CN108458058A - Vector cycloid speed changer - Google Patents
Vector cycloid speed changer Download PDFInfo
- Publication number
- CN108458058A CN108458058A CN201810297804.0A CN201810297804A CN108458058A CN 108458058 A CN108458058 A CN 108458058A CN 201810297804 A CN201810297804 A CN 201810297804A CN 108458058 A CN108458058 A CN 108458058A
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- Prior art keywords
- slide plate
- cycloid
- drive disk
- output shaft
- ball
- Prior art date
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- Pending
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- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 238000013519 translation Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 24
- 230000007246 mechanism Effects 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 description 22
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- 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
-
- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
-
- 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
- F16H2001/325—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 comprising a carrier with pins guiding at least one orbital gear with circular holes
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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
- F16H2001/328—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 comprising balancing means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The present invention relates to machine driving transmission technologies, are suitable for various transmission gear shift fields, the driving speed changer particularly suitable for articulated robot（Deceleration mechanism）.A kind of vector cycloid speed changer, it include the cycloid disc with cycloid groove, ball, slide plate equipped with drive disk and dish driving driven by input shaft eccentric drive, the slide plate drives output shaft again, wherein, cycloid disc is fixed on the machine body, ball, which is in the cycloid groove of cycloid disc and the ball mounting hole of drive disk, makes drive disk coordinate with its cycloid motion, it is both provided with grip block on drive disk and output shaft, it is provided with translating rails between slide plate and each grip block, the sliding component for making the two keep radial slippage cooperation is equipped between translating rails and slide plate, each grip block is clamped with slide plate radial slippage axial rotation respectively to be coordinated.A kind of new technical solution for being referred to as vector cycloid gear is provided.
Description
Technical field
The present invention relates to machine driving transmission technologies, are suitable for various transmission gear shift fields, particularly suitable for multi-joint
The driving speed changer of robot（Deceleration mechanism）.
Background technology
Transmission device applied to elaborate servo mechanisms such as robot, precision machine tool, aerospaces requires have high transmission essence
Degree, high transmission stiffness, transmission ratio is big, transmission efficiency, small, light-weight, and transmission return difference is small, and the rotary inertia of rotating member is small
The features such as.Cycloid pinwheel planetary gear transmission system in existing transmission mechanism, although having many advantages, processing is complicated and transmission is smart
Degree is not high, and transmission return difference is big；Worm-drive has transmission ratio big, but transmission efficiency is low；Harmonic drive can preferably meet above-mentioned
It is required that but displacement transfer power and movement of the harmonic drive by flexbile gear, flexbile gear material requirements is high and the service life is shorter.
The deceleration mechanism research of current relatively new type structure is more and more active, and principle is will to be driven steel ball（Ball）With pendulum
The combined cycloid speed reducer of line Gear Planet Transmission has more and more reports and document to disclose.Such as disclosed in relatively morning
Cn86104457 documents, entitled " differential speed reducer of gearless " apply for scheme, and hypocycloid rolling is machined with respectively using a pair
The disk in road and the disk for being machined with epicycloid raceway are that engaged transmission is secondary, and two disks are opposite and transmission steel ball is put into raceway, its profit
The advantages of with cyclo drive, and steel ball energy shuttling movement, but be driven smaller.After running at high speed, between adjacent two ball
Distance can change, two balls can collide together, cause speed reducer stuck, the duration of runs grown after will appear it is interior swollen
It is swollen etc..
