TWI593897B - Cycloid drive epicycloid planet gear cam - Google Patents
Cycloid drive epicycloid planet gear cam Download PDFInfo
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Description
本發明係有關於一種擺線傳動器，特別是一種利用具有凹陷設計之凸輪軌道，以將驅動軸之旋轉式位移轉換輸出成物體之線性位移的外擺線行星輪凸輪，藉此本發明同時具有擺線傳動器結合傾斜凸輪軌道之傾斜力學的減速與放大轉矩（torque）之優勢。The present invention relates to a cycloidal actuator, and more particularly to an epicycloid planetary cam that utilizes a cam track having a recessed design to convert a rotational displacement of a drive shaft into a linear displacement of an object, whereby the present invention simultaneously The advantage of deceleration and amplifying torque with a cycloidal actuator combined with the tilting mechanics of the inclined cam track.
按，前導螺絲（leadscrew）係為一種用來將輸入的旋轉位移轉換為有效之線性輸出的螺旋工具。傳統的前導螺絲多為帶有螺紋，且可與螺帽旋合在一起的螺絲。當此種帶有螺紋的螺絲旋轉時，其對應的螺帽通常會因應地向前（forward）或向後（backward）移動以螺合於該螺絲，同時，連接螺帽的負載頭（load）也會因此而隨之移動。Press, the lead screw is a spiral tool used to convert the input rotational displacement into an effective linear output. Conventional lead screws are mostly screws that are threaded and can be screwed together with the nut. When such a threaded screw rotates, its corresponding nut usually moves forward or backward in response to the screw, and the load of the connecting nut is also loaded. It will move accordingly.
值得注意的是，當前導螺絲的尺寸小於0.2毫米（mm）時，則此種製程將加重螺絲製造時之困難度與成本，這將使得需要用到這些螺絲的旋轉機構其應用之範圍大大地受到限制，亦對於前導螺絲的製作效率與成本造成極大的影響，在實務的使用經驗上，造成許多使用上的不便與缺失。It is worth noting that when the size of the current lead screw is less than 0.2 mm (mm), such a process will increase the difficulty and cost of manufacturing the screw, which will make the application of the rotating mechanism requiring these screws to a large extent. Restricted, it also has a great impact on the production efficiency and cost of the lead screw. In the practical experience, it causes many inconveniences and lack of use.
至於，習知遂有另一種將旋轉式位移轉換為有效線性量輸出的方式，則是透過一減速齒輪（speed reduction gear train）。該減速齒輪主要是利用一圓形凸輪來旋轉，並將其旋轉軌跡轉為線性量輸出。As for the conventional method, the conventional method of converting the rotary displacement into the effective linear output is through a speed reduction gear train. The reduction gear is mainly rotated by a circular cam and its rotation trajectory is converted into a linear output.
然而，值得注意的是，利用此種減速齒輪的方式仍具有其缺失，其中之一就是：若系統需要將輸入的高速旋動量快速降轉為較低的速率，則齒輪的製程複雜度也會大幅地提高。在此情況之下，此種減速齒輪在製作上不僅容易產生有精準度失真的問題，亦需耗費較高的生產成本。除此之外，為了容納較多的機構零件，系統中也勢必需要較多的容納空間，無形中將加重整體系統建構之體積與成本。However, it is worth noting that the use of such a reduction gear still has its drawbacks, one of which is: if the system needs to quickly reduce the input high-speed rotation to a lower rate, the gear complexity of the gear will also Significantly improved. Under such circumstances, such a reduction gear is not only prone to the problem of accuracy distortion, but also requires high production costs. In addition, in order to accommodate more mechanical parts, the system also needs more accommodation space, which will inevitably increase the volume and cost of the overall system construction.
緣此，有鑒於以上，如何提供一種既有效率又輕巧，且能準確並低成本的將高速且機械力偏低的輸入旋轉式位移轉換為能線性輸出低速並同時增加其機械力之傳動裝置，係為熟習此項技術領域者亟需解決的問題之一。Therefore, in view of the above, how to provide a transmission device that can convert a high-speed and low-mechanical input rotary displacement into a linear output low speed and simultaneously increase its mechanical force, which is both efficient and lightweight, and can be accurately and cost-effectively converted. It is one of the problems that need to be solved by those skilled in the art.
為解決習知技術存在的問題，本發明之主要目的係在提供一種擺線傳動器之外擺線行星輪凸輪，其係利用具有凹陷設計之深度變化的凸輪軌道（recessed cam track），以將一驅動軸之旋轉式位移轉換為輸出裝置精準之線性位移輸出。In order to solve the problems of the prior art, the main object of the present invention is to provide a cycloidal planetary cam other than a cycloidal actuator, which utilizes a recessed cam track having a recessed design to The rotary displacement of a drive shaft is converted to an accurate linear displacement output of the output device.
本發明所揭露之外擺線行星輪凸輪，或稱為擺線傳動凸輪（cycloid drive cam）不僅可將高速且機械力偏低的輸入旋轉式位移轉換為線性輸出，並可同時降低其轉速且增加機械力，藉此本發明同時具有擺線傳動器結合傾斜凸輪軌道之傾斜力學的減速與放大轉矩之優勢。與傳統的旋轉式凸輪不同的是，本發明所提出之外擺線行星輪凸輪，其製程與所需使用到的零件都較為簡易且精簡，可降低製造成本，並同時提高裝置的精準度。更與前導螺絲不同的是，本發明所揭露之外擺線行星輪凸輪，其可使用較少之製程步驟與成本，更可微縮元件尺寸至微米等級以下，以在轉換為線性輸出時同時維持較佳之機械力。The present invention discloses a cycloidal planetary cam, or a cycloid drive cam, which not only converts a high-speed, low-mechanical input rotary displacement into a linear output, but also reduces its rotational speed. The mechanical force is increased, whereby the present invention has the advantages of both the deceleration and the amplifying torque of the cycloidal actuator combined with the tilting mechanics of the inclined cam track. Different from the conventional rotary cam, the outer cycloidal planetary cam proposed by the present invention has a simple and simplified process and required parts, which can reduce the manufacturing cost and improve the precision of the device. More different from the lead screw, the present invention discloses a cycloidal planetary cam that can use fewer process steps and costs, and can further reduce the size of the component to below the micron level to maintain while converting to a linear output. Better mechanical force.
