TWI656716B - Self-locking geared motor capable of sensing torque - Google Patents
Self-locking geared motor capable of sensing torque Download PDFInfo
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Abstract
本發明提供一種可感測扭力的自鎖式減速馬達,包括一機殼內配置有一固定太陽齒輪、一活動太陽齒輪、多個行星齒輪串、一行星齒輪盤及一馬達定子,其中該固定太陽齒輪具有多支輻條,所述多支輻條上分別配置有至少一應變規,該行星齒輪盤結合一永久磁鐵而共同形成一環形轉子,所述多個行星齒輪串中的第一行星齒輪與第二行星齒輪分別相嚙該固定太陽齒輪與該活動太陽齒輪,該馬達定子繞設於該環形轉子的外圍;藉此,改善傳統減速馬達因需要加裝煞車及扭力感測器而導致整體配置空間暨體積難以有效縮減的問題。 The invention provides a self-locking speed reduction motor capable of sensing torque, comprising a fixed sun gear, a movable sun gear, a plurality of planetary gear strings, a planetary gear plate and a motor stator disposed in a casing, wherein the fixed sun The gear has a plurality of spokes, and the plurality of spokes are respectively disposed with at least one strain gauge, the planetary gear disc is combined with a permanent magnet to form an annular rotor, and the first planetary gear and the first one of the plurality of planetary gear strings The two planetary gears respectively engage the fixed sun gear and the movable sun gear, and the motor stator is wound around the periphery of the ring rotor; thereby improving the overall configuration space of the conventional gear motor due to the need to install the brake and the torque sensor The problem of cum volume is difficult to effectively reduce.
Description
本發明涉及一種減速馬達的結構技術,特別有關一種可感測扭力的自鎖式減速馬達。 The invention relates to a structural technology of a speed reducing motor, in particular to a self-locking speed reducing motor capable of sensing a torque.
減速馬達是一種結合電動馬達和齒輪減速機構或非齒輪減速機構而成的一體式動力驅動裝置。一般馬達在相同驅動電壓情況下,若要有低轉速高扭力輸出,體積通常都會相對比較大,而且製作成本也高,若是高轉速低扭力輸出,則體積通常都會相對比較小,而且製作成本也低,而減速馬達允許馬達在生成高轉速低扭力情況下透過減速機構轉換成低轉速高扭力,在相對較小體積下提供巨大的扭力輸出,例如升降機、絞車和機器人等設備;此外,還可以透過減速馬達去驅動例如是一個照相機底片卡匣。因此,減速馬達作為動力驅動裝置是相當普遍的使用方式。 The reduction motor is an integrated power drive unit that combines an electric motor with a gear reduction mechanism or a non-gear reduction mechanism. Generally, in the case of the same driving voltage, if there is a low-speed and high-torque output, the volume is usually relatively large, and the manufacturing cost is also high. If the high-speed and low-torque output is used, the volume is usually relatively small, and the manufacturing cost is also small. Low, and the deceleration motor allows the motor to convert to a low speed and high torque through a speed reduction mechanism while generating high speed and low torque, providing a large torque output in a relatively small volume, such as elevators, winches and robots; in addition, Driving through a reduction motor is, for example, a camera film cassette. Therefore, the use of a reduction motor as a power drive is quite common.
其中,減速馬達所使用到的齒輪減速機構,一般為了取得理想的減速比輸出,常見應用行星齒輪組來作為居間的傳動元件。且知,傳統技術中,應用具有多階減速比動力輸出的行星齒輪組來構裝該齒輪式減速機構,更能取理想的低轉速、高扭力的減速比輸出。 Among them, the gear reduction mechanism used by the reduction motor generally uses the planetary gear set as an intermediate transmission component in order to obtain an ideal reduction ratio output. It is also known that, in the conventional technology, a planetary gear set having a multi-step reduction ratio power output is used to construct the gear type speed reduction mechanism, and an ideal low-speed, high-torque reduction ratio output can be obtained.
以台灣公告第I404306、M524003、I538363號專利為例,分別公開了一種使用齒輪減速機構的減速馬達。然而,這些傳統的減速馬達雖能提供理想的減速比輸出,卻都欠缺自鎖功能。 Taking the patents of Taiwan Publication No. I404306, M524003, and I538363 as an example, a reduction motor using a gear reduction mechanism is disclosed, respectively. However, these conventional geared motors provide the ideal reduction ratio output, but they lack the self-locking function.
更進一步的說,行星齒輪組一般包含有相嚙傳動的太陽齒輪、行星齒輪、行星齒輪盤、環齒輪,而傳統配置行星齒 輪組的減速馬達,都是針對上述齒輪組件作出增、減的配置組合,使其生成具有減速比的動力輸出。 Furthermore, the planetary gear set generally includes a sun gear, a planetary gear, a planetary gear disk, a ring gear, and a conventionally arranged planetary gear. The gear motor of the wheel set is a combination of the increase and decrease of the gear assembly described above, so that it generates a power output with a reduction ratio.