In the CN102767600A announced in 2012, disclose a kind of using S shapes cycloid groove and its built-in ball
Realize that the BS speed reducers to slow down, this technology need not realize speed change by gear or worm-drive, drop to a certain extent
The low noise of speed reducer, improves transmission efficiency.But the S-shaped cycloid groove of BS speed reducers defines the eccentricity of eccentric shaft,
Make it that can not control the movement locus of speed reducer, the mechanical dry that ball generates in S shape cycloid grooves completely during movement
It relates to and easy tos produce the bad phenomenons such as speed reducer exports unstable, stepping vibrations, calorific value is big, wear rate is high.Notification number is
CN104964011A discloses a kind of crosshead shoe for articulated robot and drives speed reducer, this technology need not be by
Gear or worm-drive realize speed change, reduce the noise of speed reducer to a certain extent, improve transmission efficiency.But
The driving ball is also easy to produce slight bounce when working, and stability is poor, easy tos produce speed reducer and exports unstable, stepping shake
The bad phenomenons such as dynamic, wear rate height.
Earlier application number is 201610997116 .6, and entitled trailing type drives speed reducer；It discloses and is rolled by being driven
Pearl is fixed on output shaft on transmitting balls mounting hole, allows transmitting balls in differential speed variator（Namely cycloid disc）Ball moving
It moves in track, will not be displaced in motion process ball, ensure speed reducer proper motion.By movable head (V-groove) with
And its first, second on the face A, B intersects (rotation) roller, eccentric shaft movement is transmitted to differential speed variator, adjust automatically is inclined
The movement of mandrel fits like a glove with eccentricity, and the ball moving track of transmitting balls and differential speed variator is made to fit like a glove, differential
Speed changer does opposite movement by ball moving track and transmitting balls according to eccentric motion, and the deceleration for forming output shaft is defeated
Go out, realizes that speed reducer smoothly slows down output function.What it is there are some shortcoming cannot be completely reached in many application scenarios
Dynamic balancing and facilitate utilization.
The comprehensive technical solution having disclosed at present, they are in transmission steel ball（Ball）And its cycloid disc and input
Axis, output shaft, the component in cycloid reduction mechanism are for example movable head or cry between crosshead shoe with closing development research and development,
Existing main problem is difficult that the advantages of this novel speed reducer is brought into play, especially while expansion in solving, curved
Square rigidity, dynamic equilibrium etc..
Invention content
The object of the invention is exactly to overcome existing cycloidal type retarder present on structure design
Problem and a kind of new technical solution for being referred to as vector cycloid gear is provided.
A kind of vector cycloid speed changer of the present invention, includes cycloid disc, ball with cycloid groove, equipped with being inputted
The slide plate of the drive disk and dish driving driven of eccentric shaft driving, the slide plate drive output shaft again, wherein cycloid disc is fixed on machine
On body, ball, which is in the cycloid groove of cycloid disc and the ball mounting hole of drive disk, makes drive disk coordinate with its cycloid motion, drives
It is both provided with grip block on Moving plate and output shaft, translating rails, translating rails and slide plate are provided between slide plate and each grip block
Between be equipped with the sliding component for both making to keep radial slippage cooperation, each grip block is clamped with slide plate radial slippage axial rotation respectively
Cooperation.
Compared with prior art, the present invention due to progressive reasonable using drive disk and the sequence such as slide plate and translating rails
Structure configures, and this new structural deceleration mechanism of effective solution is easy expansion in existing, moment of flexure rigidity, dynamic equilibrium
The problems such as equal, and so that deceleration mechanism and its speed reducer flattening is designed and be very easy to.
The preferred present invention input shaft axial direction upper and lower end be equipped with the symmetrically drive disk by input shaft eccentric drive and
The slide plate of dish driving driven, the cycloid disc above and below between upper and lower drive disk are arranged with cycloid groove and ball,
The slide plate at axial both ends, which drives with the output shaft for being located at axial both ends, to be coordinated.
The output shaft at advantageously axial both ends can be connected by connecting pin, and corresponding drive disk and slide plate are equal
Equipped with the pin hole with connecting pin clearance fit.