根據本發明所揭示之擺線傳動器之外擺線行星輪凸輪（或稱擺線傳動凸輪），其係包括有一固定殼體，其內部設置有一內固定輪。一外擺線行星輪（或稱擺線圓盤）係設置於該固定殼體之內固定輪與一殼體外蓋中。一偏心輪驅動軸係連接於一直流馬達之驅動軸，或其他可手動轉動之驅動軸上。此偏心輪驅動軸係可自由地在外擺線行星輪之一偏心輪固定孔中轉動。當驅動軸轉動時，該偏心輪驅動軸係帶動外擺線行星輪與固定殼體產生一擺線運動，並且同時使得外擺線行星輪可獨立地於偏心輪驅動軸之周圍旋轉，其中外擺線行星輪的旋轉方向係與驅動軸之旋轉方向相反。根據本發明之實施例，此時外擺線行星輪的旋轉速率係會低於驅動軸之旋轉速率，且僅為驅動軸旋轉速率之r倍。其中，r=（P-L）/L，P係為固定殼體上齒輪瓣之數量，L係為外擺線行星輪上擺線瓣之數量。舉例來說，若固定殼體上具有11個齒輪瓣，而外擺線行星輪上具有10個擺線瓣，那麼在此情況下，外擺線行星輪的旋轉速率係只有驅動軸旋轉速率的1/10 （r=(11-10)/10）。再者，外擺線行星輪的輸出轉矩係可放大為原輸入轉矩的10倍以上，藉此同時大幅地降低轉矩之機械損失。In addition to the cycloidal actuator disclosed in the present invention, the cycloidal planetary cam (or cycloidal cam) includes a fixed housing having an inner fixed wheel disposed therein. An outer cycloidal planetary wheel (or cycloidal disk) is disposed in the fixed wheel and the outer cover of the casing. An eccentric drive shaft is coupled to the drive shaft of the DC motor or other manually rotatable drive shaft. The eccentric drive shaft is free to rotate in one of the eccentric wheel fixing holes of the outer cycloidal planet. When the driving shaft rotates, the eccentric drive shaft shaft drives the epicycloid planetary gear to generate a cycloidal motion with the fixed housing, and at the same time, the outer cycloidal planetary wheel can independently rotate around the eccentric drive shaft, wherein The direction of rotation of the cycloidal planet is opposite to the direction of rotation of the drive shaft. According to an embodiment of the invention, the rate of rotation of the epicycloid planetary gears is now lower than the rate of rotation of the drive shaft and is only r times the rate of rotation of the drive shaft. Where r = (P-L) / L, P is the number of gear lobes on the fixed housing, and L is the number of oscillating line lobes on the outer cycloidal planetary gear. For example, if there are 11 gear lobes on the fixed housing and 10 cycloidal lobes on the epicycloid planetary gears, then in this case, the rotational speed of the epicycloid planetary gears is only the rotational speed of the drive shaft. 1/10 (r=(11-10)/10). Furthermore, the output torque of the epicycloid planetary gear can be amplified to more than 10 times the original input torque, thereby greatly reducing the mechanical loss of torque.
根據本發明之實施例，當本發明所揭示之一偏心輪驅動軸更包括有一偏心傳動平衡器，其旋轉相位可在相同位移的情況下，而與外擺線行星偏心傳動器相差180度時，則可針對系統中任何失衡的旋轉作用力或高速震動進行有效之平衡抵銷。According to an embodiment of the present invention, when the eccentric drive shaft disclosed in the present invention further includes an eccentric transmission balancer, the rotational phase can be in the same displacement condition, and when the outer swing cyclotron eccentric actuator is 180 degrees out of phase , can be effectively offset against any unbalanced rotational force or high-speed vibration in the system.
再者，根據本發明之實施例，外擺線行星輪上更可包括有一凹陷設計之深度變化的凸輪軌道，該凸輪軌道之深度變化係設計為自外擺線行星輪之上表面以下算起逐漸增加或減少的表徵。由於凸輪管腳係設置於該凸輪軌道上，因此，當外擺線行星輪旋轉時，該凸輪管腳係可根據其凹陷軌道之深度變化而對應地上升或下降。由於凸輪管腳係同時連接於一輸出裝置，因此，此輸出裝置即可同時隨著凸輪管腳的移動而改變其位置。Furthermore, according to an embodiment of the present invention, the epicycloid planetary gear may further include a cam track having a concave design with a depth change, and the depth change of the cam track is designed to be calculated from the upper surface of the outer cycloidal planetary wheel. A gradual increase or decrease in characterization. Since the cam pin is disposed on the cam track, when the epicycloid planetary wheel rotates, the cam pin can rise or fall correspondingly according to the depth change of the recessed track. Since the cam pin is simultaneously connected to an output device, the output device can simultaneously change its position as the cam pin moves.
是以，綜上所述，本發明即可藉由簡易地改變與控制凸輪軌道之樣式，而達到將驅動軸之旋轉位移轉為輸出裝置之線性量輸出的目的。Therefore, in summary, the present invention can achieve the purpose of converting the rotational displacement of the drive shaft into the linear output of the output device by simply changing the pattern of the control cam track.
更進一步而言，當外擺線行星輪開始進行旋轉時，則根據本發明，凸輪軌道之形狀或樣式則亦可根據外擺線行星輪上之一固定的模擬點所形成之路徑而決定之。Furthermore, when the epicycloid planetary wheel starts to rotate, according to the present invention, the shape or pattern of the cam track can also be determined according to the path formed by a fixed analog point on the outer cycloidal planet wheel. .
根據本發明之實施例，當外擺線行星輪以擺線運動（或非正式之圓形運動）環繞著輪體旋轉時，一固定在特定點上的凸輪管腳係開始或上或下地垂直移動，但仍維持在相同之水平軸上。為了維持凸輪管腳務必接觸於凸輪軌道上，本發明所揭示之凸輪軌道其軌道樣式係近似於一週期波樣式。根據本發明所揭示內容，當齒輪的位置、偏心輪驅動軸之上、下柄部的垂直位置、以及凸輪管腳與滾動球之水平位置皆是固定的時候，本發明所揭露之外擺線行星輪係環繞著內固定輪旋轉。在此情況下，凸輪軌道之樣式係同時被確立，使得外擺線行星輪即便在順轉或逆轉時，其滾動球之位置皆可維持常態地接觸於凸輪軌道之上。According to an embodiment of the present invention, when the epicycloid planetary gear rotates around the wheel body by a cycloidal motion (or an informal circular motion), a cam pin fixed at a specific point starts or is vertical or vertical. Move, but still maintain the same horizontal axis. In order to maintain that the cam pins must be in contact with the cam track, the cam track disclosed herein has a track pattern that approximates a periodic wave pattern. According to the present disclosure, when the position of the gear, the eccentric drive shaft, the vertical position of the lower shank, and the horizontal position of the cam pin and the rolling ball are fixed, the present invention discloses a cycloid The planetary gear train rotates around the inner fixed wheel. In this case, the pattern of the cam track is simultaneously established so that the position of the rolling ball of the epicycloid planetary wheel can maintain normal contact with the cam track even when it is rotated or reversed.
