TW201520450A - Deceleration mechanism - Google Patents

Abstract

A deceleration mechanism includes: an input axle having a wave generation part with a non-cylindrical shape, the wave generation part having a curved surface formed by a continuous segmented cylindrical surface; a bearing ring having a plurality of bearing holes, each arranged therein with a running pulley moveable with respect to the bearing ring; and a socket ring having an inner surface formed thereon with a plurality of sockets, each capable of receiving at least a part of the running pulley so that the socket and the running pulley can apply force to each other. The wave generation part of the input axle, the bearing ring, and the socket ring are coaxially arranged in sequence from inside to outside. When all of the running pulleys are abutted against the wave generation part, at least one of the running pulleys is furthest received in one of the sockets, and at least another one of the running pulleys is not received in any one of the sockets.

Description

Speed reduction mechanism

The present invention relates to a transmission structure, and more particularly to a speed reduction mechanism.

The planetary gear structure and the harmonic drive structure are typical conventional coaxial transmission structures. Among them, the principle of deceleration of the harmonic transmission structure was proposed by C.W. Musser in 1955, and was granted the US patent No. 2906143 in 1959. The composition of the harmonic transmission structure mainly comprises three parts: a wave generator, a flex spline and a circular spline, which are arranged coaxially from the inside to the outside. Wherein, the wave generator is composed of an elliptical cam, an outer ring and a ball bearing disposed therebetween, and serves as an input shaft; the flexible wheel is a cup-shaped metal elastic body and forms an involute on the outer surface thereof. The tooth type is usually used as an output shaft; and the steel wheel is an annular rigid body, and a tooth type corresponding to the engaging flexible wheel is formed on the inner surface thereof, and the number of teeth of the soft wheel is 2 teeth, and is generally fixed to the outer casing. When the elliptical cam (input shaft) is driven to start to rotate, both ends of the long axis direction can stretch the flex wheel, so that the teeth of the outer surface of the flex wheel mesh with the teeth of the inner surface of the corresponding steel wheel, and the flexible wheel The difference in the number of teeth from the steel wheel produces the effect of the reduction drive. Compared with the traditional gear structure, the harmonic transmission structure mainly has the advantages of large transmission and wide range, large number of teeth meshed at the same time, high transmission precision and high transmission efficiency.

However, the flexible wheel must have a certain flexibility in order to be stretched by the cam, but It must also have a certain rigidity to support the teeth of the outer surface for engagement. However, the rotation of the flexible wheel by elastic deformation is difficult to increase, and the deformation accuracy may deteriorate as the use time increases. Therefore, expensive special materials must be used, and precision-machined gears are required, resulting in manufacturing costs. It is difficult to reduce and react to high product prices.

Therefore, in view of the above disadvantages of the conventional harmonic transmission structure, the present invention proposes A speed reduction mechanism that exhibits characteristics similar to conventional harmonic transmission structures without the use of flexible wheels of deformable or flexible materials and precision machined gears.

One aspect of the present invention is a speed reduction mechanism, the composition of which comprises an input a shaft having a shaft portion and a non-positive cylindrical wave generating portion; a bearing ring having a plurality of bearing holes formed therein, each of the bearing holes being provided with a movable roller relative to the bearing ring And a socket ring having a plurality of sockets on an inner surface thereof, each socket accommodating at least a portion of the roller to urge the socket and the roller to each other; in the speed reduction mechanism, the input The wave generating portion of the shaft, the carrier ring, and the socket ring are disposed coaxially from the inside to the outside, and when all the rollers are in contact with the wave generator, at least one of the rollers is the largest Included in one of the sockets, and at least one of the rollers is not received in any of the sockets of the socket ring (ie, non-contact or slidably contact the socket ring) ).

In the above aspect of the invention, the roller may be a ball or a roller. Therefore, the socket may be a partial cylindrical concave surface having the same or a larger radius as the balls or rollers, or may be a V-shaped groove or a polygonal groove. In addition, and can be further designed to be all rolled When the sub-abutment is in contact with the wave generator, the Y rollers arranged equally on the carrier ring are pushed into the Y sockets completely, and Y is at least 2. For example, when Y is 2, that is, two diametrically opposed rollers on the carrier ring are most accommodated in the two sockets, and the other two rollers that are diametrically opposed to each other on the carrier ring are not accommodated in the bearing. Any socket of the socket.

Another aspect of the present invention is the speed reduction mechanism based on the foregoing aspect, wherein Assuming that the number of the sockets is X and the number of the rollers is Z, it is preferable to satisfy the relationship of 2*Z/Y=X/Y+1. In this aspect, if the carrier ring is set as the output shaft, the carrier ring will rotate in the same direction as the input shaft, and the reduction ratio of the speed reduction mechanism is Y: (X+Y); if the socket ring is set For the output shaft, the socket ring will rotate in the opposite direction to the input shaft, and the reduction ratio of the speed reduction mechanism is Y:X.

