TWI400399B - Mechanical device, and drive element retention mechanism for the mechanical device - Google Patents
Mechanical device, and drive element retention mechanism for the mechanical device Download PDFInfo
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Description
本發明，是關於滾子齒輪凸輪、球減速機、滾筒凸輪、滾筒形減速機等的機械裝置及其驅動體保持機構。The present invention relates to a mechanical device such as a roller gear cam, a ball reducer, a drum cam, a drum reducer, and the like, and a drive body holding mechanism thereof.
習知的機械裝置、例如球減速機，是有下述專利文獻1揭示的蝸桿減速機。依據此，藉由固定於輸入軸的蝸桿齒輪及固定於輸出軸的蝸輪，進行蝸桿減速機內的輸入旋轉的減速。鼓形的蝸桿齒輪的螺旋狀的球溝，是與配置於蝸輪的周圍的多數凹部內的球嚙合，使蝸桿齒輪的旋轉動力傳遞至蝸輪。A conventional mechanical device, for example, a ball reducer, is a worm reducer disclosed in Patent Document 1 below. According to this, the worm gear fixed to the input shaft and the worm wheel fixed to the output shaft perform the deceleration of the input rotation in the worm reducer. The spiral groove of the drum-shaped worm gear meshes with a ball disposed in a plurality of recesses around the worm wheel, and transmits the rotational power of the worm gear to the worm wheel.
[專利文獻1]日本特開平5－302649公報[Patent Document 1] Japanese Patent Laid-Open No. Hei 5-302649
但是，在上述習知技術中，配置於蝸輪的周圍的凹部內的球是由殼保持。即，藉由殼防止球從蝸輪脫落。因此，減速機本身大型化，並且有變重的問題。另一方面，在機械手臂等中在其關節部分是使用減速機，所以有減速機的小型化、輕量化的需求。對於減速機以外的各種的機械裝置也同樣。However, in the above-described conventional technique, the ball disposed in the concave portion around the worm wheel is held by the casing. That is, the ball is prevented from falling off the worm wheel by the case. Therefore, the speed reducer itself is large in size and has a problem of becoming heavy. On the other hand, in a robot arm or the like, a reduction gear is used in the joint portion thereof, so there is a demand for downsizing and weight reduction of the reduction gear. The same applies to various mechanical devices other than the reducer.
本發明的目的，是著眼於以上的問題，藉由將球等的驅動體保持機構簡略化，達成其所適用的機械裝置的小型化、輕量化。In view of the above problems, the object of the present invention is to simplify the size and weight of a mechanical device to which the above-described mechanism is applied, by simplifying the driving body holding mechanism such as a ball.
為了達成前述目的，本發明的驅動體保持機構，其特徵為：在由磁性材料形成的第1機械構件形成凹部，並且在此凹部內收納磁鐵及與第2機械構件抵接的驅動體，藉由前述磁鐵將前述驅動體吸著保持。其他的發明，是保持與第1機械構件及第2機械構件抵接而被驅動的驅動體用的驅動體保持機構，其特徵為：前述第1或第2至少一方的機械構件及驅動體由磁性材料形成，並且沿著另一方的機械構件的抵接部位形成凹部，在此凹部內收納磁鐵及前述驅動體，藉由前述磁鐵將前述驅動體吸著保持。In order to achieve the above object, a driving body holding mechanism according to the present invention is characterized in that a concave portion is formed in a first mechanical member formed of a magnetic material, and a magnet and a driving body that abuts against the second mechanical member are housed in the concave portion. The driving body is sucked and held by the magnet. According to another aspect of the invention, a driving body holding mechanism for driving a driving body that is driven to abut against the first mechanical member and the second mechanical member is characterized in that the first or second mechanical member and the driving body are The magnetic material is formed, and a concave portion is formed along a contact portion of the other mechanical member, and the magnet and the driving body are housed in the concave portion, and the driving body is sucked and held by the magnet.
主要的形態之一，前述驅動體，是剛球或是凸輪從動件。其他的形態之一，是設置對於前述驅動體附與增壓用的推迫手段。In one of the main forms, the driving body is a rigid ball or a cam follower. One of the other forms is to provide a means for pushing the above-mentioned driving body with a pressurization.
本發明的機械裝置，是具備前述任一項的驅動體保持機構。本發明的前述及其他的目的、特徵、優點，可從以下的詳細的說明及添付圖面明瞭。A mechanical device according to the present invention is the drive body holding mechanism according to any of the above. The above and other objects, features and advantages of the present invention will become apparent from
依據本發明，因為利用磁鐵保持球等的驅動體，所以可以省略保持用的殼，可以達成機械裝置的小型化．輕量化。According to the present invention, since the driving body of the ball or the like is held by the magnet, the casing for holding can be omitted, and the miniaturization of the mechanical device can be achieved. Lightweight.