是以，利用上述之外擺線行星輪、固定殼體之內固定輪、以及偏心輪驅動軸，本發明所揭示之外擺線行星輪凸輪相較於習知之前導螺絲係具有較佳之市場價值與市場優勢。除此之外，本發明更可在無須額外設置任何電子控制系統之情況下，僅需利用改變凸輪軌道之軌道形狀，即可達到精確控制輸出裝置之位移的目的。再者，利用善加地設計凸輪軌道之軌道深度變化，本發明之輸出裝置所能達到的位移改變量相較於習知技術，係更為精準、精確並具有再現性。舉例來說，若凸輪軌道之軌道終點與軌道起點之間係設計為具有0.1公釐漸增或漸減之深度變化，那麼本發明所揭示之外擺線行星輪的旋轉速率係可減速為原有的十分之一，且輸入馬達在每轉一圈時，其輸出裝置係可以產生有微小至0.01公釐的位移改變量。相較於本發明，習知技術在經濟的考量上若要製造出一螺距為0.01公釐之前導螺絲，則係為相當困難並且需要高度的製程技術與製程複雜度的。除此之外，這樣微小尺寸的前導螺絲，其鎖附的能力與所能承受之重量也都是相當微弱的。相較於此，本發明所提出之外擺線行星輪顯然可在相同微小的尺寸下仍維持極佳的線性輸出量與機械力。Therefore, with the above-described outer cycloidal planetary wheel, the fixed inner wheel of the fixed casing, and the eccentric drive shaft, the outer cycloidal planetary cam disclosed in the present invention has a better market than the conventional prior guide screw system. Value and market advantage. In addition, the present invention can achieve the purpose of accurately controlling the displacement of the output device by simply changing the shape of the track of the cam track without additionally providing any electronic control system. Moreover, by utilizing the track depth variation of the cam track in a well-designed manner, the amount of displacement change that can be achieved by the output device of the present invention is more accurate, accurate, and reproducible than conventional techniques. For example, if the end point of the track of the cam track and the start point of the track are designed to have a depth change of 0.1 mm gradually or gradually, then the rotation rate of the outer cycloidal planetary wheel disclosed in the present invention can be decelerated to the original One tenth of the time, and the input motor can produce a displacement change from tiny to 0.01 mm at each revolution of the input motor. Compared with the present invention, the prior art is economically difficult to manufacture a lead screw having a pitch of 0.01 mm, which is quite difficult and requires a high degree of process technology and process complexity. In addition, such a small-sized lead screw is also relatively weak in its ability to be attached and the weight it can withstand. In contrast, the present invention proposes that the outer cycloidal planet wheel can maintain excellent linear output and mechanical force at the same minute size.
由此可見，相較於習知技術，本發明所揭示之外擺線行星輪凸輪不僅可省卻許多習知鑄模的塑料工程，並同時具有製程快速、簡單且成本較低之優勢。伴隨著外擺線行星輪運動時所接觸之分佈面積較廣之特性，本發明外擺線行星輪內部需要使用到的各零組件數量亦大為減少，因此可在無形中增加本發明之外擺線行星輪凸輪之生命週期與使用年限。並且，相較於其他坊間之凸輪設計，本發明所揭示之外擺線行星輪凸輪更具有無須外加有其他輸入驅動電力需求之優點。It can be seen that, compared with the prior art, the cycloidal planetary cam disclosed by the present invention can not only save the plastic engineering of many conventional molds, but also has the advantages of fast process, simple process and low cost. With the wide distribution of the contact area of the outer cycloidal planetary wheel, the number of components required to be used inside the outer cycloidal planetary wheel of the present invention is also greatly reduced, so that the invention can be added invisibly. The life cycle and service life of the cycloidal planetary cam. Moreover, compared with other cam designs, the outer cycloidal planetary cam disclosed by the present invention has the advantage of not requiring additional input drive power requirements.
底下藉由具體實施例配合所附的圖式詳加說明，當更容易瞭解本發明之目的、技術內容、特點及其所達成之功效。The purpose, technical contents, features and effects achieved by the present invention will be more readily understood by the detailed description of the embodiments and the accompanying drawings.
以上有關於本發明的內容說明，與以下的實施方式係用以示範與解釋本發明的精神與原理，並且提供本發明的專利申請範圍更進一步的解釋。有關本發明的特徵、實作與功效，茲配合圖式作較佳實施例詳細說明如下。The above description of the present invention is intended to be illustrative and illustrative of the spirit and principles of the invention, and to provide further explanation of the scope of the invention. The features, implementations, and utilities of the present invention are described in detail with reference to the preferred embodiments.
請參閱第1、2A、2B、3A以及3B圖所示，其中圖式第2B與第3B圖中所標示之截角（cutaway）301部分係為了顯露出本發明外擺線行星輪（epicycloid planet gear）400、凸輪軌道（cam track）440、以及凸輪管腳（cam follower pin）600之設置位置。根據本發明實施例所提出之外擺線行星輪凸輪（epicycloid planet gear cam）100，或稱為擺線傳動凸輪（cycloid drive cam），其係主要包括有：一固定殼體（stationary housing）200、一殼體外蓋（housing cap）300、一外擺線行星輪（epicycloid planet gear）400或另稱作一擺線圓盤（cycloid disc）、一偏心輪驅動軸（driveshaft eccentric）500、以及一凸輪管腳（cam follower pin）600。Please refer to Figures 1, 2A, 2B, 3A and 3B, wherein the cutaway 301 portion indicated in Figures 2B and 3B is for revealing the epicycloid planet of the present invention. The position of the gear 400, the cam track 440, and the cam follower pin 600. An epicycloid planetary gear cam 100, or a cycloid drive cam, is mainly included in the embodiment of the present invention, and includes a stationary housing 200. a housing cap 300, an epicycloid planet gear 400 or another cycloid disc, an eccentric drive shaft 500, and a Cam follower pin 600.
其中，根據本發明之實施例，固定殼體200內部係具有一內固定輪（internal stationary ring gear）285，上述之外擺線行星輪400與偏心輪驅動軸500係設置於該固定殼體200內，而殼體外蓋300則組裝於該固定殼體200上，以藉此將上述之外擺線行星輪400與偏心輪驅動軸500封裝於殼體外蓋300與固定殼體200中。According to the embodiment of the present invention, the fixed housing 200 has an internal stationary ring gear 285 inside, and the outer cycloidal planetary wheel 400 and the eccentric drive shaft 500 are disposed on the fixed housing 200. The housing cover 300 is assembled to the fixed housing 200 to thereby enclose the outer cycloidal planetary wheel 400 and the eccentric drive shaft 500 in the housing cover 300 and the fixed housing 200.
根據本發明之實施例，偏心輪驅動軸500係可固設於一直流馬達之驅動軸（driveshaft）955上，或者可以手持曲柄軸接於一驅動軸連接器（driveshaft connector）950。藉此，偏心輪驅動軸500可自由旋轉於外擺線行星輪400凸輪中心之一偏心輪固定孔（eccentric mounting hole）430中。根據本發明之實施例，當直流馬達通電，使得驅動軸955開始旋轉時，將帶動偏心輪驅動軸500隨之旋轉，並使得外擺線行星輪400繞著固定殼體中的內固定輪285旋轉，且其旋轉方向係與驅動軸955之旋轉方向相反。In accordance with an embodiment of the present invention, the eccentric drive shaft 500 can be secured to a driveshaft 955 of a DC motor, or the crankshaft can be coupled to a driveshaft connector 950. Thereby, the eccentric drive shaft 500 is freely rotatable in an eccentric mounting hole 430 of one of the cam centers of the epicycloid planetary gear 400. According to an embodiment of the present invention, when the DC motor is energized such that the drive shaft 955 begins to rotate, the eccentric drive shaft 500 is rotated accordingly, and the epicycloid planetary gear 400 is wound around the inner fixed wheel 285 in the fixed housing. Rotation, and its direction of rotation is opposite to the direction of rotation of the drive shaft 955.
