Nyob rau sab hnub poob, Aristotle, ib tug Greek philosopher Aristotle thaum ub nyob rau hauv 300 BC, tau piav qhia txog qhov teeb meem ntawm rotating motion nrog bronze los yog cam khwb cia hlau gears nyob rau hauv "Mechanical Question". Ob tus kws tshawb fawb Greek nto moo Aristotle thiab Archimid ob leeg tau kawm txog lub zog. Greek tus naas ej inventor Gutiisbios tusyees ntxig qhov muag rau ntawm ntug ntawm lub round board workbench, kom nws mesh nrog muag log. Nws tau siv lub koom haum no rau kev kos duab. Qhov no yog hais txog 150 BC. Nyob rau hauv lub xyoo 100 BC, tus inventor ntawm Alexander Heron invented lub mileage thiab siv zog nyob rau hauv lub mileage meter. Nyob rau hauv lub xyoo pua 1st AD, lub iav kis tau tus mob kuj tau siv nyob rau hauv waterwheel hmoov tsim los ntawm lub Architects ntawm Rome. Los ntawm lub xyoo pua 14th, lub zog pib siv lub moos.
Nyob rau thaum ntxov Eastern Han Dynasty (1st caug xyoo AD), muaj tib neeg cov cim. Thaum lub sijhawm Peb Lub Nceeg Vaj, cov lus qhia thiab Ji Lili lub nruas tsheb tau txais yuav lub iav kis kab mob. Cov dej sib hloov tau tsim los ntawm Jin Dynasty Du tau dhau mus rau lub zeb zeb los ntawm lub iav mus rau lub zeb zeb. Cov ntaub ntawv ntxov tshaj plaws ntawm cov iav kis tau tus mob hauv cov phau ntawv keeb kwm yog cov lus piav qhia txog kev thauj mus los hauv dej ua los ntawm Tang Dynasty thiab Liang Lingyu nyob rau xyoo 725. Lub ntsuas dej thauj dej (saib Suav timers thaum ub) ua nyob rau hauv Northern Song Dynasty siv cov iav nyuaj. qhov system. Mao Yuanyi ntawm Ming Dynasty tau kaw lub iav hloov khoom siv nrog "Wu Beizhi" (hauv 1621). Hauv qhov chaw ntawm Anwan Anwan City, Hebei, uas tau khawb hauv xyoo 1956, tau pom ib qho hlau spiny iav nrog ib txoj kab uas hla ntawm li 80 hli. Cov khoom thaum lub sij hawm Western Han Dynasty (206 txog 24 AD). Nyob rau hauv 1954, lub bronze spiny iav tau unearthed nyob rau hauv Yijiaya, Yongji County, Shanxi xeev. Xa mus rau cov khoom siv tsis tau pom ntawm Tongkeng, nws tuaj yeem tawg tau raws li Qin Dynasty (221 txog 206 BC) lossis cov relics ntawm Western Han Dynasty thaum ntxov. Hais txog kev siv lub zog spiny, tsis muaj cov ntaub ntawv sau tseg txog tam sim no, kev kwv yees yuav raug siv rau kev nres kom tsis txhob tig lub axis. Xyoo 1953, ib khub ntawm cov cim tooj liab tau pom hauv Hongqing Village, Chang'an County, Shaanxi Province. Raws li kev soj ntsuam ntawm lub qhov ntxa qauv thiab qhov xwm txheej ntawm cov khoom tom ntxa, ob lub zog tuaj yeem txiav txim siab los ntawm lub sijhawm thaum ntxov Eastern Han Dynasty. Ob lub voj voog yog 24 cov hniav nrog txoj kab uas hla ntawm 15 hli. Hengyang thiab lwm qhov chaw kuj pom tib neeg tus cwj pwm iav.
Thaum ntxov li 1694, Fabkis tus kws tshawb fawb Philippe de La Hire thawj zaug tau hais tias qhov kev qhib maj mam tuaj yeem siv los ua qhov nkhaus hniav. Xyoo 1733, Fab Kis Fab Kis M.Camus tau thov kom pej xeem txoj cai kab ntawm kev sib hloov ntawm cov hniav sib txuas yuav tsum dhau ntawm qhov ntawm qhov nruab nrab kev sib txuas. Ib qho kev pab cuam instantaneous lub plawv kab ua raws li cov auxiliary cov hniav ntawm cov auxiliary hniav zoo ntawm cov auxiliary instantaneous kab ntawm cov auxiliary instantaneous kab ntawm cov auxiliary instantaneous kab raws lub log loj thiab me me log. Qhov nkhaus yog ua ke, qhov no yog Camus theorem. Nws txiav txim siab lub xeev meshing ntawm ob tug hniav; nws kom meej meej tsim lub tswvyim ntawm niaj hnub contact point trajectory. Xyoo 1765, Switzerland's L. nyob rau hauv Switzerland EULER tau tshaj tawm txoj kev ua lej ntawm kev maj mam soj ntsuam ntawm cov hniav-zoo li tus tsom xam, qhia meej txog kev sib raug zoo ntawm lub voj voos curvature thiab qhov chaw nruab nrab ntawm qhov curvature ntawm cov hniav. Tom qab ntawd, Savary txuas ntxiv ua tiav cov qauv no thiab dhau los ua EU-LET-SAVARY sib npaug. Lub Roteft Wulls tau pab txhawb rau daim ntawv thov ntawm cov hniav gradient. Thaum nws npaj siab tias thaum lub hauv paus kev ncua deb hloov, maj mam qhib iav muaj qhov zoo ntawm qhov sib npaug ntawm qhov nrawm nrawm. Nyob rau hauv 1873, German engineer Hoppe tau hais tias lub iav ntawm cov hniav sib txawv tau maj mam qhib rau cov hniav thaum lub siab lub kaum sab xis hloov, yog li nteg lub ideological foundation ntawm niaj hnub zog.
