[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2016027324A1 - Engrenage à onde de déformation du type à dentures frontales - Google Patents

Engrenage à onde de déformation du type à dentures frontales Download PDF

Info

Publication number
WO2016027324A1
WO2016027324A1 PCT/JP2014/071755 JP2014071755W WO2016027324A1 WO 2016027324 A1 WO2016027324 A1 WO 2016027324A1 JP 2014071755 W JP2014071755 W JP 2014071755W WO 2016027324 A1 WO2016027324 A1 WO 2016027324A1
Authority
WO
WIPO (PCT)
Prior art keywords
face gear
gear
rigid
flexible
teeth
Prior art date
Application number
PCT/JP2014/071755
Other languages
English (en)
Japanese (ja)
Inventor
尚樹 金山
Original Assignee
株式会社ハーモニック・ドライブ・システムズ
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 株式会社ハーモニック・ドライブ・システムズ filed Critical 株式会社ハーモニック・ドライブ・システムズ
Priority to PCT/JP2014/071755 priority Critical patent/WO2016027324A1/fr
Publication of WO2016027324A1 publication Critical patent/WO2016027324A1/fr

Links

Images

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
    • 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

Definitions

  • the present invention relates to a plane-facing wave gear device in which a flexible face gear facing the rigid face gear from the axial direction is partially bent in the axial direction and meshed with the rigid face gear.
  • a general wave gear device includes a rigid internal gear and a flexible external gear arranged concentrically, and the flexible external gear is bent in a radial direction and partially with respect to the rigid internal gear. I try to engage.
  • the rigid face gear and the flexible face gear are opposed to each other in the axial direction, and the flexible face gear is bent in the axial direction to thereby make the rigid face gear. Are partially meshed with each other.
  • This type of wave gear mechanism is called “Facing-typeingstrain wave gearing”.
  • the plane-opposed wave gear devices disclosed in Patent Documents 1 and 2 include a wave generator that supports the back of the flexible face gear from the axial direction with a rigid cam plate via a ball. Irregularities are formed on the bottom surface of the ball groove formed on the surface of the rigid cam plate.
  • the rigid cam plate bends the flexible face gear in the axial direction via a ball mounted in the ball groove.
  • the flexible face gear deflected by the cam plate partially meshes with the rigid face gear in the circumferential direction.
  • the meshing position of both gears moves in the circumferential direction, and a relative rotation corresponding to the difference in the number of teeth of both gears occurs between the two gears. By fixing one gear so as not to rotate, relative rotation is extracted from the other gear.
  • An object of the present invention is to provide a plane-opposed wave gear device having a new configuration capable of extracting rotation from a rigid face gear.
  • a plane opposed wave gear device of the present invention includes: A rigid face gear; A flexible face gear that faces the rigid face gear from the direction of the device axis and can mesh with the rigid face gear; A wave generator that flexes the flexible face gear in the direction of the device axis and partially meshes with the rigid face gear to move the meshing position of both gears in the circumferential direction;
  • the rigid face gear includes a first rigid face gear and a second rigid face gear arranged concentrically around the device axis, The number of teeth of the flexible face gear is at least different from the number of teeth of one of the first and second rigid face gears.
  • the meshing positions of the flexible face gear and the first and second rigid face gears move in the circumferential direction. Since the flexible face gear and at least one of the rigid face gears have mutually different numbers of teeth, relative rotation of the number of teeth difference occurs between these gears while the wave generator rotates once.
  • the other rigid face gear rotates at a reduced speed with a reduction ratio corresponding to the difference in the number of teeth. That is, the rotation input to the wave generator is decelerated and the decelerated rotation is output via the rotation-side rigid face gear.
  • the flexible face gear may be engaged with each of the first and second rigid face gears at a plurality of locations in the circumferential direction by the wave generator.
  • the meshing position of the flexible face gear and the first rigid face gear and the meshing position of the flexible face gear and the second rigid face gear may be different positions in the circumferential direction. .
  • the number of teeth of the first rigid face gear may be the same as the number of teeth of the flexible face gear, and the number of teeth of the second rigid face gear may be smaller than the number of teeth of the flexible face gear. it can.
  • a first flexible tooth and a second flexible tooth are formed on the flexible face gear, and the first flexible tooth is in the direction of the device axis with respect to the first rigid face gear.
  • the second rigid face gear can be engaged with the first rigid face gear, and the second flexible tooth is opposed to the second rigid face gear from the direction of the device axis. Can be engaged.
