CN205423706U - Poor planet transmission of few tooth of intelligent adaptive - Google Patents

Abstract

The utility model relates to a poor planet transmission field of few tooth especially relates to the poor planet transmission of few tooth who realizes intelligent adaptive to workload. Including zuohang star gear, the star gear of walking on the right side, left end dish, right -hand member dish, casing and connecting elements the one end of connecting elements is passed along the axial the zuohang star gear and the star gear of walking on the right side, and the tip at connecting elements both ends do not with left end dish with the right -hand member dish links firmly, the zuohang star gear meshes with left end dish and flank profil on the casing simultaneously, the star gear of walking on the right side meshes with right -hand member dish and flank profil on the casing simultaneously, zuohang star gear, the star gear of walking on the right side, left end dish, right -hand member dish and casing form power closing mechanism. The utility model discloses a power closing mechanism that zuohang star gear, the star gear of walking on the right side, left end dish, right -hand member dish and casing formed makes this transmission need not to rely on the observing and controlling system, simple structure, with low costs according to automatic stepless adjustment drive ratio of the change of load and output speed.

Description

A kind of intelligent adaptive less-tooth-difference planetary transmission

Technical field

This utility model relates to small Tooth Number Difference Planetary Transmission field, particularly relates to a kind of less-tooth-difference planetary transmission that live load realizes intelligent adaptive.

Background technology

Small Tooth Number Difference Planetary Transmission, owing to having that gear ratio is big, volume is little, transmission efficiency is high and the advantage such as bearing capacity is big, is used widely in fields such as metallurgy, mine, robot, Aero-Space and weaponrys.The gear ratio of existing small Tooth Number Difference Planetary Transmission is definite value, when live load change need adjust output speed with ensure equipment optimal operational condition time, the rotating speed of driving means is regulated to adapt to change generally by electric controling mode, which relies primarily on measurement and controls, and causes system structure complexity, cost high.And adaptive mechanism is a kind of without by observing and controlling, only rely on self architectural characteristic realize to external change working condition automatically adapt to adjust, and be reliably completed intended job requirement.Pressue device, clamper and the mechanical paws etc. that current adaptive mechanism is mainly made up of bar linkage structure and ordinary gear some, lack one and can realize adaptive less-tooth-difference planetary transmission.

Utility model content

The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of intelligent adaptive less-tooth-difference planetary transmission, is used for solving that actuating device of the prior art needs to carry out adapting to regulation by TT&C system, actuating device itself cannot adjust according to load change that output speed, structure be complicated, high in cost of production defect automatically.

For achieving the above object and other relevant purposes, this utility model provides a kind of intelligent adaptive less-tooth-difference planetary transmission, including left lateral star-wheel, right lateral star-wheel, left end disc, right end disc, housing and connecting elements, one end of described connecting elements passes axially through described left lateral star-wheel and right lateral star-wheel, and the end at connecting elements two ends is connected with described left end disc and described right end disc respectively, described left lateral star-wheel engages with the flank profil in left end disc and housing simultaneously, described right lateral star-wheel engages with the flank profil in right end disc and housing simultaneously, described left lateral star-wheel, right lateral star-wheel, left end disc, right end disc and housing form force-closed mechanism.

This utility model makes this actuating device can adjust gear ratio and output speed according to the change automatic stepless of load by the force-closed mechanism that left lateral star-wheel, right lateral star-wheel, left end disc, right end disc and housing are formed, without relying on TT&C system, simple in construction, transmission efficiency are high, low cost.

Further, also include power shaft and output shaft, described power shaft passes through the first end face bearings in right end disc, and described power shaft is connected with right lateral planet gearing by rotary arm bearing, described output shaft is by the first end face bearings in left end disc, and described output shaft is connected with left lateral planet gearing by rotary arm bearing.

Further, it is provided with distance sleeve between described rotary arm bearing and described first end face bearing.

Further, described housing, described left lateral star-wheel and described right lateral star-wheel are duplicate gear.

Further, the eccentric direction of the duplicate gear on described left lateral star-wheel and described right lateral star-wheel all differs 180 °.