以下，供實施本發明用的最良的形態，依據實施例詳細說明。Hereinafter, the best mode for carrying out the invention will be described in detail based on examples.
最初，一邊參照第1圖，一邊說明本發明的實施例1。本實施例，是將上述球減速機適用於本發明，如第1圖(A)所示，由蝸桿齒輪10、及蝸輪20所構成。蝸桿齒輪10，是固定於輸入軸12，蝸輪20是固定於輸出軸22。在圖示的例中，輸入軸12及輸出軸22是略相互垂直。這些軸12、22皆是藉由適宜的軸承(無圖示)可旋轉地被支撐。First, the first embodiment of the present invention will be described with reference to Fig. 1 . In the present embodiment, the ball reducer is applied to the present invention, and as shown in Fig. 1(A), the worm gear 10 and the worm wheel 20 are constituted. The worm gear 10 is fixed to the input shaft 12, and the worm wheel 20 is fixed to the output shaft 22. In the illustrated example, the input shaft 12 and the output shaft 22 are slightly perpendicular to each other. These shafts 12, 22 are rotatably supported by suitable bearings (not shown).
在前述蝸桿齒輪10的外周中，形成螺旋狀的球溝14，在蝸輪20的外周中形成多數的凹部24。凹部24，是第1圖(B)分解所示，含有：收納永久磁鐵26的收納部24A、及承受球28的球面部24B。如第1圖(C)擴大顯示，磁鐵26，是收納於凹部24的收納部24A。在本實施例中，蝸輪20因為是由磁性體或磁性材料所形成，所以磁鐵26是藉由磁力吸著於蝸輪20。接著，球28是收納於凹部24的球面部24B。球28也由磁性體形成，被磁鐵26吸著。又，使在磁鐵26及球28之間形成空間29的方式設定各部的尺寸。空間29，是防止因為球28的旋轉所造成的磁鐵26的損摥，並且也具有讓油滯留的功能。In the outer circumference of the worm gear 10, a spiral ball groove 14 is formed, and a plurality of concave portions 24 are formed in the outer circumference of the worm wheel 20. The recessed portion 24 is an exploded view of the first figure (B) and includes a housing portion 24A that houses the permanent magnet 26 and a spherical portion 24B that receives the ball 28. As shown in FIG. 1(C), the magnet 26 is a housing portion 24A housed in the recess 24. In the present embodiment, since the worm wheel 20 is formed of a magnetic material or a magnetic material, the magnet 26 is attracted to the worm wheel 20 by magnetic force. Next, the ball 28 is a spherical portion 24B housed in the concave portion 24. The ball 28 is also formed of a magnetic body and is sucked by the magnet 26. Further, the size of each portion is set such that the space 29 is formed between the magnet 26 and the ball 28. The space 29 is a function of preventing the loss of the magnet 26 due to the rotation of the ball 28, and also has a function of retaining oil.
從磁鐵26所發出的磁力線，是如第1圖(C)箭頭FA(或是相反)所示，通過球28、蝸輪20內後再度回到磁鐵26。如此，球28，是藉由磁鐵26被保持於蝸輪20的凹部24，這些的球28，是成為嵌入嚙合於上述蝸桿齒輪10的球溝14的結構。The magnetic lines of force emitted from the magnet 26 are returned to the magnet 26 through the ball 28 and the worm wheel 20 as indicated by the arrow FA (or vice versa) in Fig. 1(C). In this manner, the ball 28 is held by the concave portion 24 of the worm wheel 20 by the magnet 26, and the ball 28 is configured to be fitted into the ball groove 14 of the worm gear 10.
接著，說明本實施例的作用的話，蝸桿齒輪10隨著輸入軸12的旋轉而旋轉的話，球28是成為沿著其球溝14移動。蝸輪20隨著此球28的移動而旋轉，進一步輸出軸22也旋轉。如此，輸入軸12的旋轉傳達至輸出軸22。對於輸入軸12的旋轉數因為輸出軸22的旋轉數變小，結果成為具有減速機的作用。這些的動作，是與上述習知技術同樣。Next, when the operation of the present embodiment is described, when the worm gear 10 rotates in accordance with the rotation of the input shaft 12, the ball 28 moves along the ball groove 14. The worm wheel 20 rotates as the ball 28 moves, and the further output shaft 22 also rotates. As such, the rotation of the input shaft 12 is communicated to the output shaft 22. The number of rotations of the input shaft 12 is reduced by the number of rotations of the output shaft 22, and as a result, it has a function as a speed reducer. These actions are the same as the above-described conventional techniques.