在此情況下，當外擺線行星輪400開始旋轉，其凸輪的凸輪軌道440將致使凸輪管腳600上升或下降，同時，由於一復原彈簧800係開始產生並施予壓力於一輸出裝置735上，則可同時藉此維持凸輪管腳600在凸輪的凸輪軌道440上而不致鬆動。In this case, when the epicycloid planetary wheel 400 begins to rotate, the cam track 440 of its cam will cause the cam pin 600 to ascend or descend, while a return spring 800 begins to generate and apply pressure to an output device 735. In this case, the cam pin 600 can be maintained at the same time on the cam track 440 of the cam without loosening.
再者，由於凸輪管腳600係施壓於該輸出裝置735，因此當凸輪管腳600移動時，則輸出裝置735亦會同時隨凸輪管腳600之作動而產生位移。Moreover, since the cam pin 600 is pressed against the output device 735, when the cam pin 600 moves, the output device 735 also shifts with the action of the cam pin 600.
另一方面而言，固定殼體200更包含有：複數個貫穿孔（threaded hole）230、一驅動軸通孔（driveshaft clearance hole）240、以及一內固定輪285。其中，內固定輪285更包含有複數個齒輪瓣（ring gear lobe）280以及複數個齒輪瓣凹隙（ring gear lobe clearance）290。On the other hand, the fixed housing 200 further includes a plurality of threaded holes 230, a drive shaft clearance hole 240, and an inner fixed wheel 285. The inner fixed wheel 285 further includes a plurality of ring gear lobes 280 and a plurality of ring gear lobe clearances 290.
根據本發明之實施例，殼體外蓋300係可藉由將複數個鎖固件（threaded fastener）310穿設過鎖固孔（fastener hole）311，繼而鎖合於固定殼體200之貫穿孔230中，而完成與固定殼體200之組裝。然而，殼體外蓋300與固定殼體200的組合並不以此為限。根據本發明之其他實施例，殼體外蓋300與固定殼體200的組合亦可透過其他方式來實施，例如：殼體外蓋300與固定殼體200可藉由螺絲、螺栓或其他鎖合元件將二者組裝在一起。According to an embodiment of the present invention, the housing cover 300 can be inserted into the through hole 230 of the fixed housing 200 by threading a plurality of threaded fasteners 310 through a fastener hole 311. And the assembly with the fixed housing 200 is completed. However, the combination of the housing cover 300 and the fixed housing 200 is not limited thereto. According to other embodiments of the present invention, the combination of the housing cover 300 and the fixed housing 200 can also be implemented by other means. For example, the housing cover 300 and the fixed housing 200 can be screwed, bolted or other locking components. The two are assembled together.
驅動軸通孔240係設置於固定殼體200之本體部中，藉此，驅動軸955即可與偏心輪驅動軸500形成接合。再者，齒輪瓣280與相鄰齒輪瓣280間形成之齒輪瓣凹隙290係設置於固定殼體200之內側面上，於此形成本發明所述之內固定輪285。於此，這些齒輪瓣280與齒輪瓣凹隙290係可藉由匹配於外擺線行星輪400上的擺線瓣（cycloid lobe）410與擺線瓣凹隙（cycloid lobe clearance）420，而俾使外擺線行星輪400旋轉於固定殼體200之內部。The drive shaft through hole 240 is disposed in the body portion of the fixed housing 200, whereby the drive shaft 955 can be engaged with the eccentric drive shaft 500. Furthermore, a gear lobe recess 290 formed between the gear lobes 280 and the adjacent gear lobes 280 is disposed on the inner side of the stationary housing 200, thereby forming the inner fixed wheel 285 of the present invention. Here, the gear lobe 280 and the lobe lobe 290 can be matched by a cycloid lobe 410 and a cycloid lobe clearance 420 on the epicycloid planetary gear 400. The epicycloid planetary gear 400 is rotated inside the fixed housing 200.
另一方面而言，殼體外蓋300更包含有一凸輪托座孔（cam follower clearance hole）320與一凸輪支托座（cam follower support bracket）330。On the other hand, the housing cover 300 further includes a cam follower clearance hole 320 and a cam follower support bracket 330.
根據本發明之實施例，其中，凸輪支托座330係設置於殼體外蓋300上，且凸輪支托座330中更開設有一凸輪托座孔320。藉由此設計，凸輪管腳600即可利用此凸輪支托座330中的凸輪托座孔320而持續地往上或往下移動。更進一步而言，凸輪托座孔320中更可額外設置有一上套管321與一下套管322，以藉由這些套管的作用來降低凸輪管腳600在移動中所遭遇到之摩擦力。According to an embodiment of the present invention, the cam holder 330 is disposed on the housing cover 300, and a cam holder hole 320 is defined in the cam holder 330. With this design, the cam pin 600 can be continuously moved up or down by the cam holder hole 320 in the cam holder 330. Furthermore, an upper sleeve 321 and a lower sleeve 322 are additionally provided in the cam holder hole 320 to reduce the frictional force encountered by the cam pin 600 during the movement by the action of the sleeves.
其中，當凸輪管腳600持續地往上或下位移時，輸出裝置735中之一旋轉阻力部（anti-rotation feature）745係會跟著殼體外蓋300之凸輪支托座330隨之移動。於此，當輸出裝置735逐漸往旋轉阻力部745之桿部接近但緊靠於凸輪支托座330時，係可有效地避免輸出裝置735產生無預期的轉動。Wherein, when the cam pin 600 is continuously displaced upward or downward, one of the anti-rotation features 745 of the output device 735 moves with the cam holder 330 of the housing cover 300. Here, when the output device 735 gradually approaches the rod portion of the rotation resistance portion 745 but abuts against the cam holder 330, the output device 735 can be effectively prevented from being unexpectedly rotated.
接著，續請同時參閱第5、6A至第6C 圖所示，如圖所示，外擺線行星輪400包含有：複數個擺線瓣（cycloid lobe）410、複數個擺線瓣凹隙（cycloid lobe clearance）420、一偏心輪固定孔（eccentric mounting hole）430、以及一凸輪軌道（cam track）440。Next, please refer to FIGS. 5, 6A to 6C at the same time. As shown in the figure, the epicycloid planetary gear 400 includes: a plurality of cycloid lobe 410 and a plurality of cycloidal lobe recesses ( A cycloid lobe clearance 420, an eccentric mounting hole 430, and a cam track 440.