The present invention uses the cycloid reduction mechanism structure of symmetry, solves the dynamic equilibrium problems of complete machine, but also complete machine
It is possibly realized as input, output end in arbitrary end or the same end；Using two-sided cycloid disc and drive disk and slide plate, also increase
The integrated carrying ability of speed reducer, symmetrically counteracts interior expansion.So that the problem of moment of flexure rigidity is not present in input, output,
Also it is brought conveniently to installation,
It is to intersect that the preferred present invention was equipped between translating rails and slide plate, which makes the two be maintained at the sliding component of radial slippage,
Roller is co-located in slide plate side V-groove and translation rail-sides face V-groove.
The present invention uses decussation roller in the sliding component of radial slippage, strengthens overall structure rigidity, also solves in length and breadth
To rolling slip integrity problem, be especially disposed in the V-groove of slide plate side, greatly reduce the surface of slide plate etc.
Rigid requirements.
Present invention is further described in detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the axial arrangement sectional view that the embodiment of the present invention is applied on speed reducer；
Fig. 2 is the overall structure decomposition diagram that the embodiment of the present invention is applied on speed reducer；
Fig. 3 is Figure 1B-B sectional views, the slide plate also applied on speed reducer for the embodiment of the present invention and drive disk and output shaft
Etc. driving relationships structure sectional view；
Fig. 4 is the structure point of the driving relationships such as the slide plate that the embodiment of the present invention is applied on speed reducer and drive disk and output shaft
Solve schematic diagram；
Fig. 5 is Figure 1A-A sectional views, is also the driving relationships such as cycloid groove and drive disk and the output shaft of the embodiment of the present invention
Structure sectional view.
Specific implementation mode
Component mark in attached drawing is described as follows；1, input shaft, 2, output shaft, 3, slide plate, 4, drive disk, 5, cycloid disc,
6, ball, 7, translating rails, 8, body, 9, decussation roller, 10, connecting pin, 11, bearing, 21, output shaft grip block, 22, output
Pin hole, 31, V-groove, 32, slide plate pin hole, 41, drive disk grip block, 42, drive disk pin hole, 51, cycloid groove.
The embodiment of the present invention includes with cycloid groove 51 cycloid disc, ball 6 and driven by 1 eccentric drive of input shaft
The slide plate 3 that disk 4 and driven Moving plate 4 drive, the slide plate 3 drive output shaft 2 again, wherein cycloid disc is fixed on body 8, ball 6
Drive disk 4 is set to coordinate with its cycloid motion in 6 mounting hole of ball of cycloid groove 51 and drive disk 4 in cycloid disc, here institute
The fixation stated refers to that certain directions are fixed, and grip block 21,41, slide plate 3 and each clamping are both provided on drive disk 4 and output shaft 2
Translating rails 7 are provided between block, being equipped between translating rails 7 and slide plate 3 makes both each sliding for keeping radial slippage cooperation
Part, each grip block 21,41 is clamped with 3 radial slippage axial rotation of slide plate respectively to be coordinated.If directly translating rails 7 set certainly
It sets on grip block 21,41 or its corresponding output shaft 2 and drive disk 4 namely integrated design is also the meaning that the present invention should have.
In addition it also needs to configure some necessary bearings 11 or ball 6, roller rolling retainer, oil sealing, attachment screw etc. between these components
This will not be detailed here.The axial upper and lower section of input shaft 1 be equipped with the symmetrically drive disk 4 by 1 eccentric drive of input shaft and by
The slide plate 3 that drive disk 4 drives, the cycloid disc above and below between upper and lower drive disk 4 are arranged with cycloid groove 51 and rolling
Pearl 6, the slide plate 3 at axial both ends, which drives, to be located on the output shaft 2 at axial both ends.Advantageously the embodiment of the present invention is specific
The output shaft 2 at axial both ends can be connected by connecting pin 10 in, corresponding drive disk 4 and slide plate 3 are equipped with
With the pin hole of 10 clearance fit of connecting pin.The sliding for making the two keep radial slippage cooperation of translating rails 7 and slide plate 3 being equipped with
Part is decussation roller 9, is co-located in 7 side V-groove 31 of 3 side V-groove 31 of slide plate and translating rails.Translating rails 7 divide
It is not fixed on drive disk 4 and output shaft 2, two grip blocks is both provided on drive disk 4 and output shaft 2, and be placed in slide plate 3
Four sides.
