CN100439750C - Pin gear cycloid gear driving device and speed reducer thereof - Google Patents
Pin gear cycloid gear driving device and speed reducer thereof Download PDFInfo
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- CN100439750C CN100439750C CNB2003101050353A CN200310105035A CN100439750C CN 100439750 C CN100439750 C CN 100439750C CN B2003101050353 A CNB2003101050353 A CN B2003101050353A CN 200310105035 A CN200310105035 A CN 200310105035A CN 100439750 C CN100439750 C CN 100439750C
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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Abstract
The present invention provides a pin gear cycloid gear driving mechanism and a speed reducer thereof. The driving mechanism is composed of an inner gear, pin gears and an inner cycloid gear, wherein the inner gear is eccentrically arranged corresponding to the inner cycloid gear and meshed with each pin gear which is meshed with the inner cycloid gear. The present invention is characterized in that the pin gears are eccentric pin gears, the position of a revolving axis is fixed, and revolving axes are dispersed on a cylindrical surface which uses a rotating axis of the inner cycloid gear as an axis. The pin gear cycloid gear driving mechanism has the advantages that each eccentric pin gear rotates in a fixed axis rotation mode, the position accuracy of each pin gear in the process of motion is enhanced, and the smoothness and the efficiency of driving are enhanced; the present invention is favorable for increasing the gear number of the simultaneous mesh of the pin gears and cycloid gears, and the load bearing capacity of driving is improved so as to cause the driving power of the present invention to exceed cycloid pin gear planetary speed reducers, and the high-power driving can be realized; the operation of debugging a W output mechanism, an outer cycloid gear and the inner cycloid gear is cancelled so that the present invention has the advantages of small axial dimensions, simple and compact structure, reduced component quantity, material saving, easy manufacture and production of components, reduced production cost, increased size of tumbler bearings and improved load bearing capacity and service life of the tumbler bearings.
Description
Technical field:
The present invention relates to a kind of gear drive and retarder.
Background technique:
In existing oscillating tooth double cycloid planetary reducer (as shown in Figure 7), epicycloid planet wheel (interior wheel) that two numbers of teeth do not wait 2 connects firmly together by one group of bolt, and each group oscillating tooth roller (pin tooth) 3 and its retainer combine an oscillating tooth planet wheel; A hypocycloid wheel 4 connects firmly with support, maintains static, and another hypocycloid wheel (gear ring) 4 connects firmly with output mechanism, rotates with output mechanism.This retarder can be regarded NN type Gear Planet Transmission as, and interior wheel 2, set of rollers 3 and hypocycloid wheel 4 constitute the one-level speed change, altogether the two-stage speed change.When input eccentric shaft 1 rotated, by rotary arm bearing 6 and fixing hypocycloid wheel 4, wheel 2 and oscillating tooth roller 3 were done planetary motion in driving, and realize first order speed change.The rotation of interior wheel 2 passes to by one group of attachment bolt again takes turns 2 in another, wheel 2 is also done the planet rotation with wheel 2 in last in being somebody's turn to do, simultaneously by another group oscillating tooth roller 3 and another hypocycloid wheel 4 engagements, driving this hypocycloid wheel 4 rotates in fixed axis, the rotation of this hypocycloid wheel 4 by output mechanism output, realizes double reduction again.In this retarder, consider the needs of installation, all remain with the gap between two-stage oscillating tooth 3 and the interior wheel 2, this will reduce the stationarity of transmission accuracy and transmission.In the process of motion, oscillating tooth roller 3 is to locate by retainer, when wheel 2 is taken turns between the 4 relative tooth roots with hypocycloid in a roller 3 is in, if this roller 3 is enough tight by interior wheel 2 flank of tooth pressure, be in stable position so, and at this moment in two relative rollers 3 of the distribution circle center of circle are in wheel 2 take turns between the 4 relative tooth tops with hypocycloid, be in an unsure state, the position of these rollers 3 is kept by retainer by first roller 3.If the retainer precision low or stressed after deform, perhaps deviation appears in positions of first roller 3 itself, all will cause other roller 3 to depart from its correct engaging position.Cause transmission not steady, even the phenomenon of " stuck " occurs.Because retainer plays the effect of location, thus its requirement on machining accuracy height, processing difficulties.In addition,, limited the thickness of retainer, the rigidity of retainer can't be improved, therefore after it is stressed, be easy to deform owing to the gap that interior wheel 2 and hypocycloid are taken turns 4 gear tip clearances is less.The one group of articulation bolt that connects wheel 2 in two has in addition limited the size of rotary arm bearing 6 on the one hand, has also increased the manufacture difficulty of interior wheel 2 on the other hand.
