JPH028538A - Small reduction gear - Google Patents
Small reduction gearInfo
- Publication number
- JPH028538A JPH028538A JP15878488A JP15878488A JPH028538A JP H028538 A JPH028538 A JP H028538A JP 15878488 A JP15878488 A JP 15878488A JP 15878488 A JP15878488 A JP 15878488A JP H028538 A JPH028538 A JP H028538A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- internal gear
- small
- holder
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 229920005601 base polymer Polymers 0.000 description 1
- 229920006038 crystalline resin Polymers 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000010445 mica Substances 0.000 description 1
- 229910052618 mica group Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
Landscapes
- Retarders (AREA)
Abstract
Description
【発明の詳細な説明】
[産業上の利用分野]
本発明は、小型モータに直結する小型減速機の減速機構
に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a reduction mechanism for a small reduction gear that is directly connected to a small motor.
[発明の概要コ
本発明は、小型モータに直結する小型減速機の減速機構
に特殊な遊星歯車機構を用いて、少ない部品点数で大幅
な減速比と高トルクを達成し、安価な小型減速機を実現
し提供する。[Summary of the Invention] The present invention uses a special planetary gear mechanism in the reduction mechanism of a small reduction gear that is directly connected to a small motor, and achieves a large reduction ratio and high torque with a small number of parts, and provides an inexpensive small reduction gear. Realize and provide.
[従来の技術]
従来のこの種の遊星歯車機構を用いた小型減速機の一例
を第3図に示す。[Prior Art] An example of a conventional small speed reducer using this type of planetary gear mechanism is shown in FIG.
第3図において、小型モータ31の中心にあるモータ軸
32にモータ軸歯車33が打ち込まれている。モータ軸
32を中心軸に下ケース64が小型モータ31にネジ結
合により取り付いている。In FIG. 3, a motor shaft gear 33 is driven into a motor shaft 32 located at the center of a small motor 31. A lower case 64 is attached to the small motor 31 by screwing around the motor shaft 32 as a central axis.
下ケース34には内歯35が固定されており、モータ軸
62との間に2〜4個の遊星歯車36がある。複数個の
遊星歯車36の内側にはモータ軸歯車33が噛み合い、
外側には内歯65が噛み合っている。複数個の遊星歯車
36の中心はホルダー37によって接続され、ホルダー
37中心には出力軸歯車部39がある。中間受は台38
は下ケース34に接続し、出力軸歯車部39の軸受けと
なっている。出力軸歯車部39は遊星歯車36と噛み合
い、また遊星歯車36は内歯35と噛み合っている。こ
のように、中心にある歯車が原動力となり、遊星歯車5
6を介してホルダー37を回転させるまでを1セツトと
すると、減速比の大きい場合は、このセットを何段も重
ねる機構となっている。このセットを重ねた最終段にお
いて、ホルダー37の回転中心部に出力軸40がある。Internal teeth 35 are fixed to the lower case 34, and two to four planetary gears 36 are disposed between the lower case 34 and the motor shaft 62. The motor shaft gear 33 meshes with the inside of the plurality of planetary gears 36,
Internal teeth 65 mesh with the outside. The centers of the plurality of planetary gears 36 are connected by a holder 37, and an output shaft gear portion 39 is located at the center of the holder 37. Intermediate receiver is stand 38
is connected to the lower case 34 and serves as a bearing for the output shaft gear portion 39. The output shaft gear portion 39 meshes with the planetary gear 36, and the planetary gear 36 meshes with the internal teeth 35. In this way, the gear in the center becomes the driving force, and the planetary gear 5
If the rotation of the holder 37 via the gear 6 is one set, then if the reduction ratio is large, the mechanism is such that this set is stacked in many stages. At the final stage of stacking these sets, an output shaft 40 is located at the center of rotation of the holder 37.