Further, the gear-profile of described left end disc and described right end disc is arranged on end face.

Further, the duplicate gear of described left lateral star-wheel and described right lateral star-wheel is external gear, and the gear being arranged on described left end disc and described right end disc end face is internal gear；Or described left lateral star-wheel is internal gear with left end disc meshed gears, described right lateral star-wheel with right end disc meshed gears, the gear being arranged on described left end disc and described right end disc end face is external gear.

Further, described connecting elements is connection pin, and one end of described connection pin passes axially through left lateral star-wheel and right lateral star-wheel, and the two ends of described connection pin are connected with left end disc and right end disc respectively.

Further, described left end disc and described right end disc pass through the second end face bearings respectively on the internal gear of described housing.

Further, the number of teeth relation of each gear in described force-closed mechanism is:

(z₁z₂₃-z₂₁z₃₂)(z₄-z₅₄)(z₅₄+z₅₃)=(z₄z₅₃-z₅₄z₃₅)(z₁-z₃₁)(z₂₁+z₂₃)；

z₃₂=z₁-z₂₁+z₂₃；

z₃₅=z₄-z₅₄+z₅₃；

Wherein, z₁For the number of teeth of the gear in right end disc, z₂₁For the number of teeth with right end disc meshed gears on right lateral star-wheel, z₂₃For the number of teeth with housing meshed gears on right lateral star-wheel, z₃₂For the number of teeth with right lateral star-wheel meshed gears on housing, z₃₅For the number of teeth with left lateral star-wheel meshed gears on housing, z₄For the number of teeth of the gear in left end disc, z₅₃For the number of teeth with housing meshed gears on left lateral star-wheel, z₅₄For the number of teeth with left end disc meshed gears on left lateral star-wheel.

As it has been described above, this utility model compared with prior art, has the advantages that

(1) this actuating device is in the case of rotational speed of driving unit and moment of torsion keep change, can be according to the change automatic adjusting transmission ratio of live load and output speed；

(2) self adaptation of this actuating device only relies on the mechanism characteristics realization of self, does not relies on TT&C system, and simple in construction, low cost, reliability are high；

(3) gear ratio of this actuating device is continually varying, and adjustment of rotational speed mode is infinitely variable speeds, it is possible to achieve steadily transmission；

(4) this actuating device has overload self-protection function, and when live load exceedes maximum output loading, output shaft will stop the rotation shutdowns, and the rotating speed and the moment of torsion that simultaneously drive device all keep constant, real automatic protects；

(5) this actuating device has self-recovering function, after device is due to overload autostop, when live load is again less than maximum output loading, can automatically resume operation and realize normal transmission.

Accompanying drawing explanation

Fig. 1 is the structural representation of this utility model embodiment；

Fig. 2 is the rotating speed torque diagram of this utility model embodiment；

Fig. 3 is the gear ratio torque diagram of this utility model embodiment；

Fig. 4 is the Power close proof diagram of this utility model embodiment.

Piece mark explanation

H1 power shaft

H2 output shaft

1 right end disc

2 right lateral star-wheels

3 housings

4 left end disc

5 left lateral star-wheels

6 rotary arm bearings

7 first end face bearings

8 connecting elements

9 screws

10 pads

11 second end face bearings

12 sealing members

13 distance sleeves

Detailed description of the invention

Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art can be understood other advantages of the present utility model and effect easily by the content disclosed by this specification.This utility model can also be carried out by the most different detailed description of the invention or apply, and the every details in this specification can also carry out various modification or change based on different viewpoints and application under without departing from spirit of the present utility model.

Refer to Fig. 1 to Fig. 4.It should be noted that, diagram provided in the present embodiment illustrates basic conception of the present utility model the most in a schematic way, component count, shape and size when only showing the assembly relevant with this utility model rather than implement according to reality in the most graphic are drawn, during its actual enforcement, the kenel of each assembly, quantity and ratio can be a kind of random change, and its assembly layout kenel is likely to increasingly complex.Structure depicted in this specification institute accompanying drawings, ratio, size etc., the most only in order to coordinate the content disclosed in description, understand for those skilled in the art and read, it is not limited to the enforceable qualifications of this utility model, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, under not affecting effect that this utility model can be generated by and the purpose that can reach, all should still fall in the range of the technology contents disclosed in this utility model obtains and can contain.Simultaneously, in this specification cited as " on ", D score, "left", "right", the term of " middle " and " " etc., it is merely convenient to understanding of narration, and it is not used to limit the enforceable scope of this utility model, being altered or modified of its relativeness, changing under technology contents without essence, when being also considered as the enforceable category of this utility model.