Above structure is assembled in speed reducer body 8 in practical application, when deceleration mechanism is that two sides drives, input shaft 1
Bent axle can be considered as in body 8, motor is generally by the connection of crankshaft end-face bolt, and driving bent axle rotates, two axis on bent axle
Handle drives 4 barycenter of drive disk to do the circumference fortune rotated around crankshaft center as radius using eccentricity by the bearing 11 installed thereon
It is dynamic, since uniform ball 6 belongs to embedded meshing state, Er Qieshuan with the cycloid profile on two-sided cycloid disc on drive disk 4
The cycloidal profile number of face cycloid disc less than 6 number 1 of ball on drive disk 4 to n, therefore while 4 barycenter of drive disk revolves round the sun around
Own axes rotate, to reach from input shaft 1（Bent axle）To the deceleration transmission of output shaft 2.Ball 6 is in the pendulum of cycloid disc
Make drive disk 4 and its cycloid in 6 mounting hole of ball of wire casing 51 and drive disk 4（Cycloidal path）Movement cooperation, drive disk 4 are slided
Sagittal plane relative motion between plate 3 and output shaft 2 is transmitted and is discharged by translating rails 7, especially keeps the two
The preferred decussation roller 9 of sliding component of radial slippage cooperation is simultaneously co-located on 7 side V of 3 side V-groove 31 of slide plate and translating rails
In type groove 31, the power that translating rails 7 discharge is radial load, reduces the requirement to 3 hardness of slide plate, and can make axial structure cloth
Office is more compact, and sliding friction has been lacked in release eccentric motion deceleration, improves transmission efficiency.I.e. translating rails 7 are used with decussation roller 9
In release eccentric motion, 2 last primary recipient slide plate 3 of output shaft centering rotation driving force.
Claims (5)
1. a kind of vector cycloid speed changer includes cycloid disc, ball with cycloid groove, it is characterised in that：Equipped with by input shaft
The slide plate of the drive disk of eccentric drive and dish driving driven, the slide plate drive output shaft again, wherein cycloid disc is fixed on body
On, ball, which is in the cycloid groove of cycloid disc and the ball mounting hole of drive disk, makes drive disk coordinate with its cycloid motion, driving
Be both provided with grip block on disk and output shaft, be provided with translating rails between slide plate and each grip block, translating rails and slide plate it
Between be equipped with the sliding component for both making to keep radial slippage cooperation, each grip block is matched with the clamping of slide plate radial slippage axial rotation respectively
It closes.
2. vector cycloid speed changer according to claim 1, it is characterised in that：It is all provided in the axial upper and lower end of input shaft
There is the slide plate of the symmetrically drive disk and dish driving driven by input shaft eccentric drive, the pendulum between upper and lower drive disk
Drum above and below is arranged with cycloid groove and ball, and the slide plate at axial both ends drives with the output shaft for being located at axial both ends
Cooperation.
3. vector cycloid speed changer according to claim 1 or 2, it is characterised in that：The output shaft at axial both ends passes through company
Outbound is connected, and corresponding drive disk and slide plate are equipped with the pin hole with connecting pin clearance fit.
4. according to the vector cycloid speed changer described in claim 3, it is characterised in that：Being equipped between translating rails and slide plate makes
It is decussation roller that the two, which keeps the sliding component of radial slippage cooperation, is co-located on slide plate side V-groove and translation rail-sides face V
In type groove.