其中，複數個擺線瓣410係環繞設置於外擺線行星輪400之底部，且相鄰兩個擺線瓣410之間係具有一擺線瓣凹隙420。根據本發明之實施例，這些擺線瓣410與其擺線瓣凹隙420係可相互匹配於固定殼體200中內固定輪285上之複數個齒輪瓣280以及複數個齒輪瓣凹隙290，以藉此使得外擺線行星輪400可旋轉於固定殼體200之內。The plurality of cycloidal lobes 410 are disposed around the bottom of the epicycloid planetary gear 400, and a cycloidal valve recess 420 is disposed between the adjacent two cycloidal lobes 410. According to an embodiment of the invention, the cycloidal flaps 410 and their cycloidal valve recesses 420 are matched to each other to a plurality of gear lobes 280 and a plurality of gear lobe recesses 290 on the inner fixed wheel 285 of the fixed housing 200, Thereby, the epicycloid planetary gear 400 can be rotated within the fixed housing 200.
再者，偏心輪固定孔430係可使得偏心輪驅動軸500之一外擺線行星偏心傳動器（epicycloid planet gear eccentric driver）510帶動外擺線行星輪400產生旋轉式的運動。值得注意的是，根據本發明之實施例，外擺線行星輪400並未接觸於偏心輪驅動軸500上，且外擺線行星偏心傳動器510亦僅穿設於外擺線行星輪400之偏心輪固定孔430中而已。Furthermore, the eccentric wheel fixing hole 430 can cause the epicycloid planetary gear eccentric driver 510 to drive the epicycloid planetary gear 400 to generate a rotary motion. It should be noted that, according to the embodiment of the present invention, the epicycloid planetary gear 400 is not in contact with the eccentric drive shaft 500, and the epicycloid planetary eccentric actuator 510 is only disposed on the epicycloid planetary gear 400. The eccentric wheel is fixed in the hole 430.
根據本發明之實施例，凸輪軌道440係設置於外擺線行星輪400之上表面，並且凸輪軌道440係具有一凹陷設計（recess pattern）。詳細而言，自外擺線行星輪400之上表面算起，則凸輪軌道440係具有一逐漸往下，並深度漸深之表徵。According to an embodiment of the present invention, the cam track 440 is disposed on the upper surface of the epicycloid planetary gear 400, and the cam track 440 has a recess pattern. In detail, from the upper surface of the epicycloid planetary gear 400, the cam track 440 has a gradual downward and deeper depth.
請參閱第6B圖所示，換言之，在凸輪軌道440具有一凸輪軌道起點450與一凸輪軌道終點460時，則在凸輪軌道起點450時，該軌道係具有一最淺的深度；而在凸輪軌道440之凸輪軌道終點460時，則該軌道係具有一最深的深度。Please refer to FIG. 6B, in other words, when the cam track 440 has a cam track starting point 450 and a cam track end point 460, then at the beginning of the cam track 450, the track has a shallowest depth; and in the cam track At the end of 460 of the cam track of 440, the track has a deepest depth.
再如第6C圖所示之實施例而言，在此實施例中之凸輪軌道440係為一循環軌道。於此，在凸輪軌道440循環回到其原始之軌道起點前，則凸輪軌道440仍自外擺線行星輪400之上表面起而逐漸緩慢地漸增其軌道深度，以完成此一循環迴路（endless loop）。Further, as in the embodiment shown in Fig. 6C, the cam track 440 in this embodiment is a circular track. Here, before the cam track 440 is circulated back to the starting point of its original track, the cam track 440 still gradually increases its track depth from the upper surface of the outer cycloidal planet wheel 400 to complete the loop ( Endless loop).
再者，當外擺線行星輪400開始進行旋轉時，則根據本發明，凸輪軌道440之形狀或樣式則亦可根據外擺線行星輪400上之一固定的模擬點所形成之路徑而決定之。Furthermore, when the epicycloid planetary gear 400 starts to rotate, according to the present invention, the shape or pattern of the cam track 440 can also be determined according to the path formed by a fixed analog point on the epicycloid planetary gear 400. It.
接著，續請同時參閱第4、1-3B、以及5-6B 圖所示，如圖所示，當進行組裝時，凸輪管腳600下之一滾動球（follower roller ball）325係先接觸於凸輪軌道440上，在此情況下，復原彈簧800提供一往下壓之壓力，而將此下壓力施予輸出裝置735，同時將凸輪管腳600底下之滾動球325推往凸輪軌道440。當外擺線行星輪400開始轉動時，凸輪軌道440將使得凸輪管腳600經由滾動球325而根據其軌道深度之變化進而產生相對地運動。舉例而言，在凸輪軌道440深度越深的地方，凸輪管腳600與其滾動球325係會對應地往下運動；相對地，在凸輪軌道440深度越淺的地方，則凸輪管腳600與其滾動球325則會逐漸地往上攀升。Then, please refer to the 4th, 1-3B, and 5-6B diagrams as shown in the figure. As shown in the figure, when assembling, the roller roller ball 325 under the cam pin 600 is first contacted. On the cam track 440, in this case, the return spring 800 provides a downward pressure and applies this downward pressure to the output device 735 while pushing the rolling ball 325 underneath the cam pin 600 toward the cam track 440. When the epicycloid planetary wheel 400 begins to rotate, the cam track 440 will cause the cam pin 600 to move relative to each other via the rolling ball 325 in accordance with changes in its track depth. For example, where the depth of the cam track 440 is deeper, the cam pin 600 and its rolling ball 325 will move downward correspondingly; in contrast, where the cam track 440 is shallower, the cam pin 600 is rolled The ball 325 will gradually climb up.
除此之外，在固定殼體200之上表面的一支撐孔（support hole）245中更設置有一支撐球（support roller ball）326。此支撐球326之位置係位於滾動球325之垂直下方，支撐球326與滾動球325之間更透過外擺線行星輪400間隔之。因此，根據本發明之其他實施例，當滾動球325係往凸輪軌道440下壓時，則支撐球326係用以支撐住外擺線行星輪400，以避免外擺線行星輪400產生無預期的位移或傾斜。In addition to this, a support roller ball 326 is further disposed in a support hole 245 on the upper surface of the fixed casing 200. The position of the support ball 326 is located vertically below the rolling ball 325, and the support ball 326 and the rolling ball 325 are further spaced apart by the epicycloid planetary wheel 400. Therefore, according to other embodiments of the present invention, when the rolling ball 325 is pressed down toward the cam track 440, the supporting ball 326 is used to support the epicycloid planetary gear 400 to prevent the outer cycloidal planetary wheel 400 from being unexpected. Displacement or tilt.