  • the first flexible teeth that mesh with the first rigid face gear and the second flexible teeth that mesh with the second rigid face gear can be set to different numbers of teeth. .
  • a speed change operation is performed between the first rigid face gear and the first flexible tooth, and a speed change operation is performed between the second flexible tooth and the second rigid face gear.
  • a bevel gear can be used as the rigid face gear.
  • the flexible face gear can be bent conically and meshed with the bevel gear.
  • the wave generator a roller type wave generator can be used.
  • the wave generator includes a roller that partially bends the flexible face gear and meshes with the rigid face gear, a rotation shaft that revolves the roller around the device axis, and A support member that sandwiches the flexible face gear and the roller with respect to the rigid face gear and opposes from the device axis direction, and the roller is supported by the support member from the device axis direction. In this state, it is desirable to revolve around the device axis.
  • the wave generator includes a roller support shaft extending in a radial direction from the rotation shaft, and the roller is supported by the roller support shaft in a freely rotatable state.
  • the support member is rotatable about the device axis.
  • the roller revolves between the rigid face gear and the support plate while bending the flexible face gear in the axial direction as the rotary shaft rotates.
  • the roller rolls along the back surface of the flexible face gear. Therefore, the sliding resistance between the roller and the flexible face gear can be reduced.
  • the sliding resistance between a roller and the roller support surface of a rigid support member can be reduced by making a support member rotatable around an apparatus axis line.
  • the flexible face gear can be engaged with the rigid face gear at one place in the circumferential direction. Further, the meshing positions of both gears may be a plurality of positions in the circumferential direction.
  • the wave generator includes a plurality of rollers arranged at predetermined angular intervals in the circumferential direction as the rollers, and the flexible face gear is circumferentially moved by the plurality of rollers.
  • the rigid face gear may be engaged at a plurality of locations in the direction.
  • a device hollow portion extending through the device center portion in the direction of the device axis can be formed.
  • a device hollow portion that extends through the rigid face gear, the flexible face gear, the rotating shaft, and the support member in a direction along the device axis. Can be formed.
  • the device hollow portion can be used as a space for wiring or the like.
  • FIG. 1 is a schematic side view, a schematic front view, and a schematic exploded perspective view showing a plane-opposing wave gear device according to an embodiment of the present invention.
  • FIG. 8 is a schematic side view, a schematic front view, and a schematic perspective view showing a first modification of the plane-opposing wave gear device of FIG. 1.
  • FIG. 6 is a schematic side view, a schematic exploded perspective view, and a front view and a partial cross-sectional view showing a flexible face gear of a second variation of the plane-opposing wave gear device of FIG. 1.
  • FIG. 1 shows a plane-opposing wave gear device according to an embodiment of the present invention (hereinafter also referred to as “wave gear device”), (a) is a schematic side view thereof, and (b) is a side view thereof. It is the schematic front view, (c) is a schematic exploded perspective view of the main components.
  • wave gear device a plane-opposing wave gear device according to an embodiment of the present invention
  • the wave gear device 10 includes an annular first rigid face gear 11 and second rigid face gear 12.
  • the first and second rigid face gears 11 and 12 are arranged in a state perpendicular to the device axis 10a with the device axis 10a as the center.
  • the second rigid face gear 12 is disposed concentrically inside the first rigid face gear 11.
  • the first rigid face gear 11 is fixed to a device housing (not shown) so as not to rotate, and the second rigid face gear 12 is supported in a rotatable state by the device housing (not shown).
  • first rigid teeth 11b are cut along the circumferential direction on one annular end surface of the annular rigid ring 11a in the direction of the device axis 10a.
  • the first rigid teeth 11b are formed radially so that the direction of the tooth traces is a direction along the radial direction centering on the device axis 10a.
  • the second rigid teeth 12b are cut along the circumferential direction on one annular end surface in the direction of the device axis 10a of the annular rigid ring 12a.
  • the second rigid teeth 12b are formed radially so that the direction of the tooth traces is a direction along the radial direction centering on the device axis 10a.
  • the number of teeth of the first rigid tooth 11b is smaller than the number of teeth of the second rigid tooth 12b.
