WO2016136594A1 - Système de courroie d'appareil auxiliaire - Google Patents

Système de courroie d'appareil auxiliaire Download PDF

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Publication number
WO2016136594A1
WO2016136594A1 PCT/JP2016/054745 JP2016054745W WO2016136594A1 WO 2016136594 A1 WO2016136594 A1 WO 2016136594A1 JP 2016054745 W JP2016054745 W JP 2016054745W WO 2016136594 A1 WO2016136594 A1 WO 2016136594A1
Authority
WO
WIPO (PCT)
Prior art keywords
belt
tension
vibration
belt tension
pulley
Prior art date
Application number
PCT/JP2016/054745
Other languages
English (en)
Japanese (ja)
Inventor
加藤　晃央
阿部　克史
渡辺　一弘
剛 深堀
Original Assignee
Ntn株式会社
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
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2016136594A1 publication Critical patent/WO2016136594A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B67/00—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for
    • F02B67/04—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for of mechanically-driven auxiliary apparatus
    • F02B67/06—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for of mechanically-driven auxiliary apparatus driven by means of chains, belts, or like endless 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
    • 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
    • F16H7/12—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M15/00—Testing of engines
    • G01M15/04—Testing internal-combustion engines
    • G01M15/12—Testing internal-combustion engines by monitoring vibrations

Definitions

  • the present invention relates to an auxiliary belt system for an internal combustion engine of a vehicle, and relates to a technique for adjusting a belt tension to an appropriate value.
  • the belt transmission device includes, for example, a belt tension adjusting device that adjusts the belt tension.
  • the belt tension adjusting device includes a tension pulley unit that is wound around the belt and rotated by movement of the belt, an auto tensioner mechanism that presses the tension pulley unit, and a tensioner that detects a reaction force that the tension pulley unit receives from the belt. It has a pressure sensor (patent document 1).
  • a control unit that receives an electrical signal from the generator / starter motor outputs a control signal to the actuator to extend the actuator, and energizes the belt tension adjusting pulley.
  • the actuator is in a non-driven state and the belt tension adjusting pulley is movable, and a predetermined tension smaller than that at the time of starting is applied to the belt (Patent Document 2).
  • the belt control device controls the belt tension and the damping force of the auto tensioner to be high (Patent Literature). 3). Therefore, the belt tension fluctuation can be suppressed by increasing the belt tension and the damping force of the auto tensioner in the low-speed rotation range where the engine fluctuation becomes large.
  • the belt tension is measured using a tensioner pressure sensor.
  • the pressure sensor is arranged so that the belt tension can be measured, the arrangement structure or the pressure sensor There is a problem that the configuration is limited and the cost is increased.
  • the optimum belt tension that changes appropriately from the pressure (the optimum belt tension referred to here is the tension at which the pulley does not generate a certain level of vibration) is not required.
  • the belt tension adjusting device disclosed in Patent Document 2 the belt tension is increased only at the start and the belt tension other than at the start is decreased.
  • the belt tension is increased only in the low rotation range, and the belt tension during high rotation is decreased.
  • An object of the present invention is to provide an auxiliary belt system capable of simplifying the arrangement structure of sensors and reducing the cost and reducing the belt tension as much as possible in the entire rotation range.
  • the auxiliary belt system of the present invention is an auxiliary belt system provided with a belt transmission device 2 and a control device 3 for controlling the belt transmission device 2,
  • the belt transmission device 2 includes: A drive pulley 4 provided on a crankshaft of an internal combustion engine of a vehicle; A non-drive pulley 5 provided in an auxiliary machine of the vehicle; A belt 1 stretched between the drive pulley 4 and the non-drive pulley 5; Belt tension adjusting means 6 for adjusting the tension of the belt 1;
  • the control device 3 Vibration measuring means 13 for measuring vibration of at least one of the non-driving pulley 5, an element that rotates integrally with the non-driving pulley 5, a peripheral member of the rotating element, and the belt tension adjusting means 6;
  • Tension setting means for setting the belt tension adjusted by the belt tension adjusting means 6 to a predetermined belt tension according to the rotational speed of the drive pulley 4 when the vibration measured by the vibration measuring means 13 is equal to or greater than a threshold value.
  • the “element rotating integrally with the non-drive pulley 5” is a shaft portion of the non-drive pulley 5 or the like.
