JPH1030687A - Planetary type speed increasing/decreasing gear - Google Patents
Planetary type speed increasing/decreasing gearInfo
- Publication number
- JPH1030687A JPH1030687A JP20538396A JP20538396A JPH1030687A JP H1030687 A JPH1030687 A JP H1030687A JP 20538396 A JP20538396 A JP 20538396A JP 20538396 A JP20538396 A JP 20538396A JP H1030687 A JPH1030687 A JP H1030687A
- Authority
- JP
- Japan
- Prior art keywords
- tooth
- gear
- external gear
- trochoid
- teeth
- 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
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、外歯歯車を内歯歯
車に噛合させてなる遊星式増減速機に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planetary speed reducer in which an external gear is meshed with an internal gear.
【０００２】[0002]
【従来の技術】前記遊星式増減速機として、例えば特開
昭５６−１１６９４７号公報に示されるように、高速軸
に偏心体を介して公転可能且つ自転可能に係合されると
共に低速軸にキャリアを介して連動回転可能に係合され
たトロコイド歯を有する外歯歯車がケーシングに設けら
れた円形歯を有する内歯歯車と噛合されてなるものが知
られている。2. Description of the Related Art As the planetary speed reducer, as shown in, for example, Japanese Patent Application Laid-Open No. 56-116947, the planetary speed reducer is engaged with a high-speed shaft via an eccentric body so as to be able to revolve and rotate and to be connected to a low-speed shaft. 2. Description of the Related Art There is known an external gear having trochoid teeth engaged with a carrier via a carrier so as to be interlockably rotatable with an internal gear having circular teeth provided on a casing.
【０００３】前記トロコイド系遊星式増減速機では、小
型のわりに比較的高い増減速比が得られ、また歯形が滑
らかで歯元への応力集中がなく、外歯歯車と内歯歯車と
の同時噛合い数が多いので低振動及び低騒音が実現され
ると共に過負荷や衝撃を受けても損傷することがなく、
高効率である等の利点を有している。In the trochoid type planetary speed reducer, a relatively high speed increase / reduction ratio can be obtained in spite of the small size, the tooth profile is smooth, there is no stress concentration on the tooth root, and the external gear and the internal gear can be used simultaneously. Since the number of meshing is large, low vibration and low noise are realized, and there is no damage even if overloaded or impacted,
It has advantages such as high efficiency.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、従来の
前記トロコイド系遊星式増減速機では、外歯歯車におけ
るトロコイド曲線を呈するトロコイド歯は、理論上、そ
れが内歯歯車における全ての円形歯と接触するという前
提の下に解析されているが、このような両歯の前記全接
触状態を実現する目的で加工精度を上げることは困難で
あり、少しでも加工精度が低下すると、円形歯の歯先部
が接触するトロコイド歯の歯先部や歯底部の円周方向に
近い歯面部分においてその接触点に加わる負荷の反力、
即ち外歯歯車に加わるその歯車中心に向う法線力が極端
に大きくなり、偏心体上における外歯歯車の軸受部分に
過大な荷重を与えることになる。この過大な荷重は増減
速機の寿命を大きく短縮し、このような寿命の短縮化を
防ぐためには大容量の軸受を使用するか、負荷を制限せ
ざるを得なかった。However, in the conventional trochoid type planetary gearbox, the trochoidal tooth exhibiting the trochoidal curve in the external gear is theoretically in contact with all the circular teeth in the internal gear. However, it is difficult to increase the processing accuracy for the purpose of realizing the above-mentioned full contact state of the two teeth. Reaction force of the load applied to the point of contact of the trochoid teeth with which the trochoid teeth are in contact with the tip of the trochoid tooth and the tooth surface near the circumferential direction of the tooth bottom,
That is, the normal force applied to the external gear toward the center of the external gear becomes extremely large, and an excessive load is applied to the bearing portion of the external gear on the eccentric body. This excessive load greatly shortens the life of the speed reducer, and in order to prevent such shortening of the life, a large-capacity bearing must be used or the load must be limited.