但是，依據本實施例，如上述，球28是藉由磁鐵26吸著於蝸輪20側。因此，可以省略供防止蝸輪20從球28脫落用的殼。因此，減速機整體可以達成小型化、輕量化，對於機械手臂的關節等最佳。且，磁鐵的磁力是形成通過蝸輪20及球28的閉環，所以磁力線不會漏出外部。因此，鐵粉等即使浮遊於潤滑油內，那些鐵粉也不會附著於蝸輪20或球28。However, according to the present embodiment, as described above, the ball 28 is sucked by the magnet 26 on the side of the worm wheel 20. Therefore, the case for preventing the worm wheel 20 from coming off the ball 28 can be omitted. Therefore, the entire reducer can be made compact and lightweight, and it is optimal for the joints of the robot arm. Further, since the magnetic force of the magnet is formed in a closed loop passing through the worm wheel 20 and the ball 28, the magnetic lines of force do not leak out of the outside. Therefore, even if iron powder or the like floats in the lubricating oil, those iron powders do not adhere to the worm wheel 20 or the ball 28.
接著，一邊參照第2圖，一邊說明本發明的實施例2。又，與上述實施例1相同的對應構成要素是使用相同的符號。本實施例，是藉由上述實施例1的推迫手段對於球28附與增壓來降低齒隙(Backlash)的例。同圖中，(A)是顯示球28沈下狀態，(B)是顯示球28浮起狀態。在這些圖中，在圓柱狀的框50的外面側形成供收納上述磁鐵26及球28用的凹部52。另一方面，在框50的內面側形成供收納彈簧56用的凹部58。在框50的中心且在前述凹部52的底側設置軸構件60，螺絲62是可滑動地設置於此軸構件60。在此螺絲62中設置密封件64，在此密封件64、及前述框50之間挾持前述彈簧56。以上的整體，是埋入蝸輪20的周面，並且前述螺絲62的先端，是螺入固定於被設置於蝸輪20側的螺帽(無圖示)。即，球28及框50是隔著彈簧56固定於螺絲62即滾輪側的構造。其他的部分的結構，是與上述實施例1同樣。Next, a second embodiment of the present invention will be described with reference to Fig. 2 . Further, the same constituent elements as those of the above-described first embodiment are denoted by the same reference numerals. In the present embodiment, the ball 28 is pressurized by the above-described embodiment 1 to reduce the backlash. In the same figure, (A) is a state in which the ball 28 is lowered, and (B) is a state in which the ball 28 is floated. In these figures, a recess 52 for accommodating the magnet 26 and the ball 28 is formed on the outer surface side of the cylindrical frame 50. On the other hand, a concave portion 58 for accommodating the spring 56 is formed on the inner surface side of the frame 50. A shaft member 60 is provided at the center of the frame 50 and on the bottom side of the aforementioned recess 52, and the screw 62 is slidably disposed to the shaft member 60. A seal 64 is provided in the screw 62, and the spring 56 is held between the seal 64 and the frame 50. The whole of the above is embedded in the circumferential surface of the worm wheel 20, and the tip end of the screw 62 is screwed and fixed to a nut (not shown) provided on the side of the worm wheel 20. That is, the ball 28 and the frame 50 are fixed to the screw 62, that is, the roller side via the spring 56. The structure of the other parts is the same as that of the above-described first embodiment.
接著，說明本實施例的作用的話，如上述，蝸輪20側的球28，雖是與蝸桿齒輪10側的球溝14嚙合，但是因為各部的機械尺寸的誤差或熱變形等的理由，所以這種球28的壓力會變化。壓力高的話，對於球28的壓力會傳達至框50，框50會對於蝸輪20沈入。即，從第2圖(B)成為(A)的狀態。相反地，壓力變低的話，彈簧56會延伸，框50會吐出至蝸輪20的外面側，進一步球28按壓接觸於球溝14。如此，藉由彈簧56的作用，可降低對於球28的齒隙(Backlash)。Next, when the operation of the present embodiment is described, the ball 28 on the worm wheel 20 side meshes with the ball groove 14 on the worm gear 10 side, but the mechanical size of each part is in error or thermal deformation, etc. The pressure of the seed ball 28 will vary. If the pressure is high, the pressure on the ball 28 will be communicated to the frame 50, which will sink into the worm gear 20. That is, the state shown in (A) from the second figure (B). Conversely, if the pressure is low, the spring 56 will extend, the frame 50 will be discharged to the outer side of the worm wheel 20, and the ball 28 will be pressed against the ball groove 14. Thus, by the action of the spring 56, the backlash to the ball 28 can be reduced.
