TWI438358B - Deceleration mechanism - Google Patents
Deceleration mechanism Download PDFInfo
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- TWI438358B TWI438358B TW99107593A TW99107593A TWI438358B TW I438358 B TWI438358 B TW I438358B TW 99107593 A TW99107593 A TW 99107593A TW 99107593 A TW99107593 A TW 99107593A TW I438358 B TWI438358 B TW I438358B
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Description
本發明涉及一種減速機構。 The invention relates to a speed reduction mechanism.
減速機構作為機械傳動之重要部件，被廣泛應用於機器人、汽車等行業。常見之減速機構通常採用二直徑不同之相互嚙合之齒輪來實現減速。 As an important part of mechanical transmission, the speed reduction mechanism is widely used in robots, automobiles and other industries. A common deceleration mechanism usually uses two mutually different gears of different diameters to achieve deceleration.
一種減速機構，包括外殼體、形成於外殼體之內齒輪、設於外殼體內之具有偏心部之曲軸以及套設於偏心部之設有輪齒之擺線輪。擺線輪與曲軸偏心部連動，並藉由一邊與內齒輪嚙合一邊公轉來將輸入旋轉減速得到輸出旋轉。然，為達到較高之嚙合重合度，獲得平穩之輸出，上述減速機構之擺線輪通常於其外圓週面形成緊密設置之輪齒，當需設置之輪齒數量較多而減速機構整體尺寸受到限制時，輪齒需做得非常細小，且輪齒於圓週方向彼此間之間距亦非常小，甚至於齒根部位會產生重疊干涉，從而使擺線輪及其輪齒之製造難度加大，生產成本較高且結構較複雜。 A speed reduction mechanism includes an outer casing, an inner gear formed on the outer casing, a crankshaft having an eccentric portion disposed in the outer casing, and a cycloid wheel disposed on the eccentric portion and provided with gear teeth. The cycloidal wheel is interlocked with the eccentric portion of the crankshaft, and the input rotation is decelerated to obtain an output rotation by revolving while meshing with the internal gear. However, in order to achieve a high degree of meshing coincidence and obtain a smooth output, the cycloidal wheel of the above-mentioned speed reduction mechanism usually forms closely arranged teeth on its outer circumferential surface, and the number of gear teeth to be set is large and the overall size of the speed reduction mechanism When restricted, the teeth need to be made very small, and the distance between the teeth in the circumferential direction is also very small, even overlapping interference occurs at the root portion, which makes the manufacturing of the cycloidal wheel and its teeth more difficult. The production cost is high and the structure is complicated.
鑒於以上內容，有必要提供一種結構簡單且成本較低之減速機構。 In view of the above, it is necessary to provide a speed reduction mechanism that is simple in structure and low in cost.
一種減速機構，包括傳動組件及動力部件，傳動組件包括主動件、第一從動件、第二從動件、第一傳動件及第二傳動件，動力部 件與主動件連接，提供主動件之轉動動力，第一傳動件連接主動件及第一從動件，並於主動件之驅動下帶動第一從動件轉動，該第二從動件包括傳動部，該傳動部上開設有通孔，該主動件穿設通孔且與該第一從動件並排設置，第二傳動件纏繞於第一從動件上，且其二端能夠纏繞於該傳動部上，並於第一從動件之驅動下帶動第二從動件轉動。 A speed reduction mechanism includes a transmission component and a power component, and the transmission component includes an active component, a first driven component, a second driven component, a first transmission component and a second transmission component, and a power component The first connecting member is connected to the driving member, and the first driving member is connected to the driving member and the first driven member, and the first driven member is driven to rotate by the driving of the driving member, and the second driven member includes the transmission. a driving portion is provided with a through hole, the driving member is disposed through the through hole and is arranged side by side with the first follower, the second transmission member is wound on the first driven member, and the two ends thereof can be wound around the The second follower rotates on the transmission portion and is driven by the first follower.
上述減速機構藉由連接主動件及第一從動件之第一傳動件及連接第一從動件及第二從動件上之第二傳動件來實現減速傳動，省去了齒輪等結構複雜之裝置，結構簡單，生產成本較低且結構簡單。另，二傳動件之設置可使減速機構實現多級傳動。 The speed reduction mechanism realizes the reduction transmission by connecting the first transmission member of the active member and the first driven member and the second transmission member connecting the first driven member and the second driven member, thereby eliminating the complicated structure of the gear and the like. The device has the advantages of simple structure, low production cost and simple structure. In addition, the setting of the two transmission members enables the speed reduction mechanism to realize multi-stage transmission.