且知,上述減速馬達中的齒輪減速機構都具有一入力端及一出力端,對於減速機構整體而言,該入力端及出力端可以分別從太陽齒輪、行星齒輪盤、環齒輪之中選擇能取得理想減速比的對象;該減速馬達中的馬達是作為入力端使用,以提供旋轉動力輸入,該出力端通常會連結有高扭力及減速後之驅動需求的設備;對於減速機構整體而言,該出力端的設備本身已具備了例如是重力等牽制因素,會成為減速機構的負載;當入力端的馬達停止運轉(包含正轉及反轉)瞬間,一般會因轉動慣量(revolving inertia)而維持相同旋轉方向的末速運轉,乃至於無法準確的掌握出力端設備停止不動的傳動位置,亦或是造成出力端設備無法停止運動而導致損壞或發生危險。此外,當出力端設備於停止瞬間,也常見因該出力端所連結之設備的負載而對減速機構施予一相反於傳動旋轉方向的旋轉動量,這也是影響出力端設備之定位精確性的問題。歸咎其原因,在於傳統的減速馬達欠缺自鎖功能所造成。 It is known that the gear reduction mechanism of the above-mentioned reduction motor has an input end and an output end. For the entire reduction mechanism, the input end and the output end can be respectively selected from the sun gear, the planetary gear disc and the ring gear. The object of obtaining the ideal reduction ratio; the motor in the reduction motor is used as the input end to provide a rotary power input, and the output end is usually connected with a device with high torque and deceleration driving demand; for the overall speed reduction mechanism, The device at the output end itself has a pinning factor such as gravity, which will become the load of the speed reduction mechanism; when the motor at the input end stops running (including forward rotation and reverse rotation), it generally maintains the same due to the revolving inertia. The end speed operation in the direction of rotation does not accurately grasp the transmission position where the force end device stops moving, or causes the output end device to stop moving and cause damage or danger. In addition, when the output end device stops at a moment, it is also common to apply a rotational momentum to the speed reduction mechanism opposite to the rotation direction of the transmission due to the load of the device connected to the output end, which is also a problem affecting the positioning accuracy of the output end device. . The reason for this is that the traditional geared motor lacks the self-locking function.
為了克服上述減速馬達無法自鎖的問題,已知技術的作法是於該減速馬達中之減速機構的出力端或出力端所連結的設備上配置一煞車裝置,但該煞車裝置並非隸屬於上述齒輪減速機構本身的構件(亦即不是太陽齒輪、行星齒輪、行星齒輪盤、環齒輪),因此存在難以簡化組件、減少配置空間以及降低製作成本的問題。 In order to overcome the problem that the above-mentioned speed reducing motor cannot be self-locking, the known technique is to arrange a braking device on the device connected to the output end or the output end of the speed reducing mechanism in the speed reducing motor, but the braking device is not affiliated with the above gear The components of the speed reduction mechanism itself (that is, not the sun gear, the planetary gear, the planetary gear disk, and the ring gear) have problems in that it is difficult to simplify the assembly, reduce the arrangement space, and reduce the manufacturing cost.
此外,傳統減速馬達需要在出力端與出力端所連結的設備之間配置扭力感測器來量測減速馬達中所生成的扭力值變化,這種配置方式雖能有效的量測出減速馬達中所生成的扭力值變化,但由於該扭力感測器並非隸屬於減速馬達本身的構件,因此增加了扭力感測器與減速馬達整合配置後的整體配置空間。 In addition, the conventional deceleration motor needs to be equipped with a torque sensor between the output end and the device connected to the output end to measure the change of the torque value generated in the deceleration motor. This configuration method can effectively measure the deceleration motor. The generated torque value changes, but since the torque sensor is not a member of the reduction motor itself, the overall configuration space after the torque sensor and the reduction motor are integrated is increased.
有鑑於此,本發明之目的旨在針對傳統減速馬達,特別是針對配置有行星齒輪組的減速馬達,改善該減速馬達本身無法於入力端的動力停止瞬間立即地產生自鎖,乃至於影響出力端所連結的設備之定位精確性的問題,以及需要另外加裝扭力感測器來量測減速馬達中所生成的扭力值變化,進而增加減速馬達與扭力感測器整合配置之整體空間的問題。 In view of the above, the object of the present invention is to aim at a conventional geared motor, particularly for a geared motor equipped with a planetary gear set, to improve the self-locking of the geared motor itself at the instant of stopping the power at the input end, and even affect the output end. The problem of the positioning accuracy of the connected equipment, and the need to additionally install a torque sensor to measure the change in the torque value generated in the reduction motor, thereby increasing the overall space of the integrated configuration of the reduction motor and the torque sensor.