【０００５】本発明の課題は、トロコイド系遊星式増減
速機の利点を維持しつつ、外歯歯車に加わるその歯車中
心に向う法線力を少なくして長寿命を可能にした、小
型、低コストで信頼性の高い遊星式増減速機を提供する
ことにある。SUMMARY OF THE INVENTION An object of the present invention is to reduce the normal force applied to the external gear toward the center of the external gear while maintaining the advantages of the trochoid type planetary speed reducer, thereby enabling a long life and a small size. It is an object of the present invention to provide a cost-effective and reliable planetary speed reducer.
【０００６】[0006]
【課題を解決するための手段】本発明に係る遊星式増減
速機は、高速軸に偏心体を介して公転可能且つ自転可能
に係合されると共に低速軸にキャリアを介して連動回転
可能に係合されたトロコイド歯を有する外歯歯車がケー
シングに設けられた円形歯を有する内歯歯車と噛合され
てなり、減速時は外歯歯車と内歯歯車との歯数差により
生じる外歯歯車の自転がキャリアを介して低速軸に伝達
されると共に、増速時は外歯歯車と内歯歯車との歯数差
により生じる外歯歯車の公転が偏心体を介して高速軸に
伝達される形式の遊星式増減速機において、前記トロコ
イド歯の歯先部及び歯底部並びに前記円形歯の歯先部の
内の少なくとも一つに切欠きが穿設されたことを特徴と
している。SUMMARY OF THE INVENTION A planetary speed reducer according to the present invention is revolvably and rotationally engaged with a high-speed shaft via an eccentric body and is rotatable with a low-speed shaft via a carrier. An external gear having engaged trochoid teeth is meshed with an internal gear having circular teeth provided on a casing, and at the time of deceleration, an external gear generated due to a difference in the number of teeth between the external gear and the internal gear. Is transmitted to the low-speed shaft via the carrier, and at the time of speed increase, the revolution of the external gear caused by the difference in the number of teeth between the external gear and the internal gear is transmitted to the high-speed shaft via the eccentric body. In a planetary gearbox of the type described above, a notch is formed in at least one of the tip and bottom of the trochoid tooth and the tip of the circular tooth.
【０００７】前記構成では、前記歯先部や歯底部におけ
る前記切欠き以外の部分が伝動に供されると共に前記切
欠きの部分は伝動に関係しないので、外歯歯車と内歯歯
車との噛合に際して歯先干渉がなくなり、トロコイド歯
と円形歯との接触点に加わる負荷の反力が外歯歯車の半
径方向に対して概ね直角の方向に集中させられると共に
その歯車中心方向に作用する法線力が軽減され、恰もイ
ンボリュート歯のように圧力角の小さなトロコイド歯や
円形歯が形成される。[0007] In the above configuration, since the portion other than the notch in the tooth tip portion and the tooth bottom portion is used for transmission and the notch portion is not related to the transmission, the meshing between the external gear and the internal gear is performed. In this case, interference of the tooth tip is eliminated, and the reaction force of the load applied to the contact point between the trochoid tooth and the circular tooth is concentrated in a direction substantially perpendicular to the radial direction of the external gear, and the normal acting on the center of the gear. The force is reduced, and trochoid teeth and circular teeth with a small pressure angle are formed as if they were involute teeth.
【０００８】前記切欠きは、前記トロコイド歯の歯先部
及び／又は歯底部、好ましくはそれら歯先部及び歯底部
の両方に外歯歯車の半径方向内側に向って穿設されても
よく、また前記円形歯の歯先部に内歯歯車の半径方向外
側に向って穿設されてもよく、さらに前記トロコイド歯
の歯先部及び／又は歯底部と前記円形歯の歯先部とに併
せて穿設されてもよい。[0008] The notch may be formed at the tip and / or bottom of the trochoid tooth, preferably at both the tip and the bottom toward the radial inside of the external gear, Further, the tip of the circular tooth may be bored outward in the radial direction of the internal gear, and may be combined with the tip and / or bottom of the trochoid tooth and the tip of the circular tooth. It may be perforated.