100‧‧‧減速機構 100‧‧‧Deceleration mechanism
10‧‧‧傳動組件 10‧‧‧Transmission components
30‧‧‧動力部件 30‧‧‧Power components
50‧‧‧支架 50‧‧‧ bracket
11‧‧‧主動件 11‧‧‧Active parts
12‧‧‧第一從動件 12‧‧‧First follower
13‧‧‧第二從動件 13‧‧‧Second follower
14‧‧‧第一傳動件 14‧‧‧First transmission
15‧‧‧第二傳動件 15‧‧‧Second transmission parts
16‧‧‧固定件 16‧‧‧Fixed parts
121‧‧‧從動軸 121‧‧‧ driven shaft
123‧‧‧從動輪 123‧‧‧ driven wheel
125‧‧‧容納槽 125‧‧‧ accommodating slot
131‧‧‧傳動部 131‧‧‧Transmission Department
133‧‧‧傳動桿 133‧‧‧Drive rod
135‧‧‧通孔 135‧‧‧through hole
137‧‧‧轉動軸 137‧‧‧Rotary axis
1311‧‧‧連接端 1311‧‧‧Connected end
1313‧‧‧側壁 1313‧‧‧ side wall
1315‧‧‧弧形邊緣 1315‧‧‧ curved edges
1317‧‧‧收容槽 1317‧‧‧ Containing trough
161‧‧‧定位塊 161‧‧‧ Positioning block
163‧‧‧調整塊 163‧‧‧Adjustment block
165‧‧‧碟形彈片 165‧‧‧disc shrapnel
167‧‧‧連接桿 167‧‧‧ Connecting rod
169‧‧‧螺釘 169‧‧‧ screws
31‧‧‧本體 31‧‧‧Ontology
51‧‧‧底板 51‧‧‧floor
53‧‧‧側板 53‧‧‧ side panels
55‧‧‧連接板 55‧‧‧Connecting plate
圖1係本發明實施方式之減速機構之立體組裝圖。 1 is a perspective assembled view of a speed reduction mechanism according to an embodiment of the present invention.
圖2係圖1所示減速機構另一視角之部分立體組裝圖。 2 is a partial perspective assembled view of another view of the speed reduction mechanism of FIG. 1.
圖3係圖1所示之傳動組件之平面示意圖。 Figure 3 is a plan view of the transmission assembly shown in Figure 1.
圖4係圖1所示減速機構另一視角之立體組裝圖。 4 is a perspective assembled view of another view of the speed reduction mechanism shown in FIG. 1.
圖5係圖1所示傳動組件另一視角之立體組裝圖。 Figure 5 is a perspective assembled view of the transmission assembly of Figure 1 from another perspective.
下面將結合附圖及具體實施方式對本發明之減速機構作進一步之詳細說明。 The speed reduction mechanism of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
請參閱圖1，本發明實施方式之減速機構100，可應用於機器人等機械設備。減速機構100包括傳動組件10、提供傳動組件10傳動動力之動力部件30及支撐該傳動組件10之支架50。 Referring to FIG. 1, a speed reduction mechanism 100 according to an embodiment of the present invention can be applied to a mechanical device such as a robot. The speed reduction mechanism 100 includes a transmission assembly 10, a power unit 30 that provides transmission power for the transmission assembly 10, and a bracket 50 that supports the transmission assembly 10.
傳動組件10包括主動件11、第一從動件12、第二從動件13、第一傳動件14、第二傳動件15及固定件16。第一傳動件14纏繞於主動件11及第一從動件12上，第二傳動件15纏繞於第一從動件12及第二從動件13上。固定件16將第一傳動件14之末端與第一從動件12固定連接，第二傳動件15之末端與第二從動件13固定連接。 The transmission assembly 10 includes an active member 11, a first follower 12, a second follower 13, a first transmission member 14, a second transmission member 15, and a fixing member 16. The first transmission member 14 is wound around the driving member 11 and the first driven member 12, and the second transmission member 15 is wound around the first driven member 12 and the second driven member 13. The fixing member 16 fixedly connects the end of the first transmission member 14 with the first follower member 12, and the end of the second transmission member 15 is fixedly coupled to the second follower member 13.