As shown in Figure 1, intelligent adaptive less-tooth-difference planetary transmission of the present utility model includes left lateral star-wheel 5, right lateral star-wheel 2, left end disc 4, right end disc 1, housing 3 and connecting elements 8, wherein, left lateral star-wheel 5, right lateral star-wheel 2, left end disc 4, right end disc 1 and housing 3 form force-closed mechanism.Also include power shaft H1 and output shaft H2, the first end face bearing 7 and rotary arm bearing 6 it is mounted on power shaft H1 and output shaft H2, it is provided with distance sleeve 13 between rotary arm bearing 6 and the first end face bearing 7 on power shaft H1, it is provided with distance sleeve 13 between rotary arm bearing 6 and the first end face bearing 7 on output shaft H2, separated by distance sleeve 13 between rotary arm bearing 6 and the first end face bearing 7 so that do not interfere with each other the most properly functioning.Power shaft H1 is supported in right end disc 1 by the first end face bearing 7, and power shaft H1 is in transmission connection with right lateral star-wheel 2 by rotary arm bearing 6, and power shaft H1 drives right lateral star-wheel 2 by rotary arm bearing 6.Output shaft H2 is supported in left end disc 4 by the first end face bearing 7, and output shaft H2 is in transmission connection with left lateral star-wheel 5 by rotary arm bearing 6, and left lateral star-wheel 5 drives output shaft H2 by rotary arm bearing 6.Wherein, the tooth curve of each gear in this utility model is not particularly limited, and can use common involute, cycloidal-pin wheel etc..

Connecting elements 8 can use connection pin, as shown in Figure 1, one end of connecting elements 8 passes axially through left lateral star-wheel 5 and right lateral star-wheel 2, and the end of connecting elements 8 one end is connected by screw 9 and pad 10 are fixing with left end disc 4, the end of connecting elements 8 other end is connected also by screw 9 and pad 10 are fixing with right end disc 1, by connecting elements 8, left end disc 4 and right end disc 1 is run simultaneously.Gear-profile in left end disc 4 is processed in right side, gear-profile in right end disc 1 is processed in left side, left lateral star-wheel 5 and right lateral star-wheel 2 are duplicate gear, wherein, the eccentric direction of two duplicate gears on left lateral star-wheel 5 differs 180 °, and the eccentric direction of two duplicate gears on right lateral star-wheel 2 differs 180 °.

The inner surface of housing 3 is machined with duplex internal gear, and the duplex internal gear of housing 3 inner surface lays respectively at left end and the right-hand member of housing 3 inner surface.Left lateral star-wheel 5 engage with the flank profil in the flank profil of housing 3 left end and left end disc 4 simultaneously, engages with the flank profil in the flank profil of housing 3 right-hand member and right end disc 1 while of right lateral star-wheel 2.Wherein, the duplicate gear of left lateral star-wheel 5 and right lateral star-wheel 2 is external gear, and the gear being arranged on left end disc 4 and right end disc 1 end face is internal gear；Or the duplicate gear on left lateral star-wheel 5 is internal gear with left end disc 4 meshed gears, duplicate gear on left lateral star-wheel 5 is external gear with housing 3 inner surface meshed gears, duplicate gear on right lateral star-wheel 2 is internal gear with right end disc 1 meshed gears, being external gear with housing 3 inner surface meshed gears in duplicate gear on right lateral star-wheel 2, the gear being arranged on left end disc 4 and right end disc 1 end face is external gear.The duplicate gear of preferred left lateral star-wheel 5 and right lateral star-wheel 2 is external gear in the present embodiment, and the gear being arranged on left end disc 4 and right end disc 1 end face is internal gear.Left end disc 4 is supported on the left end of housing 3 internal gear by the second end face bearing 11, and right end disc 1 is supported on the right-hand member of housing 3 internal gear by the second end face bearing 11.

