WO2016029907A1 - Transmission à bague de friction conique, utilisation d'un mécanisme de démultiplication, et procédé de mise en place d'une bague de friction d'une transmission à bague de friction conique - Google Patents

Transmission à bague de friction conique, utilisation d'un mécanisme de démultiplication, et procédé de mise en place d'une bague de friction d'une transmission à bague de friction conique Download PDF

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Publication number
WO2016029907A1
WO2016029907A1 PCT/DE2015/100359 DE2015100359W WO2016029907A1 WO 2016029907 A1 WO2016029907 A1 WO 2016029907A1 DE 2015100359 W DE2015100359 W DE 2015100359W WO 2016029907 A1 WO2016029907 A1 WO 2016029907A1
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WO
WIPO (PCT)
Prior art keywords
gear
hollow
friction ring
planet
sun
Prior art date
Application number
PCT/DE2015/100359
Other languages
German (de)
English (en)
Inventor
Ulrich Rohs
Original Assignee
Ulrich Rohs
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE102014012537.8A external-priority patent/DE102014012537A1/de
Application filed by Ulrich Rohs filed Critical Ulrich Rohs
Publication of WO2016029907A1 publication Critical patent/WO2016029907A1/fr

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Classifications

    • 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
    • F16H15/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members
    • F16H15/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members without members having orbital motion
    • F16H15/04—Gearings providing a continuous range of gear ratios
    • F16H15/42—Gearings providing a continuous range of gear ratios in which two members co-operate by means of rings or by means of parts of endless flexible members pressed between the first mentioned members
    • 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
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Definitions