[発明が解決しようとする課題]
かかる従来の構成による遊星歯車機構を用いた小型減速
機では、モータ軸歯車36から遊星歯車36を介してホ
ルダー67と減速していくが、モータ軸歯車33からホ
ルダー57まで一組の減速比は小さく、大きな減速比を
得るためには何組もの輪列を必要とする。このため、コ
ストアップ、騒音大、またバックラッシュ大と言った問
題を有していた。[Problems to be Solved by the Invention] In a small reducer using a planetary gear mechanism with such a conventional configuration, the speed is reduced from the motor shaft gear 36 to the holder 67 via the planetary gear 36, but from the motor shaft gear 33 to the holder 67. The reduction ratio of one set up to the holder 57 is small, and several sets of gear trains are required to obtain a large reduction ratio. This has resulted in problems such as increased cost, increased noise, and increased backlash.
本発明は、かかる従来の問題点を解決するもので、その
目的とするところは部品点数の削減とコストダウンを図
り、小型軽量で、減速比が大きくバックラッシュが小さ
く、伝達効率が高い小型減速機の提供を目的とする。The present invention is intended to solve these conventional problems.The purpose of the present invention is to reduce the number of parts and cost, and to create a compact and lightweight reducer with a large reduction ratio, low backlash, and high transmission efficiency. The purpose is to provide machines.
口課題を解決するための手段]
本発明の小型減速機は、同じ中心を持つ歯数mの固定内
歯車および歯数ルの可動内歯車と、前記固定内歯車と噛
み合う歯数rの外歯および前記可動内歯車と噛み合う歯
数sの外歯を持つ1〜4個の遊星歯車と、前記固定内歯
車および前記可動内歯車の中心に位置し、前記遊星歯車
と噛み合う歯数tの太陽歯車より構成されることを特徴
とする[実施例コ
以下に本発明の実施例を図面に基づいて説明する。第1
図は本発明の一実施例を示すもので、小型モータ1の中
心軸上にモータボス2とモータ軸3があり、モータ軸3
に打ち込まれた太陽歯車4がある。モータ軸乙の中心軸
と同じ中心軸を取る部品として、太陽歯車4.下ケース
6、固定内歯車10.ホルダー15.ホルダー押さえ1
9.可動内歯車20.上ケース25がある。モータポス
2に案内位置決めされた下ケース6は固定ネジ9でモー
タ1に締結されている。固定内歯車1oは回転止め形秋
部8により下ケース6に固定されている。回転止め形状
は、歯形、上下ケースそれぞれの凹凸などいずれでもよ
い。遊星歯車6は太陽歯車4を点対称に2〜4個配列さ
れ噛み合い、さらに固定内歯車10と可動内歯車20と
も噛み合っている。遊星歯車12の中心軸は太陽歯車4
の中心軸と常に平行が保たれるように、ホルダー15と
ホルダー押さえ19に保持される。遊星歯車の上下の軸
はホルダー15およびホルダー押さえ19の軸受げに収
まり両端支持されている。ホルダー15は遊星歯車12
の一端の軸受は部として遊星歯車支持台16と、ホルダ
ー押さえ19を保持する支柱17と、ホルダー押さえ1
9が位置決め固定される案内軸18で成り立っている。[Means for Solving the Problems] The small reducer of the present invention comprises a fixed internal gear having the same center and having m teeth, a movable internal gear having r teeth, and an external tooth having r teeth meshing with the fixed internal gear. and 1 to 4 planetary gears having external teeth with a number of teeth s that mesh with the movable internal gear, and a sun gear with a number of teeth t that is located at the center of the fixed internal gear and the movable internal gear and meshes with the planetary gear. [Examples] Examples of the present invention will be described below based on the drawings. 1st
The figure shows an embodiment of the present invention, in which a motor boss 2 and a motor shaft 3 are located on the central axis of a small motor 1.
There is a sun gear 4 driven in. The sun gear 4 is a component that has the same center axis as the center axis of the motor shaft B. Lower case 6, fixed internal gear 10. Holder 15. Holder presser 1
9. Movable internal gear 20. There is an upper case 25. A lower case 6 guided and positioned on the motor post 2 is fastened to the motor 1 with a fixing screw 9. The fixed internal gear 1o is fixed to the lower case 6 by a rotation stopper type fall portion 8. The rotation stopper shape may be any tooth shape or unevenness of the upper and lower cases. The planetary gears 6 mesh with two to four sun gears 4 in a symmetrical arrangement, and also mesh with the fixed internal gear 10 and the movable internal gear 20. The center axis of the planetary gear 12 is the sun gear 4
It is held by the holder 15 and the holder presser 19 so that it is always kept parallel to the central axis of the holder 15 and the holder presser 19. The upper and lower shafts of the planetary gear are accommodated in bearings of the holder 15 and the holder retainer 19, and are supported at both ends. The holder 15 is the planetary gear 12
The bearing at one end consists of a planetary gear support 16, a column 17 that holds the holder holder 19, and a holder holder 1.
