CN106763645B - Cycloidal pin-wheel drive device and its correction method based on floating needle tooth - Google Patents
Cycloidal pin-wheel drive device and its correction method based on floating needle tooth Download PDFInfo
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- CN106763645B CN106763645B CN201611181027.0A CN201611181027A CN106763645B CN 106763645 B CN106763645 B CN 106763645B CN 201611181027 A CN201611181027 A CN 201611181027A CN 106763645 B CN106763645 B CN 106763645B
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- needle tooth
- cycloid gear
- needle
- tooth
- wheel drive
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
Abstract
The present invention relates to Cycloidal pin-wheel drive devices and its correction method based on floating needle tooth.Cycloidal pin-wheel drive device based on floating needle tooth includes shell, cycloid gear, needle tooth, spring and end cap, shell offers the needle tooth socket for placing needle tooth in inner sidewall, cycloid gear is placed on casing center, needle tooth is placed in needle tooth socket, and needle tooth is contacted with cycloid gear and needle tooth socket simultaneously, needle tooth is truncated cone-shaped needle tooth, cycloid gear side is the circular conical surface matched with the conical surface of needle tooth, end cap is connected on shell, spring is arranged between the large end face and end cap of each needle tooth, the taper angle of needle toothMeet:μ is that needle tooth socket is in contact the coefficient of friction on surface with needle tooth, the taper angle of cycloid gear in the direction of the widthThe present invention can make up for it the interstitial defect between foozle and service wear bring cycloid gear and needle tooth, and all needle teeth can be made all to be kept in contact with cycloid gear, to significantly improve the bearing capacity and transmission accuracy of Cycloidal pin-wheel drive.
Description
Technical field
The present invention relates to precision speed reduction device fields, more particularly, to a kind of Cycloidal pin-wheel drive device based on floating needle tooth
And its correction method.
Background technique
Cycloidal pin-wheel drive is a kind of device that power transmitting is realized using cycloid gear and needle tooth engagement.From geometrically
It sees, cycloid gear is all contacted with all needle teeth；From mechanics, there is the needle tooth of half number to participate in power transmitting, therefore theoretical
Upper theory, Cycloidal pin-wheel drive have many advantages such as that large carrying capacity, high transmission accuracy, device volume are small.Currently, cycloidal-pin wheel
Transmission is widely used in the high-accuracy retarder of industrial robot joint, for example, Nabtesc company of Japan RV retarder just
Using Cycloidal pin-wheel drive.
But due to foozle and service wear, being frequently not all needle teeth in practical Cycloidal pin-wheel drive can
Contacted with cycloid gear, there are gap between part needle tooth and cycloid gear, only a small number of needle teeth be in contact with cycloid gear and
Transmit power, lead to following unfavorable condition: (1) this several bear excessive load to the gear teeth that contact with each other and is easily broken off and fatigue
Failure；(2) gap generates the impact between needle tooth and cycloid gear, issues noise, causes to vibrate；(3) gap reduces
The precision and rigidity of Cycloidal pin-wheel drive.
Currently, many researchers attempt to solve the above problems using a variety of methods both at home and abroad.To the tradition of cycloid gear
Correction method has: modification of moved distance method, modification of equidistance method, modification of rotated angle method.There are many researchers on the basis of these three methods
Upper improvement correction method, for example, He Weidong and Li Lihang are in 2000 in " mechanical engineering journal " (in March, 2000 volume 36 the 3rd
Phase page 51-55) paper " the robot optimization novel tooth form of Cycloidal Wheel in High Precision RV Reducer " propose to cycloid tooth
Wheel carry out it is negative equidistantly with negative correction method of the shifting away from optimum organization.Daybreak is closed in 2002 " China Mechanical Engineering " (2002 5
Month the 10th phase page 811-814 of volume 13) paper " the determination side of the best profiling quantity of Cycloidal Wheel in cycloid pinwheel planetary gear transmission system
" negative move away from+just equidistant " correction method is proposed in method ", is deduced the calculation formula of the best profiling quantity of cycloid gear.Zhao Bo
Equal to 2015 in paper " the robot RV reducer pendulum of " machine driving " (the 12nd phase page 1-6 of volume 39 in December, 2015)
A kind of parabola correction method based on monodentate without sideshake mismatch correction of the flank shape theory is proposed in the theoretical research of line wheel correction of the flank shape ".This
A little methods calculate profiling quantity complexity, and dimension precision requirement is high, and difficulty of processing is big, and more importantly, these methods can not be suitable for
The undesirable condition generated during Cycloidal pin-wheel drive because abrasion causes gap.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on floating needle tooth
Cycloidal pin-wheel drive device and its correction method, correction method of the present invention by modification cycloid gear and needle tooth flank profil shape
Shape contacts whole needle teeth all with cycloid gear using friction self-locking and additional spring force, to significantly improve bearing capacity
And transmission accuracy, it can be applied to Cycloidal pin-wheel drive of the industrial robot joint in high-accuracy retarder.