接著，一邊參照第3圖，一邊說明本發明的實施例3。首先，如第3圖(A)所示的例，是對於滾子齒輪凸輪本發明適用的例。滾子齒輪凸輪，是使用於例如工作機械的自動工具交換裝置(ATC)。對於輸入側也就是滾子齒輪凸輪100的球溝102，嚙合輸出側也就是轉台110的球28。轉台110的磁鐵26或球28的安裝部分的構造是與上述實施例1同樣，轉台110是由磁性體形成。轉台110是隨著滾子齒輪凸輪100的旋轉而旋轉/擺動運動。Next, a third embodiment of the present invention will be described with reference to Fig. 3 . First, an example shown in Fig. 3(A) is an example in which the roller gear cam is applied to the present invention. Roller gear cams are automatic tool changers (ATC) used, for example, in work machines. For the input side, that is, the ball groove 102 of the roller gear cam 100, the engagement output side is also the ball 28 of the turntable 110. The structure of the mounting portion of the magnet 26 or the ball 28 of the turntable 110 is the same as that of the above-described first embodiment, and the turntable 110 is formed of a magnetic body. The turntable 110 is a rotation/swing motion as the roller gear cam 100 rotates.
第3圖(B)的例，是對於滾筒凸輪或滾筒形減速機本發明適用的例，輸出側也就是轉台210是隔著球28嚙合於輸入側也就是凸輪200的構造。在凸輪200設置球抵接面202，在轉台210的主面外周側與上述實施例同樣設置複數磁鐵26及球28。轉台210的磁鐵26或球28的安裝部分的構造是與上述實施例1同樣，轉台210是由磁性體形成。對於凸輪200的旋轉，轉台200是對應於球抵接面202的形狀進行間歇旋轉運動。The example of Fig. 3(B) is an example in which the drum cam or the drum type speed reducer is applied to the present invention, and the output side, that is, the turntable 210 is a structure in which the ball 200 is engaged with the ball side via the ball 28. The ball abutting surface 202 is provided on the cam 200, and the plurality of magnets 26 and the balls 28 are provided on the outer peripheral side of the main surface of the turntable 210 in the same manner as in the above embodiment. The structure of the mounting portion of the magnet 26 or the ball 28 of the turntable 210 is the same as that of the above-described first embodiment, and the turntable 210 is formed of a magnetic body. For the rotation of the cam 200, the turntable 200 is intermittently rotated in accordance with the shape of the ball abutting surface 202.
第3圖(C)的例，是對於ATC臂鉤固定解除銷本發明適用的例，銷接觸面300，是隔著球28抵接於固定解除銷310。固定解除銷310，是藉由彈簧312可上下動地支撐於基部314。固定解除銷310的磁鐵26或球28的安裝部分的構造是與上述實施例1同樣，固定解除銷310是由磁性體形成。The example of Fig. 3(C) is an example in which the ATC arm hook fixing release pin is applied to the present invention, and the pin contact surface 300 is in contact with the fixed release pin 310 via the ball 28. The fixed release pin 310 is supported by the base 314 by the spring 312 so as to be movable up and down. The structure of the mounting portion of the magnet 26 or the ball 28 of the fixing release pin 310 is the same as that of the above-described first embodiment, and the fixing release pin 310 is formed of a magnetic body.
接著，一邊參照第4圖，一邊說明本發明的實施例4。上述實施例，皆是對於球本發明適用的例，本實施例，是對於圓筒狀或圓柱狀的凸輪從動件適用的例。同圖(A)，是顯示對於滾輪或轉台等的保持基座500的凹部502，與上述實施例同樣，首先收納磁鐵26，接著可旋轉地收納圓筒狀的凸輪從動件510的例。本例的保持基座500也是由磁性體形成。凸輪從動件510，因為是在磁鐵26吸引而保持於保持基座500的凹部502內，所以可以軸512為中心旋轉自如。第4圖(B)的例，與前述第4圖(A)相比較，是在從凸輪從動件520的保持基座500露出的部分形成圓錐狀錐面520A的例。Next, a fourth embodiment of the present invention will be described with reference to Fig. 4 . The above embodiments are all examples applicable to the present invention, and the present embodiment is applied to a cylindrical or cylindrical cam follower. In the same manner as in the above-described embodiment, the concave portion 502 of the holding base 500 such as a roller or a turntable is first placed in the same manner as in the above-described embodiment, and the cylindrical cam follower 510 is rotatably accommodated. The holding base 500 of this example is also formed of a magnetic body. Since the cam follower 510 is held by the magnet 26 and held in the recess 502 of the holding base 500, the shaft 512 can be rotated about the center. The example of Fig. 4(B) is an example in which a conical tapered surface 520A is formed in a portion exposed from the holding base 500 of the cam follower 520 as compared with the fourth Fig. 4(A).