主動件11基本為圓柱體，一端與動力部件30連接。 The active member 11 is substantially cylindrical and has one end connected to the power unit 30.
請參閱圖1及圖2，第一從動件12包括從動軸121及環繞形成於從動軸121上之從動輪123。從動軸121基本為圓柱體，從動軸121之直徑小於從動輪123之直徑。本實施方式中，從動輪123數量為二，每一從動輪123上開設有螺旋設置之容納槽125。從動輪123之直徑與主動件11之直徑之比為第一級傳動比。 Referring to FIGS. 1 and 2 , the first follower 12 includes a driven shaft 121 and a driven wheel 123 formed on the driven shaft 121 . The driven shaft 121 is substantially cylindrical, and the diameter of the driven shaft 121 is smaller than the diameter of the driven wheel 123. In this embodiment, the number of the driven wheels 123 is two, and each of the driven wheels 123 is provided with a spirally disposed receiving groove 125. The ratio of the diameter of the driven wheel 123 to the diameter of the active member 11 is the first stage gear ratio.
請參閱圖1至圖3，第二從動件13包括傳動部131、自傳動部131一端延伸形成之傳動桿133、貫通開設於傳動部131之通孔135及轉動軸137。傳動部131基本為扇形結構，包括連接端1311、自連接端1311延伸之二側壁1313及連接二側壁1313之弧形邊緣1315。弧形邊緣1315上延弧形之延伸方向開設有收容槽1317，本實施方式中，收容槽1317數量為四，且基本平行。傳動桿133自連接端1311遠離弧形邊緣1315延伸。通孔135位於側壁1313及弧形邊緣1315中間。轉動軸137部分地收容於連接端1311中。傳動部131之扇形結構之半徑與第一從動件12之從動軸121之半徑之比為第二級傳動比。其中，第二從動件13之傳動部131之扇形角度為第一從動件12之轉動圈數與第二級傳動比之比值並乘以三百六十度後得到。 Referring to FIG. 1 to FIG. 3 , the second follower 13 includes a transmission portion 131 , a transmission rod 133 extending from one end of the transmission portion 131 , a through hole 135 extending through the transmission portion 131 , and a rotating shaft 137 . The transmission portion 131 is substantially a fan-shaped structure, and includes a connecting end 1311, two side walls 1313 extending from the connecting end 1311, and a curved edge 1315 connecting the two side walls 1313. The receiving edge 1317 is formed in the extending direction of the curved edge 1315. In the embodiment, the number of the receiving slots 1317 is four and substantially parallel. The drive rod 133 extends away from the curved edge 1315 from the connecting end 1311. The through hole 135 is located between the side wall 1313 and the curved edge 1315. The rotating shaft 137 is partially housed in the connecting end 1311. The ratio of the radius of the sector structure of the transmission portion 131 to the radius of the driven shaft 121 of the first follower 12 is the second stage transmission ratio. The fan angle of the transmission portion 131 of the second follower 13 is obtained by multiplying the ratio of the number of rotations of the first follower 12 to the second-stage transmission ratio and multiplying by three hundred and sixty degrees.
第一傳動件14纏繞於主動件11及第一從動件12之從動輪123之容 納槽125上。其中，第一傳動件14於第一從動件12之每一容納槽125上纏繞之圈數小於容納槽125上剩餘之圈數，以保證傳動之實現。第一傳動件14可為鋼絲繩、鋼帶等結構，只要其具有足夠之強度及韌性，以保證良好之傳動即可。本實施方式中，第一傳動件14為鋼絲繩。 The first transmission member 14 is wound around the active member 11 and the driven wheel 123 of the first follower 12 On the nano-slot 125. The number of turns of the first transmission member 14 on each of the receiving slots 125 of the first follower member 12 is smaller than the number of turns remaining on the receiving slot 125 to ensure the realization of the transmission. The first transmission member 14 may be a steel wire rope, a steel belt or the like as long as it has sufficient strength and toughness to ensure a good transmission. In the present embodiment, the first transmission member 14 is a wire rope.