【０００９】前記切欠きは７０度以上の圧力角に対応す
る部分に穿設されることが好ましく、その場合、各歯車
の歯先部や歯底部における前記７０度以上の圧力角に対
応する前記切欠きの部分は伝動に関係せず、従って７０
度未満の圧力角に対応する部分が伝動に供されることに
なる。Preferably, the notch is formed in a portion corresponding to a pressure angle of 70 degrees or more, and in this case, the notch corresponding to the pressure angle of 70 degrees or more in a tooth tip or a tooth bottom of each gear. The notch is not relevant to the transmission and therefore
The portion corresponding to the pressure angle less than degree will be used for transmission.
【００１０】[0010]
【実施例】以下に、本発明を図面に示す実施例に基づい
て具体的に説明する。図１は本発明の実施例に係る遊星
式増減速機の要部横断面図、図２は図１に示す遊星式増
減速機の縦断面図、図３は図１に示す遊星式増減速機に
おける外歯歯車と内歯歯車の要部断面図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on embodiments shown in the drawings. FIG. 1 is a cross-sectional view of a main part of a planetary speed reducer according to an embodiment of the present invention, FIG. 2 is a vertical cross-sectional view of the planetary speed reducer shown in FIG. 1, and FIG. FIG. 2 is a sectional view of a main part of an external gear and an internal gear in the machine.
【００１１】図１乃至図３において、高速軸１及び低速
軸２が同軸線上に配置され、高速軸１はケーシング３前
部と低速軸２に一体化されたキャリア４とに各々軸受
５、６を介して支承されると共に低速軸２はケーシング
３後部に軸受７、８を介して支承されている。1 to 3, a high-speed shaft 1 and a low-speed shaft 2 are arranged on a coaxial line, and the high-speed shaft 1 is provided with bearings 5, 6 at a front portion of a casing 3 and a carrier 4 integrated with the low-speed shaft 2, respectively. And the low-speed shaft 2 is supported at the rear of the casing 3 via bearings 7 and 8.
【００１２】ケーシング３環胴部には内歯歯車１１が設
けられると共に該内歯歯車１１は筒状ピンからなる多数
の円形歯１１ａから構成され、また高速軸１には２個の
偏心体１２が１８０度の位相差で偏心固定され、各偏心
体１２に前記内歯歯車１１より歯数の少ない外歯歯車１
３が軸受１４を介して支承されると共に該外歯歯車１３
はトロコイド歯１３ａから構成され、各外歯歯車１３は
内歯歯車１１と噛合されている（図１では偏心体１２及
び外歯歯車１３を各１個のみ図示する。）。前記外歯歯
車１３におけるトロコイド歯１３ａの歯先部及び歯底部
には、７０度以上の圧力角αに対応する部分において切
欠き１５、１６が外歯歯車１３の半径方向内側に向って
穿設されている。なお、本発明における前記圧力角α
は、歯面上の一点における接線Ｌと、各歯車中心から前
記歯先部又は歯底部の中点を通る半径線Ｍとのなす角と
して定義する。An internal gear 11 is provided on the ring body of the casing 3, and the internal gear 11 is composed of a large number of circular teeth 11a made of a cylindrical pin. Are eccentrically fixed with a phase difference of 180 degrees, and each eccentric body 12 has an external gear 1 having fewer teeth than the internal gear 11.
3 is supported via a bearing 14 and the external gear 13
Are composed of trochoid teeth 13a, and each external gear 13 is meshed with the internal gear 11 (only one eccentric body 12 and one external gear 13 are shown in FIG. 1). Notches 15 and 16 are formed at the tip and the bottom of the trochoid teeth 13a of the external gear 13 at portions corresponding to the pressure angle α of 70 degrees or more toward the radially inner side of the external gear 13. Have been. In the present invention, the pressure angle α
Is defined as an angle between a tangent line L at one point on the tooth surface and a radial line M passing from the center of each gear to the midpoint of the tooth tip or the tooth bottom.