  • the flexible face gear 13 is opposed to the first and second rigid teeth 11b and 12b of the first and second rigid face gears 11 and 12 in a coaxial state at a constant interval from the direction of the device axis 10a. .
  • the flexible face gear 13 is opposed to the flexible disk 13a disposed in a state orthogonal to the apparatus axis 10a with the apparatus axis 10a as the center, and the first and second rigid teeth 11b and 12b in the disk 13a. It has flexible teeth 13d formed on the annular end surface on the side.
  • the flexible teeth 13d are radially formed so that the direction of the tooth traces is a direction along the radial direction centering on the device axis 10a.
  • the tooth width of the flexible tooth 13d is a dimension including the first and second rigid teeth 11b and 12b, and can mesh with the first and second rigid teeth 11b and 12b.
  • the number of teeth of the flexible teeth 13d is the same as that of the second rigid teeth 12b, for example.
  • a wave generator 14 is disposed on the back side of the flexible face gear 13, that is, on the side opposite to the first and second rigid face gears 11 and 12 in the direction of the device axis 10a.
  • the wave generator 14 includes a rotation shaft 15 having the apparatus axis 10a as a central axis, three roller shafts 16 extending radially from the outer peripheral surface of the rotation shaft 15 at equal angular intervals, and radial directions of the roller shafts 16 respectively.
  • the roller 17 is rotatably attached to the shaft end portion on the outer peripheral side, and the rigid support disk 18 that supports the roller 17 from the side opposite to the flexible face gear 13 is provided.
  • the rotary shaft 15 is supported in a rotatable state by a device housing (not shown).
  • Each of the rollers 17 is a roller having a predetermined length with the roller shaft 16 as a central axis.
  • the roller 17 includes, for example, a circular outer peripheral surface having the same outer diameter.
  • the flexible teeth 13d of the flexible face gear 13 are opposed to the first and second rigid teeth 11b, 12b of the first and second rigid face gears 11, 12 by a minute gap by the outer peripheral surface 17a of the roller 17. This portion is bent in the direction of the device axis 10a and meshes with the first and second rigid teeth 11b and 12b, respectively.
  • the other part of the flexible tooth 13d in the circumferential direction faces the first and second rigid teeth 11b and 12b while maintaining a minute gap.
  • the support disk 18 supporting the roller 17 from the direction of the apparatus axis 10a includes a rigid disk 18a and an annular roller support surface 18b formed on the annular end surface of the rigid disk 18a on the roller 17 side. Yes.
  • the support disk 18 is arranged in a state perpendicular to the device axis 10a with the device axis 10a as the center.
  • the support disk 18 is supported by, for example, a device housing (not shown) so as not to move in the direction of the device axis 10a, and is supported rotatably about the device axis 10a.
  • the roller 17 is attached to a rigid roller shaft 16 extending from the rotary shaft 15, and is a position where the flexible teeth 13d are bent in the direction of the device axis 10a and meshed with the first and second rigid teeth 11b and 12b. Is held in.
  • the roller 17 is supported by the roller support surface 18b of the support disk 18 so as not to move in the direction of the apparatus axis 10a from the side opposite to the flexible face gear 13. Therefore, the wave generator 14 supports the flexible tooth 13d from the direction of the device axis 10a with high support rigidity, and the flexible tooth 13d is appropriate for the first and second rigid teeth 11b and 12b. The intimate state is maintained.
  • the wave gear device 10 having this configuration is generally used as a speed reducer.
  • the rotation shaft 15 of the wave generator 14 is an input shaft to which high-speed rotation is input from a motor or the like
  • the second rigid face gear 12 is an output shaft for reduced rotation.
  • the roller 17 revolves around the device axis 10a together with the rotating shaft 15.
  • the roller 17 is attached to a rigid roller shaft 16 and is supported by a support disk 18 so as not to move in the direction of the apparatus axis 10a. Therefore, when the roller 17 revolves, the meshing position of the first and second rigid face gears 11 and 12 and the flexible face gear 13 also moves in the circumferential direction.
  • the second rigid face gear 12 and the flexible face gear 13 have the same number of teeth and rotate together.
  • relative rotation corresponding to the difference in the number of teeth of both gears occurs between the first rigid face gear 11 and the flexible face gear 13.
  • first rigid face gear 11 Since the first rigid face gear 11 is fixed so as not to rotate with respect to a device housing (not shown), relative rotation is output from the second rigid face gear 12. That is, the input rotation is greatly decelerated in accordance with the difference in the number of teeth, and the rotation after the deceleration is transmitted from the second rigid face gear 12 to the load side (not shown).