第二傳動件15纏繞於第一從動件12之從動軸121及第二從動件13之收容槽1317內。第二傳動件15可為鋼絲繩、鋼帶等結構，只要其具有足夠之強度及韌性，以保證良好之傳動即可。第二傳動件15之數量，亦可根據實際需要之強度及減速機構100之尺寸等因素確定。本實施方式中，第二傳動件15為鋼絲繩，共有兩根。 The second transmission member 15 is wound in the receiving shaft 121 of the first follower 12 and the receiving groove 1317 of the second follower 13. The second transmission member 15 can be a steel wire rope, a steel belt or the like as long as it has sufficient strength and toughness to ensure a good transmission. The number of the second transmission members 15 can also be determined according to factors such as the actual required strength and the size of the speed reduction mechanism 100. In the present embodiment, the second transmission member 15 is a steel cord, and there are two.
請參閱圖4及圖5，本實施方式中，固定件16共有四個，其中二用於將第一傳動件14之末端固定於第一從動件12之二從動輪123上，另外二用於將第二傳動件15之末端固定於第二從動件13之傳動部131上。每一固定件16包括定位塊161、調整塊163、碟形彈片165、連接桿167及螺釘169。 Referring to FIG. 4 and FIG. 5 , in the embodiment, there are four fixing members 16 , two of which are used to fix the end of the first transmission member 14 to the second driven wheel 123 of the first follower 12 , and the other two are used. The end of the second transmission member 15 is fixed to the transmission portion 131 of the second follower 13. Each of the fixing members 16 includes a positioning block 161, an adjusting block 163, a disk-shaped elastic piece 165, a connecting rod 167, and a screw 169.
動力部件30為馬達，包括本體31及與本體31轉動連接之旋轉軸(圖未示)。 The power component 30 is a motor and includes a body 31 and a rotating shaft (not shown) rotatably coupled to the body 31.
支架50包括底板51、分別自底板51相對兩邊緣垂直延伸之側板53及自底板51之中部延伸之兩連接板55。連接板55與側板53分別位於底板51之相對二側。 The bracket 50 includes a bottom plate 51, side plates 53 extending perpendicularly from opposite edges of the bottom plate 51, and two connecting plates 55 extending from the middle portion of the bottom plate 51. The connecting plate 55 and the side plate 53 are respectively located on opposite sides of the bottom plate 51.
請參閱圖1至圖5，組裝減速機構100時，第二從動件13之轉動軸137之相對二端分別收容於支架50之二連接板55內，並與二連接板55轉動連接。動力部件30之本體31固定於支架50其中一側板53 上，主動件11穿過第二從動件13之通孔135後，一端穿過該側板53與動力部件30之旋轉軸轉動連接，另一端穿過另一側板53，並與該側板53轉動連接。第一從動件12之二端分別穿過二側板53，並相對該二側板53可轉動。第一從動件12之從動軸121之軸線與主動件11之軸線基本平行。第一傳動件14於主動件11上纏繞複數圈後，二端分別繞入第一從動件12之二從動輪123之容納槽125內。第一傳動件14之二端分別藉由一個固定件16與二從動輪123固定連接。其中，一固定件16之定位塊161藉由螺釘169固定於一從動輪123上，連接桿167穿過碟形彈片165、調整塊163後與定位塊161固定連接，第一傳動件14之一端***調整塊163後，藉由螺釘169螺入調整塊163固定。另一固定件16藉由相同方式將第二傳動件15之另一端固定於另一從動輪123上。其中二第二傳動件15於位於第一從動件12之二從動輪123之間之從動軸121上纏繞複數圈後，繞入第二從動件13上，並分別收容於二相互間隔之收容槽1317中。每一第二傳動件15之二端分別藉由固定件16固定於第二從動件13之二側壁1313上，固定方式與第一傳動件14之末端之固定方式相同。 Referring to FIG. 1 to FIG. 5 , when the speed reduction mechanism 100 is assembled, the opposite ends of the rotating shaft 137 of the second follower 13 are respectively received in the two connecting plates 55 of the bracket 50 and rotatably connected to the two connecting plates 55 . The body 31 of the power component 30 is fixed to the bracket 50 of the side plate 53 The active member 11 passes through the through hole 135 of the second follower 13 , and one end is rotatably connected to the rotating shaft of the power component 30 through the side plate 53 , and the other end passes through the other side plate 53 and rotates with the side plate 53 . connection. The two ends of the first follower 12 respectively pass through the two side plates 53 and are rotatable relative to the two side plates 53. The axis of the driven shaft 121 of the