CN207762214U

CN207762214U - A kind of subdivision differential differential speed reducer

Info

Publication number: CN207762214U
Application number: CN201820140340.8U
Authority: CN
Inventors: 黄�俊
Original assignee: Liuzhou Huaiyuan Cnc Technology Development Co Ltd
Current assignee: Liuzhou Robert Technology Co. Ltd.
Priority date: 2018-01-26
Filing date: 2018-01-26
Publication date: 2018-08-24
Anticipated expiration: 2028-01-26

Abstract

A kind of subdivision differential differential speed reducer, differential differential reducing device including casing and in casing, the differential differential reducing device includes a nthdifferential differential reducing device and second-order differential differential reducing device, the one nthdifferential differential reducing device is sequentially connected by roller frame and second-order differential differential reducing device, roller frame is connect by outer shaft with motor drive, and the driving wheel of I and II differential differential reducing device is connect with main shaft.A kind of subdivision differential differential speed reducer precision is high, and torsion stiffness is big, under nominal torque, elastic return difference is small, and backhaul gap is small, and gear range is big, transmission efficiency transmits same torque and requirement that is small when power, and can taking into account precision and output torque simultaneously：One, the difference differential driving of second-order differential differential reducing device are primary, and constantly cycle reaches subdivision differential, reaches and realizes higher output accuracy under the premise of keeping same torque.

Description

A kind of subdivision differential differential speed reducer

Technical field

The utility model belongs to mechanical engineering technical field, is related to a kind of retarder, and especially a kind of subdivision differential is differential Retarder.

Background technology

With the development of society and science and technology, human cost increasingly rises, and machine Man's Demands are increasing, retarder It is the core component of robot, movement clearance influences robot overall performance very big, deceleration used in robot at present There are the following problems for device：

1. the robot of higher-end（Such as industrial robot）RV retarders and harmonic speed reducer, such deceleration is widely used Device technical sophistication requires harshness to processing technologys such as material, machining and heat treatments, at high price, it is difficult to civilian popularization；

2. the robot of lower end（Such as toy robot）The planetary reduction gear low precision that uses, gap return difference are big, no The requirement of civilian robot can be met.

Pin plug retarder will be driven differential quantum, i.e., cut transmission process differentiation, then a copy by a copy output, can subtract Movement clearance in small or even elimination transmission process, principle such as 16~Figure 18 of attached drawing, upper layer and lower layer are disk with holes, solid line Hole is price fixing 22, and dotted line hole is Moving plate 21, and the quantity in each hole is by design accuracy requirement variable, and quantity difference is constant, such as price fixing It is respectively 24 holes and 25 holes with Moving plate, pin plug is often inserted into a driving wheel and moves 0.6 degree, sticks with a circle（24 times）Afterwards, driving wheel moves The distance in one hole（B=14.4 degree）；Since pin plug retarder takes the movement of plug pin plug to reach deceleration, less efficient, Bu Nengman The occasion of sufficient high speed.

Application No. is the utility model patents of CN2017208877684《A kind of differential differential speed reducer》, poor using differential The problem of dynamic movement replaces plug campaign, preferably resolves " low precision, gap return difference are big " present in prior art, it is former Reason such as 19~Figure 20 of attached drawing：Figure 19 is front view, and Figure 20 is three-dimensional effect diagram,（Solid line gear is fixed wheel, and dotted line gear is Wheel, intermediate pinion gear are differential gear）.

As can be known from Fig. 19, work drive motor drives sun gear 39 to rotate by input shaft, and sun gear 39 drives planetary gear 37 Rotation, planetary gear revolve round the sun while rotation around the gear teeth of 36 ring gear of fixed wheel, and drive differential gear 35 by differential bracket 34 It revolves round the sun around the gear teeth of 32 ring gear of fixed wheel while rotation, differential gear 35 drives driving wheel 32 to rotate, due to driving wheel 32 and output Axis 31 is fixedly connected, to make output shaft 31 rotate.