  • the wave generator 14 in this example is engaged with the first and second rigid teeth 11b and 12b by bending the flexible teeth 13d by the roller 17.
  • the flexible tooth 13d can be engaged with each of the first and second rigid teeth 11b and 12b in an appropriate state over the entire tooth trace direction. it can.
  • the support rigidity of the flexible teeth 13d by the roller 17 is high. Therefore, the transmission torque of the wave gear device 10 can be improved.
  • bevel gears can be used as the first and second rigid face gears 11 and 12.
  • a wave generator 14 a wave generator having a single roller can be used.
  • a cam-type wave generator that bends the flexible face gear 13 using a rotating cam having a cam surface formed in the circumferential direction may be used.
  • the second rigid face gear 12 and the flexible face gear 13 have the same number of teeth.
  • the second rigid face gear 12 and the flexible face gear 13 can have different numbers of teeth.
  • a speed change operation is performed between the first rigid face gear 11 and the flexible face gear 13
  • a speed change operation is also performed between the flexible face gear 13 and the second rigid face gear 12. .
  • a plane-opposed wave gear device having a desired reduction ratio between a high reduction ratio and a reduction speed ratio can be realized.
  • FIG. 2A and 2B show a first modification of the wave gear device 10, wherein FIG. 2A is a schematic side view thereof, FIG. 2B is a schematic front view thereof, and FIG. 2C is a schematic perspective view thereof.
  • a hollow wave generator 14A is incorporated in place of the wave generator 14 of the wave gear device 10 described above.
  • the hollow wave generator 14A includes a hollow rotary shaft 15A, three roller shafts 16A extending radially from the outer peripheral surface at equal angular intervals, and axial end portions on the outer peripheral side in the radial direction of each of the roller shafts 16A.
  • a roller 17A that is rotatably mounted and a support disk 18A that supports the roller 17A from the side opposite to the flexible face gear 13 are provided.
  • the hollow rotary shaft 15A is supported in a rotatable state by a device housing (not shown).
  • Each of the rollers 17A is a roller having a predetermined length with the roller shaft 16A as a central axis.
  • the roller 17A has, for example, a circular outer peripheral surface having the same outer diameter.
  • the support disk 18A is coaxially fixed to the outer peripheral surface of the hollow rotary shaft 15A. It is also possible to manufacture the hollow rotary shaft 15A and the support disk 18A as a single part.
  • a large-diameter device hollow portion 19 extending through the central portion in the direction of the device axis 10a is formed.
  • the inner diameter dimension of the device hollow portion 19 is defined by the inner diameter dimension of the hollow portion of the hollow rotary shaft 15A disposed at the innermost side in the radial direction.
  • the wave gear device 10A is advantageous when forming a device hollow portion having a large inner diameter.
  • FIG. 3 shows a second modification of the wave gear device 10, (a) is a schematic side view thereof, (b) is a schematic exploded perspective view thereof, and (c) and (d) are flexibility thereof. It is the front view and partial sectional view which show a face gear.
  • the basic configuration of the wave gear device 10B according to Modification 2 is the same as that of the wave gear device 10 described above.
  • the difference is that the flexible face gear 13B is formed with the first flexible teeth 13d1 on the radially outer side and the second flexible teeth 13d2 on the inner side. Since the configuration other than this is the same as that of the wave gear device 10, the corresponding parts are denoted by the same reference numerals, and description thereof is omitted.
  • the flexible face gear 13B of this example has a flexible disk 13a arranged in a state perpendicular to the apparatus axis 10a with the apparatus axis 10a as the center, and first and second rigid teeth 11b in the disk 13a,
  • the first flexible tooth 13d1 and the second flexible tooth 13d2 are provided on the annular end surface facing the side 12b.
  • the first flexible tooth 13d1 faces the first rigid tooth 11b of the first rigid face gear 11 and can mesh with the first rigid tooth 11b.
  • the second flexible tooth 13d2 faces the second rigid tooth 12b of the second rigid face gear 12, and can mesh with the second rigid tooth 12b.
  • first and second rigid face gears 11 and 12 have the same number of teeth.
  • the number of teeth of the first and second flexible teeth 13d1, 13d2 is different.
  • the first rigid face gear 11 has fewer teeth than the first flexible teeth 13d1
  • the second rigid face gear 12 has fewer teeth than the second flexible teeth 13d2.
  • the magnitude relationship of the number of teeth of these gears can be various.
  • a speed change operation is performed between the first rigid face gear 11 and the first flexible teeth 13d1 of the flexible face gear 13B.
  • a speed change operation is also performed between the second flexible teeth 13 d 2 of the flexible face gear 13 and the second rigid face gear 12.

