wherein the swing teeth are sleeved on the eccentric cam parts in a one-to-one correspondence manner, and the periphery of each swing tooth is provided with a first tooth part; the inner ring side of each outer gear ring is provided with a second tooth part corresponding to the first tooth part, the first tooth parts of the swinging teeth are meshed with the second tooth parts of the outer gear rings in a one-to-one correspondence manner, the number of the first tooth parts is smaller than that of the corresponding second tooth parts, and the outer gear rings are made of a tough material; an output shaft rotatably provided to the mounting base; the driving medium, with output shaft and each swing tooth transmission connection, this speed reducer mainly possesses following several characteristics: 1. a 0 backlash can be realized; 2. the requirements on the material characteristics are loose; 3. the volume is small and the reduction ratio is large.
Description
Technical Field
The application relates to the technical field of speed reducers, in particular to a speed reducer with few differential teeth for a motor.
Background
The speed reducer is an important core part applied to the output end of the motor. In the prior art, speed reducers applied to robots are mainly speed reducer mechanisms composed of RV speed reducers, harmonic speed reducers, planetary speed reducers, worm and gear speed reducers, and synchronous belts.
The speed reducer applied to the motor mainly aims to convert high rotating speed and small torque of the motor, reduce certain rotating speed and obtain larger output torque. The traditional speed reducer has high manufacturing difficulty and high manufacturing precision, and is typified by RV speed reducers and harmonic speed reducers; the traditional speed reducer has larger dependence on manufacturing materials, such as flexible gear deformation materials of harmonic speed reducers. Traditional speed reducers have transmission gaps, such as planetary speed reducers. The traditional speed reducing mechanism is complex in design, needs multiple levels of nesting like the speed reduction of a synchronous belt, and is relatively large in structural organization. The volume design of traditional speed reducer is limited, and RV speed reducer and harmonic speed reducer have the advantage that obtains bigger reduction ratio in principle, but equally, it can't accomplish small-size and little reduction ratio also is the shortcoming.
Disclosure of Invention
The invention mainly aims to provide a speed reducer with few differential teeth for a motor, and aims to solve the technical problems that the speed reducer in the prior art is complex in structure and difficult to achieve small size and small speed reduction ratio.
In order to achieve the purpose, the invention adopts the technical scheme that: a reduction gear for an electric machine, comprising:
installing a base body;
an eccentric drive shaft rotatably provided to the mounting base, the eccentric drive shaft being adapted to be mounted to a motor shaft, the eccentric drive shaft being provided with at least 2-stage eccentric cam portions along an axial direction thereof, axes of the eccentric cam portions being arranged in parallel with and spaced apart from an axis of the eccentric drive shaft, and axes of the eccentric cam portions being offset from each other;
the number of the swing teeth corresponds to the number of the eccentric cam parts of the at least 2 layers, the swing teeth are sleeved on the eccentric cam parts in a one-to-one correspondence mode, and the periphery of each swing tooth is provided with a first tooth part;
the mounting structure comprises at least 2 layers of outer gear rings arranged on the mounting base body, wherein the number of the outer gear rings corresponds to that of the at least 2 layers of swinging teeth, a second tooth part corresponding to the first tooth part is arranged on the inner ring side of each outer gear ring, the first tooth parts of the swinging teeth are meshed with the second tooth parts of the outer gear rings in a one-to-one correspondence manner, the number of the first tooth parts is less than that of the corresponding second tooth parts, and the outer gear rings are made of a tough material;
an output shaft rotatably provided to the mounting base;
and the transmission piece is in transmission connection with the output shaft and each swinging tooth respectively.
Furthermore, the tooth profiles of the first tooth profile and the second tooth profile are both circular arc tooth profiles.
Further, the swing angle of the sequential phase difference of the at least 2 layers of swing teeth is 360 degrees/the layer number of the swing teeth.
Further, the speed reducer with few differential teeth for the motor comprises 2 layers of swing teeth, and the difference between the 2 layers of swing teeth is 180-degree swing angle.
Further, the transmission part is a transmission column, and the transmission column penetrates through the output shaft and each swinging tooth.
Further, the number of the transmission columns is multiple, and the transmission columns are arranged around the axis of the eccentric driving shaft at intervals.
Further, the reduction gear for a motor includes a first bearing provided between the corresponding oscillating tooth and the eccentric cam portion.