However further study show that, although differential differential speed reducer can be used for high speed relative to pin plug retarder, not It can be used for high-power（Large torque cannot be exported）, differential differential speed reducer is difficult to take into account precision and output torque simultaneously, i.e. precision It is required that higher, the torque that can be output is smaller, i.e., differential differential speed reducer design accuracy is higher, tooth form（Or modulus）It is smaller, energy The torque smaller of output so that its application range is extremely restricted.

Utility model content

The technical problems to be solved in the utility model is：A kind of novel subdivision differential differential speed reducer is provided, to overcome There is the above-mentioned deficiency present in technology.

Solving the technical solution of above-mentioned technical problem is：

A kind of subdivision differential differential speed reducer, including casing, motor and the differential differential reducing device in casing； The differential differential reducing device includes that a nthdifferential differential reducing device and second-order differential differential reducing device, the level-one are micro- Differential deceleration device is mounted on the upper layer of casing, and the second-order differential differential reducing device is mounted on the lower layer of casing, level-one Differential differential reducing device is sequentially connected by bracket wheel and second-order differential differential reducing device；

The one nthdifferential differential reducing device includes upper fixed wheel, difference wheel in upper driving wheel and at least two, the upper fixed wheel It is that reference diameter is identical, the gear teeth are towards the ring gear in axle center, the tooth form of the gear teeth of upper fixed wheel and the gear teeth of upper driving wheel with upper driving wheel Same or similar and the number of teeth is different, upper fixed wheel is installed with upper driving wheel adjacent coaxial, and upper driving wheel is located at upper fixed wheel top, outside upper fixed wheel Week is fixedly connected by screw with casing, and upper driving wheel is mounted on by driving wheel frame on main shaft, and the bracket wheel is installed by bearing On the main shaft of upper fixed wheel lower part, the upper difference wheel is mounted on by bearing on the bracket axis on bracket wheel top, initial shape Upper at least one gear teeth of difference wheel are meshed with the gear teeth of upper fixed wheel and the ring gear of upper driving wheel simultaneously when state；

The bracket wheel is sequentially connected with the upper outer shaft gear mounted on casing side, the upper outer shaft gear and casing one The outer axis connection of side, the lower outer shaft gear of outer shaft lower end connection, the motor gear of lower outer shaft gear and the motor positioned at casing lower part It is sequentially connected；Outer shaft rotation, outer shaft is driven to drive bracket to rotate by upper outer shaft gear by lower outer shaft gear when electric motor starting Dynamic, the upper difference wheel on bracket wheel top revolves round the sun around the rotation of bracket axis and around main shaft simultaneously, to drive main shaft by upper driving wheel Rotation；

The second-order differential differential reducing device is mounted under bracket wheel lower part, including lower fixed wheel, lower driving wheel and at least two The identical, gear teeth are towards the ring gear in axle center for reference diameter for difference wheel, the lower fixed wheel and lower driving wheel, and the gear teeth of lower fixed wheel are under The tooth form of the gear teeth of driving wheel is same or similar, and lower fixed wheel is installed with lower driving wheel adjacent coaxial, and lower driving wheel is located at lower fixed wheel lower part, under Fixed wheel periphery is fixedly connected by screw with casing, and lower driving wheel is mounted on by driving wheel frame on main shaft, and the lower difference wheel passes through Bearing be mounted on bracket wheel lower part bottom bracket axis on, original state at present at least one gear teeth of difference wheel simultaneously with lower fixed wheel It is meshed with the gear teeth of the ring gear of lower driving wheel；

Outer shaft rotation, outer shaft is driven to drive bracket to rotate by upper outer shaft gear by lower outer shaft gear when electric motor starting Dynamic, the lower difference wheel of bracket wheel lower part revolves round the sun around the rotation of bottom bracket axis and around main shaft simultaneously, to drive main shaft by lower driving wheel Rotation；