更進一步而言，本發明係可藉由改變驅動軸（driveshaft）955的旋轉方向而同時影響凸輪管腳600之移動。舉例而言，若驅動軸955的旋轉方向係朝向同一方向旋轉，則凸輪管腳600會週期性地隨著凸輪軌道440的深度變化而朝同一方向移動。然而，若驅動軸955的旋轉方向係先朝某一方向旋轉，然後再朝向與其相反之方向旋轉，那麼在此情況下，凸輪管腳600的移動就會隨之改變。若以前例凸輪軌道440具有一凸輪軌道起點450與凸輪軌道終點460進行說明，則在凸輪管腳600移動到凸輪軌道終點460前，驅動軸955可先朝某一方向旋轉；然後，自此開始到凸輪管腳600移動至凸輪軌道起點450前，驅動軸955即會朝另一與其相反的方向旋轉。藉由此種設計，驅動軸955的旋轉方向即可用以控制凸輪軌道440的方位、凸輪管腳600的移動方向，並進一步地控制輸出裝置735的位置。更進一步而言，根據本發明之實施例，若使用者屢次增加驅動軸955旋轉方向改變的次數，則更可達到精確地控制凸輪管腳600位置的目的。Still further, the present invention can simultaneously affect the movement of the cam pin 600 by changing the direction of rotation of the drive shaft 955. For example, if the rotational direction of the drive shaft 955 is rotated in the same direction, the cam pin 600 periodically moves in the same direction as the depth of the cam track 440 changes. However, if the rotational direction of the drive shaft 955 is first rotated in a certain direction and then rotated in the opposite direction, the movement of the cam pin 600 will change in this case. If the previous example cam track 440 has a cam track starting point 450 and a cam track end point 460, the drive shaft 955 can be rotated in a certain direction before the cam pin 600 moves to the cam track end point 460; Before the cam pin 600 moves to the cam track starting point 450, the drive shaft 955 will rotate in the opposite direction. With this design, the direction of rotation of the drive shaft 955 can be used to control the orientation of the cam track 440, the direction of movement of the cam pin 600, and to further control the position of the output device 735. Furthermore, according to the embodiment of the present invention, if the user repeatedly increases the number of times the rotation direction of the drive shaft 955 is changed, the purpose of accurately controlling the position of the cam pin 600 can be achieved.
另一方面而言，偏心輪驅動軸500包含有：一外擺線行星偏心傳動器（epicycloid planet gear eccentric driver）510、一上柄部（upper stem）511、一下柄部（lower stem）512、以及一滾動溝槽（roller groove）517。In another aspect, the eccentric drive shaft 500 includes: an epicycloid planetary gear eccentric driver 510, an upper stem 511, and a lower stem 512. And a roller groove 517.
根據本發明之實施例，當進行組裝時，外擺線行星偏心傳動器510係設置於外擺線行星輪400之偏心輪固定孔430中。值得注意的是，根據本發明之實施例，偏心輪驅動軸500並未附著於外擺線行星輪400上，且外擺線行星偏心傳動器510係可自由地在外擺線行星輪400之偏心輪固定孔430中恣意旋轉。According to an embodiment of the present invention, when assembled, the epicycloid planetary eccentric actuator 510 is disposed in the eccentric fixing hole 430 of the epicycloid planetary gear 400. It should be noted that, according to an embodiment of the present invention, the eccentric drive shaft 500 is not attached to the epicycloid planetary gear 400, and the epicycloid planetary eccentric actuator 510 is freely eccentric to the outer cycloidal planetary gear 400. The wheel fixing hole 430 is arbitrarily rotated.
滾動溝槽517係環繞設置於外擺線行星偏心傳動器510之周圍。一滾珠球組514係包含複數個滾珠球，其係設置於一球座515中。根據本發明之實施例，滾珠球組514中之滾珠球係設置於偏心輪驅動軸500與偏心輪固定孔430之間，並可自由地旋轉於滾動溝槽517以及偏心輪固定孔430中之一架設孔槽(mounting hole groove)431中。一般而言，滾珠球組514之作用係可用以降低偏心輪驅動軸500在旋轉時之摩擦力，並使得其移動較為容易，同時提供較佳之穩定性。 The rolling groove 517 is circumferentially disposed around the epicycloid planetary eccentric actuator 510. A ball set 514 includes a plurality of ball balls that are disposed in a ball seat 515. According to the embodiment of the present invention, the ball ball system in the ball set 514 is disposed between the eccentric drive shaft 500 and the eccentric wheel fixing hole 430, and is freely rotatable in the rolling groove 517 and the eccentric wheel fixing hole 430. A mounting hole groove 431 is provided. In general, the action of the ball set 514 can be used to reduce the friction of the eccentric drive shaft 500 as it rotates and to make it easier to move while providing better stability.
除此之外，上柄部511係向上延伸至殼體外蓋300之一蓋孔(cap hole)312的一蓋體套筒(cap sleeve)513中。至於，下柄部512則向下延伸至固定殼體200之驅動軸通孔240中之一殼體套筒(housing sleeve)516中。 In addition to this, the upper handle portion 511 extends upward into a cap sleeve 513 of a cap hole 312 of the housing cover 300. As such, the lower shank 512 extends downwardly into one of the housing sleeves 516 of the drive shaft through bore 240 of the stationary housing 200.
相對於外擺線行星偏心傳動器510的位置，一偏心傳動平衡器(eccentric driver counterbalance)530係設置於固定殼體200之一下底面之下，並固定於前述之下柄部512。舉例來說，偏心傳動平衡器530與下柄部512之間係可透過一螺絲套(set screw)533而鎖固在一起。根據本發明之實施例，偏心傳動平衡器530亦可提供作為外擺線行星偏心傳動器510旋轉時減少震動的平衡抵銷。一般而言，在相同位移的情況下，偏心傳動平衡器530之旋轉相位可設計為與外擺線行星偏心傳動器510相差180度。一傳動平衡孔(counterbalance)531更可供偏心輪驅動軸500之下柄部512連接至驅動軸955(例如為一直流馬達之驅動軸心)或一手動曲柄(hand crank)。在本發明之實施例中，一驅動軸連接器950係可用以供驅動軸955鎖附於下柄部512。在其他實施例中，驅動軸955亦可包括有其他的鎖固元件，以供將其鎖附於下柄部512，則同樣可用以實施本發明之發明目的。 An eccentric driver counterbalance 530 is disposed below the lower bottom surface of one of the fixed housings 200 and is fixed to the lower handle portion 512 with respect to the position of the epicycloid planetary eccentric actuator 510. For example, the eccentric transmission balancer 530 and the lower handle 512 can be locked together by a set screw 533. In accordance with an embodiment of the present invention, the eccentric transmission balancer 530 can also provide a balanced offset that reduces vibration as the epicycloid planetary eccentric actuator 510 rotates. In general, with the same displacement, the rotational phase of the eccentric drive balancer 530 can be designed to be 180 degrees out of the epicycloid planetary eccentric actuator 510. A drive balance 531 is further provided for the lower shank 512 of the eccentric drive shaft 500 to be coupled to the drive shaft 955 (eg, the drive shaft of the DC motor) or a hand crank. In an embodiment of the invention, a drive shaft connector 950 can be used to lock the drive shaft 955 to the lower handle 512. In other embodiments, the drive shaft 955 can also include other locking elements for locking it to the lower handle 512, as can be used to carry out the objects of the invention.
以下，請同時參閱本發明所有圖式第1圖至第6C圖，本發明茲針對擺線傳動器之外擺線行星輪凸輪的作動，進行詳細之說明如下。 In the following, please refer to the drawings 1 to 6C of all the drawings of the present invention. The present invention will be described in detail below for the operation of the cycloidal planetary cams other than the cycloidal actuator.