Further, the outer gear ring is made of rubber.
Further, the installation base body is a shell, and the eccentric driving shaft, the swinging teeth, the outer gear ring and the transmission piece are all located inside the shell.
Further, the output shaft is an output flange.
The application provides a few poor tooth speed reducer for motor's beneficial effect lies in:
because the outer gear ring adopts a flexible design, the outer gear ring can be matched with a rigid swing gear, and the back clearance problem caused by mechanical rigidity can be well eliminated no matter the input end or the output end is transmitted through the speed reducer, and the principle of the outer gear ring is similar to that of a harmonic speed reducer. Also, because of this characteristic, there may be a slight ductile deformation of the output end of the speed reducer. When the speed reducer is used, the design value of the speed reducer is not exceeded, and the deformation can be well reduced or even eliminated.
The outer gear ring is made of a tough material, so that the outer gear ring has good rigidity and certain toughness, and respective tooth parts of the outer gear ring and the swing teeth are in full contact without backlash in the meshing process. The gear can be restored to the original tooth form state in the non-meshing state, so that the characteristic of high rigidity is achieved, and the gear is different from a harmonic speed reducer and does not need flexible gear deformation.
The less-differential-tooth speed reducer for the motor is provided with at least 2 layers of eccentric cam parts and at least 2 layers of matched swinging teeth, and when the layers of the eccentric cam parts and the matched swinging teeth are increased, the bearing torque can be effectively increased.
In a word, the speed reducer with few difference teeth for the motor, which is provided by the application, adopts the principle of few difference teeth and a twisting and meshing mode, and realizes the flexible design method of the tooth profile and the external teeth, the core of which is not in full contact. The speed reducer is different from the existing speed reducer, and has the remarkable characteristics of customizable reduction ratio, flexible size and low manufacturing cost.
The application provides a less poor tooth speed reducer for motor's performance possesses leading ability equally, and it possesses transmission efficiency height, reduction ratio flexibility, transmission moment of torsion are big, input rotational speed is high, characteristics small.
The application provides a few poor tooth speed reducer for motor has broken through the restraint of traditional speed reducer for the manufacturing cost of speed reducer is lower, and possesses the same zero clearance with the harmonic speed reducer, compares traditional RV speed reducer and has reduced the manufacturing degree of difficulty and the assembly process degree of difficulty by a wide margin. The speed reducer is also suitable for the conditions of small volume and large reduction ratio, and is an excellent solution of a robot speed reducer.
In a further scheme, the speed reduction mode that is used for the similar RV speed reducer of few difference tooth speed reducer fundamental principle of motor that this application provided, the difference is, the profile of tooth of first tooth portion, second tooth portion, outer ring gear is not the cycloid, the profile of tooth of first tooth portion, second tooth portion, outer ring gear is arc profile of tooth for the assembly of outer ring gear and swing tooth is simpler, does not need the multiple spot contact, thereby has reduced the degree of difficulty of spare part processing.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a cross-sectional view of a reduction gear for an electric machine with few differential teeth provided in an embodiment of the present application assembled to the electric machine;
fig. 2 is an exploded perspective view of a reduction gear for a motor and a motor provided in an embodiment of the present application;
fig. 3 is a schematic diagram illustrating the matching of the oscillating teeth and the outer ring gear in the reduction gear with few difference teeth for the motor according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating the matching of the oscillating teeth and the outer ring gear in the reduction gear with few difference teeth for the motor according to another embodiment of the present application;
fig. 5 is a perspective assembly view of a part of components of a reduction gear for a motor according to an embodiment of the present application.
Reference numerals referred to in the above figures are detailed below:
1-mounting a substrate; 2-an eccentric drive shaft;
3-motor shaft; 4-a motor;
5-an eccentric cam portion; 6-swinging teeth;
7-an outer gear ring; 8-an output shaft;
9-a drive column; 10-a first bearing;
11-a second bearing; 61-a first tooth;
71-a second tooth; 81-inner bore.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.
Referring to fig. 1, 2 and 5, an embodiment of the present invention provides a reduction gear with few teeth difference for a motor, including: the installation base member 1, eccentric drive shaft 2, 2 at least layers swing tooth 6, set up 2 at least layers of outer ring gear 7, output shaft 8 and the driving medium on installation base member 1.