  • Examples of the “peripheral member of the rotating element” include a bearing that rotatably supports the shaft portion of the non-driving pulley 5, a housing that supports the bearing, a bracket, and the like.
  • the “according to the rotational speed of the driving pulley” may be, for example, an arbitrary rotational speed that changes in a stepless manner from the start of the internal combustion engine to a high rotational speed range, At the time of start-up, it may be in accordance with the rotational speed at each step of the rotational speed that changes stepwise, such as a low rotational range, a middle rotational range, and a high rotational range.
  • the rotation speed is the number of rotations per unit time.
  • the threshold value and the determined belt tension are determined based on results of tests and simulations, respectively.
  • the vibration detection means 13 includes vibrations of at least one of the non-driving pulley 5, an element that rotates integrally with the non-driving pulley 5, a peripheral member of the rotating element, and the belt tension adjusting means 6. Measure.
  • the tension setting unit 14 sets the belt tension to a belt tension determined according to the rotational speed of the drive pulley 4 when the measured vibration is equal to or greater than the threshold value.
  • the tension setting unit 14 can detect the flutter of the belt 1 by determining whether or not the measured vibration is greater than or equal to a threshold value.
  • the fluttering of the belt 1 means that the belt 1 vibrates to a specified value or more in directions orthogonal to the traveling direction of the belt 1 and the belt width direction.
  • the belt 1 flutters. Therefore, at the rotational speed of the drive pulley 4 at this time, the belt tension is increased to, for example, a tension at which the vibration is less than the threshold value. Therefore, fluttering of the belt 1 can be suppressed.
  • the control device 3 includes an accelerator amount detection unit 15 that detects an operation amount of the accelerator operation unit 21, and the tension setting unit 14 rotates the internal combustion engine from the operation amount detected by the accelerator amount detection unit 15.
  • the belt tension may be set according to the rotational speed by predicting the speed.
  • the tension setting means 14 may lower the belt tension by the belt tension adjusting means 6 and grasp the lower limit value of the belt tension at which the vibration measured by the vibration measuring means 13 is equal to or greater than a threshold value.
  • This system is based on the premise that the belt flutters, but the belt 1 does not flutter under normal use conditions. For example, the tension is set so that the vibration becomes a specified value or less even in a usage state where the belt 1 has deteriorated over time or the rotational speed of the internal combustion engine is excessively moved up and down within a short time.
  • the present invention by lowering the belt tension and setting the vibration to be equal to or greater than the threshold value, that is, by intentionally causing the belt 1 to flutter, it is possible to grasp the lower limit value of the belt tension that causes the flutter.
  • the tension setting unit 14 may include a vibration monitoring unit 19 that constantly monitors whether the vibration measured by the vibration measuring unit 13 is equal to or greater than a threshold value. As described above, the vibration monitoring unit 19 constantly monitors the vibration, so that the belt tension can be quickly increased when the belt 1 is unexpectedly fluttered.
  • the belt tension adjusting means 6 may include a damper that makes the damping force variable, and the tension setting means 14 may change the belt tension by changing the damping force of the belt tension adjusting means 6.
  • the belt tension adjusting means 6 has a pulley 7 in contact with the belt 1, and the belt tension can be adjusted by changing the position of the pulley 7, and the tension setting means 14 is a pulley of the belt tension adjusting means 6. 7 may be changed to change the belt tension.
  • the vibration measuring means 13 may detect vibration using a piezoelectric acceleration sensor 17. In this case, as compared with a strain gauge type sensor or the like, it can be miniaturized with high sensitivity and can also measure weak vibrations. Also, the mechanical strength can be increased.
  • FIG. 1 is a front view schematically showing an auxiliary belt system according to an embodiment of the present invention. It is a block diagram of a control system of the auxiliary machine belt system. It is a figure which shows the relationship between an engine rotation speed and the tension
  • the auxiliary belt system B includes a belt transmission 2 that transmits a rotational force when the auxiliary is driven by an internal combustion engine of a vehicle using a belt 1, and a control that controls the belt transmission 2.
  • Device 3. Although the auxiliary machine of this example is not shown in figure, it is a power steering, an alternator, a water pump, and an air conditioner, for example. However, it is not limited to these auxiliary machines. In the following description, a plurality of auxiliary machines may be collectively referred to as auxiliary machines.