The purpose of the present invention can be achieved through the following technical solutions:
Technical solution of the present invention one:
A kind of correction method of the Cycloidal pin-wheel drive device based on floating needle tooth is used for Cycloidal pin-wheel drive device, passes
The Cycloidal pin-wheel drive device of system includes shell, needle tooth and wobble gear, and correction method of the present invention can make Cycloidal pin-wheel drive
All needle teeth, which are all remained with cycloid gear, in device contacts, and caused by capable of eliminating automatically because of service wear between flank
Gap, so that the bearing capacity and transmission accuracy of Cycloidal pin-wheel drive are improved,
Cylindrical needle tooth in traditional Cycloidal pin-wheel drive device is changed to truncated cone-shaped needle tooth, and is matched in each needle tooth large end face
There is the end cap of spring and fixed spring；
Cycloid gear side in traditional Cycloidal pin-wheel drive device is changed to circular conical surface, so that the conical surface with needle tooth matches
It closes, when cycloid gear correction of the flank shape is processed, it is only necessary to the part outside common cycloid gear removal taper angle θ angular region；
Using the taper of truncated cone-shaped needle tooth rotary table, when needle tooth gap occurs with cycloid gear, needle tooth can be in spring force
Under the action of moved axially along the shell needle tooth socket of correction of the flank shape, thus automatic compensation gap；In view of spring force may be insufficient
To resist the axial thrust load of cycloid gear engagement force, axial alter occurs to avoid needle tooth from being pushed by the engagement force of cycloid gear
Dynamic, the present invention proposes truncated cone-shaped needle tooth taper angle according to friction self-locking principleThe design requirement at angle is
Wherein μ is that shell needle tooth socket is in contact the coefficient of friction on surface with needle tooth；
Taper angleAngle is the determination according to needle tooth force analysis, and cycloid gear generates engagement to needle tooth in force analysis
Power F, needle tooth and needle tooth socket inner wall have friction, frictional force fv.When the condition for meeting friction self-locking, needle tooth will not be in engagement force F
Axial thrust loadUnder the action of play；To obtainThe design requirement at angle does following Mechanics Calculation:
Shell needle tooth socket is to the frictional resistance of needle tooth
Wherein μ is that needle tooth socket is in contact the coefficient of friction on surface with needle tooth, because needle tooth socket and needle toe joint contacting surface are approximately partly
Cylindrical surface, so frictional force is plane contactTimes.
WhenWhen, friction self-locking will occur for needle tooth, and solution inequality obtains
The needle tooth of correction of the flank shape scheme i.e. of the present inventionAngle needs to meet
The angle taper angle θ of cycloid gear in the direction of the width is related with needle tooth taper angle, and
The connection relationship of needle tooth, shell, cycloid gear, spring, end cap after correction of the flank shape are as follows: when installing each needle tooth, by needle tooth
It is inserted into after one bus and the needle tooth socket parallel alignment in pin wheel housing, each needle tooth has a bus to abut against needle tooth socket after insertion
Cylindrical surface on；It selects some needle tooth as initial engagement needle tooth, circular conical surface at cycloid gear tooth root is initially nibbled against this
It closes side bus in needle tooth to be put into, which should be bonded completely with cycloid gear surface；Spring correspondence is mounted on each
At the axis of needle tooth large end face, finally end cap is installed again；When practical application, the centre bore for inputting crankshaft and cycloid gear is matched
It closes, the circumferential apertures cooperation of output mechanism and cycloid gear in addition to centre bore.