The basic connection relation and the mutual matching relation of the components are as follows:
the eccentric driving shaft 2 is rotatably arranged on the mounting base body 1, the eccentric driving shaft 2 is used for being mounted to the motor shaft 3, the eccentric driving shaft 2 is provided with a shaft hole, the motor shaft 3 is coaxially inserted into the shaft hole of the eccentric driving shaft 2 to drive the eccentric driving shaft 2 to rotate, when the eccentric driving shaft is applied, the differential reduction gear is assembled with the motor 4, the motor shaft 3 is a power output part of the motor 4, at least 2 layers of eccentric cam parts 5 are arranged on the eccentric driving shaft 2 along the axial direction of the eccentric driving shaft 2, the axial line of each eccentric cam part 5 is parallel to the axial line of the eccentric driving shaft 2 at intervals, and the axial lines of each eccentric cam part 5 are staggered with each other, wherein the eccentric cam parts 5 are preferably integrally formed with the eccentric driving shaft 2, but can also not be integrally formed;
the number of the swing teeth 6 corresponds to the number of the eccentric cam parts 5 with at least 2 layers, each swing tooth 6 is sleeved on each eccentric cam part 5 in a one-to-one correspondence manner, and each swing tooth 6 is provided with a first tooth part 61;
the number of the outer gear rings 7 corresponds to the number of at least 2 layers of swing teeth 6, the inner ring side of each outer gear ring 7 is provided with a second tooth part 71 corresponding to the first tooth part 61, the first tooth parts 61 of each swing tooth 6 are meshed with the second tooth parts 71 of each outer gear ring 7 in a one-to-one correspondence manner, the number of the first tooth parts 61 is smaller than that of the corresponding second tooth parts 71, so that when the eccentric driving shaft 2 rotates and the twisting swing teeth 6 rotate, the swing teeth 6 can roll on the inner ring side of the outer gear rings 7, and the outer gear rings 7 are made of a tough material;
the output shaft 8 is rotatably provided to the mounting base 1;
specifically, in the reducer with few-difference teeth for a motor provided by the embodiment of the present invention, the power output by the motor shaft 3 may sequentially pass through the eccentric driving shaft 2, the eccentric cam portion 5 (the eccentric driving shaft 2 and the eccentric cam portion 5 are regarded as an integral body), the swing teeth 6, and the transmission member to reach the output shaft 8, and the power is output through the output shaft 8.
In the speed reducer with few difference teeth for the motor provided by the embodiment of the invention, the outer gear ring 7 adopts a toughness design (certainly, the outer gear ring 7 should have certain toughness and sufficient rigidity at the same time), and can be matched with the rigid swinging teeth 6, so that the back clearance problem caused by mechanical rigidity can be well eliminated no matter the input end or the output end is transmitted through the speed reducer, and the principle of the speed reducer is similar to that of a harmonic speed reducer. Also, because of this characteristic, there may be slight ductile deformation of the output end of the reducer. When the speed reducer is used, the design value of the speed reducer is not exceeded, and the deformation can be well reduced or even eliminated.
In addition, the power output by the motor shaft 3 is directly output through the output shaft 8 by the output end after passing through the eccentric driving shaft 2 and the swing teeth 6, which is different from the output of the eccentric shaft of the transmission speed reducer, so that the bearing of the eccentric shaft is moved to the output end, and the manufacturing difficulty of the speed reducer is reduced.
Referring to fig. 3 and 4, according to an embodiment of the present invention, the tooth profiles of the first tooth portion 61 and the second tooth portion 71 are both arc-shaped tooth profiles, that is, the tooth profile of the oscillating tooth 6 is designed to be an arc-shaped transition tooth profile, and the tooth profile of the outer ring gear 7 is also an arc-shaped tooth profile, which does not need a displacement design, and can solve the problem of interference between the inner teeth and the outer teeth in the small-difference gear transmission.
The tooth profiles of the first tooth portion 61 and the second tooth portion 71 are circular arc tooth profiles, which can be roughly divided into two cases, specifically, referring to fig. 3 (first case), if the first tooth portion 61 is designed as a circle of convex circular arc teeth, the second tooth portion 71 is correspondingly designed as a circle of concave circular arc teeth; or, referring to fig. 4 (second case), if the first toothed portion 61 is designed as a circle of concave circular-arc teeth, the second toothed portion 71 corresponds to a circle of convex circular-arc teeth.