第4圖(C)的例，是前述第4圖(A)的變形例。在第4圖(A)的例中，凸輪從動件510的外面是接觸保持基座500的凹部502而摩擦發生，但是對於凸輪從動件510的磁鐵側的角部特別顯著。在此，在本例中，在凸輪從動件530的磁鐵側部形成切除部532，在此切除部532及保持基座500的凹部502之間，***多數的球534。依據本實施例，藉由這些球534的作用，降低保持基座500及凸輪從動件530之間的摩擦。又，球534，雖是由磁性體形成也可以，但即使不是磁性體，也被保持於凸輪從動件530的切除部532內。第4圖(D)的例，是對於前述第4圖(B)的例適用前述第4圖(C)，在從凸輪從動件540的保持基座500露出的部分形成錐面520A。The example of Fig. 4(C) is a modification of the above Fig. 4(A). In the example of Fig. 4(A), the outer surface of the cam follower 510 is in contact with the concave portion 502 of the holding base 500, and friction occurs, but the corner portion on the magnet side of the cam follower 510 is particularly remarkable. Here, in this example, the cut portion 532 is formed on the magnet side portion of the cam follower 530, and a plurality of balls 534 are inserted between the cut portion 532 and the recess portion 502 of the holding base 500. According to the present embodiment, the friction between the holding base 500 and the cam follower 530 is lowered by the action of the balls 534. Further, although the ball 534 may be formed of a magnetic material, it is held in the cutout portion 532 of the cam follower 530 even if it is not a magnetic body. In the example of FIG. 4(D), the fourth drawing (C) is applied to the example of the fourth drawing (B), and the tapered surface 520A is formed in a portion exposed from the holding base 500 of the cam follower 540.
第4圖(E)的例，是前述第4圖(C)的變形例，在凸輪從動件550的胴體部分形成凹部552，在此部分及保持基座500的凹部502之間***複數滾針銷554的例。藉由滾針銷554的作用，降低凸輪從動件550的胴體部分、及保持基座500的凹部502的摩擦。第4圖(F)的例，是對於前述第4圖(B)的例適用前述第4圖(E)，在從凸輪從動件560的保持基座500露出的部分形成錐面520A。The example of Fig. 4(E) is a modification of Fig. 4(C), in which a concave portion 552 is formed in the body portion of the cam follower 550, and a plurality of rollers are inserted between the portion and the concave portion 502 of the holding base 500. An example of a pin 554. By the action of the needle pin 554, the body portion of the cam follower 550 and the friction of the recess 502 of the holding base 500 are lowered. In the example of Fig. 4(F), the fourth drawing (E) is applied to the example of the fourth drawing (B), and the tapered surface 520A is formed in a portion exposed from the holding base 500 of the cam follower 560.
以上第4圖所示的實施例，凸輪從動件也是藉由磁鐵可旋轉自如地保持於保持基座。因此，可以省略供防止凸輪從動件脫落用的殼，可以達成機械裝置的小型化、輕量化。In the embodiment shown in Fig. 4 above, the cam follower is also rotatably held by the magnet to the holding base. Therefore, the casing for preventing the cam follower from coming off can be omitted, and the size and weight of the mechanical device can be reduced.