為了實現上述目的並解決問題,本發明一較佳實施例在於提供一種可感測扭力的自鎖式減速馬達,其結構配置細節包括:一機殼,具有一中心線;一固定太陽齒輪,沿該中心線固設於該機殼內,該固定太陽齒輪具有一輪框及一輪轂,該輪框與該輪轂之間經由多支輻條相互間隔連接,所述多支輻條上分別配置有至少一應變規;一活動太陽齒輪,沿該中心線與該固定太陽齒輪同軸向間隔配置;多個行星齒輪串,分別配置於該固定太陽齒輪與該活動太陽齒輪的外緣,所述多個行星齒輪串分別具有同軸串列的一第一行星齒輪及一第二行星齒輪,該第一行星齒輪相嚙該固定太陽齒輪,該第二行星齒輪相嚙該活動太陽齒輪;一行星齒輪盤,沿該中心線樞設於該機殼內,所述多個行星齒輪串分別配置於該行星齒輪盤上,該行星齒輪盤並結合一永久磁鐵而共同形成一環形轉子;及一馬達定子,繞設於該環形轉子的外圍且坐落於該機殼內。 In order to achieve the above object and solve the problem, a preferred embodiment of the present invention provides a self-locking reduction motor capable of sensing torque, and the structural configuration details thereof include: a casing having a center line; and a fixed sun gear along the The center line is fixed in the casing, the fixed sun gear has a wheel frame and a hub, and the wheel frame and the hub are connected to each other via a plurality of spokes, and the plurality of spokes are respectively disposed with at least one strain a movable sun gear disposed along the center line in an axially spaced relationship with the fixed sun gear; a plurality of planetary gear strings respectively disposed on an outer edge of the fixed sun gear and the movable sun gear, the plurality of planetary gear strings a first planetary gear having a coaxial string and a second planetary gear, the first planetary gear meshing with the fixed sun gear, the second planetary gear meshing with the movable sun gear; and a planetary gear disk along the center The wire is pivotally disposed in the casing, and the plurality of planetary gear strings are respectively disposed on the planetary gear plate, and the planetary gear plate is combined with a permanent magnet to form Annular rotor; and a motor stator disposed around the periphery of the rotor and is located in the annular housing is provided.
在進一步實施中,該固定太陽齒輪的齒面係形成於該輪框的外壁上,該輪轂沿該中心線固設於該機殼內,所述多支輻條係由該輪轂的外壁延伸至該輪框的內壁。 In a further implementation, the tooth surface of the fixed sun gear is formed on an outer wall of the wheel frame, the hub is fixed in the casing along the center line, and the plurality of spokes extend from an outer wall of the hub to the The inner wall of the wheel frame.
在進一步實施中,所述輻條上形成有至少一平行於該中心線之徑向的端面,該應變規係配置於所述端面上。其中所述端面係平行於該中心線之軸向。所述端面係垂直於該中心線之軸向。 In a further implementation, the spoke is formed with at least one radial end surface parallel to the centerline, and the strain gauge is disposed on the end surface. Wherein the end face is parallel to the axial direction of the centerline. The end face is perpendicular to the axial direction of the centerline.
在進一步實施中,所述多個行星齒輪串中的各該第一行星齒輪與各該第二行星齒輪分別接受該行星齒輪盤的拘束而 同步繞行該固定太陽齒輪與該活動太陽齒輪公轉。其中所述多個行星齒輪串中的該第一行星齒輪與該第二行星齒輪同軸一體形成且樞接於一行星齒輪軸上,該行星齒輪軸固定於該行星齒輪盤上。 In a further implementation, each of the plurality of planetary gear trains and each of the second planetary gears respectively receive the restraint of the planetary gear disc Synchronously bypassing the fixed sun gear and revolving the active sun gear. The first planetary gear of the plurality of planetary gears is integrally formed coaxially with the second planetary gear and pivotally coupled to a planetary gear shaft, and the planetary gear shaft is fixed to the planetary gear plate.
在進一步實施中,該永久磁鐵係固定於該環形轉子的外壁。 In a further implementation, the permanent magnet is attached to the outer wall of the annular rotor.
在進一步實施中,該馬達定子由一具有多槽之導磁鋼片堆與依序繞組於所述多槽內的漆包線繞組結合而成。 In a further implementation, the motor stator is formed by combining a stack of magnetically conductive steel sheets having a plurality of slots with an enameled wire winding of the sequential windings in the plurality of slots.
根據上述,本發明將行星齒輪盤結合永久磁鐵所形成的環形轉子作為入力端,將活動太陽齒輪作為出力端,該活動太陽齒輪軸接有高扭力及減速後之驅動需求的設備,藉由該減速馬達中的各組件相嚙傳動,進而提供具有減速比的動力輸出至該出力端所連結的設備。因此,本發明所能呈現的技術功效在於: According to the above, the present invention uses a ring-shaped rotor formed by a planetary gear disc in combination with a permanent magnet as an input end, and a movable sun gear as an output end, and the movable sun gear shaft is connected with a device having a high torque and a driving demand after deceleration, by the The components in the retarding motor are intermeshing and drive, thereby providing a power output having a reduction ratio to the device to which the output end is coupled. Therefore, the technical effects that can be presented by the present invention are:
1.該減速馬達能憑藉同軸一體形成的第一行星齒輪與該第二行星齒輪分別相嚙固定太陽齒輪與活動太陽齒輪而具自鎖功能,特別是當減速馬達停止運轉時,該減速馬達中的各組件之間能立即地相互制動,使出力端所連結的設備運行至所需求之位置時能立即地停止轉動,因此本發明不需額外增加煞車裝置,以降低製作成本,並且有利於減少減速馬達的配置空間。 1. The reduction motor can have a self-locking function by the coaxially integrally formed first planetary gear and the second planetary gear respectively fixing the sun gear and the movable sun gear, especially when the speed reduction motor stops running, the speed reduction motor The components can be immediately braked each other, so that the device connected to the output end can be immediately stopped when it is operated to the desired position. Therefore, the present invention does not need to additionally increase the braking device, thereby reducing the manufacturing cost and facilitating the reduction. The configuration space of the reduction motor.