The lower fixed wheel is identical as the number of teeth of upper fixed wheel, and the lower driving wheel is identical as the number of teeth of upper driving wheel, lower driving wheel and upper The number of teeth of driving wheel is respectively greater than the number of teeth of lower fixed wheel and upper fixed wheel, i.e., the tooth pitch radian B2 and upper driving wheel of upper fixed wheel or lower fixed wheel or The difference of the tooth pitch radian B1 of lower driving wheel is the constant B, i.e. B=B2-B1 ＜ 1 less than 1；

The tooth pitch radian B2 of the upper fixed wheel or lower fixed wheel refer to upper fixed wheel or adjacent two gear teeth of lower fixed wheel in ring gear The tooth pitch radian B1 of the angle being formed centrally, upper driving wheel or lower driving wheel refer to upper driving wheel or adjacent two gear teeth of lower driving wheel in ring gear The angle being formed centrally, unit are degree；

The upper fixed wheel is different from the phase that lower fixed wheel is installed, phase difference 1/2B, the upper difference wheel and lower difference Wheel is uniformly distributed.

Its further technical solution is：The shaft staggered cloth of bracket of the bottom bracket axis and top of bracket wheel lower part It sets, when upper and lower difference wheel is 2, the arranged direction of upper and lower bracket axis is mutually perpendicular to.

The upper fixed wheel, upper driving wheel, lower fixed wheel and lower driving wheel the gear teeth tooth form it is same or similar, shape or be circular arc Shape is polygon or is involute, cycloid or hyperbola.

Due to the adoption of the above technical scheme, compared with prior art, a kind of subdivision differential differential reducing of the utility model Device both had《A kind of differential differential speed reducer》The following advantageous effects being had：

1. precision is high, torsion stiffness is big, and under nominal torque, gap return difference is small, is driven to drive part by part, backhaul gap （Return difference）It is small；

2. gear range is big, by adjusting differential spacing or reducing the number of teeth of sun gear, the deceleration of bigger may be implemented Than；

3. transmission efficiency, transmit same torque with it is small when power；

4. having the characteristics that output torque is big again simultaneously, the requirement of precision and output torque can be taken into account simultaneously：I and II is micro- Differential deceleration device distinguishes differential driving once, and constantly cycle reaches subdivision differential, reaches in the premise for keeping same torque It is lower to realize higher output accuracy；

If this example is two times of subdivision differential differential speed reducers, fixed wheel is 24 teeth（B2 is 15 degree）, driving wheel is 25 teeth（B1 is 14.4 degree）, differential coefficient is 0.6 degree（B=B2-B1=0.6 degree）, i.e., 0.6 degree of rotation is once generated per difference, fixed wheel is in Between, upper and lower part is all driving wheel, and flute profile is the same, and upper and lower fixed wheel is fixed on outer wall, and upper and lower driving wheel is all fixed on main shaft, can Acting, but initial phase is different（The half for differing 1/2B, deviating differential coefficient, this example are 0.3 degree）, when top or lower part not into When row difference, transmission gear is in gap active state, and when top starts difference to 0.3 degree, lower part starts difference； When lower part starts difference to 0.6 degree, top starts difference again, so alternately, achievees the purpose that subdivision, to realize The output that precision is 0.3 degree, i.e., be limited in 0.3 degree by backhaul difference.

In the following, making in conjunction with the accompanying drawings and embodiments to a kind of technical characteristic of subdivision differential differential speed reducer of the utility model Further instruction.

Description of the drawings

Fig. 1~Fig. 2 is a kind of structural schematic diagram of subdivision differential differential speed reducer of the utility model：

Fig. 1 is front view, and Fig. 2 is the A-A sectional views of Fig. 1；

Fig. 3~Fig. 8 is a kind of transmission mechanism structural schematic diagram of subdivision differential differential speed reducer of the utility model：

Fig. 3 is the upward view of Fig. 4, and Fig. 4 is front view, and Fig. 5 is the vertical view of Fig. 4, and Fig. 6 is upward three-dimensional effect diagram, Fig. 7 is sectional view, and Fig. 8 is downward three-dimensional effect diagram；

Fig. 9~Figure 10 is bracket wheel and upper and lower difference wheel attachment structure schematic diagram：