Thaum kawg ntawm lub xyoo pua puv 19, cov hauv paus ntsiab lus ntawm kev nthuav qhia thiab cov hniav thiab cov kev ua tiav ntawm cov cuab yeej tshwj xeeb tshuab thiab cov cuab yeej siv cov ntsiab lus no los ua kom cov iav ua tiav ntau dua, thiab maj mam pom qhov zoo tshaj plaws. Ntev npaum li lub cuab yeej txiav hniav txav me ntsis los ntawm txoj haujlwm meshing ib txwm, koj tuaj yeem siv cov cuab yeej txheem los txiav cov khoom sib txawv sib txawv ntawm lub tshuab cuab yeej. Xyoo 1908, MAAG, Switzerland, tau kawm txog kev hloov pauv thiab tsim ib lub tshuab ua cov hniav. Tom qab ntawd, BSS, Tebchaws Asmeskas Agma, thiab Lub Tebchaws Yelemees DIN tau ua tiav tau npaj ntau txoj hauv kev suav rau cov iav sib txawv.
Txhawm rau txhim kho lub neej kev pab cuam ntawm lub zog xa hluav taws xob iav thiab txo nws qhov loj, ntxiv rau kev txhim kho cov khoom siv, kev kho cua sov thiab cov qauv, cov iav arc-shaped tau tsim. Xyoo 1907, British Frank Humphris thawj zaug luam tawm cov hniav arc. Xyoo 1926, Swiss Eruest Wildhaber tau txais txoj cai patent ntawm Fabkis-faced arc hniav-shaped kab pheeb ces kaum iav. Nyob rau hauv 1955, lub Soviet Union ML Novikov ua tiav cov tswv yim kev tshawb fawb ntawm arc-shaped zog thiab tau txais lub Lenin Medal. Xyoo 1970, RRRM Studer tau txais US patent ntawm ob chav arc iav. Cov iav no tau nce nqi los ntawm tib neeg thiab tau ua cov txiaj ntsig tseem ceeb hauv kev tsim khoom.
Iav yog cov khoom siv txhuam hniav uas tuaj yeem mesh. Nws yog dav siv nyob rau hauv mechanical kis tau tus mob thiab tag nrho cov neeg kho tshuab teb. Niaj hnub nimno iav tshuab tau mus txog: tus naj npawb ntawm iav pwm yog 0.004 txog 100 hli; txoj kab uas hla ntawm lub iav yog los ntawm 1 hli mus rau 150 meters; lub zog xa hluav taws xob tuaj yeem ncav cuag 100, 000 kilowatts; thib ob.
Nrog rau txoj kev loj hlob ntawm ntau lawm, kev ruaj ntseg ntawm cov iav ua haujlwm muaj nuj nqis. Nyob rau xyoo 1674, Danish astronomer Rommer thawj zaug tau thov kom siv cov kab sab nrauv raws li cov hniav nkhaus kom tau txais cov iav ruaj khov.
Thaum lub xyoo pua 18th muaj kev hloov pauv, iav tshuab tau tsim los ntawm kev kub ceev, thiab tib neeg tau tshawb fawb ntau ntawm cov iav. Xyoo 1733, tus kws lej Fabkis txoj Cami tau luam tawm txoj cai ntawm cov hniav mesh; Xyoo 1765, Swiss lej Euler tau hais kom siv qhov qhib maj mam ua tus hniav nkhaus.
Cov hniav thiab cov hniav tshuab uas tau tshwm sim nyob rau hauv lub xyoo pua puv 19 tau daws qhov teeb meem ntawm cov khoom loj ntawm cov khoom siv high-precision. Xyoo 1900, Puford yog ib qho khoom sib txawv ntawm lub tshuab hniav, uas tuaj yeem ua cov iav oblique ntawm cov hniav rau cov hniav. Txij thaum ntawd los, cov hniav cov menyuam dov iav tau nrov. Qhov tseem ceeb
Nyob rau hauv 1899, Lashe thawj zaug ua ib qho kev npaj hloov pauv. Cov iav sib txawv tuaj yeem tsis tsuas yog zam qhov kev txiav ntawm lub log hniav, tab sis kuj tuaj yeem phim qhov chaw nyob deb thiab txhim kho lub peev xwm nqa ntawm lub iav. Xyoo 1923, Wildhabe, Tebchaws Meskas, thawj zaug tau npaj cov iav ntawm cov hniav arc. Nyob rau hauv 1955, Sonovokov tau ua ib qho kev kawm tob ntawm lub arc iav, thiab arc iav tau siv rau ntau lawm. Lub peev xwm nqa thiab kev ua haujlwm ntawm cov iav no yog siab, tab sis nws tsis yooj yim rau kev tsim khoom raws li cov iav qhib maj mam, thiab nws yuav tsum tau txhim kho ntxiv.