2.直接在固定太陽齒輪的輻條上形成應變規的裝配位置,簡化減速馬達的結構複雜度,以便於量測減速馬達中所生成的扭力值變化,不需額外增加扭力感測器,能有效減少減速馬達的整體配置空間。 2. Forming the assembly position of the strain gauge directly on the spokes of the fixed sun gear, simplifying the structural complexity of the deceleration motor, so as to measure the change of the torque value generated in the deceleration motor, without additional torque sensor, can effectively Reduce the overall configuration space of the geared motor.
3.利用行星齒輪盤結合永久磁鐵形成環形轉子,也就是說將馬達的環形轉子與行星齒輪組的行星齒輪盤一體化,來簡化減速馬達的結構,進而減少減速馬達的整體配置空間。 3. The planetary gear disc is combined with the permanent magnet to form the annular rotor, that is, the annular rotor of the motor is integrated with the planetary gear disc of the planetary gear set to simplify the structure of the reduction motor, thereby reducing the overall configuration space of the reduction motor.
此外,有關本發明可供據以實施的相關技術細節,將在後續的實施方式及圖式中加以闡述。 Further, details of the related art to which the present invention may be implemented will be explained in the following embodiments and drawings.
10‧‧‧機殼 10‧‧‧Chassis
11‧‧‧內壁 11‧‧‧ inner wall
12‧‧‧端壁 12‧‧‧ End wall
20‧‧‧固定太陽齒輪 20‧‧‧Fixed sun gear
21‧‧‧輪框 21‧‧‧ wheel frame
22‧‧‧輪轂 22‧‧·wheels
23‧‧‧輻條 23‧‧‧ spokes
24、24a、24b‧‧‧端面 24, 24a, 24b‧‧‧ end face
25‧‧‧中心軸 25‧‧‧ center axis
26‧‧‧應變規 26‧‧‧Strain gauge
30‧‧‧活動太陽齒輪 30‧‧‧Active Sun Gear
31‧‧‧套筒 31‧‧‧ sleeve
32‧‧‧軸承 32‧‧‧ Bearing
40‧‧‧行星齒輪串 40‧‧‧ planetary gear train
41‧‧‧第一行星齒輪 41‧‧‧First planetary gear
42‧‧‧第二行星齒輪 42‧‧‧Second planetary gear
43‧‧‧齒輪軸承 43‧‧‧Gear bearing
44‧‧‧行星齒輪軸 44‧‧‧ planetary gear shaft
50‧‧‧行星齒輪盤 50‧‧‧ planetary gear disc
60‧‧‧永久磁鐵 60‧‧‧ permanent magnet
61‧‧‧磁鐵護持環 61‧‧‧Magnet retaining ring
70‧‧‧環形轉子 70‧‧‧Ring rotor
71‧‧‧軸承 71‧‧‧ Bearing
80‧‧‧馬達定子 80‧‧‧Motor stator
L‧‧‧中心線 L‧‧‧ center line
圖1是本發明實施例的立體剖示圖;圖2是圖1的前視圖;圖3是固定太陽齒輪與應變規的立體配置示意圖;圖4是固定太陽齒輪上應變規之不同位置的立體配置示意圖;圖5是活動太陽齒輪與第二行星齒輪之間所生成的作用力之解說圖;圖6是固定太陽齒輪與第一行星齒輪之間所生成的作用力之解說圖。 1 is a perspective view of the embodiment of the present invention; FIG. 2 is a front view of FIG. 1; FIG. 3 is a schematic perspective view of a fixed sun gear and a strain gauge; FIG. 4 is a three-dimensional configuration of different positions of a strain gauge on a fixed sun gear. FIG. 5 is an explanatory diagram of the force generated between the movable sun gear and the second planetary gear; FIG. 6 is an explanatory diagram of the force generated between the fixed sun gear and the first planetary gear.
首先,請合併參閱圖1至圖3,揭露本發明一種較佳實施例的配置細節,說明本發明所提供之可感測扭力的自鎖式減速馬達,包括一機殼10、一固定太陽齒輪20、一活動太陽齒輪30、多個行星齒輪串40、一行星齒輪盤50、一環形轉子70及一馬達定子80,其中:該機殼10作為整個減速馬達之固定端,並用以容納上述的固定太陽齒輪20、活動太陽齒輪30、多個行星齒輪串40、行星齒輪盤50、環形轉子70及馬達定子80。該機殼10內形成有一環狀內壁11及與該環狀內壁11連接的端壁12,該環狀內壁11與端壁12之間建構形成一圓柱狀的容量空間,上述的固定太陽齒輪20、活動太陽齒輪30、多個行星齒輪串40、行星齒輪盤50、環形轉子70及馬達定子80係配置於該容量空間中。進一步的說,該機殼10具有一中心線L,該中心線L與環狀內壁11平行且坐落於環狀內壁11的中心,該中心線L與端壁12垂直。 First, please refer to FIG. 1 to FIG. 3 to disclose the configuration details of a preferred embodiment of the present invention, and illustrate a self-locking speed reduction motor capable of sensing torque provided by the present invention, including a casing 10 and a fixed sun gear. 20. A movable sun gear 30, a plurality of planetary gear strings 40, a planetary gear plate 50, a ring rotor 70 and a motor stator 80, wherein: the casing 10 serves as a fixed end of the entire reduction motor and is adapted to accommodate the above The sun gear 20, the movable sun gear 30, the plurality of planetary gear trains 40, the planetary gear plate 50, the ring rotor 70, and the motor stator 80 are fixed. An annular inner wall 11 and an end wall 12 connected to the annular inner wall 11 are formed in the casing 10. The annular inner wall 11 and the end wall 12 are formed to form a cylindrical capacity space. The sun gear 20, the movable sun gear 30, the plurality of planetary gear trains 40, the planetary gear plate 50, the ring rotor 70, and the motor stator 80 are disposed in the capacity space. Further, the casing 10 has a center line L which is parallel to the annular inner wall 11 and is located at the center of the annular inner wall 11, which is perpendicular to the end wall 12.