9 consists of a guide shaft 18 that is positioned and fixed.
ホルダー15に遊星歯車12が組み込まれ、ホルダー押
さえ19で固定されるユニットを遊星歯車ユニットとす
る。遊星歯車ユニットは下端がホルダー支持台7.上端
がホルダー押さえ受は部23を軸受は部とする両端支持
がされ、太陽歯車4を中心軸として回転する。可動内歯
車2oは内歯歯形部の外側を外周部24と、中心部分に
出力軸部22で作られ、下端の外周部24は下ケース6
と上端の出力軸部22は上ケース25とそれぞれ両端支
持の軸受は部を構成し、太陽歯車4の中心軸を中心に回
転する。上ケース25は引っ掛は爪26を有し、引っ掛
は爪26で下ケース部材6に爪で引っ掛は固定され、出
力軸22の軸受けの働きもするため、滑り特性を持つプ
ラスチックで一体に成形され、小型減速機全体のハウジ
ングの役割をしている。A unit in which a planetary gear 12 is assembled in a holder 15 and fixed by a holder presser 19 is referred to as a planetary gear unit. The lower end of the planetary gear unit is a holder support base7. The upper end is supported at both ends with the holder presser part 23 serving as a bearing part, and rotates around the sun gear 4 as the central axis. The movable internal gear 2o is made up of an outer peripheral part 24 on the outside of the internal tooth profile and an output shaft part 22 in the center, and the outer peripheral part 24 at the lower end is connected to the lower case 6.
The output shaft portion 22 at the upper end constitutes a part with the upper case 25, and bearings supported at both ends thereof respectively rotate around the central axis of the sun gear 4. The upper case 25 has a hook 26, which is fixed to the lower case member 6 by the hook, and also serves as a bearing for the output shaft 22, so it is integrally made of plastic with sliding properties. It serves as the housing for the entire small reducer.
出力軸22を有する可動内歯車2oは、滑り特性を有す
るプラスチックから一体に高精度で成形される。従来、
出力軸22と可動内歯2oが別体であり、出力軸22が
金属であったどきは、ダプルDカットの機械加工をする
など高価格な部品であった。また可動内歯車20と出力
軸22のサフ組立てを必要とし、信頼性を低下させてい
た。しかし可動内歯車20と出力軸22を一体に成形す
ることにより、低価格化と信頼性の向上が図られた。The movable internal gear 2o having the output shaft 22 is integrally molded with high precision from plastic having sliding properties. Conventionally,
When the output shaft 22 and the movable internal tooth 2o were separate bodies, and the output shaft 22 was made of metal, it was an expensive part that required double D-cut machining. Further, the movable internal gear 20 and the output shaft 22 must be briefly assembled, which reduces reliability. However, by integrally molding the movable internal gear 20 and the output shaft 22, it has been possible to reduce the cost and improve reliability.
可動内歯車20を一体成形するプラスチックはpOMか
PAに炭素繊維かウィスカーがブレンドされたものが使
用される。なお、この樹脂材料は、可動内歯車20のほ
かに固定内歯車10や遊星歯車12に使用される。The plastic used to integrally mold the movable internal gear 20 is a blend of POM or PA with carbon fiber or whiskers. Note that this resin material is used not only for the movable internal gear 20 but also for the fixed internal gear 10 and the planetary gear 12.
この小型減速機において、滑り特性を持つプラスチック
で一体成形されている部品として下ケース6、ホルダー
15.ホルダー押さえ19.上ケース25がある。これ
らのプラスチック材料は、結晶性の樹脂で、POM、F
A、PBTがベースポリマーで炭素繊維、ウィスカー、
ガラス繊維。In this small speed reducer, the lower case 6, holder 15. Holder presser 19. There is an upper case 25. These plastic materials are crystalline resins such as POM, F
A, PBT is the base polymer, carbon fiber, whiskers,
glass fiber.