5. according to the vector cycloid speed changer described in claim 4, it is characterised in that：Translating rails are separately fixed at drive disk
On output shaft, it is both provided with two grip blocks on drive disk and output shaft, and is placed in four sides of slide plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297804.0A CN108458058A (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed changer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297804.0A CN108458058A (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed changer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108458058A true CN108458058A (en) | 2018-08-28 |
Family
ID=63235095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297804.0A Pending CN108458058A (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed changer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108458058A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043610A (en) * | 2019-05-07 | 2019-07-23 | 江阴市传动机械研究所 | A kind of high bearing-type speed reducer for driving robot of bearing capacity |
| CN110230525A (en) * | 2019-06-18 | 2019-09-13 | 海尚集团有限公司 | Variable valve timing apparatus with vector cycloid gear |
| US11371586B2 (en) * | 2020-09-07 | 2022-06-28 | Ali Mahmoodi | Pericyclic gear reducer |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0510400A (en) * | 1991-07-02 | 1993-01-19 | Kamo Seiko Kk | Reduction gear |
| CN1144556A (en) * | 1994-02-14 | 1997-03-05 | 斯皮内阿有限责任公司 | Gear system |
| CN101101044A (en) * | 2006-07-09 | 2008-01-09 | 杨光笋 | Monotype cycloid reducer with retainer |
| JP2008157391A (en) * | 2006-12-26 | 2008-07-10 | Takao Yokoi | Planetary differential reduction gear |
| JP2009036224A (en) * | 2007-07-31 | 2009-02-19 | Nabtesco Corp | Eccentric oscillation type gear device |
| JP2009195002A (en) * | 2008-02-13 | 2009-08-27 | Nsk Ltd | Reduction gear contained motor |
| CN101813172A (en) * | 2009-02-23 | 2010-08-25 | 加茂精工株式会社 | Rolling ball type two-stage low speed changer device |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN206054641U (en) * | 2016-08-25 | 2017-03-29 | 深圳市领略数控设备有限公司 | A kind of high accuracy cycloidal planetary gear speed reducer |
| CN208123363U (en) * | 2018-04-04 | 2018-11-20 | 海尚集团有限公司 | Vector cycloid speed changer |
-
2018
- 2018-04-04 CN CN201810297804.0A patent/CN108458058A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0510400A (en) * | 1991-07-02 | 1993-01-19 | Kamo Seiko Kk | Reduction gear |
| CN1144556A (en) * | 1994-02-14 | 1997-03-05 | 斯皮内阿有限责任公司 | Gear system |
| CN101101044A (en) * | 2006-07-09 | 2008-01-09 | 杨光笋 | Monotype cycloid reducer with retainer |
| JP2008157391A (en) * | 2006-12-26 | 2008-07-10 | Takao Yokoi | Planetary differential reduction gear |
| JP2009036224A (en) * | 2007-07-31 | 2009-02-19 | Nabtesco Corp | Eccentric oscillation type gear device |
| JP2009195002A (en) * | 2008-02-13 | 2009-08-27 | Nsk Ltd | Reduction gear contained motor |
| CN101813172A (en) * | 2009-02-23 | 2010-08-25 | 加茂精工株式会社 | Rolling ball type two-stage low speed changer device |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN206054641U (en) * | 2016-08-25 | 2017-03-29 | 深圳市领略数控设备有限公司 | A kind of high accuracy cycloidal planetary gear speed reducer |
| CN208123363U (en) * | 2018-04-04 | 2018-11-20 | 海尚集团有限公司 | Vector cycloid speed changer |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043610A (en) * | 2019-05-07 | 2019-07-23 | 江阴市传动机械研究所 | A kind of high bearing-type speed reducer for driving robot of bearing capacity |
| CN110043610B (en) * | 2019-05-07 | 2023-12-12 | 江阴市传动机械研究所 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
| CN110230525A (en) * | 2019-06-18 | 2019-09-13 | 海尚集团有限公司 | Variable valve timing apparatus with vector cycloid gear |
| US11371586B2 (en) * | 2020-09-07 | 2022-06-28 | Ali Mahmoodi | Pericyclic gear reducer |
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