As an alternative embodiment, the tooth profile of the oscillating tooth 6 may be replaced by the tooth profile of a timing belt, and the outer ring gear 7 may be replaced by the timing belt, resulting in a simplified method for manufacturing a high-precision speed reducer.
The above alternative embodiment can further reduce the cost, but since the manufacturing dimensional tolerance of the timing belt itself is large, the transmission efficiency, accuracy and life after assembly cannot be ensured. But this is a very good alternative for less demanding applications.
According to one embodiment of the present invention, the mounting base 1 may be of any suitable structure, such as a mounting seat, a mounting rack, etc., and it is preferable that the mounting base 1 is a housing, and the eccentric driving shaft 2, the oscillating tooth 6, the external gear ring 7 and the transmission member are all located inside the housing, so that the components such as the eccentric driving shaft 2, the oscillating tooth 6, the external gear ring 7 and the transmission member can be well enclosed and protected.
According to one embodiment of the invention, the successive phase difference of at least 2 layers of oscillating teeth 6 is 360 °/layer number of oscillating teeth 6.
For example, a reduction gear for a motor includes 2 layers of oscillating teeth 6, the 2 layers of oscillating teeth 6 differing by an oscillation angle of 180 °, for example, the reduction gear includes 3 layers of oscillating teeth 6, the 3 layers of oscillating teeth 6 each differ by an oscillation angle of 120 °, for example, the reduction gear includes 4 layers of oscillating teeth 6, the 3 layers of oscillating teeth 6 each differ by an oscillation angle of 90 °, and so on.
Referring to fig. 1 and 2, according to an embodiment of the present invention, the transmission member is a transmission post 9, the transmission post 9 is inserted into the output shaft 8 and each of the rocking teeth 6, the output shaft 8 and each of the rocking teeth 6 are provided with a through hole for the transmission post 9, the transmission post 9 can transmit torque well, and installation and replacement are facilitated.
According to one embodiment of the present invention, the number of the transmission columns 9 is plural, and the plural transmission columns 9 are arranged at intervals around the axis of the eccentric drive shaft 2.
According to one embodiment of the present invention, the reduction gear for a motor includes a first bearing 10 disposed between the corresponding swing tooth 6 and the eccentric cam portion 5.
According to an embodiment of the present invention, the outer ring gear 7 is made of rubber (i.e. the above mentioned flexible material), but may be made of other suitable flexible materials, and the present application does not exclude the case where the rubber material is combined with other materials to form a composite rubber material.
Referring to fig. 1 and 2, according to an embodiment of the present invention, the output shaft 8 is an output flange, and specifically, the output flange has an inner hole 81 for the motor shaft 3 to penetrate, so that the space layout of the whole reduction gear is compact and reasonable, the size is smaller, and the output flange can be supported on the mounting base 1 through the second bearing 11.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A reduction gear with few differential teeth for a motor, comprising:
installing a base body;
an eccentric drive shaft rotatably provided to the mounting base, the eccentric drive shaft being adapted to be mounted to a motor shaft, the eccentric drive shaft being provided with at least 2-stage eccentric cam portions along an axial direction thereof, axes of the eccentric cam portions being arranged in parallel with and spaced apart from an axis of the eccentric drive shaft, and axes of the eccentric cam portions being offset from each other;
the number of the swing teeth corresponds to the number of the eccentric cam parts of the at least 2 layers, the swing teeth are sleeved on the eccentric cam parts in a one-to-one correspondence mode, and the periphery of each swing tooth is provided with a first tooth part;
the mounting structure comprises at least 2 layers of outer gear rings arranged on the mounting base body, wherein the number of the outer gear rings corresponds to that of the at least 2 layers of swinging teeth, a second tooth part corresponding to the first tooth part is arranged on the inner ring side of each outer gear ring, the first tooth parts of the swinging teeth are meshed with the second tooth parts of the outer gear rings in a one-to-one correspondence manner, the number of the first tooth parts is less than that of the corresponding second tooth parts, and the outer gear rings are made of a tough material;
an output shaft rotatably provided to the mounting base;
and the transmission piece is in transmission connection with the output shaft and each swinging tooth respectively.
2. The speed reducer of claim 1, wherein the first tooth portion and the second tooth portion have circular arc-shaped tooth profiles.