接著，參照第5圖說明實施例5。本實施例，是接合體的例，(A)是在由磁性材料形成的棒600的先端形成凹部602。凹部602，是在其底側形成磁鐵604的收納部602A，在其周圍的球面部602B，可旋轉自如地抵接有磁性材料的球606。如同圖(B)的習知技術所示，在棒610的先端形成凹部612壓入球614的情況，球614的中心HC，有需要位置於比棒610的先端更凹部內側。但是，依據同圖(A)的例，因為藉由磁鐵604吸著球606，所以非必定需要，球606的中心HC是位於凹部602的外側即比棒600的先端更伸出的位置也可以。Next, a fifth embodiment will be described with reference to Fig. 5. This embodiment is an example of a joined body, and (A) is a concave portion 602 formed at the tip end of the rod 600 formed of a magnetic material. The recessed portion 602 is a housing portion 602A in which a magnet 604 is formed on the bottom side thereof, and a spherical portion 602B around the periphery thereof rotatably contacts a ball 606 of a magnetic material. As shown in the conventional technique of Fig. (B), in the case where the concave portion 612 is pressed into the ball 614 at the tip end of the rod 610, the center HC of the ball 614 is required to be positioned inside the concave portion of the tip end of the rod 610. However, according to the example of the same figure (A), since the ball 606 is sucked by the magnet 604, it is not necessary that the center HC of the ball 606 is located outside the recess 602, that is, more protruding than the tip end of the rod 600. .
第5圖(C)，是取代同圖(A)的球606，將切除一部分形成平面的切斷球608抵接於球面部602B的例。第5圖(D)，是在同圖(A)的棒600的外周形成螺栓溝620，作為螺絲的功能。第5圖(E)，是在同圖(C)的棒600的外周形成螺栓溝620，作為螺絲的功能。第5圖(F)，是在同圖(E)的棒600的先端設置凸緣622的例。第5圖(G)，是在棒630的凸緣622側形成前述凹部602，並且收納磁鐵604及切斷球608的例。Fig. 5(C) shows an example in which the ball 606 of the same figure (A) is used to cut off a part of the cut ball 608 which forms a plane to the spherical surface 602B. In Fig. 5(D), a bolt groove 620 is formed on the outer circumference of the rod 600 of the same figure (A) as a function of a screw. In Fig. 5(E), a bolt groove 620 is formed on the outer circumference of the rod 600 of the same figure (C) as a function of a screw. Fig. 5(F) shows an example in which the flange 622 is provided at the tip end of the rod 600 of the same figure (E). Fig. 5(G) shows an example in which the concave portion 602 is formed on the flange 622 side of the rod 630, and the magnet 604 and the cut ball 608 are housed.
第6圖，是按壓機構的例。如同圖(A)的主要剖面圖及同圖(B)的底面圖所示，在按壓板700的先端形成凹部702，收納磁鐵704及切斷球706。且，在按壓板700的中央附近，設置供後述螺絲通過用的貫通孔710。又，可取代凹部702、磁鐵704、切斷球706，將上述第5圖(E)至(F)的接合體螺固於按壓板700中的螺帽，將第5圖(G)的接合體壓入按壓板700中的孔也可以。Fig. 6 is an example of a pressing mechanism. As shown in the main cross-sectional view of the drawing (A) and the bottom drawing of the same drawing (B), a concave portion 702 is formed at the tip end of the pressing plate 700, and the magnet 704 and the cutting ball 706 are housed. Further, a through hole 710 for passing a screw to be described later is provided in the vicinity of the center of the pressing plate 700. Further, instead of the recessed portion 702, the magnet 704, and the cut ball 706, the joint of the fifth (E) to (F) of FIG. 5 can be screwed to the nut of the pressing plate 700, and the joint of FIG. 5(G) can be joined. It is also possible to press the body into the hole in the pressing plate 700.
這種按壓板700，是如第6圖(C)所示，使用於對於構件720固定構件722的情況。即，在按壓板700及構件720之間挾入構件722。這時，切斷球706的平坦面是抵接於構件722的表面。接著，螺絲726貫通按壓板700的貫通孔710及構件720的貫通孔724，在構件720的背側藉由螺帽728螺固固定。由此，藉由按壓板700將構件722按壓固定於構件720。這時，構件722的表面即使傾斜，切斷球706會旋轉，維持切斷球706的平坦面及構件722的表面整體不斷地接合的狀態。Such a pressing plate 700 is used for fixing the member 722 to the member 720 as shown in Fig. 6(C). That is, the member 722 is inserted between the pressing plate 700 and the member 720. At this time, the flat surface of the cut ball 706 is abutted against the surface of the member 722. Next, the screw 726 passes through the through hole 710 of the pressing plate 700 and the through hole 724 of the member 720, and is screwed and fixed to the back side of the member 720 by the nut 728. Thereby, the member 722 is press-fixed to the member 720 by the pressing plate 700. At this time, even if the surface of the member 722 is inclined, the cut ball 706 rotates, and the flat surface of the cut ball 706 and the entire surface of the member 722 are continuously joined.