マイカ等がブレンドされている。Blended with mica, etc.
遊星歯車12の歯形部は、遊星歯車の歯形部α13と遊
星歯車の歯形部b14とから成り立っている。遊星歯車
の歯形部α13は、太陽歯車4の歯形部5と固定歯車1
0の歯形部11の双方に噛み合っている。遊星歯車12
の歯形部b14は可動内歯車20の歯形部21に噛み合
っている。遊星歯車の歯形部α13は歯数r1歯形部す
は歯数8であり、モジュールおよび位相は太陽歯車4の
歯形部5、固定内歯車10の歯形部11および可動内歯
車20の歯形部21との噛み合いによって異なる。The tooth profile portion of the planetary gear 12 is composed of a planet gear tooth profile portion α13 and a planet gear tooth profile portion b14. The tooth profile part α13 of the planetary gear is connected to the tooth profile part 5 of the sun gear 4 and the fixed gear 1.
It meshes with both of the tooth profile portions 11 of 0. Planetary gear 12
The tooth profile b14 meshes with the tooth profile 21 of the movable internal gear 20. The tooth profile α13 of the planetary gear has the number of teeth r1 and the tooth number 8, and the module and phase are the same as the tooth profile 5 of the sun gear 4, the tooth profile 11 of the fixed internal gear 10, and the tooth profile 21 of the movable internal gear 20. It varies depending on the mesh of the
従って、遊星歯車12は、太陽歯車4が回転すると、固
定内歯車10が動かないため自転と公転を始める。太陽
歯車4の歯数がt1固定内歯車10の歯数がmであると
き、遊星歯車12の公転は太陽歯車4が1に対して(r
n/L+1)分の1固定内歯車10に対する遊星歯車1
2の自転は公転が1に対してm/rである。また可動内
歯車20の歯数がルであるとき、可動内歯車200回転
は遊星歯車12の公転1に対して(ル/(n−s X
m / r ) )分の1となる。以上のことを数式で
表すと以下のようになる。Therefore, when the sun gear 4 rotates, the planetary gear 12 starts to rotate and revolve since the fixed internal gear 10 does not move. When the number of teeth of the sun gear 4 is t1 and the number of teeth of the fixed internal gear 10 is m, the revolution of the planetary gear 12 is as follows:
Planetary gear 1 for 1/n/L+1) fixed internal gear 10
The rotation of 2 is m/r with respect to the revolution of 1. Further, when the number of teeth of the movable internal gear 20 is Le, 200 rotations of the movable internal gear is (Le/(n-s
It becomes 1/m/r)). The above can be expressed numerically as follows.
減速比= (yL/l、4−1 ) x (yL/(r
L−sXm/r) )上記において負の値になる場合が
あるが、これは出力軸部22が太陽歯車4に対して逆に
回転していることを示す。Reduction ratio = (yL/l, 4-1) x (yL/(r
L-sXm/r)) In the above, the value may be negative, which indicates that the output shaft portion 22 is rotating in the opposite direction to the sun gear 4.
このようにして、太陽歯車4の回転は可動内歯車20に
減速した回転と増大したトルクを伝′え、出力軸部22
に出力される。In this way, the rotation of the sun gear 4 transmits a reduced rotation and increased torque to the movable internal gear 20, and the output shaft portion 22
is output to.
第2図は本実施例の平面図を示す。第2図には遊星歯車
は2個で示されているが、理論的には1個でもよく、ま
た力のバランスを考えると2〜4個必要であり、6個が
もつとも望ましい。しかし前述の数式および、各歯車の
歯数により遊星歯車の数も限定される。FIG. 2 shows a plan view of this embodiment. Although two planetary gears are shown in FIG. 2, theoretically one may be sufficient, and considering the balance of forces, two to four are necessary, and it is also desirable to have six. However, the number of planetary gears is also limited by the above formula and the number of teeth on each gear.
このように、大幅な減速比が少数の歯車の噛み合わせで
達成されるので、噛み合わせによる伝達効率の低下が小
さく、人力から出力までの伝達効率が高い。結果的に、
出力軸部22には大きなトルクを発生することができる
。In this way, a large reduction ratio is achieved by meshing a small number of gears, so there is little reduction in transmission efficiency due to meshing, and the transmission efficiency from human power to output is high. as a result,
The output shaft portion 22 can generate a large torque.