Fig. 9 is front view, and Figure 10 is vertical view；

Figure 11~Figure 15 is bracket wheel and upper and lower difference wheel and upper outer shaft gear attachment structure schematic diagram：

Figure 11 is sectional view, and Figure 12 is the upward view of Figure 13, and Figure 13 is front view, and Figure 14 is the vertical view of Figure 13, Figure 15 For three-dimensional effect diagram；

Figure 16~Figure 18 is pin plug reducer structure schematic diagram：

Figure 16 is front view, and Figure 17 is the left view of Figure 16, and Figure 18 is the tooth pitch radian schematic diagram of price fixing；

Figure 19~Figure 20 is a kind of differential differential speed reducer structural schematic diagram：

Figure 19 is front view, and Figure 20 is three-dimensional effect diagram.

In Fig. 1~Figure 15

1-motor, 2-lower outer shaft gears, 3-motor gears, 4-outer shafts, 5-upper outer shaft gears, 6-bracket wheels, 7- Bracket axis, 8-upper fixed wheels, 9-bearings, 10-upper difference wheels, 11-upper driving wheels, 12-main shafts, 13-casings, 14-spiral shells Nail, 15-lower difference wheels, 16-lower fixed wheels, 17-lower driving wheels, 18-bottom bracket axis；

In Figure 16~Figure 18；

21-Moving plates, 22-price fixings, 23-pin plugs, 24-shafts, 25-bearings；

In Figure 19~Figure 20：

30-motor input shaft bores, 31-output shafts, 32-driving wheels, 33-differential wheel shafts, 34-differential brackets, 35-is poor Driving wheel, 36-fixed wheels, 37-planetary gears, 38-planet wheel spindles, 39-sun gears.

Specific implementation mode

Embodiment one

A kind of subdivision differential differential speed reducer, including casing 13, motor 1 and the differential differential reducing in casing Device；The differential differential reducing device includes a nthdifferential differential reducing device and second-order differential differential reducing device, described One nthdifferential differential reducing device is mounted on the upper layer of casing, and the second-order differential differential reducing device is mounted under casing Layer, a nthdifferential differential reducing device are sequentially connected by bracket wheel 6 and second-order differential differential reducing device；

The one nthdifferential differential reducing device includes upper fixed wheel 8, difference wheel 10 in upper driving wheel 11 and at least two, described Upper fixed wheel 8 and upper driving wheel 11 are that reference diameter is identical, the gear teeth are towards the ring gear in axle center, the wheel of the gear teeth of upper fixed wheel and upper driving wheel The tooth form of tooth is same or similar and the number of teeth is different, and upper fixed wheel 8 is installed with 11 adjacent coaxial of upper driving wheel, and upper driving wheel is located on upper fixed wheel Portion, upper fixed wheel periphery are fixedly connected by screw with casing 13, and upper driving wheel is mounted on by driving wheel frame on main shaft 12, the support Frame wheel 6 is mounted on by bearing on the main shaft of 8 lower part of upper fixed wheel, and the upper difference wheel is mounted on bracket wheel 6 by the way that bearing 9 is well-balanced On the bracket axis 7 on top, when original state upper 10 at least one gear teeth of difference wheel simultaneously with upper fixed wheel 8 and upper driving wheel 11 it The gear teeth of ring gear are meshed；

The bracket wheel 6 is sequentially connected with the upper outer shaft gear 5 mounted on casing side, the upper outer shaft gear 5 and machine The outer shaft 4 of shell side connects, the lower outer shaft gear 2 of 4 lower end of outer shaft connection, lower outer shaft gear 2 and the motor 1 positioned at casing lower part Motor gear 3 is sequentially connected；Outer shaft 4 is driven to rotate by lower outer shaft gear 2 when electric motor starting, outer shaft 4 passes through upper outer shaft gear 5 Bracket wheel 6 is driven to rotate, the upper difference wheel on 6 top of bracket wheel revolves round the sun around 7 rotation of bracket axis and around main shaft simultaneously, to pass through Upper driving wheel 11 drives main shaft 12 to rotate；