Its work process is: power shaft H1 drives right lateral star-wheel 2 to run by rotary arm bearing 6, right lateral star-wheel 2 drive shell 3 and right end disc 1 are run, right end disc 1 drives left end disc 4 to run by connecting elements 8, housing 3 and left end disc 4 simultaneously drive the ruuning situation adjusting left lateral star-wheel 5, and left lateral star-wheel 5 drives output shaft H2 to run by rotary arm bearing 6.Force-closed mechanism is defined by left end disc 4, right end disc 1, left lateral star-wheel 5, right lateral star-wheel 2 and housing 3, this actuating device can be automatically adjusted gear ratio and output speed according to the load of power shaft H1, simple in construction, transmission efficiency are high, reduce cost.

In this utility model, the number of teeth relation of each gear in force-closed mechanism is:

(z₁z₂₃-z₂₁z₃₂)(z₄-z₅₄)(z₅₄+z₅₃)=(z₄z₅₃-z₅₄z₃₅)(z₁-z₂₁)(z₂₁+z₂₃)(1)

z₃₂=z₁-z₂₁+z₂₃(2)

(3)

z₃₅=z₄-z₅₄+z₅₃

Wherein, z₁For the number of teeth of the gear in right end disc, z₂₁For the number of teeth with right end disc meshed gears on right lateral star-wheel, z₂₃For the number of teeth with housing meshed gears on right lateral star-wheel, z₃₂For the number of teeth with right lateral star-wheel meshed gears on housing, z₃₅For the number of teeth with left lateral star-wheel meshed gears on housing, z₄For the number of teeth of the gear in left end disc, z₅₃For the number of teeth with housing meshed gears on left lateral star-wheel, z₅₄For the number of teeth with left end disc meshed gears on left lateral star-wheel.

Operation principle when each number of gear teeth in force-closed mechanism meets the number of teeth relation of formula (1), formula (2) and formula (3) below is described in detail, the duplicate gear of left lateral star-wheel 5 and right lateral star-wheel 2 is external gear simultaneously, the gear being arranged on left end disc 4 and right end disc 1 end face is internal gear, in order to fully understand this technical scheme.If M_H1For input torque, M_H2For live load moment of torsion, M_H2maxFor maximum allowable live load moment of torsion, ω_H1For the rotating speed of power shaft H1, ω_H2For the rotating speed of output shaft H2, ω₁、ω₂、ω₃、ω₄And ω₅It is respectively right end disc 1, right lateral star-wheel 2, housing 3, left end disc 4 and the rotating speed of left lateral star-wheel 5, r_H1And r_H2It is respectively the pivoted arm of power shaft H1 and the eccentric throw of the pivoted arm of output shaft H2, r₁For the pitch radius of right end disc 1 gear, r₃₂For pitch radius with right lateral star-wheel 2 meshed gears on housing 3, r₃₅For pitch radius with left lateral star-wheel 5 meshed gears on housing 3, r₄Pitch radius for left end disc 4 gear.

When left end disc 4 and right end disc 1 rotating speed are 0, i.e. ω₁When=0, corresponding gear ratio and live load are

$u^{\left(\mathrm{\ω}1\right)}=\frac{z_1{z}_{23}(z_4-z_{54})(z_{54}+z_{53})}{z_4{z}_{53}(z_1-z_{21})(z_{21}+z_{23})}---\left(4\right)$

$M_{H2}^{\left({\mathrm{\ω}}_1\right)}=M_{H1}{u}^{\left(\mathrm{\ω}1\right)}---\left(5\right)$

When housing rotating speed is 0, i.e. ω₃When=0, corresponding gear ratio and live load are

$u^{\left(\mathrm{\ω}3\right)}=\frac{z_{21}{z}_{32}(z_4-z_{54})(z_{54}+z_{53})}{z_{54}{z}_{35}(z_1-z_{21})(z_{21}+z_{23})}---\left(6\right)$