  • Bevel friction ring gear use of a reduction gear and method for adjusting the friction ring of a conical-friction ring gear
  • the invention relates to a conical friction ring transmission, a use of a
  • the invention relates to a conical friction ring gear comprising an input cone and an output cone, which are aligned with a gap with parallel cone axes aligned with each other, wherein in the gap a friction ring rotates axially along the gap is mounted displaceably in a Verstelltell Georgia axially free along a Guide rod is displaced, which can be made by means of an approach via a reduction gear by an adjusting drive in their angle of attack with respect to the cone.
  • the invention also relates to the use of a reduction gear for the employment of a friction ring of a conical friction ring gear.
  • the invention further relates to a method for adjusting the friction ring of a conical-friction ring transmission.
  • reduction gears are also known per se, in which the reduction ratio is 30: 1 or more, in this regard, in particular worm gear enable compact reduction gear with a very high reduction ratio.
  • worm gears as they are known, for example, from WO 2004/033934 A2 or from WO 2009/068012 A2, prove to be relatively expensive, in particular for fine actuations, in particular by conical friction ring gears, for example, as described in these publications or also in US Pat WO 2006/012892 A2 are known, with respect to the position of the friction ring and in particular with respect to its angular position, especially when this friction ring can be positioned only about its angular position and otherwise freely axially position.
  • the object of the invention is by conical friction ring, uses a
  • a conical friction ring transmission comprising an input cone and an output cone, which are aligned at a gap with parallel cone axes aligned with each other, wherein in the gap a friction ring rotates axially along the gap displaceably mounted in a Verstell Georgia axially is freely displaceable along a guide rod, which can be made by means of an approach via a reduction gear of an adjustment in their angle of attack with respect to the cone, structurally simple and compact designed the reduction gear, if this a driven, at least one planet carrying planet carrier, an abortive Hollow or sun gear and a housing-fixed hollow or sun includes, if both the abortive hollow or sun gear and the housing-fixed hollow or sun gear mesh with the at least one planet and if the number of teeth of both hollow or sun gears by three or less Teeth is different.
  • a reduction gear designed the abortive hollow or sun gear is rotated at every complete revolution of the planet carrier by exactly the difference of the teeth relative to the housing, which accordingly structurally simple and compact high reduction ratios possible.
  • a method for employment of the friction ring of a conical-friction ring transmission if this is characterized in that for the reduction of a rotational movement by means of a planetary gear at least one planet is driven by a planet carrier and with a housing-fixed hollow or sun gear and with an abortive hollow or sun meshes, the number of teeth of both hollow or sun wheels differing by three or fewer teeth, according to advantageous.
  • a reduction gear for the employment of the friction ring of a conical-friction ring gear which includes a driven planetary carrier supporting at least one planet, an abortive hollow or sun gear and a housing fixed hollow or sun gear, if both the driven hollow or sun gear as well the housing-fixed hollow or sun gear mesh with the at least one planet and when the number of teeth of both hollow or sun gears differs by three or fewer teeth
  • the number of teeth is at least one of the two hollow or
  • the reduction ratio is particularly large, the smaller the difference in the number of teeth of both hollow or sun gears.
  • a difference of 1 results in particularly high reduction ratios, which may possibly result in balancing or stability problems which may make a difference between two teeth or even three teeth appear to be advantageous.
  • With more than three teeth difference causes the consequent reduction of the reduction that the number of teeth of the hollow and sun gears must be so large as compensation that it is likely that a corresponding reduction gear is not sufficiently compact builds.
  • Difference in the number of teeth corresponds to the number of planets.
  • the planets are then positioned according to the number of teeth and the resulting positional overlap of the respective teeth of the two hollow or sun gears.
  • a conical friction ring transmission comprising an input cone and an output cone aligned with a gap with parallel cone axes aligned with each other, wherein in the gap a friction ring rotates axially along the gap displaceably mounted in a Verstelltell Georgia axially free along a guide rod is displaceable, which can be made by means of an approach via a reduction gear of an adjustment in their angle of attack with respect to the cone, a planetary gear or a reduction gear, which can provide high reduction ratios in a structurally simple and compact manner, if the corresponding planetary or Reduction gear comprises a driven, at least one planet bearing planet carrier, a driven hollow or sun gear and a housing-fixed hollow or sun gear, if both the driven hollow or sun gear and the housing-fixed hollow or sun gear interacts with the at least one planet and when the planet interacts with the housing fixed hollow or sun gear with a reduction ratio of x: y and with the driven hollow or sun gear with a reduction ratio of (x ⁇ z):