The second-order differential differential reducing device is mounted on 6 lower part of bracket wheel, including lower fixed wheel 16, lower driving wheel 17 and at least 2 lower difference wheels 15, the lower fixed wheel and lower driving wheel be reference diameter is identical, the gear teeth towards axle center ring gear, lower fixed wheel The gear teeth are same or similar from the tooth form of the gear teeth of lower driving wheel and the number of teeth is different, and lower fixed wheel is installed with lower driving wheel adjacent coaxial, lower dynamic Wheel is located at lower fixed wheel lower part, and lower fixed wheel periphery is fixedly connected by screw with casing 13, and lower driving wheel is mounted on master by driving wheel frame On axis 12, the lower difference wheel is well-balanced on the bottom bracket axis 18 of 6 lower part of bracket wheel by bearing, and original state is at present At least one gear teeth of difference wheel 15 are meshed with the gear teeth of lower fixed wheel and the ring gear of lower driving wheel simultaneously；

Outer shaft 4 is driven to rotate by lower outer shaft gear 2 when electric motor starting, outer shaft 4 drives bracket wheel by upper outer shaft gear 5 The lower difference wheel of 6 rotations, 6 lower part of bracket wheel revolves round the sun around 18 rotation of bottom bracket axis and around main shaft simultaneously, to pass through lower driving wheel 17 Drive main axis；

The lower fixed wheel 16 is identical as the number of teeth of upper fixed wheel 8, and the lower driving wheel 17 is identical as the number of teeth of upper driving wheel 11, upper dynamic The number of teeth of wheel 11 is more than the number of teeth of upper fixed wheel 8, and the number of teeth of lower driving wheel 17 is more than the number of teeth of lower fixed wheel 16, i.e., upper fixed wheel or lower fixed wheel Tooth pitch radian B2 and upper driving wheel or the difference of tooth pitch radian B1 of lower driving wheel be constant B, i.e. B=B2-B1 ＜ 1 less than 1；

In the present embodiment, the value of constant B is 0.6, and the number of teeth of upper driving wheel and lower driving wheel is 25, and tooth pitch radian B1 is 1.44, the number of teeth of upper fixed wheel and lower fixed wheel is 24, and tooth pitch radian B2 is 1.5, the tooth of the tooth pitch radian B2 and upper driving wheel of upper fixed wheel Poor B=1.5-1.44=0.6 away from radian B1；The phase shifting 1/2B of upper and lower difference wheel installation, i.e., 0.3 degree；The upper fixed wheel 8 Different from the phase of lower fixed wheel 16 installation, phase difference 1/2B, upper difference wheel 10 is uniformly distributed with lower difference wheel 15.

2 bottom bracket axis of 6 lower part of bracket wheel and 27 interlaced arrangements of bracket axis on top, upper and lower bracket axis Arranged direction be mutually perpendicular to（Such as bracket axis lateral arrangement, then bottom bracket axis is longitudinally arranged, thus upper difference wheel and lower difference The arrangement of wheel is mutually perpendicular to）.

The above content is combine specific embodiment to further explanation made by the utility model, and it cannot be said that this reality It is confined to this with novel specific implementation, for the utility model technical field, is not departing from the utility model design Under the premise of, simple deduction or replace are made, said mechanism all should be considered as the scope of protection of the utility model.

Transformation as above-described embodiment：

1. constant B influences the precision of differential differential every time, the precision the big then more smooth, and the value of the constant B can basis Depending on actual needs, the value of general B is 0.6,0.5,0.4,0.3,0.25,0.2 or 0.15 etc., and numerical value is smaller, differential spacing Its smaller resolution ratio（Precision）It is higher；This figure show 2 times of subdivisions, if necessary when can realize 3 times, 4 times, 5 times, 6 times etc. Subdivision, the subdivision bigger precision of multiple is higher but volume is bigger；

2. each two of the upper and lower difference wheel setting of the present embodiment, the number of difference wheel is influenced by constant B, in the feelings of permission Multiple difference wheels are arranged under condition can make output more steady.