  • the belt transmission device 2 includes a driving pulley 4, a non-driving pulley 5, a belt 1, and belt tension adjusting means 6.
  • the drive pulley 4 is provided on the crankshaft of the internal combustion engine.
  • the non-drive pulley 5 is a pulley provided in each of the auxiliary machines, and includes a tensioner idler pulley 7, a power steering pulley 8, an alternator pulley 9, a water pump pulley 10, and an air conditioner pulley 11. .
  • the tensioner idler pulley 7 is provided integrally with a belt tension adjusting means 6 to be described later, and applies a constant tension to the belt 1.
  • the pulley arm 12 is supported by the vehicle body so as to be swingable about the swing center axis L ⁇ b> 1, and the tensioner idler pulley 7 is rotatably supported by the pulley arm 12.
  • the pulley arm 12 is swung in a direction in which the idler pulley 7 is pressed against the belt 1 by the hydraulic damper 6a, and applies belt tension.
  • the power steering pulley 8 is provided on the rotary shaft 22 of the hydraulic pump of the power steering.
  • An alternator pulley 9 is provided on the rotor shaft 23 of the alternator.
  • the water pump pulley 10 is provided on the rotating shaft 24 of the water pump.
  • the air conditioner pulley 11 is provided on the rotary shaft 25 of the compressor of the air conditioner.
  • the belt 1 is an endless belt that is wound around the drive pulley 4, the tensioner idler pulley 7, the power steering pulley 8, the alternator pulley 9, the water pump pulley 10, and the air conditioner pulley 11. Therefore, the rotational force of the drive pulley 4 can be transmitted to the auxiliary machines via the belt 1 and the non-drive pulley 5.
  • the belt tension adjusting means 6 is a means for adjusting the tension of the belt 1, and includes the pulley arm 12 and a hydraulic damper 6 a that is a damper connected to the pulley arm 12.
  • the hydraulic damper 6a includes, for example, a bottomed cylindrical cylinder body 6aa, a rod 6ab that can be moved forward and backward provided in the cylinder body 6aa, a damper portion 6ac, and a check valve having a function of restricting an oil flow path (not shown).
  • a motor which may include a speed reducer
  • a return spring not shown
  • the belt tension adjusting means 6 is provided such that the cylinder body 6aa is swingably provided on the vehicle body at the fulcrum A1, and the connecting point A2 at the tip of the rod 6ab is swingable with respect to the pulley arm 12 with respect to the fulcrum A1. Connected.
  • the damper portion 6ac buffers the pushing force applied to the rod 6ab.
  • the control device 3 is, for example, an electric control unit (ECU) that controls the entire vehicle.
  • the control device 3 includes vibration measurement means 13, tension setting means 14, accelerator amount detection means 15, and storage means 16.
  • the vibration measuring means 13 measures the vibration caused by the flutter of the belt of the non-drive pulley 5 (FIG. 1) or the belt tension adjusting means 6.
  • FIGS. 1 and 2 at least one of an alternator pulley 9, a power steering pulley 8, an idler pulley 7, an air conditioner pulley 11, a water pump pulley 10, and a belt tension adjusting means 6. Measure two vibrations.
  • the vibration measuring means 13 detects vibration using, for example, a piezoelectric acceleration sensor 17.
  • the piezoelectric acceleration sensor 17 When measuring the vibration of the alternator pulley 9, for example, the piezoelectric acceleration sensor 17 is attached to a fixed bearing ring (not shown) of a bearing that supports the rotor shaft 23 of the alternator. When the alternator pulley 9 vibrates due to the fluttering of the belt 1, the vibration is transmitted to the bearing via the rotor shaft 23. The piezoelectric acceleration sensor 17 can detect the vibration transmitted to the bearing using the piezoelectric effect. When measuring the vibration of the power steering pulley 8, the piezoelectric acceleration sensor 17 is attached to the fixed-side bearing ring (not shown) of the bearing that supports the rotating shaft 22 of the hydraulic pump of the power steering, as described above. Vibration can be detected. The other pulleys 7, 11, and 10 can similarly detect vibrations.
  • the tension setting means 14 sets the belt tension adjusted by the belt tension adjusting means 6 to a predetermined belt tension value.
  • the tension setting unit 14 includes a vibration monitoring unit 19 and a belt tension setting unit 20.
  • the vibration monitoring unit 19 constantly monitors whether the vibration measured by the vibration measuring unit 13 is equal to or greater than a threshold value.