Cycloidal pinwheel planetary gear speed reducer is another kind of more close gear drive with the present invention, and this retarder is a kind of N type planetary drive with small teeth difference (as Fig. 8).It mainly is made up of four parts: a, input eccentric shaft 1; B, interior wheel 2, profile of tooth is a curtate epicycloid, as planet wheel, is supported on the eccentric shaft 1 by rotary arm bearing 6; C, pinwheel 3 are formed by being installed in the equally distributed a plurality of pins of pin wheel housing upper edge circumference, and pin wheel housing is fixed on the support, so pinwheel 3 is a fast pulley; D, W output mechanism 20 correspondingly are provided with a plurality of pin-and-holes and pin on epicyclodial wheel 2 and output mechanism disk.Pin-and-hole on the epicyclodial wheel 2 motion hour wheels contacts with the pin on the output mechanism, the rotation of epicyclodial wheel 2 by W output mechanism 20 constant angular velocities pass on the output mechanism.When input shaft 1 rotates, drive epicyclodial wheel 2 motions by rotary arm bearing 6, owing to be subjected to the restriction of locking pin tooth 3, epicyclodial wheel 2 is done planetary motion, the rotation of epicyclodial wheel 2 by W output mechanism 20 constant angular velocities pass on the output mechanism, and export by output mechanism.
Cycloidal pinwheel planetary gear speed reducer is applicable to velocity ratio greater than 9 situation, owing to be subjected to the velocity ratio that limits it of structure can not be less than 9; W output mechanism 20 makes the size of rotary arm bearing 6 be difficult to increase, and has limited the bearing capacity of rotary arm bearing 6, and 6 life-spans of rotary arm bearing weak point is the weak link of this transmission; Because the influence that destroyed by flank of tooth gummed, the general power that transmits of cycloidal pinwheel planetary gear speed reducer is no more than 100kW.
Summary of the invention:
The invention provides a kind ofly without retainer and connecting bolt, simple and compact for structure, part processing is easy to manufacture, reduces manufacture cost, improves the bearing capacity of rotary arm bearing and the pin tooth cycloid gear transmission mechanism and the retarder in life-span.
The invention provides a kind of pin tooth cycloid gear transmission mechanism, this mechanism is made up of interior wheel 2, pin tooth 3, hypocycloid wheel 4, interior wheel 2 is with respect to hypocycloid wheel 4 eccentric settings, with 3 engagements of pin tooth, pin tooth 3 and 4 engagements of hypocycloid wheel, it is characterized in that: described pin tooth 3 is the cam pin tooth, the rotatingshaft fixed-site, and the spin axis that rotation axis is distributed in hypocycloid wheel 4 is on the cylndrical surface of axis.
Working principle of the present invention is: when taking turns 2 in input shaft 1 drives, interior wheel 2 is owing to be subjected to the restriction of pin tooth 3 to do planetary motion, interior simultaneously wheel 2 rotates by the engagements driving hypocycloid wheel 4 of pin tooth 3 with hypocycloid wheel 4, and the output mechanism output by connecting firmly with it, realizes coaxial speed change transmission.Because pin tooth 3 dead axles rotate, and have saved retainer; Because wheel has saved the attachment bolt in the original mechanism in adopting one.
The interior wheel 2 of pin tooth cycloidal gear provided by the invention mechanism can be a circle wheel (as shown in Figure 5), and the throw of eccentric of pin tooth 3 equates with the throw of eccentric of interior wheel 2.The manufacturing of interior wheel 2 has been simplified in this design greatly.