該固定太陽齒輪20係沿中心線L配置並且固接於機殼10內的端壁12上,該固定太陽齒輪20具有一環狀的輪框21及一環狀的輪轂22,該輪框21與輪轂22之間經由多支輻條23相互間隔連接,所述多支輻條23係呈放射狀分佈於輪框21與輪轂22之間;在具體實施上,該固定太陽齒輪20的齒面係形成於輪框21的外壁上,該輪轂22的中心沿中心線L固設於機殼10內 的端壁12上,所述多支輻條23係由輪轂22的外壁延伸至輪框21的內壁。 The fixed sun gear 20 is disposed along the center line L and is fixed to the end wall 12 in the casing 10. The fixed sun gear 20 has an annular wheel frame 21 and an annular hub 22, and the wheel frame 21 The plurality of spokes 23 are spaced apart from each other by a plurality of spokes 23, and the plurality of spokes 23 are radially distributed between the wheel frame 21 and the hub 22; in a specific implementation, the tooth surface of the fixed sun gear 20 is formed. On the outer wall of the wheel frame 21, the center of the hub 22 is fixed in the casing 10 along the center line L. On the end wall 12, the plurality of spokes 23 extend from the outer wall of the hub 22 to the inner wall of the wheel frame 21.
所述多支輻條23上分別配置有至少一應變規26,更具體的說,所述輻條23上形成有至少一平行於該中心線L之徑向的端面24,該應變規26係配置於所述端面24上;在第一種實施例中,配置應變規26的端面24係平行於中心線L之徑向並垂直於該中心線L之軸向的端面24a(如圖3所示);在第二種實施例中,配置應變規26的端面24係平行於中心線L之徑向及軸向的端面24b(如圖4所示);在第三種實施例中,應變規26可以分別配置於上述的端面24a及端面24b,也就是一支輻條23上配置有多個應變規26。 The plurality of spokes 23 are respectively disposed with at least one strain gauge 26, and more specifically, the spokes 23 are formed with at least one end surface 24 parallel to the radial direction of the center line L, and the strain gauge 26 is disposed on In the first embodiment, the end surface 24 of the strain gauge 26 is disposed parallel to the radial direction of the center line L and perpendicular to the axial end surface 24a of the center line L (as shown in FIG. 3). In the second embodiment, the end face 24 of the strain gauge 26 is disposed parallel to the radial and axial end faces 24b of the centerline L (as shown in FIG. 4); in the third embodiment, the strain gauge 26 The end faces 24a and the end faces 24b may be respectively disposed, that is, a plurality of strain gauges 26 are disposed on one of the spokes 23.
該活動太陽齒輪30係沿中心線L與固定太陽齒輪20同軸向間隔配置,並且樞設於機殼10內,該活動太陽齒輪30係作為本發明減速馬達之出力端,該活動太陽齒輪30軸接有一套筒31,該套筒31之一端延伸至機殼10外,用以連接有降低轉速需求的設備;在具體實施上,該固定太陽齒輪20上軸接有一中心軸25,該套筒31套設於中心軸25上,並藉由軸承32與中心軸25樞接,使該活動太陽齒輪30與固定太陽齒輪20同軸向間隔配置並樞設於機殼10內;在不同實施例中,該中心軸25可由機殼10或固定太陽齒輪20延伸形成。 The movable sun gear 30 is disposed axially spaced from the fixed sun gear 20 along the center line L, and is pivotally disposed in the casing 10. The movable sun gear 30 serves as the output end of the reduction motor of the present invention, and the movable sun gear 30 shaft A sleeve 31 is connected, and one end of the sleeve 31 extends outside the casing 10 for connecting the device with a reduced speed requirement; in a specific implementation, the fixed sun gear 20 is axially coupled with a central shaft 25, the sleeve 31 sets on the central shaft 25, and is pivotally connected to the central shaft 25 by the bearing 32, so that the movable sun gear 30 and the fixed sun gear 20 are axially spaced apart and pivoted in the casing 10; in different embodiments The central shaft 25 can be formed by the casing 10 or the fixed sun gear 20.