Technical solution of the present invention two:
A kind of Cycloidal pin-wheel drive device based on floating needle tooth, including shell, cycloid gear, needle tooth, spring and end cap,
The enclosure interior is hollow, and offers the needle tooth socket for placing needle tooth in inner sidewall, and the cycloid gear is placed on
Casing center, the needle tooth are placed in needle tooth socket, and needle tooth slot radius is determined by needle tooth big end radius surface, and needle tooth is simultaneously
It is contacted with cycloid gear and needle tooth socket, the needle tooth is truncated cone-shaped needle tooth, and the cycloid gear side is the cone with needle tooth
The circular conical surface that face matches, the end cap are connected on shell, and the large end face and end cap of each needle tooth is arranged in the spring
Between.
The taper angle of the needle toothAngle are as follows:Wherein μ is that needle tooth socket is in contact table with needle tooth
The coefficient of friction in face, the angle taper angle θ of cycloid gear in the direction of the width is related with needle tooth taper angle, and
Taper angleAngle is the determination according to needle tooth force analysis, and cycloid gear generates engagement to needle tooth in force analysis
Power F, needle tooth and needle tooth socket inner wall have friction, frictional force fv.When the condition for meeting friction self-locking, needle tooth will not be in engagement force F
Axial thrust loadUnder the action of play；To obtainThe design requirement at angle does following Mechanics Calculation:
Shell needle tooth socket is to the frictional resistance of needle tooth
Wherein μ is that needle tooth socket is in contact the coefficient of friction on surface with needle tooth, because needle tooth socket and needle toe joint contacting surface are approximately partly
Cylindrical surface, so frictional force is plane contactTimes.
WhenWhen, friction self-locking will occur for needle tooth, and solution inequality obtains
The needle tooth of correction of the flank shape scheme i.e. of the present inventionAngle needs to meet
The cycloid gear is equipped with for being used for around the centre bore and centrally disposed hole with input crankshaft cooperation
With the circumferential apertures of output mechanism cooperation.
The needle tooth is equipped with 7 altogether.
Cycloidal pin-wheel drive device based on floating needle tooth of the invention has the function of that friction self-locking, needle tooth have automatic adjust
Function is saved, when causing to have gap between certain instantaneous needle tooth and cycloid gear due to foozle or service wear, needle tooth can be
It is axially moved under spring-force driven dual and is contacted again with cycloid gear, to make up gap.The mode of this automatic adjustment can be with
Guarantee that all needle teeth are all contacted with cycloid gear always.
Compared with prior art, the invention has the advantages that:
1, the correction method of the cycloid gear and needle tooth based on floating needle tooth proposed is simple and easy to do, can make up for it manufacture
Interstitial defect between error and service wear bring cycloid gear and needle tooth connects all needle teeth all with cycloid gear holding
Touching can be applied to industrial robot joint height to significantly improve the bearing capacity and transmission accuracy of Cycloidal pin-wheel drive
Cycloidal pin-wheel drive in precision speed reduction device.
2, the Cycloidal pin-wheel drive device of the invention based on floating needle tooth has the function of friction self-locking, can make up for it manufacture
Interstitial defect between error and service wear bring cycloid gear and needle tooth connects all needle teeth all with cycloid gear holding
Touching can be applied to industrial robot joint height to significantly improve the bearing capacity and transmission accuracy of Cycloidal pin-wheel drive
Cycloidal pin-wheel drive in precision speed reduction device.