Operation principle

Motor gear 3 on motor 1 drives lower outer shaft gear 2, then drives outer shaft 4 and upper outer shaft gear 5, by power transmission To bracket wheel 6, the upper and lower bracket axis 7 being fixed thereon is driven to rotate, 7 upper end of bracket axis is equipped with bearing 9, upper and lower difference wheel peace On bearing 9, in the rotation, by driving wheel 11 in 8 differential driving of upper fixed wheel, upper driving wheel 11 is connected to upper difference wheel 10 On main shaft 12, when upper wheel rotation, will be such that main shaft 12 rotates, and upper fixed wheel 8 is fixed with shell 13 by screw 14.Lower difference wheel 15 It is staggered certain angle with upper difference wheel 10（90 degree）, by fixed wheel under difference 16 and lower driving wheel 17, still deliver power to On main shaft 12；

Top differential driving is primary, and differential driving is primary again for lower part, and then top differential drives again, and constantly cycle reaches thin The purpose of point differential, such as the differential precision of single differential retarder is 0.2 degree, and top and the bottom intermesh insertions, then reality Having showed the subdivision of overall 0.1 degree of output namely output shaft realizes 0.1 degree of output, therefore in the premise of holding same torque Under realize higher output accuracy.

If the present embodiment is two times of subdivision differential differential speed reducers, upper and lower fixed wheel is 24 teeth（B2 is 15 degree）, upper and lower dynamic Wheel is 25 teeth（B1 is 14.4 degree）, differential coefficient is 0.6 degree（B=B2-B1=0.6 degree）, i.e., rotation 0.6 is once generated per difference Degree, for upper and lower fixed wheel between upper and lower driving wheel, upper and lower fixed wheel is fixed on outer wall, upper and lower fixed wheel flute profile is identical but initial phase not Together（The half for differing B/2, deviating differential coefficient, this example are 0.3 degree）；

Upper and lower driving wheel is all fixed on main shaft, can do work, when top or lower part are without difference, transmission gear In gap active state, when top starts difference to 0.3 degree, lower part starts difference；When lower part starts difference to 0.6 degree When, top starts difference again, so alternately, achievees the purpose that subdivision, can to realize the output that precision is 0.3 degree By return difference clearance control in 0.3 degree.

（As the engine of multi cylinder, multi-cylinder is all fixedly connected on main crankshaft its principle, but not due to initial phase Together, some cylinder air-breathings, some cylinder exhausts, some cylinder actings, to make engine output evenly）.

Claims

1. a kind of subdivision differential differential speed reducer, including casing（13）, motor（1）With the differential differential reducing in casing Device；It is characterized in that：The differential differential reducing device includes a nthdifferential differential reducing device and second-order differential is differential subtracts Speed variator, the nthdifferential differential reducing device are mounted on the upper layer of casing, the second-order differential differential reducing device installation In the lower layer of casing, a nthdifferential differential reducing device passes through bracket wheel（6）It is sequentially connected with second-order differential differential reducing device；

The one nthdifferential differential reducing device includes upper fixed wheel（8）, upper driving wheel（11）With difference wheel at least two（10）, institute State fixed wheel（8）With upper driving wheel（11）For reference diameter is identical, the gear teeth towards axle center ring gear, the gear teeth of upper fixed wheel with it is upper dynamic The tooth form of the gear teeth of wheel is same or similar and the number of teeth is different, upper fixed wheel（8）With upper driving wheel（11）Adjacent coaxial is installed, upper driving wheel position In upper fixed wheel top, upper fixed wheel periphery passes through screw and casing（13）It is fixedly connected, upper driving wheel is mounted on main shaft by driving wheel frame （12）On, the bracket wheel（6）It is mounted on upper fixed wheel by bearing（8）On the main shaft of lower part, the upper difference wheel passes through bearing （9）Mounted on bracket wheel（6）The bracket axis on top（7）On, upper difference wheel when original state（10）At least one gear teeth is same When with upper fixed wheel（8）With upper driving wheel（11）The gear teeth of ring gear be meshed；