  • Sun gears to the reduction ratio while y denotes the contribution of the planet (s). This contribution can be made, for example, by the number of teeth, for example in the case of a positive connection, or by the radii, for example in the case of a frictional connection. It is understood that by the fact that the planet interacts with both hollow or sun gears, the amount y of the planet or mecanicschürzt from the total translation, unless it interacts with the two hollow or sun gears with different amount y. Accordingly, the number of teeth or the radius of the planet initially only play a secondary role.
  • sun gears on the one hand and the planet on the other hand can not necessarily be form-fitting but may also be non-positive, as long as there are appropriate reduction or transmission ratios between the planets on the one hand and the hollow or sun gears on the other hand. It is understood that a good controllable force and torque flow can be ensured by the transmission by a positive connection or by a combing and thus by a configuration of the transmission as a gear transmission. In particular, you can Also, the reduction ratios in the desired manner can be defined precisely precisely by the respective number of teeth easily.
  • z has a value of 1, wherein - in the case of a frictional interaction between the planet and the two hollow or sun gears - z can also assume values closer to zero. This then has a corresponding effect on the reduction ratio increasing.
  • the value y of the planet is more than 6. Accordingly, it is advantageous if the planet has more than 6 teeth, so that the interaction between the planet and the elevation or sun gears or the concrete shape of the gears or Teeth must not be too extreme in the respective design or physical requirements must be configured.
  • the planet and thus also the overall planetary gear can be structurally relatively compact, since the planet does not have to be designed too large.
  • the at least one planet can with both hollow or sun wheels with the same
  • Comb module which structurally allows easy implementation, since possibly on a shared structure of the planet, whose first planetary part specifically for one of the two hollow or sun gears and the second planetary part for the other of the two hollow or sun gears are specially designed can be omitted, with a correspondingly divided configuration, if necessary, for other reasons, for example, for reasons of a particularly low-loss and very play-free connection, may be advantageous.
  • the at least one planet apart from the difference in the number of teeth between the two hollow or sun gears with the same under- or gear ratio with two hollow or sun gears comb, which is a particularly simple constructive Design of the overall arrangement allows.
  • an additional reduction or transmission can also be implemented in the transmission via the planet by the planet meshing with different reduction ratios or gear ratios with both hollow or sun gears.
  • Angular position of the friction ring of a conical-friction ring gear in particular when the friction ring is guided freely axially displaceable per se and therefore can move independently by the angular adjustment along the friction cone.
  • Figure 1 shows the adjusting device of a conical-friction ring transmission in a perspective plan view
  • Figure 2 is a schematic side view of the conical friction ring gear for the adjusting device of Figure 1;
  • FIG. 3 shows a schematic section through a suitable for the adjusting device of Figure 1 reduction or planetary gear
  • Figure 4 shows a schematic section through the arrangement of Figure 3 perpendicular to
  • FIG. 5 shows a second reduction or adjustment device suitable for the adjusting device according to FIG.
  • Figure 6 shows the arrangement of Figure 5 in a similar representation as Figure 4;
  • Figure 8 shows the arrangement of Figure 7 in a similar representation as Figures 4 and 6;
  • Figure 10 shows the arrangement of Figure 9 in a similar representation as Figures 4, 6 and 8;
  • Figure 12 shows the arrangement of Figure 11 in a similar representation as Figures 4, 6, 8 and 10; 13 is a sixth used for the adjusting device of Figure 1 reduction or
  • FIG. 14 shows the arrangement according to FIG. 13 in a representation similar to FIGS. 4, 6, 8, 10 and 12.
  • the conical friction ring gear 11 shown in Figures 1 and 2 comprises an input cone 12 and an output cone 13, which are aligned around a gap 36 spaced parallel cone axes to each other, wherein in the gap 36 of the friction ring 10 surrounds the input cone 12 encompassing.
  • the friction ring 10 is mounted axially displaceable along the gap in an adjustment bridge 14, which in turn is axially displaceably mounted in a cage 16 via a guide 15, wherein the guide 15 along two guide rods 17 which are arranged parallel to the gap 36 and are fixed to a support 18 of the cage 16, is axially displaceable. It is understood that in different embodiments, for example, only one guide rod can be provided, so that can be dispensed with a suitably designed support 18, if necessary, entirely.