このことは、出力軸部220周辺部22の周辺部は大き
なトルクに耐える強度を持たねばならないが、この機構
は原理的に大トルクに耐える構造となっている。まず出
力軸トルクは可動内歯車の歯形部21に置き換えると、
中心からの半径が大きいので歯形部に受ける力は小さく
なる。また遊星歯車12が複数個あり、さらに可動内歯
車の歯形部21と遊星歯車の歯形部b14との噛み合い
率が大きい。以上により可動内歯車の歯形部21遊星歯
車の歯形部b14、遊星歯車の歯形部a13および固定
内歯車の歯形部11の1は辺りが受ける荷重が小さくて
よく、結果的に出力軸部22の高トルク化が達成される
。This means that the peripheral portion of the output shaft portion 220 and the peripheral portion 22 must have strength to withstand large torque, and this mechanism is designed to withstand large torque in principle. First, if the output shaft torque is replaced with the tooth profile part 21 of the movable internal gear,
Since the radius from the center is large, the force applied to the tooth profile is small. Further, there are a plurality of planetary gears 12, and the meshing ratio between the toothed portion 21 of the movable internal gear and the toothed portion b14 of the planetary gear is large. As described above, the tooth profile portion 21 of the movable internal gear, the tooth profile portion b14 of the planetary gear, the tooth profile portion a13 of the planetary gear, and the tooth profile portion 11 of the fixed internal gear may receive small loads, and as a result, High torque is achieved.
さらに、高い減速比が小数の歯車の組み合わせで達成で
きるため、バックラッシュが小さく、また部品点数が少
ないため、低コストの小型減速機となる。Furthermore, since a high reduction ratio can be achieved by combining a small number of gears, backlash is small and the number of parts is small, resulting in a small, low-cost reduction gear.
さらなる上に、減速機構は下ケース6と上ケース25に
密閉されるため騒音が小さく、塵あいの入りにくい小型
減速機となっている。Furthermore, since the speed reduction mechanism is sealed between the lower case 6 and the upper case 25, it is a small speed reducer that has low noise and is difficult for dust to enter.
[発明の効果コ
上記のように、この発明によれば、公知の同種の小型減
速機に比較して、十分に小さく、少ない部品で大きな減
速比が得られ、伝達効率が高く、バックラッシュが小さ
く、騒音が小さく、防塵性が優れ、低コストの小型減速
機が提供される。[Effects of the Invention] As described above, according to the present invention, compared to known small-sized reduction gears of the same type, a large reduction ratio can be obtained with a sufficiently small number of parts, high transmission efficiency, and no backlash. A compact speed reducer that is small, has low noise, has excellent dust resistance, and is low in cost is provided.
第1図は本発明の一実施例を示す断面図。
第2図は本発明の一実施例を示す平面図。
第6図は従来構造を示す断面図。
1・・・・・・・・・小型モータ
2・・・・・・・°・モータポス
3・・・・・・・・・モータ軸
4゛・・・・・・・・太陽歯車
5・・・・・・・・・太陽歯車の歯形部6・・・・・・
・・・下ケース
7・・・・・・・・・ホルダー支持台
8・・・・・・・・・回転止め形状
9・・・・・・・・・固定ネジ
0・・・・・・固定内歯車
1・・・・・・固定内歯車の歯形部
2・・・・・・遊星歯車
3・・・・・・遊星歯車の歯形部α
4・・・・・・遊星歯車の歯形部b
5・・・・・・ホルダー
6・・・・・・遊星歯車支持台
7・・・・・・支 柱
8・・・・・・案内軸
9・・・・・・ホルダー押さえ
0・・・・・・可動内歯車
1・・・・・・可動内歯車の歯形部
2・・・・・・出力軸
3・・・・・・ホルダー押さえ受は部
4・・・・・・外周部
5・・・・・・上ケース
6・・・・・・引っ掛は部
1・・・・・・小型モータ
2・・・・・・モータ軸
3・・・・・・モータ軸歯車
4・・・・・・下ケース部
5・・・・・・内 歯
6・・・・・・遊星歯車
7・・・・・・ホルダー
8・・・・・・中間受は台
9・・・・・・出力軸歯車部
0・・・・・・出力軸
以上FIG. 1 is a sectional view showing one embodiment of the present invention. FIG. 2 is a plan view showing one embodiment of the present invention. FIG. 6 is a sectional view showing a conventional structure. 1...Small motor 2...Motor post 3...Motor shaft 4゛...Sun gear 5... ......Tooth profile part 6 of sun gear...