$M_{H2}^{\left({\mathrm{\ω}}_3\right)}=M_{H1}{u}^{\left(\mathrm{\ω}3\right)}---\left(7\right)$

Then maximum live load M allowable_H2maxFor being not enough to the load overcoming the frictional force between inner components to cause output speed to be 0, withWithThere is following relation

$M_{H2max}>max\{M_{H2}^{\left({\mathrm{\ω}}_1\right)},M_{H2}^{\left({\mathrm{\ω}}_3\right)}\}---\left(8\right)$

Work as M_H1≤M_H2≤M_H2maxTime, actuating device will be according to live load M_H2Automatic adjusting transmission ratio and output speed, the rotating speed of output shaft H2 and gear ratio are

${\mathrm{\ω}}_{H2}=\frac{M_{H1}{\mathrm{\ω}}_{H1}}{M_{H2}}---\left(9\right)$

$u=\frac{{\mathrm{\ω}}_{H1}}{{\mathrm{\ω}}_{H2}}=\frac{M_{H2}}{M_{H1}}---\left(10\right)$

The rotating speed of left end disc 4 and right end disc 1 is

${\mathrm{\ω}}_1={\mathrm{\ω}}_4=u_{13}^{\left(H1\right)}({\mathrm{\ω}}_3-{\mathrm{\ω}}_{H1})+{\mathrm{\ω}}_{H1}---\left(11\right)$

The rotating speed of housing 3 is

${\mathrm{\ω}}_3=\frac{{\mathrm{\ω}}_{H2}(1-u_{43}^{\left(H2\right)})-{\mathrm{\ω}}_{H1}(1-u_{13}^{\left(H1\right)})}{u_{13}^{\left(H1\right)}-u_{43}^{\left(H2\right)}}---\left(12\right)$

WhereinFor gear ratio relative to power shaft H1 between the internal gear of right end disc 1 and housing 3,For gear ratio relative to output shaft H2 between left end disc 4 and housing 3 internal gear, it is respectively

$u_{13}^{\left(H1\right)}=\frac{z_{21}{z}_{32}}{z_1{z}_{23}}---\left(13\right)$

$u_{43}^{\left(H2\right)}=\frac{Z_{54}{Z}_{35}}{Z_4{Z}_{53}}---\left(14\right)$

WhenTime, the direction of rotation of left end disc 4 and right end disc 1 will change；WhenTime, the direction of rotation of housing 3 will change；Work as M_H2＞ M_H2maxTime, for areas of overload, preferable output speed will be the least, will be not enough to the phase mutual friction overcome between parts, and actual output speed will be 0, it is achieved automatically protects shutdown.

Whether checking power closes standard is that the fictitious power moment being applied on left and right end plate 1 and housing 3 is equal, and calculating formula is as follows

M₁ω₁=M₃ω₃(15)

Wherein M₁For being applied to the moment of torsion in left end disc 4 and right end disc 1

$M_1=M_{H1}\[\frac{z_1{z}_{23}}{(z_1-z_{21})(z_{21}+z_{23})}-u\frac{z_4{z}_{53}}{(z_4-z_{54})(z_{54}+z_{53})}\]---\left(16\right)$

Wherein M₃For being applied to moment of torsion on housing 3

$M_3=M_{H1}\[\frac{z_{21}{z}_{32}}{(z_1-z_{21})(z_{21}+z_{23})}-u\frac{z_{54}{z}_{35}}{(z_4-z_{54})(z_{54}+z_{53})}\]---\left(17\right)$

In this utility model, the gear on right end disc 1 and left end disc 4 end face can also be external gear, and the part engaged in the duplicate gear of corresponding right lateral star-wheel 2 and left lateral star-wheel 5 is internal gear, and its principle is identical, does not repeats them here.For clearly showing principle of the present utility model, above-mentioned calculating formula is directed to desired transmission device, does not considers transmission loss, consider the practical transmission of transmission loss, only need to utilize transmission efficiency that above-mentioned calculating formula is carried out coefficient correction, its principle is identical, does not repeats them here.