所述多個行星齒輪串40分別配置於固定太陽齒輪20與活動太陽齒輪30的外緣,且所述多個行星齒輪串40分別具有同軸串列的一第一行星齒輪41及一第二行星齒輪42,該第一行星齒輪41相嚙固定太陽齒輪20,該第二行星齒輪42相嚙活動太陽齒輪30。 The plurality of planetary gear strings 40 are respectively disposed on the outer edges of the fixed sun gear 20 and the movable sun gear 30, and the plurality of planetary gear strings 40 respectively have a first planetary gear 41 and a second planet coaxially arranged. A gear 42 that meshes with the sun gear 20 and the second planet gear 42 engages the sun gear 30.
所述多個行星齒輪串40分別配置於一行星齒輪盤50上,該行星齒輪盤50沿中心線L樞設於機殼10內,所述多個行星齒輪串40中的各該第一行星齒輪41與各該第二行星齒輪42分別接受行星齒輪盤50的拘束而配置於固定太陽齒輪20與活動 太陽齒輪30的外緣,並同步繞行固定太陽齒輪20與活動太陽齒輪30公轉;在具體實施上,所述行星齒輪串40中的第一行星齒輪41與第二行星齒輪42係同軸一體或以組合方式形成,且經由一齒輪軸承43而樞接於一行星齒輪軸44上,該行星齒輪軸44是固定於行星齒輪盤50上。 The plurality of planetary gear strings 40 are respectively disposed on a planetary gear plate 50. The planetary gear plate 50 is pivotally disposed in the casing 10 along a center line L. Each of the first planets of the plurality of planetary gear strings 40 The gear 41 and each of the second planetary gears 42 are respectively restrained by the planetary gear plate 50, and are disposed on the fixed sun gear 20 and movable. The outer edge of the sun gear 30 is synchronously circumscribing the fixed sun gear 20 and the movable sun gear 30 to revolve; in a specific implementation, the first planetary gear 41 of the planetary gear train 40 is coaxially integrated with the second planetary gear 42 or The combination is formed and pivotally coupled to a planet gear shaft 44 via a gear bearing 43 that is fixed to the planet gear plate 50.
該行星齒輪盤50在實施上結合一永久磁鐵60而共同形成一環形轉子70,該環形轉子70係作為本發明減速馬達之入力端,所述永久磁鐵60具有至少一N極與一S極所構成之一極對,其N極與S極相鄰配置成一環狀並緊貼於環形轉子70的表面,且受非導磁性材料製成之磁鐵護持環61護持,以避免受旋轉離心力作用而剝離;更具體的說,該永久磁鐵60係固定於環形轉子70的外壁,該環形轉子70經由軸承71而樞設於機殼10內。 The planetary gear plate 50 is combined with a permanent magnet 60 to form an annular rotor 70 which serves as the input end of the reduction motor of the present invention. The permanent magnet 60 has at least one N pole and one S pole. One pole pair is formed, and the N pole and the S pole are arranged adjacent to each other in an annular shape and are in close contact with the surface of the annular rotor 70, and are protected by the magnet retaining ring 61 made of a non-magnetic material to avoid the centrifugal force of rotation. More specifically, the permanent magnet 60 is fixed to the outer wall of the annular rotor 70, and the annular rotor 70 is pivotally disposed in the casing 10 via a bearing 71.
該馬達定子80係固定在機殼10內的環狀內壁11上而繞設於環形轉子70的外圍,該馬達定子80在實施係由多槽的導磁鋼片堆與依序繞組於所述多槽內的漆包線繞組結合而成,由控制器及電源供應單元依序對漆包線繞組通電,透過永久磁鐵60所產生之磁力線與漆包線繞組之電流依安培定律互相作用,即可推動永久磁鐵60旋轉,亦即推動環型轉子70旋轉,以生成本發明減速馬達的動力源。 The motor stator 80 is fixed on the annular inner wall 11 in the casing 10 and is disposed around the outer periphery of the annular rotor 70. The motor stator 80 is implemented by a multi-groove magnetic conductive steel pile and a sequential winding. The enameled wire windings in the plurality of slots are combined, and the controller and the power supply unit sequentially energize the enameled wire windings, and the magnetic lines generated by the permanent magnets 60 interact with the current of the enameled wire windings according to Ampere's law to push the permanent magnets 60. Rotation, that is, pushing the ring rotor 70 to rotate, generates a power source for the reduction motor of the present invention.
該第一行星齒輪41係與固定太陽齒輪20相嚙觸,且該第二行星齒輪42並與活動太陽齒輪30相嚙觸,使得當環形轉子70轉動時,該第一行星齒輪41能夠受固定太陽齒輪20之導引而自轉,並跟隨行星齒輪盤50同步公轉,使得跟隨第一行星齒輪41轉動之第二行星齒輪42驅動活動太陽齒輪30相對於環形轉子70以特定減速比減速旋轉。 The first planetary gear 41 is in contact with the fixed sun gear 20, and the second planetary gear 42 is in contact with the movable sun gear 30, so that the first planetary gear 41 can be fixed when the ring rotor 70 rotates. The sun gear 20 is rotated by the guidance of the sun gear 20, and synchronously revolves following the planetary gear plate 50, so that the second planetary gear 42 following the rotation of the first planetary gear 41 drives the movable sun gear 30 to rotate at a specific reduction ratio with respect to the ring rotor 70.