【００１３】また、キャリア４には等角度間隔で複数の
キャリアピン２１が植設されると共に各キャリアピン２
１にブッシュ２２が摺嵌され、各外歯歯車１３には前記
キャリアピン２１と対応する位置に孔２３が穿設され、
各キャリアピン２１がブッシュ２２を介して各外歯歯車
１３の各孔２３に遊嵌されている。A plurality of carrier pins 21 are implanted on the carrier 4 at equal angular intervals, and each carrier pin 2
1, a bush 22 is slidably fitted, and a hole 23 is formed in each external gear 13 at a position corresponding to the carrier pin 21.
Each carrier pin 21 is loosely fitted into each hole 23 of each external gear 13 via a bush 22.
【００１４】前記構成において、減速に際しては、高速
軸１が回転させられると、各偏心体１２により各外歯歯
車１３が公転運動を与えられると共に、外歯歯車１３と
内歯歯車１１との歯数差により生じる外歯歯車１３の自
転がキャリアピン２１及びキャリア４を介して低速軸２
に伝達され、この場合、トロコイド歯１３ａの歯先部及
び歯底部における前記７０度以上の圧力角に対応する前
記切欠き１５、１６の部分は伝動に関係することがな
く、７０度未満の圧力角に対応する部分が伝動に供され
ることになる。なお、増速に際しては、前記とは逆に、
低速軸２によりキャリア４を介して外歯歯車１３が自転
させられると共に、外歯歯車１３と内歯歯車１１との歯
数差により生じる外歯歯車１３の公転が偏心体１２を介
して高速軸１に伝達される。In the above construction, when the high-speed shaft 1 is rotated at the time of deceleration, each eccentric body 12 causes each external gear 13 to revolve, and the teeth between the external gear 13 and the internal gear 11 are rotated. The rotation of the external gear 13 caused by the number difference is caused by the rotation of the low-speed shaft 2 via the carrier pin 21 and the carrier 4.
In this case, the portions of the notches 15 and 16 corresponding to the pressure angles of 70 degrees or more at the apex and the bottom of the trochoid teeth 13a are not related to the transmission, and the pressure of less than 70 degrees The portion corresponding to the corner will be used for transmission. In addition, when speeding up, contrary to the above,
The external gear 13 is rotated by the low-speed shaft 2 via the carrier 4, and the revolution of the external gear 13 caused by the difference in the number of teeth between the external gear 13 and the internal gear 11 causes the rotation of the external gear 13 via the eccentric body 12. 1 is transmitted.
【００１５】図４は本発明の他の実施例に係る遊星式増
減速機における外歯歯車と内歯歯車の要部断面図であ
る。FIG. 4 is a sectional view of a main part of an external gear and an internal gear in a planetary speed reducer according to another embodiment of the present invention.
【００１６】この実施例では、内歯歯車１１における円
形歯１１ａの歯先部に、７０度以上の圧力角αに対応す
る部分において切欠き１７が内歯歯車１１の半径方向外
側に向って穿設されている。なお、該切欠き１７の作用
は前記と同様である。In this embodiment, a notch 17 is formed in the tip of the circular tooth 11a of the internal gear 11 at a portion corresponding to a pressure angle α of 70 degrees or more toward the outside of the internal gear 11 in the radial direction. Has been established. The function of the notch 17 is the same as described above.