...Lower case 7...Holder support base 8...Rotation stopper shape 9...Fixing screw 0... Fixed internal gear 1...Tooth profile portion of the fixed internal gear 2...Planet gear 3...Tooth profile portion α of the planet gear 4...Tooth profile portion of the planet gear b 5...Holder 6...Planetary gear support 7...Strut 8...Guide shaft 9...Holder retainer 0... ...Movable internal gear 1 ...Tooth profile section of movable internal gear 2 ...Output shaft 3 ...Holder presser part 4 ...Outer peripheral part 5... Upper case 6... Hook is part 1... Small motor 2... Motor shaft 3... Motor shaft gear 4. ...Lower case part 5 ...Inner teeth 6 ...Planetary gear 7 ...Holder 8 ...Intermediate support is stand 9 ...・・Output shaft gear part 0・・・・・・Above the output shaft
Claims (1)
内歯車と、前記固定内歯車と噛み合う歯数rの外歯およ
び前記可動内歯車と噛み合う歯数sの外歯を持つ1〜4
個の遊星歯車と、前記固定内歯車および前記可動内歯車
の中心に位置し、前記遊星歯車と噛み合う歯数lの太陽
歯車より構成される遊星歯車機構を特徴とする小型減速
機。A fixed internal gear having m teeth and a movable internal gear having the same center, a movable internal gear having the number n of teeth, an external tooth having the number r of teeth that meshes with the fixed internal gear, and an external tooth having the number s of teeth that meshes with the movable internal gear. 4
1. A small speed reducer characterized by a planetary gear mechanism consisting of a number of planetary gears, and a sun gear having a number of teeth located at the center of the fixed internal gear and the movable internal gear and meshing with the planetary gear.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15878488A JPH028538A (en) | 1988-06-27 | 1988-06-27 | Small reduction gear |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15878488A JPH028538A (en) | 1988-06-27 | 1988-06-27 | Small reduction gear |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH028538A true JPH028538A (en) | 1990-01-12 |
Family
ID=15679262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP15878488A Pending JPH028538A (en) | 1988-06-27 | 1988-06-27 | Small reduction gear |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH028538A (en) |
-
1988
- 1988-06-27 JP JP15878488A patent/JPH028538A/en active Pending
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP3175240B2 (en) | Small reducer | |
JP2897311B2 (en) | Small reducer | |
US9005065B2 (en) | Two-stage differential cycloidal speed reducer with a high reduction ratio | |
US4788891A (en) | Planetary gear having non-circular gears | |
EP0559626B1 (en) | Planetary reduction unit | |
JPH04249653A (en) | Gear motor | |
JPH028538A (en) | Small reduction gear | |
CN1043678C (en) | Differential type internally meshing planetary gear structure | |
CN106015501A (en) | Differential gear reducer | |
KR100505017B1 (en) | Reduction gear with high reduction ratio | |
JPH074950U (en) | Special planetary gear reducer | |
JP2628350B2 (en) | Small reducer | |
JPH01316548A (en) | Small size reduction gear | |
JP4598460B2 (en) | Planetary gear transmission | |
JP2891120B2 (en) | Small reducer | |
JPH01316546A (en) | Small size reduction gear | |
JPS63214545A (en) | Sun pinion shaft holding mechanism in epicyclic gear transmission device | |
JP3335930B2 (en) | Small reducer | |
JPS6131740A (en) | Planetary gear type speed decelerator | |
RU219077U1 (en) | Servo | |
JP2525597B2 (en) | Planetary gearbox | |
KR200334021Y1 (en) | Reduction gear with high reduction ratio | |
KR20060093915A (en) | Speed transforming structure | |
KR910001124Y1 (en) | Reduction gear | |
JPH0235238A (en) | Small-sized speed reduction gear |