Detailed description of the invention
Fig. 1 is the schematic perspective view of needle tooth；
Fig. 2 is the schematic view of the front view of needle tooth；
Fig. 3 is the overlooking structure diagram of needle tooth；
Fig. 4 is the schematic perspective view of cycloid gear；
Fig. 5 is the schematic view of the front view of cycloid gear；
Fig. 6 is the side structure schematic view of cycloid gear；
Fig. 7 is the taper angle schematic diagram of cycloid gear in the direction of the width；
Fig. 8 is the schematic perspective view of shell；
Fig. 9 is the schematic view of the front view of shell；
Figure 10 is the structural schematic diagram of end cap and spring；
Figure 11 is that the present invention is based on the Cycloidal pin-wheel drive device decomposition texture schematic diagrams of floating needle tooth；
Figure 12 is that the present invention is based on the Cycloidal pin-wheel drive device of floating needle tooth structural schematic diagrams after the assembly is completed；
Figure 13 is to remove end cover structure signal after the assembly is completed the present invention is based on the Cycloidal pin-wheel drive device of floating needle tooth
Figure；
Figure 14 is needle tooth stress analysis schematic diagram；
Figure 15 is needle tooth dynamic adjustment schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
A kind of correction method of the Cycloidal pin-wheel drive device based on floating needle tooth is used for Cycloidal pin-wheel drive device, passes
The Cycloidal pin-wheel drive device of system includes shell, needle tooth and wobble gear, and correction method of the present invention can make Cycloidal pin-wheel drive
All needle teeth, which are all remained with cycloid gear, in device contacts, and caused by capable of eliminating automatically because of service wear between flank
Gap, so that the bearing capacity and transmission accuracy of Cycloidal pin-wheel drive are improved,
Cylindrical needle tooth in traditional Cycloidal pin-wheel drive is changed to truncated cone-shaped needle tooth, and is furnished with bullet in each needle tooth large end face
The end cap of spring and fixed spring；
Cycloid gear side in traditional Cycloidal pin-wheel drive device is changed to circular conical surface, so that the conical surface with needle tooth matches
It closes, when cycloid gear correction of the flank shape is processed, it is only necessary to the part outside common cycloid gear removal taper angle θ angular region；
Using the taper of truncated cone-shaped needle tooth rotary table, when needle tooth gap occurs with cycloid gear, needle tooth can be in spring force
Under the action of moved axially along the shell needle tooth socket of correction of the flank shape, thus automatic compensation gap；In view of spring force may be insufficient
To resist the axial thrust load of cycloid gear engagement force, axial alter occurs to avoid needle tooth from being pushed by the engagement force of cycloid gear
Dynamic, the present invention proposes truncated cone-shaped needle tooth taper angle according to friction self-locking principleThe design requirement at angle is
Wherein μ is that shell needle tooth socket is in contact the coefficient of friction on surface with needle tooth；
Taper angleAngle is the determination according to needle tooth force analysis, and cycloid gear generates engagement to needle tooth in force analysis
Power F, needle tooth and needle tooth socket inner wall have friction, frictional force fv.When the condition for meeting friction self-locking, needle tooth will not be in engagement force F
Axial thrust loadUnder the action of play；To obtainThe design requirement at angle does following Mechanics Calculation:
Shell needle tooth socket is to the frictional resistance of needle tooth
Wherein μ is that needle tooth socket is in contact the coefficient of friction on surface with needle tooth, because needle tooth socket and needle toe joint contacting surface are approximately partly
Cylindrical surface, so frictional force is plane contactTimes.
WhenWhen, friction self-locking will occur for needle tooth, and solution inequality obtains
The needle tooth of correction of the flank shape scheme i.e. of the present inventionAngle needs to meet
The angle taper angle θ of cycloid gear in the direction of the width is related with needle tooth taper angle, and
A kind of Cycloidal pin-wheel drive device based on floating needle tooth, as shown in Fig. 1-Figure 13, including shell 1, cycloid gear
2, needle tooth 3, spring 4 and end cap 5,1 inner hollow of shell, and the needle tooth socket 11 for placing needle tooth 3 is offered in inner sidewall,
Needle tooth slot radius is determined that cycloid gear 2 is placed on 1 center of shell by needle tooth big end radius surface, and needle tooth 3 is placed in needle tooth socket 11
It is interior, and needle tooth 3 is contacted with cycloid gear 2 and needle tooth socket 11 simultaneously, needle tooth 3 is truncated cone-shaped needle tooth, and 2 side of cycloid gear is and needle
The circular conical surface that the conical surface of tooth 3 matches, end cap 5 are connected on shell 1, and the large end face and end cap 5 of each needle tooth 3 is arranged in spring 4
Between.