此情況，依據本實施例，切斷球706的球中心是比按壓板700的表面突出也可以，切斷球706例如可以為半球，切斷球706的平坦面可以比習知技術大。且，也具有：切斷球706及凹部702的內側的接觸面積也比習知技術小、切斷球706的旋轉變平滑、摩擦降低的優點。In this case, according to the present embodiment, the center of the ball of the cut ball 706 may protrude from the surface of the pressing plate 700, and the cut ball 706 may be, for example, a hemisphere, and the flat surface of the cut ball 706 may be larger than the conventional technique. Further, the contact area between the cut ball 706 and the concave portion 702 is also smaller than that of the prior art, and the rotation of the cut ball 706 is smooth and the friction is lowered.
又，本發明，不限定於上述實施例，不脫離本發明的實質的範圍內可以進行各種變更。例如也含有以下例。The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit and scope of the invention. For example, the following examples are also included.
(1)前述實施例所示的形狀、尺寸、材質只是一例，即使適宜變更也可以達成同樣的作用。且，組合前述實施例也可以。例如，將第2圖所示貫施例適用於第3圖~第6圖所示的實施例。(1) The shape, size, and material shown in the above embodiments are merely examples, and the same effects can be achieved even if they are appropriately changed. Moreover, the foregoing embodiments may be combined. For example, the embodiment shown in Fig. 2 is applied to the embodiments shown in Figs. 3 to 6.
(2)在前述實施例中，球減速機或滾筒形減速機等雖顯示機械裝置的例，但只要是抵接於球或凸輪從動件等的驅動體使機械構件被抵接或是驅動構造的話，可適用於各種的機械裝置。(2) In the above embodiment, the ball reducer, the drum reducer, and the like show an example of a mechanical device, but the mechanical member is abutted or driven by a driving body that abuts against a ball or a cam follower. The structure can be applied to various mechanical devices.
(3)前述實施例所顯示的球，雖特別是剛球最佳，但是不限定於此。(3) The ball shown in the above embodiment is particularly preferably a rigid ball, but is not limited thereto.
依據本發明，因為球或凸輪從動件等的驅動體是由磁性材料形成，利用磁鐵吸著保持於機械構件，所以可以簡略化球等的保持機構。因此，可以達成適用其的機械裝置的小型化、輕量化，對於機械手臂的關節等最佳。According to the present invention, since the driving body such as the ball or the cam follower is formed of a magnetic material and is held by the mechanical member by the magnet, the holding mechanism of the ball or the like can be simplified. Therefore, it is possible to achieve miniaturization and weight reduction of the mechanical device to which it is applied, and it is optimal for the joint of the robot arm.
10．．．蝸桿齒輪10. . . Worm gear
12．．．輸入軸12. . . Input shaft
14．．．球溝14. . . Gutter
20．．．蝸輪20. . . Worm gear
22．．．輸出軸twenty two. . . Output shaft
24．．．凹部twenty four. . . Concave
24A．．．收納部24A. . . Storage department
24B．．．球面部24B. . . Spherical face
26．．．磁鐵26. . . magnet
28．．．球28. . . ball
29．．．空間29. . . space
50．．．框50. . . frame
52．．．凹部52. . . Concave
56．．．彈簧56. . . spring
58．．．凹部58. . . Concave
60．．．軸構件60. . . Shaft member
62．．．螺絲62. . . Screw
64．．．密封件64. . . Seals
100．．．滾子齒輪凸輪100. . . Roller gear cam
102．．．球溝102. . . Gutter
110．．．轉台110. . . Turntable
200．．．凸輪200. . . Cam
202．．．球抵接面202. . . Ball abutment
210．．．轉台210. . . Turntable
300．．．銷接觸面300. . . Pin contact surface
310．．．固定解除銷310. . . Fixed release pin
312．．．彈簧312. . . spring
314．．．基部314. . . Base
500．．．保持基座500. . . Hold the base
502．．．凹部502. . . Concave
510．．．凸輪從動件510. . . Cam follower
512．．．軸512. . . axis
520．．．凸輪從動件520. . . Cam follower
520A．．．錐面520A. . . tapered surface
530．．．凸輪從動件530. . . Cam follower
532．．．切除部532. . . Resection
534．．．球534. . . ball
540．．．凸輪從動件540. . . Cam follower
550．．．凸輪從動件550. . . Cam follower
552．．．凹部552. . . Concave
554．．．滾針銷554. . . Needle pin
560．．．凸輪從動件560. . . Cam follower
600．．．棒600. . . Baton
602．．．凹部602. . . Concave
602A．．．收納部602A. . . Storage department
602B．．．球面部602B. . . Spherical face
604．．．磁鐵604. . . magnet
606．．．球606. . . ball
608．．．切斷球608. . . Cut the ball
610．．．棒610. . . Baton
612．．．凹部612. . . Concave
614．．．球614. . . ball
620．．．螺栓溝620. . . Bolt groove
622．．．凸緣622. . . Flange
630．．．棒630. . . Baton
700．．．按壓板700. . . Press plate
702．．．凹部702. . . Concave
704．．．磁鐵704. . . magnet
706．．．切斷球706. . . Cut the ball
710．．．貫通孔710. . . Through hole
720．．．構件720. . . member
722．．．構件722. . . member
724．．．貫通孔724. . . Through hole
726．．．螺絲726. . . Screw
728．．．螺帽728. . . Nut
HC．．．中心HC. . . center
[第1圖]顯示本發明的實施例1的圖，(A)是概略的側面圖、(B)是主要部的組裝圖、(C)是顯示磁束的樣子的說明圖。[Fig. 1] A view showing a first embodiment of the present invention, (A) is a schematic side view, (B) is an assembly view of a main part, and (C) is an explanatory view showing a state of a magnetic flux.