  • the guide 15 is designed such that it comprises a rotation of the Verstellmaschine 14 to the individual guide rod 17, which - depending on the concrete implementation - by the interaction between the guide 15 and the guide rod 17 or by a structurally provided elsewhere rotation lock can be realized.
  • the cage 16 is mounted via a pivot bearing 20 in a housing 19 of the conical-friction ring gear 11, so that the angle of the Verstell Georgia 14 with respect to the cones 12, 13 are changed and incidentally, the friction ring 10 itself can move freely along the cone axes ,
  • This arrangement has the advantage that over the angle of incidence of the cage 16, the friction ring 10 can be made at an angle to a vertical plane on both cone axes, the friction ring 10 then depending on the size and direction of the angle independently by the cones 12, 13th driven axially along the gap 36 migrates.
  • This eccentric 24 is located on a reduction gear 1 and planetary gear 9, as shown in Figures 3 to 14, said reduction gear 1 or planetary gear 9 via an adjusting drive 31, which is designed as a rotating motor and on the drive shaft 6 attacks, can be hired.
  • the reduction gear 1 and planetary gear 9 of Figures 13 and 14 are used.
  • the lug 21 may also attach to another location of the cage 16, which may then no longer look like a cage; For example, on a guide rod itself. It is understood that the projection 21 may also be formed in one piece with the assembly to which it is attached. Also, if necessary, the projection 21 may be connected directly to the eccentric bushing 23.
  • the reduction gear 1 or planetary gear 9 shown in Figures 3 to 14 each comprise a driven via a drive shaft 6 planet carrier 3, which carries a planet 2, which with both a driven hollow or sun gear 4 and a housing-fixed hollow or sun gear 5 meshes.
  • the reduction gear 1 and planetary gear 9 each comprise a
  • Housing 28 which is pierced by the drive shaft 6 and an output shaft 7 and within which the planet carrier 3, the planet 2 and the hollow or sun gears 4, 5 are arranged.
  • the abortive hollow or sun gear 4 is connected to the output shaft 7, so that a drive on the drive shaft 6 or a corresponding rotational movement on this drive shaft 6 cause a corresponding output or a corresponding rotational movement on the output shaft 7.
  • the hollow or sun wheels 4, 5 differ by the number of their teeth 8, whereby in all these exemplary embodiments this difference amounts to exactly one tooth 8.
  • the planet 2 is over one
  • Sun wheels 4, 5 configured as sun gears.
  • the housing-fixed hollow or sun gear 5 has 60 teeth and the abortive hollow or sun gear 4 61 teeth.
  • the planet 2 meshes with two hollow or sun gears 4, 5 with the same module and substantially the same ratio, but it with two hollow or sun gears 4, 5 meshes with different profile shift to compensate for the difference of a tooth accordingly.
  • the number of teeth can correspondingly also be less than 60 and, in particular, moreover, whereby the question of the profile shift possibly loses significance, especially with higher numbers.
  • Sun gear 5 via a spacer 25 by means not unnumbered screws on the housing 28 of the reduction gear 1 and planetary gear 9 attached.
  • the counterweight 27 is relatively slim and narrow, so that in this way the space for the entire reduction gear 1 and planetary gear 9 is not unnecessarily increased.
  • Hollow or sun gear 5 designed as a ring gear and formed directly in the housing 28.
  • the abortive hollow or sun gear 4 is also formed in this embodiment as a sun gear.
  • the counterweight 27 designed axially shorter, so it does not appear in the schematic sectional view of Figure 6.
  • the counterweight 27 extends over a much larger angular range in order to be able to provide mass in this way.
  • the embodiment illustrated in FIGS. 5 and 6 corresponds to the exemplary embodiment according to FIGS. 3 and 4, so that further explanations in this regard are dispensed with.
  • Hollow or sun gear 4 provided with 61 teeth, while the housing-fixed hollow or sun gear 5 has 60 teeth.
  • the planet 20 meshes with two hollow or sun gears 4, 5 with the same module and with substantially the same reduction ratio, a different profile displacement is also provided here, compared to the embodiment of Figures 3 and 4 in view of the very different radii of the two hollow - or sun gears 4, 5 correspondingly larger fails.
  • Sun wheels 4, 5 designed as ring gears, so that the planet 2 and also designed as a substantially circular mass counterweight 27 rotates within both ring gears.
  • the abortive hollow or sun gear 4 which is provided with 60 teeth 8, axial output s side and the housing fixed hollow or sun gear 5, which is provided with 61 teeth 8, arranged axially on the drive side.
  • the planet 2 meshes with the same module with two hollow or sun gears 4, 5 also with substantially the same reduction ratio. Again, a slightly different profile shift is provided.
  • the housing-fixed hollow or sun gear 5 is formed as a ring gear, while the abortive hollow or sun gear 4 is formed as a sun gear.