此外,本發明可進一步的將固定太陽齒輪20與活動太陽齒輪30配置上不同的齒數;換句話說,該固定太陽齒輪20具有A齒數,該活動太陽齒輪30具有B齒數,且A齒數≠B齒數。再者,本發明還可以更進一步的將上述同步轉動(包含自轉及 繞行固定太陽齒輪20及活動太陽齒輪30公轉)的第一行星齒輪41與第二行星齒輪42配置上不同的模數;換句話說,該第一行星齒輪41具有X模數,該第二行星齒輪42具有Y模數,且X模數≠Y模數。由於該固定太陽齒輪20與第一行星齒輪41嚙觸,該活動太陽齒輪30與第二行星齒輪42嚙觸,所以該固定太陽齒輪20具有與第一行星齒輪41相同的X模數,該活動太陽齒輪30具有與第二行星齒輪42相同的Y模數。 In addition, the present invention can further configure the fixed sun gear 20 and the movable sun gear 30 to have different numbers of teeth; in other words, the fixed sun gear 20 has A teeth number, the movable sun gear 30 has B teeth number, and the A teeth number ≠B Number of teeth. Furthermore, the present invention can further rotate the above synchronous rotation (including rotation and The first planetary gear 41 and the second planetary gear 42 of the fixed fixed sun gear 20 and the movable sun gear 30 are arranged with different modulus; in other words, the first planetary gear 41 has an X modulus, the second The planet gear 42 has a Y modulus and an X modulus ≠Y modulus. Since the fixed sun gear 20 is in contact with the first planetary gear 41, the movable sun gear 30 is in contact with the second planetary gear 42, so the fixed sun gear 20 has the same X modulus as the first planetary gear 41, the activity The sun gear 30 has the same Y modulus as the second planetary gear 42.
根據上述配置細節,當馬達定子80上的漆包線繞組依序通以電流驅動永久磁鐵60旋轉時將同步帶動環形轉子70旋轉,所述具有X模數的多個第一行星齒輪41因與固定太陽齒輪20嚙觸而被導引帶動自轉,以及繞行固定太陽齒輪20與活動太陽齒輪30公轉,由於第一行星齒輪41與第二行星齒輪42是同軸一體串列配置,因此當該第一行星齒輪41被驅動時,該第二行星齒輪42便能和第一行星齒輪41同步轉動(包含自轉及繞行固定太陽齒輪20及活動太陽齒輪30公轉);其中,在該環形轉子70的高速旋轉轉速透過具有X模數的多個第一行星齒輪41嚙觸具有A齒數的固定太陽齒輪20,並且憑藉具有Y模數的多個第二行星齒輪42嚙觸傳動具有B齒數的活動太陽齒輪30,由於固定太陽齒輪20已被固定於機殼10內而不會轉動,因此具有B齒數的活動太陽齒輪30因齒數與具有A齒數的固定太陽齒輪20不同,驅使活動太陽齒輪30相對於環形轉子70以特定減速比轉動,進而帶動活動太陽齒輪30上之套筒31減速輸出,以供應有降低轉速需求的設備使用。 According to the above configuration details, when the enameled wire winding on the motor stator 80 sequentially drives the permanent magnet 60 to rotate, the ring rotor 70 is synchronously driven to rotate, and the plurality of first planetary gears 41 having the X modulus are fixed to the sun. The gear 20 is engaged and guided to rotate, and the fixed sun gear 20 and the movable sun gear 30 revolve around. Since the first planetary gear 41 and the second planetary gear 42 are coaxially arranged in series, when the first planet When the gear 41 is driven, the second planetary gear 42 can rotate synchronously with the first planetary gear 41 (including the rotation and the bypass fixed sun gear 20 and the movable sun gear 30 revolving); wherein, the high speed rotation of the annular rotor 70 The rotational speed is transmitted through the plurality of first planetary gears 41 having the X-modulus to the fixed sun gear 20 having the A-number of teeth, and the movable sun gear 30 having the B-number of teeth is engaged by the plurality of second planetary gears 42 having the Y-modulus Since the fixed sun gear 20 has been fixed in the casing 10 without rotating, the movable sun gear 30 having the B number of teeth is different from the fixed sun gear 20 having the A number of teeth. The movable sun gear 30 is driven to rotate at a specific reduction ratio with respect to the ring rotor 70, thereby driving the sleeve 31 on the movable sun gear 30 to decelerate the output to supply the device having the reduced speed requirement.