The bracket wheel（6）With the upper outer shaft gear mounted on casing side（5）It is sequentially connected, the upper outer shaft gear and casing The outer shaft of side（4）Connection, the lower outer shaft gear of outer shaft lower end connection（2）, lower outer shaft gear with positioned at casing lower part motor（1） Motor gear（3）It is sequentially connected；Outer shaft is driven by lower outer shaft gear when electric motor starting（4）Rotation, outer shaft pass through upper outer shaft Gear（5）Drive bracket wheel（6）Rotation, bracket wheel（6）The upper difference wheel on top is simultaneously around bracket axis（7）Rotation and around main shaft Revolution, to pass through upper driving wheel（11）Drive main shaft（12）Rotation；

The second-order differential differential reducing device is mounted on bracket wheel（6）Lower part, including lower fixed wheel（16）, lower driving wheel（17）Extremely Few 2 lower difference wheels（15）, the lower fixed wheel and lower driving wheel be reference diameter is identical, the gear teeth towards axle center ring gear, it is lower fixed The gear teeth of wheel are same or similar from the tooth form of the gear teeth of lower driving wheel and the number of teeth is different, and lower fixed wheel is installed with lower driving wheel adjacent coaxial, Lower driving wheel is located at lower fixed wheel lower part, and lower fixed wheel periphery passes through screw and casing（13）It is fixedly connected, lower driving wheel is pacified by driving wheel frame Mounted in main shaft（12）On, the lower difference wheel is mounted on bracket wheel by bearing（6）The bottom bracket axis of lower part（18）On, initial shape State difference wheel at present（15）At least one gear teeth is meshed with the gear teeth of lower fixed wheel and the ring gear of lower driving wheel simultaneously；

Pass through lower outer shaft gear when electric motor starting（2）Drive outer shaft（4）Rotation, outer shaft pass through upper outer shaft gear（5）Drive bracket Wheel（6）Rotation, bracket wheel（6）The lower difference wheel of lower part is simultaneously around bottom bracket axis（18）Rotation is simultaneously revolved round the sun around main shaft, to pass through Lower driving wheel（17）Drive main axis；

The lower fixed wheel（16）With upper fixed wheel（8）The number of teeth it is identical, the lower driving wheel（17）With upper driving wheel（11）The number of teeth it is identical, Upper driving wheel（11）With lower driving wheel（17）The number of teeth be respectively greater than upper fixed wheel（8）With lower driving wheel（17）The number of teeth, i.e., upper fixed wheel or under The tooth pitch radian B2 of fixed wheel and constant B, i.e. B=B2-B1 ＜ that the difference of upper driving wheel or the tooth pitch radian B1 of lower driving wheel are less than 1 1；

The tooth pitch radian B2 of the upper fixed wheel or lower fixed wheel refer to upper fixed wheel or adjacent two gear teeth of lower fixed wheel with it is heart-shaped in ring gear At angle, the tooth pitch radian B1 of upper driving wheel or lower driving wheel refer to upper driving wheel or adjacent two gear teeth of lower driving wheel with it is heart-shaped in ring gear At angle, unit be degree；

The upper fixed wheel（8）With lower fixed wheel（16）The phase of installation is different, phase difference 1/2B, the upper difference wheel（10）With Lower difference wheel（15）It is uniformly distributed.

2. a kind of subdivision differential differential speed reducer according to claim 1, it is characterised in that：The bracket wheel（6）Lower part Bottom bracket axis and top bracket axis（7）Interlaced arrangement, when upper and lower difference wheel is respectively 2, the cloth of upper and lower bracket axis Direction is set to be mutually perpendicular to.

3. a kind of subdivision differential differential speed reducer according to claim 2, it is characterised in that：The upper fixed wheel, upper driving wheel, The tooth form of the gear teeth of lower fixed wheel and lower driving wheel is same or similar, shape or for it is arc-shaped be polygon or be involute, Cycloid or hyperbola.