  • the threshold value is stored in the storage unit 16 in a rewritable manner and is used when the vibration monitoring unit 19 determines the threshold value.
  • the belt tension setting unit 20 sets the belt tension according to the rotational speed of the drive pulley 4.
  • the rotational speed of the drive pulley 4 may be in accordance with a rotational speed that changes steplessly from the start of the internal combustion engine to a high speed rotation range, or at a low speed when the internal combustion engine is started. It may be in accordance with the rotational speed that changes stepwise with the range, middle rotation range, and high rotation range. If the vibration monitoring unit 19 determines that the vibration is less than the threshold value, the belt tension setting unit 20 does not change the belt tension because the belt 1 does not flutter.
  • the rotational speed of the internal combustion engine that is, the drive pulley 4 is calculated from the depression amount (operation amount) of the accelerator pedal (accelerator operation means) 21 detected by the accelerator amount detection means 15. Since the depression amount of the accelerator pedal 21 and the rotational speed of the internal combustion engine are in a proportional relationship, for example, the relationship between the two is previously set in a relationship setting means such as a map, and this relationship setting means is stored in the storage means 16. Keep it.
  • the accelerator amount detection means 15 can easily calculate the rotation speed by comparing the signal corresponding to the depression amount of the accelerator pedal 21 with the relationship setting means.
  • the tension setting means 14 in this example changes the belt tension by changing the damping force of the belt tension adjusting means 6.
  • the tension setting unit 14 gives a signal to the motor of the hydraulic damper 6a so as to change the throttle of the check valve, for example.
  • the fluid resistance increases and as a result, the damping force increases.
  • the fluid resistance becomes small, and as a result, the damping force becomes low.
  • the auxiliary belt system B is a system on the premise that the belt 1 flutters, but no fluttering occurs in a normal use state. Therefore, the tension setting means 14 instructs the belt tension adjusting means 6 to lower the belt tension, and intentionally sets the vibration to be equal to or greater than the threshold value, that is, intentionally generates a flutter in the belt 1 according to the rotational speed.
  • the lower limit value of belt tension (belt tension value corresponding to the threshold value) at which flapping occurs can be grasped.
  • the tension setting means 14 sets a value (correction value) obtained by multiplying the lower limit value of the belt tension by a correction coefficient in advance according to the engine speed and stores the value in the storage means 16.
  • the belt tension correction value corresponding to the engine speed is set as the optimum tension.
  • the correction coefficient is determined based on, for example, results of tests and simulations.
  • FIG. 3 is a diagram showing the relationship between the rotational speed of an engine that is an internal combustion engine and the tension at which the belt does not flutter. 1 and 2 will be described as appropriate.
  • the belt does not flutter is a state in which the vibration measured by the vibration measuring means 13 is within a certain value or less.
  • the belt tension is increased only when the engine is started, and a two-stage belt tension that is lower than when the engine is started is set regardless of the engine speed except when the engine is started.
  • the belt tension that does not flutter even if variations or belt deterioration due to individual differences between engines occurs is reduced to the maximum value when the engine starts, and then decreases as the engine speed increases.
  • the belt tension is set so that the belt tension does not fluctuate as the engine rotation speed increases thereafter.
  • the actual belt tension is substantially similar to the belt tension, although it is lower than the belt tension at which no fluttering occurs.
  • the optimum tension obtained by this embodiment is a constant belt tension that is slightly higher than the actual belt tension.
  • the belt tension that does not flutter increases as the engine speed increases thereafter.
  • the optimum tension after the determined engine rotation speed is set to be higher than the actual belt tension and lower than the belt tension that does not flutter even if belt deterioration or the like occurs. This optimum tension is determined by, for example, results of tests and simulations.
  • the vibration measuring means 13 measures the vibration of the non-driven pulley 5.
  • the tension setting unit 14 sets the belt tension to a belt tension determined according to the rotational speed of the drive pulley 4 when the measured vibration is equal to or greater than the threshold value.
  • the tension setting unit 14 can detect the flutter of the belt 1 by determining whether or not the measured vibration is greater than or equal to a threshold value. When the measured vibration is equal to or greater than the threshold value, the belt 1 fluctuates, so the belt tension is changed to the optimum tension described above at the rotational speed of the drive pulley 4 at this time. Therefore, the fluttering of the belt 1 can be suppressed.