根據本發明之實施例，當直流電源輸入於馬達接點而驅動軸955係開始旋轉時，其係同時帶動與其連接之偏心輪驅動軸500旋轉。在此情況下，位於偏心輪固定孔430中的外擺線行星偏心傳動器510亦同時帶動外擺線行星輪400開始進行偏心圓的擺線運動。根據本發明之實施例，當外擺線行星偏心傳動器510朝向某一方向旋轉時，偏心輪固定孔430(及外擺線行星輪400)係朝向與其相反的另一方向旋轉。 According to an embodiment of the present invention, when the DC power source is input to the motor contact and the drive shaft 955 starts to rotate, it simultaneously drives the eccentric drive shaft 500 connected thereto to rotate. In this case, the epicycloid planetary eccentric actuator 510 located in the eccentric fixing hole 430 also drives the epicycloid planetary gear 400 to start the cycloidal motion of the eccentric circle. According to an embodiment of the present invention, when the epicycloid planetary eccentric actuator 510 is rotated in a certain direction, the eccentric fixing hole 430 (and the epicycloid planetary wheel 400) rotates in the other direction opposite thereto.
之後，當外擺線行星輪400開始旋轉，滾動球325係接觸於凸輪軌道440上，甚而置於其凸輪軌道起點450上。當起始點位於凸輪軌道起點450上時，則凸輪軌道440之深度最淺，在此情況之下，凸輪管腳600與滾動球325係位於其運動的最高點，同時使得輸出裝置735形成一最延伸(most extended)之狀態。若外擺線行星輪400持續旋轉，使得滾動球325持續滾動於凸輪軌道440，此時由於凸輪軌道440的深度係逐漸地增加，因此將同時帶動凸輪管腳600與滾動球325之位置隨之下降，並且使得輸出裝置735因此逐漸回縮。至於，若外擺線行星輪400持續旋轉，且其凸輪軌道440的深度係逐漸地減少，那麼相反地，凸輪管腳600與滾動球325之位置即會隨之往上回升，而使得輸出裝置735因而得以繼續向外延伸。 Thereafter, when the epicycloid planetary wheel 400 begins to rotate, the rolling ball 325 is in contact with the cam track 440, even on its cam track starting point 450. When the starting point is at the starting point 450 of the cam track, then the depth of the cam track 440 is the shallowest, in which case the cam pin 600 and the rolling ball 325 are at the highest point of their motion, while the output device 735 forms a The most extended state. If the epicycloid planetary gear 400 continues to rotate, the rolling ball 325 continues to roll on the cam track 440. At this time, since the depth of the cam track 440 gradually increases, the position of the cam pin 600 and the rolling ball 325 will be simultaneously driven. It drops and causes the output device 735 to gradually retract. As for the outer swing cycloid 400, the depth of the cam track 440 is gradually reduced, and conversely, the position of the cam pin 600 and the rolling ball 325 will rise upwards, so that the output device 735 thus continues to extend outward.
是以，綜上所述，根據本發明之實施例，本發明係可藉由控制驅動軸955的旋轉角度與旋轉方向，以及控制凸輪管腳600與滾動球325在凸輪軌道440上的位置，以藉此達到精確地控制輸出裝置735之位置的目的。 Therefore, in summary, according to an embodiment of the present invention, the present invention can control the position of the rotation of the drive shaft 955 and the direction of rotation, and control the position of the cam pin 600 and the rolling ball 325 on the cam track 440. Thereby the purpose of accurately controlling the position of the output device 735 is achieved.
以上所述之實施例僅係為說明本發明之技術思想及特點，其目的在使熟習此項技藝之人士能夠瞭解本發明之內容並據以實施，當不能以之限定本發明之專利範圍，即大凡依本發明所揭示之精神所作之均等變化或修飾，仍應涵蓋在本發明之專利範圍內。 The embodiments described above are merely illustrative of the technical spirit and the features of the present invention, and the objects of the present invention can be understood by those skilled in the art, and the scope of the present invention cannot be limited thereto. That is, the equivalent variations or modifications made by the spirit of the present invention should still be included in the scope of the present invention.
100‧‧‧外擺線行星輪凸輪
200‧‧‧固定殼體
230‧‧‧貫穿孔
240‧‧‧驅動軸通孔
245‧‧‧支撐孔
280‧‧‧齒輪瓣
285‧‧‧內固定輪
290‧‧‧齒輪瓣凹隙
300‧‧‧殼體外蓋
301‧‧‧截角
310‧‧‧鎖固件
311‧‧‧鎖固孔
312‧‧‧蓋孔
320‧‧‧凸輪托座孔
321‧‧‧上套管
322‧‧‧下套管
325‧‧‧滾動球
326‧‧‧支撐球
330‧‧‧凸輪支托座
400‧‧‧外擺線行星輪
410‧‧‧擺線瓣
420‧‧‧擺線瓣凹隙
430‧‧‧偏心輪固定孔
431‧‧‧架設孔槽
440‧‧‧凸輪軌道
450‧‧‧凸輪軌道起點
460‧‧‧凸輪軌道終點
500‧‧‧偏心輪驅動軸
510‧‧‧外擺線行星偏心傳動器
511‧‧‧上柄部
512‧‧‧下柄部
513‧‧‧蓋體套筒
514‧‧‧滾珠球組
515‧‧‧球座
516‧‧‧殼體套筒
517‧‧‧滾動溝槽
530‧‧‧偏心傳動平衡器
531‧‧‧傳動平衡孔
533‧‧‧螺絲套
600‧‧‧凸輪管腳
735‧‧‧輸出裝置
745‧‧‧旋轉阻力部
800‧‧‧復原彈簧
950‧‧‧驅動軸連接器
955‧‧‧驅動軸100‧‧‧External cycloidal planetary cam
200‧‧‧Fixed housing
230‧‧‧through holes
240‧‧‧Drive shaft through hole
245‧‧‧Support hole
280‧‧‧ gear flap
285‧‧‧ internal fixed wheel
290‧‧‧Gear flap recess
300‧‧‧Shell cover
301‧‧‧Tangle
310‧‧‧Locker
311‧‧‧Lock hole
312‧‧‧ Cover hole
320‧‧‧Cam holder hole
321‧‧‧Upper casing
322‧‧‧ casing
325‧‧‧ rolling ball
326‧‧‧Support ball
330‧‧‧Cam support
400‧‧‧Outer Cycloidal Planetary Wheel
410‧‧‧cycloidal valve
420‧‧‧cycloidal valve gap
430‧‧‧eccentric wheel fixing hole
431‧‧‧ erection of slots
440‧‧‧ cam track
450‧‧‧Cam track starting point
460‧‧‧ cam track end point
500‧‧‧eccentric drive shaft
510‧‧‧External cycloidal planetary eccentric actuator
511‧‧‧Upper handle
512‧‧‧ Lower handle
513‧‧‧ cover sleeve
514‧‧‧Roll ball set
515‧‧‧ tee
516‧‧‧Sheet sleeve
517‧‧‧ rolling groove
530‧‧‧Eccentric gear balancer
531‧‧‧Transmission balance hole
533‧‧‧Screws
600‧‧‧Cam pin
735‧‧‧output device
745‧‧‧Rotating resistance