【００１７】[0017]
【発明の効果】本発明に係る遊星式増減速機は以上のよ
うに構成されるので、外歯歯車と内歯歯車との噛合に際
して歯先干渉がなく、小型のわりには比較的高い増減速
比が得られ、しかも歯形が滑らかで歯元への応力集中が
なく、同時噛合い数が多いので低振動及び低騒音が実現
されると共に過負荷や衝撃を受けても損傷することがな
く、高効率である等のトロコイド系遊星式増減速機の利
点を維持し、しかも歯の加工に際して高い加工精度を適
用しなくても外歯歯車に加わるその歯車中心に向う法線
力を少なくして長寿命を可能にする。Since the planetary speed reducer according to the present invention is constructed as described above, there is no tooth tip interference when the external gear and the internal gear mesh with each other, and the speed is relatively high despite the small size. The ratio is obtained, the tooth profile is smooth, there is no stress concentration on the tooth root, and the number of simultaneous meshing is large, so low vibration and low noise are realized and there is no damage even if overloaded or impacted, Maintains the advantages of the trochoid type planetary speed reducer such as high efficiency, and reduces the normal force applied to the external gear toward the center of the gear without applying high processing accuracy when processing the teeth. Enables long life.
【００１８】前記切欠きが前記トロコイド歯の歯先部及
び／又は歯底部に穿設されたものでは、トロコイド歯に
おける前記切欠きに対応するトロコイド曲線部分の加工
が不要になると共に使用すべきトロコイド歯は歯切り加
工の容易な形状となるので、外歯歯車の焼入れ後におけ
るトロコイド歯の加工には、特殊な専用機を使用しなく
ても汎用のホブ盤により高い仕上精度を容易に得ること
ができる。また、前記切欠きが前記円形歯の歯先部に穿
設されたものでは、円形歯の切欠き加工が容易であり、
これは非回転の円形歯に適用可能である。If the notch is formed at the tip and / or the bottom of the trochoid tooth, the trochoid curve portion corresponding to the notch in the trochoid tooth is not required and the trochoid to be used. Since the teeth are easily shaped for gear cutting, it is possible to easily obtain high finishing accuracy with a general-purpose hobbing machine without using a special dedicated machine for machining trochoid teeth after hardening the external gear. Can be. Further, in the case where the notch is formed in the tip of the circular tooth, the notch processing of the circular tooth is easy,
This is applicable to non-rotating circular teeth.
【００１９】前記切欠きが７０度以上の圧力角に対応す
る部分に穿設されたものでは、外歯歯車と内歯歯車との
噛合に際して外歯歯車に加わるその歯車中心に向う法線
力を確実に低減して前記作用効果を促進する。In the case where the notch is formed in a portion corresponding to a pressure angle of 70 degrees or more, a normal force toward the center of the external gear that is applied to the external gear when the external gear and the internal gear mesh with each other is applied. It is surely reduced to promote the above-mentioned effects.
【図１】本発明の実施例に係る遊星式増減速機の要部横
断面図である。FIG. 1 is a cross-sectional view of a main part of a planetary speed reducer according to an embodiment of the present invention.
【図２】図１に示す遊星式増減速機の縦断面図である。FIG. 2 is a longitudinal sectional view of the planetary speed reducer shown in FIG.
【図３】図１に示す遊星式増減速機における外歯歯車と
内歯歯車の要部断面図である。FIG. 3 is a sectional view of a main part of an external gear and an internal gear in the planetary speed reducer shown in FIG. 1;
【図４】本発明の他の実施例に係る遊星式増減速機にお
ける外歯歯車と内歯歯車の要部断面図である。FIG. 4 is a cross-sectional view of a main part of an external gear and an internal gear in a planetary gearbox according to another embodiment of the present invention.