Hereinafter use concrete numerical value to carry out embodiment of the present utility model to be illustrated, but be not limited to implementation below.

Embodiment one:

On the end face of right end disc 1 and left end disc 4, the gear of processing is internal gear, and the duplicate gear of right lateral star-wheel 2 and left lateral star-wheel 5 is external gear, and the tooth curve of the gear on right end disc 1, left end disc 3, right lateral star-wheel 2 and left lateral star-wheel 5 uses involute.

Eccentric throw is

r_H1=0.5mm, r_H2=2.5mm

The number of teeth is

z₁=66, z₂₁=65, z₂₃=130, z₃₂=131, z₃₅=27, z₄=14, z₅₃=26, z₅₄=13

Modulus is

m₁=m₂₁=m₂₃=m₃₂=1mm, m₃₅=m₅₃=m₅₄=m₄=5mm

Input speed and moment of torsion are

ω_H1=100rad/s, M_H1=50N.m, M_H2max=1000N.m

The number of teeth relation of the most each gear is as follows

(z₁z₂₃-z₂₁z₃₂)(z₄-z₅₄)(z₅₄+z₅₃)=(66 × 130-65 × 131) × (14-13) × (13+26)=2535

(z₄z₅₃-z₅₄z₃₅)(z₁-z₂₁)(z₂₁+z₂₃)=(14 × 26-13 × 27) × (66-65) × (65+130)=2535

Then have

(z₁z₂₃-z₂₁z₃₂)(z₄-z₅₄)(z₅₄+ z₅₃)=(z₄z₅₃-z₅₄z₃₅) (z₁-z₂₁)(z₂₁+z₂₃)

z₁-z₂₁+z₂₃=66-65+130=131=z₃₂

z₄-z₅₄+z₅₃=14-13+26=27=z₃₅

From above-mentioned calculating, the relation between the number of teeth of each gear meets force-closed condition.

When left end disc and right end disc rotating speed are 0, i.e. ω₁When=0, gear ratio and output moment of torsion are

$u^{\left(\mathrm{\ω}1\right)}=\frac{z_1{z}_{23}(z_4-z_{54})(z_{54}+z_{53})}{z_4{z}_{53}(z_1-z_{21})(z_{21}+z_{23})}=\frac{66\×130\×(14-13)\×(13+26)}{14\×26\×(66-65)\×(65+130)}=4.7143$

$M_{H2}^{\left(\mathrm{\ω}1\right)}=M_{H1}{u}^{\left(\mathrm{\ω}1\right)}=50\×4.7143=235.71N.m$

When housing rotating speed is 0, i.e. ω₃When=0, gear ratio and output moment of torsion are

$u^{\left(\mathrm{\ω}3\right)}=\frac{z_{21}{z}_{32}(z_4-z_{54})(z_{54}+z_{53})}{z_{54}{z}_{35}(z_1-z_{21})(z_{21}+z_{23})}=\frac{65\×131\×(14-13)\×(13+26)}{13\×27\×(66-65)\×(65+130)}=4.8519$

$M_{H2}^{\left(\mathrm{\ω}3\right)}=M_{H1}{u}^{\left(\mathrm{\ω}3\right)}=50\×4.8519=242.59N.m$

The rotating speed torque diagram of embodiment as shown in Figure 2 is it can be seen that work as live load 50N.m≤M_H2During≤1000N.m, for normal operation region, output speed adjusts automatically according to the change of live load；Work as M_H2During=235.71N.m, the direction of rotation of left end disc 4 and right end disc 1 will change；Work as M_H2During=242.59N.m, the direction of rotation of housing 3 will change；Work as M_H2During ＞ 1000N.m, for areas of overload, preferable output speed will be the least, it is contemplated that the phase mutual friction between parts, and actual output speed will be 0, it is achieved automatically protects shutdown.The gear ratio torque diagram of embodiment as shown in Figure 3, gear ratio is consecutive variations, for stepless speed regulation mode stable drive.The Power close proof diagram of embodiment as shown in Figure 4, the fictitious power moment being applied on left and right end plate and housing is equal, is verified as Power close structure.