800‧‧‧Restoring spring
950‧‧‧Drive shaft connector
955‧‧‧ drive shaft
第1圖係為根據本發明實施例之外擺線行星輪凸輪之***圖。 第2A圖係為根據本發明實施例之外擺線行星輪凸輪之立體結構示意圖。 第2B圖係為根據本發明實施例具有一截角示意之外擺線行星輪凸輪之立體結構示意圖。 第3A圖係為根據本發明實施例之外擺線行星輪凸輪之上視圖。 第3B圖係為根據本發明實施例具有一截角示意之外擺線行星輪凸輪之上視圖。 第4圖係為根據本發明實施例之外擺線行星輪凸輪及其內部零組件之剖面示意圖。 第5圖係為根據本發明實施例之外擺線行星輪與固定行星輪之示意圖。 第6A圖係為根據本發明一實施例之凸輪軌道之結構示意圖。 第6B圖係為根據本發明一實施例之凸輪軌道與滾動球之結構示意圖。 第6C圖係為根據本發明一實施例之循環迴路之凸輪軌道之結構示意圖。Figure 1 is an exploded view of a cycloidal planetary cam according to an embodiment of the present invention. 2A is a schematic perspective view of a cycloidal planetary cam according to an embodiment of the present invention. 2B is a schematic perspective view of a cycloidal planetary cam having a truncated angle in accordance with an embodiment of the present invention. Figure 3A is a top view of a cycloidal planetary cam in accordance with an embodiment of the present invention. Figure 3B is a top plan view of the cycloidal planet cam with a truncated angle in accordance with an embodiment of the present invention. Figure 4 is a schematic cross-sectional view of a cycloidal planetary cam and its internal components in accordance with an embodiment of the present invention. Figure 5 is a schematic view of a cycloidal planetary wheel and a fixed planet gear in accordance with an embodiment of the present invention. Fig. 6A is a schematic view showing the structure of a cam track according to an embodiment of the present invention. Figure 6B is a schematic view showing the structure of a cam track and a rolling ball according to an embodiment of the present invention. Figure 6C is a schematic view showing the structure of a cam track of a circulation loop according to an embodiment of the present invention.
100‧‧‧外擺線行星輪凸輪 100‧‧‧External cycloidal planetary cam
200‧‧‧固定殼體 200‧‧‧Fixed housing
230‧‧‧貫穿孔 230‧‧‧through holes
240‧‧‧驅動軸通孔 240‧‧‧Drive shaft through hole
245‧‧‧支撐孔 245‧‧‧Support hole
280‧‧‧齒輪瓣 280‧‧‧ gear flap
285‧‧‧內固定輪 285‧‧‧ internal fixed wheel
290‧‧‧齒輪瓣凹隙 290‧‧‧Gear flap recess
300‧‧‧殼體外蓋 300‧‧‧Shell cover
310‧‧‧鎖固件 310‧‧‧Locker
311‧‧‧鎖固孔 311‧‧‧Lock hole
312‧‧‧蓋孔 312‧‧‧ Cover hole
320‧‧‧凸輪托座孔 320‧‧‧Cam holder hole
321‧‧‧上套管 321‧‧‧Upper casing
322‧‧‧下套管 322‧‧‧ casing
325‧‧‧滾動球 325‧‧‧ rolling ball
326‧‧‧支撐球 326‧‧‧Support ball
330‧‧‧凸輪支托座 330‧‧‧Cam support
400‧‧‧外擺線行星輪 400‧‧‧Outer Cycloidal Planetary Wheel
410‧‧‧擺線瓣 410‧‧‧cycloidal valve
420‧‧‧擺線瓣凹隙 420‧‧‧cycloidal valve gap
430‧‧‧偏心輪固定孔 430‧‧‧eccentric wheel fixing hole
431‧‧‧架設孔槽 431‧‧‧ erection of slots
440‧‧‧凸輪軌道 440‧‧‧ cam track
500‧‧‧偏心輪驅動軸 500‧‧‧eccentric drive shaft
510‧‧‧外擺線行星偏心傳動器 510‧‧‧External cycloidal planetary eccentric actuator
511‧‧‧上柄部 511‧‧‧Upper handle
512‧‧‧下柄部 512‧‧‧ Lower handle
513‧‧‧蓋體套筒 513‧‧‧ cover sleeve
514‧‧‧滾珠球組 514‧‧‧Roll ball set
515‧‧‧球座 515‧‧‧ tee
516‧‧‧殼體套筒 516‧‧‧Sheet sleeve
517‧‧‧滾動溝槽 517‧‧‧ rolling groove
530‧‧‧偏心傳動平衡器 530‧‧‧Eccentric gear balancer
531‧‧‧傳動平衡孔 531‧‧‧Transmission balance hole
600‧‧‧凸輪管腳 600‧‧‧Cam pin
735‧‧‧輸出裝置 735‧‧‧output device
745‧‧‧旋轉阻力部 745‧‧‧Rotating resistance
800‧‧‧復原彈簧 800‧‧‧Restoring spring
950‧‧‧驅動軸連接器 950‧‧‧Drive shaft connector
955‧‧‧驅動軸 955‧‧‧ drive shaft
Claims (20)
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| TW104118170A TWI593897B (en) | 2015-06-04 | 2015-06-04 | Cycloid drive epicycloid planet gear cam |
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| Application Number | Priority Date | Filing Date | Title |
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| TW104118170A TWI593897B (en) | 2015-06-04 | 2015-06-04 | Cycloid drive epicycloid planet gear cam |
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| TW201643329A TW201643329A (en) | 2016-12-16 |
| TWI593897B true TWI593897B (en) | 2017-08-01 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5673244A (en) * | 1979-11-02 | 1981-06-17 | Rodaway K S | Differential gear speed reduction device |
| US5498215A (en) * | 1992-10-16 | 1996-03-12 | Hosokawa; Toshihiro | Reduction gear assembly |
| CN101813172A (en) * | 2009-02-23 | 2010-08-25 | 加茂精工株式会社 | Rolling ball type two-stage low speed changer device |
| TW201422948A (en) * | 2012-12-03 | 2014-06-16 | Mechatronicsasia Entpr | Cycloid drive epicycloid planet gear cam |
-
2015
- 2015-06-04 TW TW104118170A patent/TWI593897B/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5673244A (en) * | 1979-11-02 | 1981-06-17 | Rodaway K S | Differential gear speed reduction device |
| US5498215A (en) * | 1992-10-16 | 1996-03-12 | Hosokawa; Toshihiro | Reduction gear assembly |
| CN101813172A (en) * | 2009-02-23 | 2010-08-25 | 加茂精工株式会社 | Rolling ball type two-stage low speed changer device |
| TW201422948A (en) * | 2012-12-03 | 2014-06-16 | Mechatronicsasia Entpr | Cycloid drive epicycloid planet gear cam |
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