１ 高速軸 ２ 低速軸 ３ ケーシング ４ キャリア １１ 内歯歯車 １１ａ 円形歯 １２ 偏心体 １３ 外歯歯車 １３ａ トロコイド歯 １５ 切欠き １６ 切欠き １７ 切欠き DESCRIPTION OF SYMBOLS 1 High-speed shaft 2 Low-speed shaft 3 Casing 4 Carrier 11 Internal gear 11a Circular tooth 12 Eccentric body 13 External gear 13a Trochoid tooth 15 Notch 16 Notch 17 Notch
Claims (4)
転可能に係合されると共に低速軸にキャリアを介して連
動回転可能に係合されたトロコイド歯を有する外歯歯車
がケーシングに設けられた円形歯を有する内歯歯車と噛
合されてなり、減速時は外歯歯車と内歯歯車との歯数差
により生じる外歯歯車の自転がキャリアを介して低速軸
に伝達されると共に、増速時は外歯歯車と内歯歯車との
歯数差により生じる外歯歯車の公転が偏心体を介して高
速軸に伝達される形式の遊星式増減速機において、前記
トロコイド歯の歯先部及び歯底部並びに前記円形歯の歯
先部の内の少なくとも一つに切欠きが穿設されたことを
特徴とする遊星式増減速機。An external gear having trochoid teeth engaged with a high-speed shaft via an eccentric body so as to be able to revolve and rotate while being interlocked with a low-speed shaft via a carrier is provided on a casing. It is meshed with an internal gear having circular teeth, and during deceleration, the rotation of the external gear caused by the difference in the number of teeth between the external gear and the internal gear is transmitted to the low-speed shaft via the carrier, In a planetary type speed reducer of the type in which the revolution of an external gear generated due to a difference in the number of teeth between the external gear and the internal gear at the time of speed increase is transmitted to a high speed shaft via an eccentric body, the tip of the trochoid tooth is provided. A notch is formed in at least one of a part, a tooth bottom part, and a tip part of the circular tooth.
及び／又は歯底部に外歯歯車の半径方向内側に向って穿
設された請求項１記載の遊星式増減速機。2. The planetary speed reducer according to claim 1, wherein the notch is formed in a tip portion and / or a bottom portion of the trochoid tooth toward a radial inside of the external gear.
歯車の半径方向外側に向って穿設された請求項１記載の
遊星式増減速機。3. The planetary speed reducer according to claim 1, wherein the notch is formed in a tip portion of the circular tooth toward a radial outside of the internal gear.
する部分に穿設された請求項１、２又は３記載の遊星式
増減速機。4. The planetary speed reducer according to claim 1, wherein the notch is formed in a portion corresponding to a pressure angle of 70 degrees or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538396A JPH1030687A (en) | 1996-07-15 | 1996-07-15 | Planetary type speed increasing/decreasing gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538396A JPH1030687A (en) | 1996-07-15 | 1996-07-15 | Planetary type speed increasing/decreasing gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1030687A true JPH1030687A (en) | 1998-02-03 |
Family
ID=16505923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20538396A Pending JPH1030687A (en) | 1996-07-15 | 1996-07-15 | Planetary type speed increasing/decreasing gear |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1030687A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007216931A (en) * | 2006-02-20 | 2007-08-30 | Ntn Corp | Hybrid car |
| JP2007223411A (en) * | 2006-02-22 | 2007-09-06 | Ntn Corp | In-wheel motor drive |
| JP2012007736A (en) * | 2011-08-18 | 2012-01-12 | Ntn Corp | Reduction gear |
| JP2013228107A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2013228105A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2013228106A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2017109599A (en) * | 2015-12-16 | 2017-06-22 | ナブテスコ株式会社 | Steering auxiliary device |
| JP2018119649A (en) * | 2017-01-27 | 2018-08-02 | 日本電産株式会社 | Speed change gear |
-
1996
- 1996-07-15 JP JP20538396A patent/JPH1030687A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007216931A (en) * | 2006-02-20 | 2007-08-30 | Ntn Corp | Hybrid car |
| JP2007223411A (en) * | 2006-02-22 | 2007-09-06 | Ntn Corp | In-wheel motor drive |
| JP2012007736A (en) * | 2011-08-18 | 2012-01-12 | Ntn Corp | Reduction gear |
| JP2013228107A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2013228105A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2013228106A (en) * | 2013-06-21 | 2013-11-07 | Ntn Corp | In-wheel motor drive unit |
| JP2017109599A (en) * | 2015-12-16 | 2017-06-22 | ナブテスコ株式会社 | Steering auxiliary device |
| US10486734B2 (en) | 2015-12-16 | 2019-11-26 | Nabtesco Corporation | Steering assistance device |
| JP2018119649A (en) * | 2017-01-27 | 2018-08-02 | 日本電産株式会社 | Speed change gear |
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