The interior wheel 2 of pin tooth cycloidal gear provided by the invention mechanism can be a bearing, and the throw of eccentric of pin tooth 3 equates with the throw of eccentric of interior wheel 2.The manufacturing of interior wheel 2 has more been simplified in this design.
The interior wheel 2 of pin tooth cycloidal gear provided by the invention mechanism can be epicyclodial wheel (as shown in Figure 6), and the throw of eccentric of pin tooth 3 is half of throw of eccentric of interior wheel 2.This design improvement the engagement of interior wheel 2 with pin tooth 3, improved the force-bearing situation of pin tooth 3, improved transmission capacity.
The present invention provides a kind of pin tooth cycloidal gear speed reducer again, form by housing 10, input shaft 1 and output mechanism, input shaft 1 is connected with output mechanism by pin tooth cycloid gear transmission mechanism, pin tooth cycloid gear transmission mechanism is made up of interior wheel 2, pin tooth 3, hypocycloid wheel 4, interior wheel 2 is with respect to hypocycloid wheel 4 eccentric settings, with 3 engagements of pin tooth, pin tooth 3 and 4 engagements of hypocycloid wheel, it is characterized in that: described pin tooth 3 eccentric rotary, the rotatingshaft fixed-site, the rotatingshaft central distribution of pin tooth 3 is on the circumference in the center of circle at the rotating center with hypocycloid wheel (4).
The interior wheel 2 of pin tooth cycloidal gear speed reducer provided by the invention can be circle wheel or bearing, and the throw of eccentric of pin tooth 3 equates with the throw of eccentric of interior wheel 2.The manufacturing of interior wheel 2 has been simplified in this design greatly.
The interior wheel 2 of pin tooth cycloidal gear speed reducer provided by the invention can be an epicyclodial wheel, and the throw of eccentric of pin tooth 3 is half of throw of eccentric of interior wheel 2.This design improvement the engagement of interior wheel 2 with pin tooth 3, improved the force-bearing situation of pin tooth 3, improved transmission capacity.
The input shaft 1 of pin tooth cycloidal gear speed reducer provided by the invention can be connected with output mechanism by the pin tooth cycloid gear transmission mechanism of a plurality of series connection, the hypocycloid of upper level wheel 4 is connected with the interior wheel 2 of next stage, for example, the interior wheel 2 of next stage is contained in the upper level hypocycloid by eccentric bushing 9 and takes turns on 4 jack shafts that connect firmly 13.
The output mechanism of pin tooth cycloidal gear speed reducer provided by the invention can be output shaft 5, sprocket wheel 12, gear, belt pulley or cylinder.
The advantage of pin tooth cycloidal gear provided by the invention mechanism is:
The present invention has broken through gear-driven for a long time traditional characteristic, the gear teeth that change gear connect for rotating with the rigid joint of wheel body, make whole gear teeth of gear become one group of self-movement body of doing eccentric dead axle rotation, it is the cam pin tooth, cam pin tooth and frame have been formed the cam pin gear, and as output element, each cam pin tooth rotates around separately axis dead axle respectively with inner cycloidal gear, can improve the positional accuracy of each pin tooth in movement process, improve the stationarity and the efficient of transmission;
Compare with oscillating tooth double cycloid Gear Planet Transmission, this structure characteristic makes it save retainer and attachment bolt; Compare with cycloid pinwheel planetary gear transmission system, saved W output mechanism and epicyclodial wheel, and the hypocycloid wheel carries out quenching with Subsequent tempering, make that axial dimension of the present invention is little, simple and compact for structure, number of spare parts reduces, saved material, part processing is easy to manufacture, has reduced manufacture cost; Save attachment bolt or W output mechanism, can increase the rotary arm bearing size, improved the bearing capacity and the life-span of rotary arm bearing;
In transmission, cycloidal pinwheel planetary gear speed reducer has the tooth of half to enter contact (engagement) in theory, but because the pin tooth maintains static, leave the gap between the gear teeth of cycloid wheel and the pin tooth, the actual number of teeth that enters contact is generally 3～4, in contrast to this, the cam pin tooth that pin tooth of the present invention is an ordinary transmission, the pin tooth can regard unsteady as like this, therefore help increasing the number of teeth that pin tooth and cycloidal gear teeth mesh simultaneously, improve the bearing capacity of transmission, make transmission power of the present invention surpass cycloidal pinwheel planetary gear speed reducer, help realizing high-power transmission.