[第2圖]顯示本發明的實施例2的圖，(A)是顯示球沈下狀態的圖、(B)是顯示球浮起狀態的圖。[Fig. 2] A view showing a second embodiment of the present invention, wherein (A) is a view showing a state in which a ball sinks, and (B) is a view showing a state in which a ball is floating.
[第3圖]顯示本發明的實施例3的圖，(A)是對於滾子齒輪凸輪的適用例的圖、(B)是顯示對於滾筒凸輪或滾筒形減速機的適用例的圖、(C)是顯示對於ATC臂鉤固定解除銷的適用例的圖。[Fig. 3] Fig. 3 is a view showing a third embodiment of the present invention, (A) is a view showing an example of application to a roller gear cam, and (B) is a view showing an example of application to a drum cam or a drum-shaped reducer. C) is a view showing an example of application to the ATC arm hook fixing release pin.
[第4圖]顯示本發明的實施例4的圖。Fig. 4 is a view showing a fourth embodiment of the present invention.
[第5圖]顯示本發明的實施例5的圖。(A)及(C)~(G)是顯示實施例的主要部的圖，(B)是顯示習知技術的圖。Fig. 5 is a view showing a fifth embodiment of the present invention. (A) and (C) to (G) are diagrams showing main parts of the embodiment, and (B) is a diagram showing a conventional technique.
[第6圖]顯示本發明的實施例5的圖。(A)是主要剖面圖，(B)是(A)的底面圖。(C)是顯示使用狀態的一例的圖。Fig. 6 is a view showing a fifth embodiment of the present invention. (A) is the main cross-sectional view, and (B) is the bottom view of (A). (C) is a diagram showing an example of the use state.
12．．．輸入軸12. . . Input shaft
14．．．球溝14. . . Gutter
20．．．蝸輪20. . . Worm gear
22．．．輸出軸twenty two. . . Output shaft
24．．．凹部twenty four. . . Concave
24A．．．收納部24A. . . Storage department
24B．．．球面部24B. . . Spherical face
26．．．磁鐵26. . . magnet
28．．．球28. . . ball
29．．．空間29. . . space
Claims (4)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006296997 | 2006-10-31 |
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| Publication Number | Publication Date |
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| TW200833974A TW200833974A (en) | 2008-08-16 |
| TWI400399B true TWI400399B (en) | 2013-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW96141007A TWI400399B (en) | 2006-10-31 | 2007-10-31 | Mechanical device, and drive element retention mechanism for the mechanical device |
Country Status (1)
| Country | Link |
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| TW (1) | TWI400399B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60189641U (en) * | 1984-05-28 | 1985-12-16 | 根本企画工業株式会社 | Power transmission device via balls |
| JPS61165067A (en) * | 1985-01-17 | 1986-07-25 | Nemoto Kikaku Kogyo Kk | Hourglass type warm transmission gear |
| JPH0484958U (en) * | 1990-11-30 | 1992-07-23 |
-
2007
- 2007-10-31 TW TW96141007A patent/TWI400399B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60189641U (en) * | 1984-05-28 | 1985-12-16 | 根本企画工業株式会社 | Power transmission device via balls |
| JPS61165067A (en) * | 1985-01-17 | 1986-07-25 | Nemoto Kikaku Kogyo Kk | Hourglass type warm transmission gear |
| JPH0484958U (en) * | 1990-11-30 | 1992-07-23 |
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| Publication number | Publication date |
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| TW200833974A (en) | 2008-08-16 |
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