The taper angle of needle tooth 3Angle are as follows:Wherein μ is that needle tooth socket 11 is in contact surface with needle tooth 3
Coefficient of friction, the angle taper angle θ of cycloid gear 2 in the direction of the width is related with needle tooth taper angle, and
As shown in figure 14, taper angleAngle is the determination according to needle tooth force analysis, and cycloid gear is to needle in force analysis
Tooth generates engagement force F, and needle tooth and needle tooth socket inner wall have friction, frictional force fv.When the condition for meeting friction self-locking, needle tooth will not
In the axial thrust load of engagement force FUnder the action of play；To obtainThe design requirement at angle does following Mechanics Calculation:
Shell needle tooth socket is to the frictional resistance of needle tooth
Wherein μ is that needle tooth socket is in contact the coefficient of friction on surface with needle tooth, because needle tooth socket and needle toe joint contacting surface are approximately partly
Cylindrical surface, so frictional force is plane contactTimes.
WhenWhen, friction self-locking will occur for needle tooth, and solution inequality obtains
The needle tooth of correction of the flank shape scheme i.e. of the present inventionAngle needs to meet
Cycloid gear 2 is equipped with for being used for around the centre bore 21 and centrally disposed hole 21 with input crankshaft cooperation
With the circumferential apertures 22 of output mechanism cooperation.
Needle tooth 3 is equipped with 7 altogether.
The connection relationship of needle tooth, shell, cycloid gear, spring, end cap after correction of the flank shape are as follows: when installing each needle tooth, by needle tooth
It is inserted into after one bus and the needle tooth socket parallel alignment on shell, each needle tooth has a bus to abut against shell needle tooth after insertion
On the cylindrical surface of slot；Select some needle tooth as initial engagement needle tooth, cylindrical surface at cycloid gear tooth root is initial against this
Side bus is put into engagement needle tooth, which should be bonded completely with cycloid gear surface；Spring is corresponding to be mounted on often
At the axis of a needle tooth large end face, finally end cap is installed again；When practical application, the centre bore of crankshaft and cycloid gear is inputted
Cooperation, the circumferential apertures cooperation of output mechanism and cycloid gear in addition to centre bore.
As shown in figure 15, Cycloidal pin-wheel drive device of the invention has the function of that friction self-locking, needle tooth have automatic adjustment
Function, when causing to have gap between certain instantaneous needle tooth and cycloid gear due to foozle or service wear, needle tooth can be in bullet
Spring force effect is lower to be axially moved and is contacted again with cycloid gear, to make up gap.The mode of this automatic adjustment can protect
All needle teeth are demonstrate,proved all to contact always with cycloid gear.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (6)
1. a kind of correction method of the Cycloidal pin-wheel drive device based on floating needle tooth, makes all needles in Cycloidal pin-wheel drive device
Tooth all remains with cycloid gear and contacts, and backlash caused by eliminating automatically because of service wear, improves cycloidal-pin wheel
The bearing capacity and transmission accuracy of transmission, it is characterised in that:
Cylindrical needle tooth in traditional Cycloidal pin-wheel drive device is changed to truncated cone-shaped needle tooth, and is furnished with bullet in each needle tooth large end face
Cycloid gear side in traditional Cycloidal pin-wheel drive device is changed to circular conical surface, thus with needle tooth by the end cap of spring and fixed spring
The conical surface match；
By truncated cone-shaped needle tooth taper angleAngle is limited to:
Wherein μ is that shell needle tooth socket is in contact the coefficient of friction on surface with needle tooth,
The angle taper angle θ of cycloid gear in the direction of the width is related with needle tooth taper angle, and
2. a kind of correction method of Cycloidal pin-wheel drive device based on floating needle tooth according to claim 1, feature
It is, the connection relationship of needle tooth, shell, cycloid gear, spring, end cap after the correction of the flank shape are as follows: when installing each needle tooth, by needle tooth
It is inserted into after one bus and the needle tooth socket parallel alignment in pin wheel housing, each needle tooth has a bus to abut against needle tooth socket after insertion
Cylindrical surface on；It selects some needle tooth as initial engagement needle tooth, circular conical surface at cycloid gear tooth root is initially nibbled against this
It closes side bus in needle tooth to be put into, which should be bonded completely with cycloid gear surface；Spring correspondence is mounted on each
At the axis of needle tooth large end face, finally end cap is installed again；When practical application, the centre bore for inputting crankshaft and cycloid gear is matched
It closes, the circumferential apertures cooperation of output mechanism and cycloid gear in addition to centre bore.