first follower 12 is substantially parallel to the axis of the active member 11. After the first transmission member 14 is wound on the driving member 11 for a plurality of turns, the two ends are respectively wound into the receiving grooves 125 of the two driven wheels 123 of the first follower 12. The two ends of the first transmission member 14 are fixedly connected to the two driven wheels 123 by a fixing member 16, respectively. The positioning block 161 of the fixing member 16 is fixed to a driven wheel 123 by a screw 169. The connecting rod 167 passes through the disc-shaped elastic piece 165 and the adjusting block 163 and is fixedly connected with the positioning block 161. One end of the first transmission member 14 After the adjustment block 163 is inserted, it is screwed into the adjustment block 163 by the screw 169. The other fixing member 16 fixes the other end of the second transmission member 15 to the other driven wheel 123 in the same manner. The two second transmission members 15 are wound around the driven shaft 121 between the two driven wheels 123 of the first follower 12, and then wound into the second driven member 13 and respectively received in the two spaced apart portions. In the receiving slot 1317. The two ends of each of the second transmission members 15 are respectively fixed to the two side walls 1313 of the second driven member 13 by fixing members 16 in the same manner as the ends of the first transmission member 14.
減速機構100工作時，動力部件30驅動主動件11轉動，為便於描述，本實施方式中，假設主動件11沿X方向轉動(即沿順時針方向轉動)。當主動件11沿X方向轉動時，第一傳動件14靠近動力部件30之部分逐漸從主動件11繞出，並繞入第一從動件12靠近動力部件30之從動輪123之容納槽125內，第一傳動件14遠離動力部件30之部分則隨之從另一從動輪123之容納槽125繞出。第一從動件12於第一傳動件14之帶動下沿X方向之反方向轉動，從而使纏繞於第一從動件12之從動軸121上之第二傳動件15部分繞入第二 從動件13之收容槽1317內，另一部分從相鄰之收容槽1317內繞出，從而帶動第二從動件13沿X方向轉動。於主動件11沿X方向轉動一定圈數後，動力部件30會自動調整主動件11沿X方向之反方向轉動，相應地，第一從動件12會沿X方向轉動，第二從動件13會沿X方向之反方向轉動。 When the speed reduction mechanism 100 is in operation, the power unit 30 drives the driving member 11 to rotate. For convenience of description, in the present embodiment, it is assumed that the driving member 11 is rotated in the X direction (i.e., rotated in the clockwise direction). When the driving member 11 rotates in the X direction, the portion of the first transmission member 14 close to the power component 30 gradually circulates from the driving member 11 and wraps around the receiving groove 125 of the first driven member 12 close to the driven wheel 123 of the power member 30. The portion of the first transmission member 14 remote from the power member 30 is then withdrawn from the receiving groove 125 of the other driven wheel 123. The first follower 12 rotates in the opposite direction of the X direction under the driving of the first transmission member 14, so that the second transmission member 15 wound on the driven shaft 121 of the first follower 12 is partially wound into the second portion. The other part of the receiving groove 1317 of the follower 13 is wound out from the adjacent receiving groove 1317, thereby driving the second follower 13 to rotate in the X direction. After the driving member 11 rotates a certain number of turns in the X direction, the power component 30 automatically adjusts the rotation of the driving member 11 in the opposite direction of the X direction. Accordingly, the first follower 12 rotates in the X direction, and the second driven member 13 will rotate in the opposite direction of the X direction.