  • the belt 1 is changed by changing the protruding amount of the rod 6ab from the cylinder body 6aa instead of changing the belt tension by changing the damping force of the belt tension adjusting means 6 described above.
  • the belt tension may be changed by changing the position of the idler pulley 7 in contact therewith.
  • an electromagnetic solenoid or hydraulic pressure may be used in addition to the motor.
  • the vibration measuring means 13 may directly measure the vibration of the non-driven pulley 5.
  • a piezoelectric acceleration sensor 17 may be provided on the shaft portion of the non-drive pulley 5 and a detection signal of the sensor 17 may be input to the vibration measuring means 13 via wireless communication or a slip ring.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Testing Of Engines (AREA)

Abstract

　Ce système (B) de courroie d'appareil auxiliaire comporte un dispositif de transmission (2) de la courroie et un dispositif de commande (3) pour commander un dispositif de transmission (2) de la courroie. Le dispositif de transmission (2) de la courroie comporte: une poulie motrice (4) montée sur un vilebrequin; une poulie non motrice (5) montée sur un appareil auxiliaire d'un véhicule; une courroie (1) qui est placée sur la poulie motrice et sur la poulie non motrice; et un moyen d'ajustement (6) de la tension de courroie permettant d'ajuster la tension de la courroie. Le dispositif de commande (3) possède: un moyen de mesure (13) des vibrations qui mesure les vibrations d'au moins un élément parmi la poulie non motrice, un élément tournant intégralement avec la poulie non motrice, une pièce périphérique de l'élément tournant susmentionné et le moyen d'ajustement (6) de la tension de courroie; et un moyen de réglage (14) de la tension, lequel, lorsque les vibrations mesurées à l'aide du moyen de mesure (13) des vibrations sont supérieures ou égales à une valeur de seuil, règle la tension de courroie ajustée par un moyen d'ajustement (6) de la tension de courroie à une tension de courroie déterminée en fonction de la vitesse de rotation de la poulie motrice (4).
PCT/JP2016/054745 2015-02-23 2016-02-18 Système de courroie d'appareil auxiliaire WO2016136594A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015032483A JP2016156387A (ja) 2015-02-23 2015-02-23 補機ベルトシステム
JP2015-032483 2015-02-23

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WO2016136594A1 true WO2016136594A1 (fr) 2016-09-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2586583A (en) * 2019-08-12 2021-03-03 Zahnradfabrik Friedrichshafen Rotating machine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11324751A (ja) * 1998-03-20 1999-11-26 Nissan Motor Co Ltd 駆動力制御装置
JPH11342768A (ja) * 1998-06-03 1999-12-14 Fuji Heavy Ind Ltd 無段変速機付エンジンの制御装置
JP2003042248A (ja) * 2001-07-31 2003-02-13 Mitsubishi Electric Corp ベルト伝動装置及びベルト伝動制御システム
JP2004108483A (ja) * 2002-09-18 2004-04-08 Koyo Seiko Co Ltd 内燃機関用ベルトシステム
JP2012092946A (ja) * 2010-10-28 2012-05-17 Yanmar Co Ltd 作業車両
JP2012181169A (ja) * 2011-03-03 2012-09-20 Ntn Corp 転動部品の状態監視装置および状態監視方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11324751A (ja) * 1998-03-20 1999-11-26 Nissan Motor Co Ltd 駆動力制御装置
JPH11342768A (ja) * 1998-06-03 1999-12-14 Fuji Heavy Ind Ltd 無段変速機付エンジンの制御装置
JP2003042248A (ja) * 2001-07-31 2003-02-13 Mitsubishi Electric Corp ベルト伝動装置及びベルト伝動制御システム
JP2004108483A (ja) * 2002-09-18 2004-04-08 Koyo Seiko Co Ltd 内燃機関用ベルトシステム
JP2012092946A (ja) * 2010-10-28 2012-05-17 Yanmar Co Ltd 作業車両
JP2012181169A (ja) * 2011-03-03 2012-09-20 Ntn Corp 転動部品の状態監視装置および状態監視方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2586583A (en) * 2019-08-12 2021-03-03 Zahnradfabrik Friedrichshafen Rotating machine
GB2586583B (en) * 2019-08-12 2022-10-12 Zahnradfabrik Friedrichshafen Rotating machine

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