3. a kind of Cycloidal pin-wheel drive device based on floating needle tooth, which is characterized in that including shell (1), cycloid gear (2),
Needle tooth (3), spring (4) and end cap (5), the shell (1) inner hollow, and offer in inner sidewall for placing needle tooth
(3) needle tooth socket (11), the cycloid gear (2) are placed on shell (1) center, and the needle tooth (3) is placed in needle tooth socket
(11) in, and needle tooth (3) is contacted with cycloid gear (2) and needle tooth socket (11) simultaneously, and the needle tooth (3) is truncated cone-shaped needle tooth,
Cycloid gear (2) side is the circular conical surface matched with the conical surface of needle tooth (3), and the end cap (5) is connected to shell
(1) on, the spring (4) is arranged between the large end face and end cap (5) of each needle tooth (3).
4. a kind of Cycloidal pin-wheel drive device based on floating needle tooth according to claim 3, which is characterized in that described
The taper angle of needle tooth (3)Angle are as follows:Wherein μ is that needle tooth socket (11) are in contact surface with needle tooth (3)
Coefficient of friction, the angle taper angle θ of cycloid gear (2) in the direction of the width is related with needle tooth taper angle, and
5. a kind of Cycloidal pin-wheel drive device based on floating needle tooth according to claim 3, which is characterized in that described
Cycloid gear (2) be equipped with for input crankshaft cooperation centre bore (21) and centrally disposed hole (21) around for
The circumferential apertures (22) of output mechanism cooperation.
6. a kind of Cycloidal pin-wheel drive device based on floating needle tooth according to claim 3, which is characterized in that described
Needle tooth (3) is equipped with 7 altogether.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611181027.0A CN106763645B (en) | 2016-12-20 | 2016-12-20 | Cycloidal pin-wheel drive device and its correction method based on floating needle tooth |
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| CN201611181027.0A CN106763645B (en) | 2016-12-20 | 2016-12-20 | Cycloidal pin-wheel drive device and its correction method based on floating needle tooth |
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| CN106763645B true CN106763645B (en) | 2019-01-25 |
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| CN107498550B (en) * | 2017-08-30 | 2023-12-22 | 歌尔科技有限公司 | Transmission mechanism capable of automatically making close contact and robot |
| CN108533695B (en) * | 2018-07-06 | 2021-07-27 | 重庆大学 | Adjustable variable tooth thickness cycloidal pin gear transmission device |
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| JP4174820B2 (en) * | 2003-03-11 | 2008-11-05 | 株式会社デンソー | Starter |
| DE10360693A1 (en) * | 2003-12-19 | 2005-07-14 | Winergy Ag | Planetary gear, especially for wind turbines |
| CN203703016U (en) * | 2013-12-24 | 2014-07-09 | 厦门理工学院 | Spherical cycloidal gear structure |
| CN203703018U (en) * | 2013-12-24 | 2014-07-09 | 厦门理工学院 | Drum-shaped cycloid gear structure |
| CN205578674U (en) * | 2016-03-21 | 2016-09-14 | 富莱茵汽车部件有限公司 | Cycloid planet pinwheel reduction gear |
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