Landscapes

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

Abstract

L'invention concerne un engrenage à onde de déformation du type à dentures frontales (10) qui comprend des première et seconde roues à denture frontale rigides (11, 12), une roue à denture frontale flexible (13) et un générateur d'onde (14). Le générateur d'onde (14) fait dévier la roue à denture frontale flexible (13) dans la direction axiale de l'engrenage et fait engrener la roue à denture frontale flexible (13) avec les première et seconde roues à denture frontale rigides (11, 12). Lorsque le générateur d'onde (14) tourne, la roue à denture frontale flexible (13), qui possède un nombre de dents différent de celui de la première roue à denture frontale rigide (11) sur le côté fixé, tourne par rapport à la première roue à denture frontale rigide (11). La seconde roue à denture frontale rigide (12) tourne d'un seul tenant avec la roue à denture frontale flexible (13), qui possède le même nombre de dents que la seconde roue à denture frontale rigide (12). Ainsi, le mouvement de rotation peut être produit par la seconde roue à denture frontale rigide (12).
PCT/JP2014/071755 2014-08-20 2014-08-20 Engrenage à onde de déformation du type à dentures frontales WO2016027324A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/071755 WO2016027324A1 (fr) 2014-08-20 2014-08-20 Engrenage à onde de déformation du type à dentures frontales

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/071755 WO2016027324A1 (fr) 2014-08-20 2014-08-20 Engrenage à onde de déformation du type à dentures frontales

Publications (1)

Publication Number Publication Date
WO2016027324A1 true WO2016027324A1 (fr) 2016-02-25

Family

ID=55350303

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2014/071755 WO2016027324A1 (fr) 2014-08-20 2014-08-20 Engrenage à onde de déformation du type à dentures frontales

Country Status (1)

Country Link
WO (1) WO2016027324A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019009176A1 (fr) * 2017-07-07 2019-01-10 日本電産シンポ株式会社 Réducteur de vitesse