Description of drawings:
Fig. 1 is the fundamental diagram of pin tooth cycloid gear transmission mechanism;
Fig. 2 is a kind of structural representation of pin tooth cycloidal gear speed reducer;
Fig. 3 is a kind of structural representation of secondary pin tooth cycloidal gear speed reducer;
Fig. 4 is the structural representation of the pin tooth cycloidal gear speed reducer of a kind of band chain wheel output;
Fig. 5 is the mesh schematic representation of interior wheel for the pin tooth cycloid gear transmission mechanism of circle wheel;
Fig. 6 is that interior wheel is the mesh schematic representation of the pin tooth cycloid gear transmission mechanism of epicyclodial wheel;
Fig. 7 is oscillating tooth double-cycloid speed reducer transmission principle figure;
Fig. 8 is cycloidal pinwheel planetary gear speed reducer transmission principle figure.
Embodiment:
Embodiment 1:
A kind of pin tooth cycloidal gear speed reducer, its structural representation as shown in Figure 2.This retarder is that component such as output shaft 5 and housing 10 are formed by input shaft 1, rotary arm bearing 6, equilibrium block 7, circle wheel 2, pin tooth 3, pin tooth bearing 8, hypocycloid wheel 4, output mechanism mainly.Circle wheel 2 is enclosed within on the eccentric shaft of input shaft 1 by rotary arm bearing 6, equilibrium block 7 is housed on the input shaft 1 makes eccentric shaft reach balance, pin tooth 3 is fixed on the housing 10 by pin tooth bearing 8, and hypocycloid wheel 4 connects firmly with output shaft 5 and is integral, and by bearings on housing 10.Input shaft 1 outer end is contained on the housing 10 by bearing I 15, and the inner end is contained in 5 li of output shafts by bearing I I 16.When input shaft 1 rotates, drive 2 motions of circle wheel by rotary arm bearing 6, owing to be subjected to the restriction of pin tooth 3, circle wheel 2 is done planetary motion, driving needle tooth 3 dead axles rotate simultaneously, and pin tooth 3 further drives hypocycloid wheel 4 again and rotates, and the rotation of hypocycloid wheel 4 is as output movement, by output shaft 5 outputs, realize surely than transmission.The profile of tooth of hypocycloid gear ring is generally curtate hypocycloid.Pin tooth 3 rotatingshaft centers are evenly to distribute on the circumference in the center of circle at the rotating center with hypocycloid wheel 4, and its number is lacked 1 than the number of teeth of hypocycloid wheel 4.If it is overstocked that pin tooth 3 is arranged, can take out tooth.
Embodiment 2:
A kind of secondary pin tooth cycloidal gear speed reducer, its structural representation as shown in Figure 3.Be provided with the pin tooth cycloid translation gear-drive mechanism of two series connection in this retarder, the epicyclodial wheel 2 of first order driving mechanism is enclosed within on the eccentric shaft of input shaft 1 by rotary arm bearing 6, equilibrium block 7 is housed on the input shaft 1 makes eccentric shaft reach balance, pin tooth 3 is fixed on the housing 10 by pin tooth bearing 8, hypocycloid wheel 4 connects firmly with jack shaft 13, jack shaft 13 by bearings on housing 10, jack shaft 13 and eccentric bushing 9 thereof constitute the input shaft of second level driving mechanism, second level epicyclodial wheel 2 is enclosed within on the eccentric bushing 9 of jack shaft 13 by rotary arm bearing 6, second level pin tooth 3 is fixed on the housing 10 by pin tooth bearing 8, second level hypocycloid wheel 4 is that output shaft 5 connects firmly with output mechanism, input shaft 1 outer end is contained in housing 10 by bearing I 15, the inner end is contained in 13 li of jack shafts by bearing I I 16, and jack shaft 13 is contained in 10 li of housings by bearing I II 17.Input is rotated after input shaft 1 input, through double reduction, from output shaft 5 outputs, realizes that big speed ratio slows down.