This utility model without relying on TT&C system, only relies on the mechanism characteristics of self in normal operation region so that output speed can adjust automatically according to the change of live load, and adjustment mode is stepless speed regulation, stable drive；In areas of overload, output speed will be 0, autostop, it is achieved automatically protect；During owing to automatically protecting, the rotating speed of power shaft and moment of torsion all keep constant, and when live load is again less than maximum output loading, actuating device can automatically resume operation and realize normal transmission.

Above-described embodiment only illustrative principle of the present utility model and effect thereof, not for limiting this utility model.Above-described embodiment all can be modified under spirit and the scope of the present utility model or change by any person skilled in the art.Therefore, art has all equivalence modification or changes that usually intellectual is completed under without departing from the spirit disclosed in this utility model and technological thought such as, must be contained by claim of the present utility model.

Claims (10)

1. an intelligent adaptive less-tooth-difference planetary transmission, it is characterized in that, including left lateral star-wheel, right lateral star-wheel, left end disc, right end disc, housing and connecting elements, one end of described connecting elements passes axially through described left lateral star-wheel and right lateral star-wheel, and the end at connecting elements two ends is connected with described left end disc and described right end disc respectively, described left lateral star-wheel engages with the flank profil in left end disc and housing simultaneously, described right lateral star-wheel engages with the flank profil in right end disc and housing simultaneously, described left lateral star-wheel, right lateral star-wheel, left end disc, right end disc and housing form force-closed mechanism.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 1, it is characterized in that, also include power shaft and output shaft, described power shaft passes through the first end face bearings in right end disc, and described power shaft is connected with right lateral planet gearing by rotary arm bearing, described output shaft is by the first end face bearings in left end disc, and described output shaft is connected with left lateral planet gearing by rotary arm bearing.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 2, it is characterised in that be provided with distance sleeve between described rotary arm bearing and described first end face bearing.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 1, it is characterised in that described housing, described left lateral star-wheel and described right lateral star-wheel are duplicate gear.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 4, it is characterised in that the eccentric direction of the duplicate gear on described left lateral star-wheel and described right lateral star-wheel all differs 180 °.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 5, it is characterised in that the gear-profile of described left end disc and described right end disc is arranged on end face.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 6, it is characterized in that, the duplicate gear of described left lateral star-wheel and described right lateral star-wheel is external gear, and the gear being arranged on described left end disc and described right end disc end face is internal gear；Or described left lateral star-wheel is internal gear with left end disc meshed gears, described right lateral star-wheel with right end disc meshed gears, the gear being arranged on described left end disc and described right end disc end face is external gear.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 1, it is characterized in that, described connecting elements is connection pin, and one end of described connection pin passes axially through left lateral star-wheel and right lateral star-wheel, and the two ends of described connection pin are connected with left end disc and right end disc respectively.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 1, it is characterised in that described left end disc and described right end disc pass through the second end face bearings respectively on the internal gear of described housing.

A kind of intelligent adaptive less-tooth-difference planetary transmission the most according to claim 1, it is characterised in that the number of teeth relation of each gear in described force-closed mechanism is:

(z₁z₂₃-z₂₁z₃₂)(z₄-z₅₄)(z₅₄+z₅₃)=(z₄z₅₃-z₅₄z₃₅)(z₁-z₃₁)(z₂₁+z₂₃)；

z₃₂=z₁-z₂₁+z₂₃；

z₃₅=z₄-z₅₄+z₅₃；

Wherein, z₁For the number of teeth of the gear in right end disc, z₂₁For the number of teeth with right end disc meshed gears on right lateral star-wheel, z₂₃For the number of teeth with housing meshed gears on right lateral star-wheel, z₃₂For the number of teeth with right lateral star-wheel meshed gears on housing, z₃₅For the number of teeth with left lateral star-wheel meshed gears on housing, z₄For the number of teeth of the gear in left end disc, z₅₃For the number of teeth with housing meshed gears on left lateral star-wheel, z₅₄For the number of teeth with left end disc meshed gears on left lateral star-wheel.