| 摘要 |
A speed-changing device comprising a planetary gear stage integrated with an oscillatory roller transmission (ORT) stage. The ORT stage having eccentric wave actuating disk (14) mounted on eccentric portions (18) of crankshafts (11) of the planetary stage, rollers (20) mounted in radial slots (27) of transmission disks via pin (26), with the rollers acting on the internal gear (30). |