本發明實施方式之減速機構100藉由將第一從動件12及第二從動件13設置為鋼絲繩，省去了齒輪等結構複雜之裝置，結構簡單，生產成本較低。因鋼絲繩於傳動過程與主動件11、第一從動件12及第二從動件13纏繞接觸，往返之運動不會產生背隙，傳動較為平穩，且效率較高。第一從動件12及第二從動件13之設置可實現多級傳動，此外，第一從動件12之從動軸121及從動輪123之設置方式，使第一從動件12即為上一級傳動之從動部件，又作為下一級傳動之主動部件，可節省元件。進一步地，將第二從動件13上開設之通孔135，使傳動部131為中空結構，可使主動件11從其中穿過，從而使減速機構100之結構緊湊。 The speed reduction mechanism 100 of the embodiment of the present invention eliminates the complicated structure of the gear and the like by arranging the first follower 12 and the second follower 13 as a wire rope, and has a simple structure and a low production cost. Since the wire rope is wound and contacted with the driving member 11, the first driven member 12 and the second driven member 13 during the driving process, the back and forth movement does not cause backlash, the transmission is relatively stable, and the efficiency is high. The arrangement of the first follower 12 and the second follower 13 can realize multi-stage transmission. Further, the driven shaft 121 and the driven wheel 123 of the first follower 12 are disposed in such a manner that the first follower 12 is It is the driven component of the upper transmission and the active component of the next transmission, which saves components. Further, the through hole 135 is formed in the second follower 13 so that the transmission portion 131 has a hollow structure, and the active member 11 can be passed therethrough, so that the structure of the speed reduction mechanism 100 is compact.
進一步地，固定件16中之碟形彈片165藉由彈性回復力使第一傳動件14及第二傳動件15保持拉緊狀態，當第一傳動件14或第二傳動件15因長時間使用後，鬆動超過碟形彈片165之彈性回復力所能拉緊之範圍時，可藉由螺釘連接桿167壓縮碟形彈片165，使第一傳動件14或第二傳動件15再次被拉緊，從而避免打滑等情況出現。 Further, the disc-shaped elastic piece 165 in the fixing member 16 maintains the first transmission member 14 and the second transmission member 15 in a tension state by elastic restoring force, when the first transmission member 14 or the second transmission member 15 is used for a long time. Thereafter, when the looseness exceeds the range in which the elastic restoring force of the disk-shaped elastic piece 165 can be tightened, the disk-shaped elastic piece 165 can be compressed by the screw connecting rod 167, so that the first transmission member 14 or the second transmission member 15 is tightened again. So as to avoid slipping and the like.
可以理解，第一從動件12之從動輪123亦可只設置一個，第一傳動件14之二端則固定於該從動輪123，相應地需要更改其上開設之容納槽125之圈數，以保證減速傳動之實現。 It can be understood that only one of the driven wheels 123 of the first follower 12 can be disposed, and the two ends of the first transmission member 14 are fixed to the driven wheel 123, and accordingly, the number of the openings of the receiving groove 125 formed thereon needs to be changed. To ensure the realization of the reduction drive.
綜上所述，本發明確已符合發明專利之要件，遂依法提出專利申請。惟，以上所述者僅為本發明之較佳實施方式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本發明之精神所作之等效修飾或變化，皆應涵蓋於以下申請專利範圍內。 In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
100‧‧‧減速機構 100‧‧‧Deceleration mechanism
10‧‧‧傳動組件 10‧‧‧Transmission components
30‧‧‧動力部件 30‧‧‧Power components
50‧‧‧支架 50‧‧‧ bracket
11‧‧‧主動件 11‧‧‧Active parts
12‧‧‧第一從動件 12‧‧‧First follower
13‧‧‧第二從動件 13‧‧‧Second follower
14‧‧‧第一傳動件 14‧‧‧First transmission
15‧‧‧第二傳動件 15‧‧‧Second transmission parts
16‧‧‧固定件 16‧‧‧Fixed parts
121‧‧‧從動軸 121‧‧‧ driven shaft
123‧‧‧從動輪 123‧‧‧ driven wheel
51‧‧‧底板 51‧‧‧floor
53‧‧‧側板 53‧‧‧ side panels
55‧‧‧連接板 55‧‧‧Connecting plate
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW99107593A TWI438358B (en) | 2010-03-16 | 2010-03-16 | Deceleration mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW99107593A TWI438358B (en) | 2010-03-16 | 2010-03-16 | Deceleration mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201132878A TW201132878A (en) | 2011-10-01 |
| TWI438358B true TWI438358B (en) | 2014-05-21 |
Family
ID=46750955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW99107593A TWI438358B (en) | 2010-03-16 | 2010-03-16 | Deceleration mechanism |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI438358B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923037B (en) * | 2021-01-13 | 2022-06-07 | 东南大学 | Rope sheave actuating system suitable for bed chair |
-
2010
- 2010-03-16 TW TW99107593A patent/TWI438358B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| TW201132878A (en) | 2011-10-01 |
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