  • the abortive hollow or sun gear 4 is provided on the axial output side and the housing fixed Hohloder sun gear 5 axially on the drive side in the embodiment of Figures 9 and 10 , Also, the planet carrier 3 enters Counterweight 27, which approximately corresponds to the shape of the counterweight 27 of the embodiment of Figures 5 and 6.
  • the planet 2 is formed in two parts with a planetary part 29 and a planetary part 30 which are respectively adapted to the particular configurations of the hollow or sun wheels 4, 5.
  • the planetary part 29 meshes with the abortive hollow or sun gear 4, which has 61 teeth in this embodiment
  • the planetary part 30 meshes with the housing-fixed hollow or sun gear 5, which has 60 teeth in this embodiment. Due to the corresponding division of the planet 2, it is possible that the planet 2 meshes with each of the hollow or sun gears 4, 5 adapted module and possibly with the same profile shift.
  • Reduction ratio since ultimately the number of teeth of the planetary part 29 corresponds to the number of teeth of the planetary part 30. However, it is immediately understandable that in different embodiments here also on the planet 2 and its two planetary parts 29, 30, a change in the number of teeth and thus an adapted translation or reduction ratio can be selected.
  • Planetary gear 9 is similar in construction mainly to the reduction gear 1 and planetary gear 9 shown in Figures 3 and 4, but directly to the drive shaft 6, a drive gear 35 is placed, in which a driven by a drive motor 33 driving pinion 34 engages.
  • the drive motor 33 is on the housing 28 of the reduction gear 1 and
  • the reduction ratio of the reduction gear 1 or planetary gear 9 is still influenced and in particular by the number of teeth of the drive pinion 34 and the drive gear 35 and by the choice of the gear ratio between the drive pinion 34 and the drive gear 35 be increased even without a considerable space loss is associated with this.
  • the drive motor 33 can be at least partially disposed in the housing 28 of the reduction gear 1 and planetary gear 9, which reduces the number of movable assemblies passing through housing breakthroughs to a minimum, especially since the drive shaft 6 only serves to support the planet carrier 3 , where appropriate, a different form of storage or additional storage types may be provided here.
  • the housing 28 is selected for reasons of a shapely and compact appearance in the axial section around, but eccentric to the output shaft 7 and the drive shaft 6. It is also conceivable, a corresponding circular in axial section housing to the output shaft 7 and the To select drive shaft 6, however, which leads to a correspondingly larger housing, where appropriate, the additional space for other modules, such as an electronic control unit, a battery or a battery or the like can be used.
  • the housing in axial section can also substantially follow the shape of the planetary carrier 3 and only have a bulge for the drive motor 33, which then leads in axial section to a bulge, as can be seen in the region of the drive motor 33 in FIG.
  • FIGS. 3, 4, 9, 10 and 13, 14 have an eccentric 24, which, however, need not necessarily be provided.
  • these eccentrics 24 shown by way of example in FIGS. 3, 4, 9, 10 and 13, 14 serve for the angular adjustment of a friction ring 10 of a conical-friction ring transmission 11, as illustrated by way of example in FIGS. 1 and 12.
  • the eccentric 24 is advantageous.
  • another connection element may be provided, which is adapted accordingly.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne un engrenage conique à bague de friction comprenant un cône d'entrée et un cône de sortie qui sont orientés l'un vers l'autre espacés par un interstice et présentent des axes parallèles. Dans l'interstice tourne une bague de friction qui est montée de manière à pouvoir se déplacer axialement le long de l'interstice dans un pont de réglage qui peut se déplacer librement axialement le long d'une barre de guidage qui peut être positionnée quant à son angle d'incidence par rapport au cône, par un mécanisme de réglage, au moyen d'un appendice, par l'intermédiaire d'un mécanisme de démultiplication. Il est possible d'obtenir des rapports de démultiplication élevés pour une conception simple et compacte si le mécanisme de démultiplication comprend au moins un porte-satellite portant au moins un pignon satellite, une couronne planétaire ou un pignon planétaire entraîné, ainsi qu'une couronne planétaire ou un pignon planétaire solidaire du carter, si à la fois la couronne planétaire ou le pignon planétaire entraîné et la couronne planétaire ou le pignon planétaire solidaire du carter s'engrènent avec le ou les pignons satellites, et si le nombre de dents des deux couronnes ou pignons planétaires diffère au maximum de deux dents.
PCT/DE2015/100359 2014-08-28 2015-08-28 Transmission à bague de friction conique, utilisation d'un mécanisme de démultiplication, et procédé de mise en place d'une bague de friction d'une transmission à bague de friction conique WO2016029907A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE102014012537.8 2014-08-28
DE102014012537.8A DE102014012537A1 (de) 2014-08-28 2014-08-28 Untersetzungsgetriebe, Verfahren zur Untersetzung einer Drehbewegung sowie Verwendung eines Untersetzungsgetriebes sowie eines Untersetzungsverfahrens
DE102014014594 2014-10-07
DE102014014594.8 2014-10-07
DE102014016959.6 2014-11-18
DE102014016959 2014-11-18