此外,當作為入力端的環形轉子70所輸入的動力停止瞬間,作為出力端的活動太陽齒輪30會反向受到各該第一行星齒輪41與第二行星齒輪42以及該固定太陽齒輪20之間的相互制動作用而產生自鎖。因此,縱使該出力端所軸接的設備存在有重力等負載,該負載會在入力端所輸入的動力停止瞬間繼續驅動出力端(也就是活動太陽齒輪30)進而驅動入力端旋轉;但是,該轉 動慣量會受到本發明上述自鎖條件的牽制(拘束)而不會驅動入力端運轉。據此,本發明能夠準確的掌握設備停止不動時出力端的傳動位置,而且還能排除入力端設備於入力端動力停止瞬間不至於損壞或發生危險的問題。另外,本發明還能節省煞車裝置的配置成本,並且有助於縮減結構的配置空間。 Further, when the power input from the ring rotor 70 as the input end is stopped, the movable sun gear 30 as the output end is reversely subjected to mutual mutual interaction between the first planetary gear 41 and the second planetary gear 42 and the fixed sun gear 20. Self-locking due to braking action. Therefore, even if the device axially connected to the output end has a load such as gravity, the load will continue to drive the output end (ie, the movable sun gear 30) and then drive the input end to rotate when the power input from the input end stops; however, turn The moment of inertia is subject to the above-mentioned self-locking condition of the present invention (constrained) and does not drive into the force end. Accordingly, the present invention can accurately grasp the transmission position of the output end when the device is stopped, and can also eliminate the problem that the input end device is not damaged or dangerous when the power end of the input end is stopped. In addition, the present invention can also save the configuration cost of the brake device and help to reduce the configuration space of the structure.
請合併參閱圖5及圖6,說明當活動太陽齒輪30輸入一順時針方向的扭力T時,該活動太陽齒輪30與第二行星齒輪42的相嚙接觸點會形成一切線作用力F1,由於第二行星齒輪42與第一行星齒輪41是同軸一體串列配置,因此使第一行星齒輪41與固定太陽齒輪20的相嚙接觸點會形成相同的切線作用力F1;由於固定太陽齒輪20的輪轂22已被固定於機殼10內,因此當固定太陽齒輪20受到切線作用力F1時,該輻條23連接輪轂22之一端會生成一反作用力F2;如圖3所示,當應變規26黏貼於輻條23的端面24a時,能偵測到輻條23所受的剪應力,進而推算輻條23之雙端所受力的大小,再將受力乘以力臂長,即為所感測之扭力值;如圖4所示,當應變規26黏貼於輻條23的端面24b時,能偵測到輻條23所受的彎曲應力,進而推算輻條23之雙端所受力的大小,再將受力乘以力臂長,即為所感測之扭力值。 Referring to FIG. 5 and FIG. 6 together, when the movable sun gear 30 inputs a clockwise torque T, the point of contact between the movable sun gear 30 and the second planetary gear 42 forms a line force F1 due to The second planetary gear 42 and the first planetary gear 41 are coaxially arranged in series, so that the point of contact between the first planetary gear 41 and the fixed sun gear 20 forms the same tangential force F1; The hub 22 has been fixed in the casing 10, so when the fixed sun gear 20 is subjected to the tangential force F1, the spoke 23 is connected to one end of the hub 22 to generate a reaction force F2; as shown in FIG. 3, when the strain gauge 26 is pasted When the end face 24a of the spoke 23 is used, the shear stress of the spoke 23 can be detected, and then the force applied to the double ends of the spoke 23 can be estimated, and then the force is multiplied by the length of the arm, which is the sensed torque value. As shown in FIG. 4, when the strain gauge 26 is adhered to the end surface 24b of the spoke 23, the bending stress of the spoke 23 can be detected, and then the force applied to the double ends of the spokes 23 can be estimated, and then the force is multiplied. The strength of the arm is the measured torque value .
然而,以上實施例僅為表達了本發明的較佳實施方式,但並不能因此而理解為對本發明專利範圍的限制。因此,本發明應以申請專利範圍中限定的請求項內容為準。 However, the above embodiments are merely illustrative of preferred embodiments of the invention, but are not to be construed as limiting the scope of the invention. Therefore, the present invention should be based on the content of the claims defined in the scope of the patent application.
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TW106131224A TWI656716B (en) | 2017-09-12 | 2017-09-12 | Self-locking geared motor capable of sensing torque |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201208237A (en) * | 2010-08-02 | 2012-02-16 | Hiwin Mikrosystem Corp | Brush DC motor with reduction mechanism |
CN103963913A (en) * | 2013-01-25 | 2014-08-06 | 姚立和 | Automatic stepless speed change device for bicycle |
TWM542887U (en) * | 2016-09-09 | 2017-06-01 | Safeway Electro-Mechanical Co Ltd | Motor decelerator module |
TW201723448A (en) * | 2015-12-23 | 2017-07-01 | Prodrives & Motions Co Ltd | Axial rotation torque sensor allows one end of the elastic piece to sensitively produce bending and deformation under state of force received |
-
2017
- 2017-09-12 TW TW106131224A patent/TWI656716B/en not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201208237A (en) * | 2010-08-02 | 2012-02-16 | Hiwin Mikrosystem Corp | Brush DC motor with reduction mechanism |
CN103963913A (en) * | 2013-01-25 | 2014-08-06 | 姚立和 | Automatic stepless speed change device for bicycle |
TW201723448A (en) * | 2015-12-23 | 2017-07-01 | Prodrives & Motions Co Ltd | Axial rotation torque sensor allows one end of the elastic piece to sensitively produce bending and deformation under state of force received |
TWM542887U (en) * | 2016-09-09 | 2017-06-01 | Safeway Electro-Mechanical Co Ltd | Motor decelerator module |
Also Published As
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TW201914172A (en) | 2019-04-01 |
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