Embodiment 3:
The pin tooth cycloidal gear speed reducer of a kind of band chain wheel output, its structural representation as shown in Figure 4.This retarder is that sprocket wheel 12 and component such as sprocket shaft bearing 11 and housing 10 are formed by input shaft 1, bearing 14, rotary arm bearing 6, circle wheel 2, pin tooth 3, pin tooth bearing 8, hypocycloid wheel 4, output mechanism mainly.Input shaft 1 is supported on the housing 10 by bearing 14, circle wheel 2 is enclosed within on the eccentric shaft of input shaft 1 by rotary arm bearing 6, pin tooth 3 is fixed on the housing 10 by pin tooth bearing 8, and hypocycloid wheel 4 connects firmly with sprocket wheel 12 and is integral, and is supported on the housing 10 by sprocket shaft bearing 11.When input shaft 1 rotates, drive 2 motions of circle wheel by rotary arm bearing 6, owing to be subjected to the restriction of pin tooth 3, circle wheel 2 is done planetary motion, and driving needle tooth 3 dead axles rotate simultaneously, and pin tooth 3 further drives hypocycloid wheel 4 again and rotates, the rotation of hypocycloid wheel 4 is as output movement, by sprocket wheel 12 outputs.The profile of tooth of hypocycloid gear ring is generally curtate hypocycloid.Pin tooth 3 rotatingshaft centers are evenly to distribute on the circumference in the center of circle at the rotating center with hypocycloid wheel 4, and its number is lacked 1 than the number of teeth of hypocycloid wheel 4.If it is overstocked that pin tooth 3 is arranged, can take out tooth.
Claims (10)
1, a kind of pin tooth cycloid gear transmission mechanism, form by interior wheel (2), pin tooth (3), hypocycloid wheel (4), interior wheel (2) is provided with respect to hypocycloid wheel (4) is eccentric, mesh with pin tooth (3), pin tooth (3) and hypocycloid wheel (4) engagement, it is characterized in that: described pin tooth (3) is the cam pin tooth, the rotatingshaft fixed-site, and the spin axis that rotation axis is distributed in hypocycloid wheel (4) is on the cylndrical surface of axis.
2, according to the described pin tooth of claim 1 cycloid gear transmission mechanism, it is characterized in that: wheel (2) is the circle wheel in described, and the throw of eccentric of pin tooth (3) equates with the throw of eccentric of interior wheel (2).
3, according to the described pin tooth of claim 1 cycloid gear transmission mechanism, it is characterized in that: wheel (2) is a bearing in described, and the throw of eccentric of pin tooth (3) equates with the throw of eccentric of interior wheel (2).
4, according to the described pin tooth of claim 1 cycloid gear transmission mechanism, it is characterized in that: wheel (2) is an epicyclodial wheel in described, and the throw of eccentric of pin tooth (3) is half of throw of eccentric of interior wheel (2).
5, a kind of pin tooth cycloidal gear speed reducer, by housing (10), input shaft (1) and output mechanism are formed, input shaft (1) is connected with output mechanism by pin tooth cycloid gear transmission mechanism, pin tooth cycloid gear transmission mechanism is by interior wheel (2), pin tooth (3), hypocycloid wheel (4) is formed, interior wheel (2) is provided with respect to hypocycloid wheel (4) is eccentric, mesh with pin tooth (3), pin tooth (3) and hypocycloid wheel (4) engagement, it is characterized in that: described pin tooth (3) eccentric rotary, the rotatingshaft fixed-site, the rotatingshaft central distribution of pin tooth (3) is on the circumference in the center of circle at the rotating center with hypocycloid wheel (4).
6, according to the described pin tooth of claim 5 cycloidal gear speed reducer, it is characterized in that: wheel (2) is circle wheel or bearing in described, and the throw of eccentric of pin tooth (3) equates with the throw of eccentric of interior wheel (2).