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Publication Number Publication Date
WO2016029907A1 true WO2016029907A1 (fr) 2016-03-03

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PCT/DE2015/100359 WO2016029907A1 (fr) 2014-08-28 2015-08-28 Transmission à bague de friction conique, utilisation d'un mécanisme de démultiplication, et procédé de mise en place d'une bague de friction d'une transmission à bague de friction conique

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108061146A (zh) * 2016-11-09 2018-05-22 何汉权 一种小体积大减速比无背隙减速器

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE317153C (fr)
DE6608986U (de) * 1967-01-30 1972-01-13 Aisin Seiki Planetengetriebe.
DE4026886A1 (de) 1990-08-25 1992-02-27 Renk Ag Planetengetriebe
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
WO2004033934A2 (fr) 2002-10-07 2004-04-22 Ulrich Rohs Engrenage
WO2006012892A2 (fr) 2004-08-06 2006-02-09 Ulrich Rohs Mecanisme de transmission a anneau de friction comprenant deux corps de roulement places a distance l'un de l'autre autour d'une fente
DE102005048179A1 (de) 2004-10-18 2006-04-27 Zae-Antriebssysteme Gmbh & Co. Stellantrieb für Andruck- oder Auftragswalzen
WO2009068012A2 (fr) 2007-11-27 2009-06-04 Ulrich Rohs Transmission à cône et bague de friction, procédé de fabrication et de montage d'une transmission à cône et bague de friction
WO2014067509A1 (fr) * 2012-10-29 2014-05-08 Ulrich Rohs Variateur à cônes et anneau à friction

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE317153C (fr)
DE6608986U (de) * 1967-01-30 1972-01-13 Aisin Seiki Planetengetriebe.
DE4026886A1 (de) 1990-08-25 1992-02-27 Renk Ag Planetengetriebe
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
WO2004033934A2 (fr) 2002-10-07 2004-04-22 Ulrich Rohs Engrenage
WO2006012892A2 (fr) 2004-08-06 2006-02-09 Ulrich Rohs Mecanisme de transmission a anneau de friction comprenant deux corps de roulement places a distance l'un de l'autre autour d'une fente
DE102005048179A1 (de) 2004-10-18 2006-04-27 Zae-Antriebssysteme Gmbh & Co. Stellantrieb für Andruck- oder Auftragswalzen
WO2009068012A2 (fr) 2007-11-27 2009-06-04 Ulrich Rohs Transmission à cône et bague de friction, procédé de fabrication et de montage d'une transmission à cône et bague de friction
WO2014067509A1 (fr) * 2012-10-29 2014-05-08 Ulrich Rohs Variateur à cônes et anneau à friction

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
FEINWERKTECHNIK; MESSTECHNIK, EINE PLANETENGETRIEBEBAUFORM FÜR HOHE ÜBERSETZUNGEN, vol. 89, no. 4, 1981
KONSTRUKTION, vol. 13, 1961, pages 67 - 69

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108061146A (zh) * 2016-11-09 2018-05-22 何汉权 一种小体积大减速比无背隙减速器

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