3. The reducer of claim 1, wherein the at least 2 layers of oscillating teeth have sequentially different oscillating angles of 360 °/layers of oscillating teeth.
4. The reduction gear for an electric motor of claim 3, comprising 2 layers of oscillating teeth, said 2 layers of oscillating teeth differing by an oscillation angle of 180 °.
5. The reduction gear with few teeth difference for motor of claim 1, wherein the transmission member is a transmission post, the transmission post is disposed through the output shaft and each of the oscillating teeth.
6. The speed reducer for an electric motor of claim 5, wherein the number of drive posts is plural, the plural drive posts being spaced around the axis of the eccentric drive shaft.
7. The reduction gear for an electric motor according to any one of claims 1 to 6, comprising a first bearing disposed between the corresponding oscillating tooth and the eccentric cam portion.
8. The reduction gear unit according to any one of claims 1 to 6, wherein the outer ring gear is made of a rubber material.
9. A reduction gear unit according to any one of claims 1 to 6, wherein the mounting base is a housing, and the eccentric drive shaft, the oscillating teeth, the external gear ring and the transmission are located inside the housing.
10. A reducer for an electric motor according to any of claims 1 to 6 in which the output shaft is an output flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111669670.9A CN114427591A (en) | 2021-12-30 | 2021-12-30 | Speed reducer with few differential teeth for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111669670.9A CN114427591A (en) | 2021-12-30 | 2021-12-30 | Speed reducer with few differential teeth for motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114427591A true CN114427591A (en) | 2022-05-03 |
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ID=81310688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111669670.9A Pending CN114427591A (en) | 2021-12-30 | 2021-12-30 | Speed reducer with few differential teeth for motor |
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| Country | Link |
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| CN (1) | CN114427591A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101881318A (en) * | 2010-06-23 | 2010-11-10 | 重庆大学 | General reducer with eccentric engagement pairs |
| US20150087462A1 (en) * | 2013-09-24 | 2015-03-26 | Iwis Motorsysteme Gmbh & Co. Kg | Wobble body gear |
| CN105473891A (en) * | 2013-08-12 | 2016-04-06 | 三宝Motors株式会社 | Reducer |
| CN106763526A (en) * | 2016-12-07 | 2017-05-31 | 长兴柔昊精密科技有限公司 | Robot precision joint speed reducer |
| CN106949197A (en) * | 2017-04-21 | 2017-07-14 | 杭州星河传动机械研究院有限公司 | A kind of escapement rolling sleeve type reductor |
| CN209083917U (en) * | 2018-11-20 | 2019-07-09 | 珠海飞马传动机械有限公司 | A kind of low back clearance speed reducer of industrial robot |
| CN110173551A (en) * | 2019-06-21 | 2019-08-27 | 上海快点机器人科技有限公司 | Deceleration mechanism with overload protection function |
| CN211599411U (en) * | 2019-12-12 | 2020-09-29 | 黄子帅 | Gear meshing reducer with small tooth difference |
-
2021
- 2021-12-30 CN CN202111669670.9A patent/CN114427591A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101881318A (en) * | 2010-06-23 | 2010-11-10 | 重庆大学 | General reducer with eccentric engagement pairs |
| CN105473891A (en) * | 2013-08-12 | 2016-04-06 | 三宝Motors株式会社 | Reducer |
| US20150087462A1 (en) * | 2013-09-24 | 2015-03-26 | Iwis Motorsysteme Gmbh & Co. Kg | Wobble body gear |
| CN106763526A (en) * | 2016-12-07 | 2017-05-31 | 长兴柔昊精密科技有限公司 | Robot precision joint speed reducer |
| CN106949197A (en) * | 2017-04-21 | 2017-07-14 | 杭州星河传动机械研究院有限公司 | A kind of escapement rolling sleeve type reductor |
| CN209083917U (en) * | 2018-11-20 | 2019-07-09 | 珠海飞马传动机械有限公司 | A kind of low back clearance speed reducer of industrial robot |
| CN110173551A (en) * | 2019-06-21 | 2019-08-27 | 上海快点机器人科技有限公司 | Deceleration mechanism with overload protection function |
| CN211599411U (en) * | 2019-12-12 | 2020-09-29 | 黄子帅 | Gear meshing reducer with small tooth difference |
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