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6040845A (ja) * 1983-04-12 1985-03-04 アシスタンス・アンデユストリエル・ド−フイノア−ズ・ア．イ．デ 原軸と従軸間の回転運動伝達装置
JPS60129455A (ja) * 1983-12-14 1985-07-10 Matsushita Electric Works Ltd 動力伝達装置
JPS60222641A (ja) * 1984-01-10 1985-11-07 ウ、テイ、ア、エツセ、ソチエタ、ペル、アツイオ−ニ 同軸回転部材間の運動伝達装置
JPS6389453U (fr) * 1986-11-29 1988-06-10
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置
JP2000009191A (ja) * 1998-06-19 2000-01-11 Harmonic Drive Syst Ind Co Ltd カップ型波動歯車装置
JP2011002084A (ja) * 2009-06-22 2011-01-06 Jtekt Corp 撓み噛み合い式歯車装置
JP2011012800A (ja) * 2009-07-06 2011-01-20 Jtekt Corp 撓み噛み合い式歯車装置
JP2013015191A (ja) * 2011-07-04 2013-01-24 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6040845A (ja) * 1983-04-12 1985-03-04 アシスタンス・アンデユストリエル・ド−フイノア−ズ・ア．イ．デ 原軸と従軸間の回転運動伝達装置
JPS60129455A (ja) * 1983-12-14 1985-07-10 Matsushita Electric Works Ltd 動力伝達装置
JPS60222641A (ja) * 1984-01-10 1985-11-07 ウ、テイ、ア、エツセ、ソチエタ、ペル、アツイオ−ニ 同軸回転部材間の運動伝達装置
JPS6389453U (fr) * 1986-11-29 1988-06-10
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置
JP2000009191A (ja) * 1998-06-19 2000-01-11 Harmonic Drive Syst Ind Co Ltd カップ型波動歯車装置
JP2011002084A (ja) * 2009-06-22 2011-01-06 Jtekt Corp 撓み噛み合い式歯車装置
JP2011012800A (ja) * 2009-07-06 2011-01-20 Jtekt Corp 撓み噛み合い式歯車装置
JP2013015191A (ja) * 2011-07-04 2013-01-24 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019009176A1 (fr) * 2017-07-07 2019-01-10 日本電産シンポ株式会社 Réducteur de vitesse

Similar Documents

Publication Publication Date Title
US10281007B2 (en) Speed reducer
JP5429119B2 (ja) 遊星歯車装置
JP2023184669A (ja) 歯車ユニット
JP2014059050A (ja) バックラッシュを除去した高変速比の遊星歯車機構式減速機
JP5966209B1 (ja) 差動装置及びこれを利用した加工装置
JP2015075139A (ja) 歯車機構
JP2010084842A (ja) 回転駆動装置、ロボットの関節構造及びロボットアーム
JP5480845B2 (ja) 遊星歯車機構
JP6237205B2 (ja) 遊星歯車機構
WO2016027324A1 (fr) Engrenage à onde de déformation du type à dentures frontales
JP6120618B2 (ja) 遊星ギヤ装置
JP2016008633A (ja) 内接歯車式の減速機
JP2014029203A (ja) 遊星歯車機構を利用する高変速比の減速機
WO2016027323A1 (fr) Engrenage à onde de déformation du type à dentures frontales
JP5891054B2 (ja) デファレンシャル装置
JP2015218804A (ja) 遊星歯車機構を利用する伝動装置
KR102292513B1 (ko) 감속기
JP6322876B2 (ja) 遊星ローラ式摩擦伝動装置
JP2017067259A (ja) やまば歯車の支持構造
JP2010196860A (ja) 減速装置
JP6354971B2 (ja) 遊星ローラ式摩擦伝動装置
JP2013199999A (ja) 減速機
JP2016186313A (ja) 動力伝達装置
JP6568749B2 (ja) 遊星ローラ式の動力伝達装置
JP2014062590A (ja) 減速機

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14899952

Country of ref document: EP

Kind code of ref document: A1

WA Withdrawal of international application
NENP Non-entry into the national phase

Ref country code: DE