7, according to the described pin tooth of claim 5 cycloidal gear speed reducer, it is characterized in that: wheel (2) is an epicyclodial wheel in described, and the throw of eccentric of pin tooth (3) is half of throw of eccentric of interior wheel (2).
8, according to the described pin tooth of one of claim 5～7 cycloidal gear speed reducer, it is characterized in that: input shaft (1) is connected with output mechanism by the pin tooth cycloid gear transmission mechanism of a plurality of series connection, and the hypocycloid wheel (4) of upper level is connected with the interior wheel (2) of next stage.
9, according to the described pin tooth of one of claim 5～7 cycloidal gear speed reducer, it is characterized in that: described output mechanism is output shaft (5), sprocket wheel (12), gear, belt pulley or cylinder.
10, according to the described pin tooth of claim 8 cycloidal gear speed reducer, it is characterized in that: described output mechanism is output shaft (5), sprocket wheel (12), gear, belt pulley or cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101050353A CN100439750C (en) | 2003-11-07 | 2003-11-07 | Pin gear cycloid gear driving device and speed reducer thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101050353A CN100439750C (en) | 2003-11-07 | 2003-11-07 | Pin gear cycloid gear driving device and speed reducer thereof |
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| CN1542310A CN1542310A (en) | 2004-11-03 |
| CN100439750C true CN100439750C (en) | 2008-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2003101050353A Expired - Fee Related CN100439750C (en) | 2003-11-07 | 2003-11-07 | Pin gear cycloid gear driving device and speed reducer thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2479455A3 (en) * | 2010-11-04 | 2012-08-08 | Panchien Lin | Large-ratio speed changing apparatus |
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| CN101818782B (en) * | 2010-03-08 | 2012-10-03 | 北京邮电大学 | Cycloidal pin wheel planetary reducer with modified structure |
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| CN107654587B (en) * | 2017-10-13 | 2023-07-11 | 三峡大学 | Homodromous eccentric variable-speed transmission coupler and use method thereof |
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| DE102019209425A1 (en) * | 2019-06-27 | 2020-12-31 | Robert Bosch Gmbh | External force brake pressure generator for a hydraulic vehicle brake system |
| CN110307295A (en) * | 2019-07-12 | 2019-10-08 | 重庆大学 | A kind of compound little tooth difference speed reducer of single crank |
| CN111022588B (en) * | 2019-11-29 | 2024-09-27 | 海尚集团有限公司 | Differential cycloidal gear speed variator |
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| CN2076186U (en) * | 1988-09-09 | 1991-05-01 | 陕西省前进机械厂 | Cycloidal pin-wheel speed reducer |
| US5080638A (en) * | 1990-01-16 | 1992-01-14 | Osborn Merritt A | Cycloidal gearing |
| US5286235A (en) * | 1991-11-21 | 1994-02-15 | S.A. Des Etablissements Staubli | Speed reducer of the cycloidal type for robots and other industrial manipulators |
| CN1236066A (en) * | 1998-07-21 | 1999-11-24 | 平阳减速机总厂 | Axially mounted cycloidal reducer |
| CN1306166A (en) * | 1999-12-08 | 2001-08-01 | 徐启 | Elliptic cycloid needle wheel driver |
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- 2003-11-07 CN CNB2003101050353A patent/CN100439750C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2076186U (en) * | 1988-09-09 | 1991-05-01 | 陕西省前进机械厂 | Cycloidal pin-wheel speed reducer |
| US5080638A (en) * | 1990-01-16 | 1992-01-14 | Osborn Merritt A | Cycloidal gearing |
| US5286235A (en) * | 1991-11-21 | 1994-02-15 | S.A. Des Etablissements Staubli | Speed reducer of the cycloidal type for robots and other industrial manipulators |
| CN1236066A (en) * | 1998-07-21 | 1999-11-24 | 平阳减速机总厂 | Axially mounted cycloidal reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2479455A3 (en) * | 2010-11-04 | 2012-08-08 | Panchien Lin | Large-ratio speed changing apparatus |
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| CN1542310A (en) | 2004-11-03 |
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