Still another aspect of the present invention is the speed reduction mechanism based on the foregoing aspects, wherein The wave generating portion has a spline composed of a continuous segment cylindrical surface, such that the wave generator contacts the socket ring as much as possible to push the carrier ring or the socket ring more efficient. Wherein the cylindrical faces of the segments correspond to at least two different circular axes and two different radii.

The speed reduction mechanism proposed by the invention has a high reduction ratio, a smaller volume, and no Limited by materials, no need for precision gear machining, and relatively low cost/performance ratio. DETAILED DESCRIPTION OF THE INVENTION The detailed description of the present invention will be described in detail below.

4‧‧‧Power source

10‧‧‧ input shaft

11‧‧‧Axis

12‧‧‧Wave Generation Department

20‧‧‧ Carrying ring

21‧‧‧ carrying hole

22‧‧‧Roller

30‧‧‧ socket ring

31‧‧‧ socket

Figure 1 (a) is a partial cross-sectional view of the speed reduction mechanism of the present invention, and Figure 1 (b) is the reducer FIG. 2 is a cross-sectional view of the speed reduction mechanism of the present invention; FIG. 3 is an exploded view of the speed reduction mechanism of the present invention with a carrier ring as an output shaft; FIG. 4(a) is a specific example of FIG. FIG. 4(b) is a cross-sectional view of the specific example of FIG. 3 assembled in the axial direction; FIG. 5 is a schematic view showing the continuous operation of the speed reducing mechanism with the bearing ring as an output shaft; 6 is a schematic view of a continuous operation of the speed reduction mechanism with the bearing ring as the output shaft of the present invention; FIG. 7 is an exploded view of the speed reduction mechanism of the specific example of the output ring of the present invention; FIG. 8(a) is FIG. FIG. 8(b) is a cross-sectional view of the specific example of FIG. 7 after assembly, and FIG. 9 is a continuous operation of the speed reduction mechanism with the socket ring as an output shaft of the present invention. Fig. 10 is a specific example of a curved surface section of the wave generator of the present invention; Fig. 11(a) is another specific example of the curved surface section of the wave generator of the present invention, and Fig. 11(b) is Fig. 11 ( a) A magnified view of the central part.

The detailed description of the present invention is intended to be illustrative of the invention, and is not intended to limit the scope of the invention.

Figure 1 (a) is a partial cross-sectional view of the speed reduction mechanism of the present invention, and Figure 1 (b) is a cross-sectional view of its application. The speed reduction mechanism mainly comprises an input shaft 10, a carrier ring 20 and a socket ring 30. The input shaft 10 includes a shaft portion 11 and a wave generating portion 12. The shaft portion is for coupling with an output of a power source 4, which may be, for example but not limited to, a motor; the wave The generating portion 12 has a non-cylindrical surface. The carrier ring 20 includes a plurality of bearing holes 21, each of which can be placed with a roller 22, such as, but not limited to, a ball or a roller, such as but not limited to a circular hole. Or square holes. After the rollers 22 are placed in the bearing holes 21, they can move relative to the carrier ring 20. The corresponding shapes, sizes and gaps of the rollers 22 with respect to the bearing holes 21 can be generally known in the field. They are appropriately designed according to actual needs and process capabilities. The socket ring 30 has a plurality of sockets 31 that are sized and shaped to correspond to the rollers 22 such that at least a portion of the rollers 22 are maximally received in the sockets 31. Here, "accommodation" means that the roller 22 and the socket 31 are in contact with each other, and the efficiency of the force application differs depending on the relative position or the contact manner. For example, in the configuration shown in FIG. 1(a), a portion of the surface of the roller 22 may be in close contact with the surface of the socket 31, that is, if the roller 22 is a ball or a roller, the socket is 31 may be a partial cylindrical concave surface having the same or a larger radius (see, for example, Figures 3 and 7). In Fig. 1(a), the roller 22 at 1A is in close contact with the socket 31, that is, the case where the roller 22 is most accommodated in the socket 31; in contrast, the roller 22 at 1B The sockets 31 are no longer able to apply force to each other, i.e., the rollers 22 are not accommodated in the socket 31. The term "substantially close" as used herein means that the degree of adhesion depends on, for example, the precision of machining, so that it is not necessarily possible to achieve a perfect degree of closeness, which is something that can be understood by those of ordinary skill in the field without ambiguity. However, FIG. 1(a) is only one embodiment, and the socket 31 may also be a V-shaped groove having a V-shaped cross section or a polygonal groove having a polygonal cross section, etc., as long as it satisfies the operation mechanism of the present invention described later, its shape and size. It can be changed by the people with ordinary knowledge in the field according to actual needs.

In the speed reduction mechanism of the present invention, as shown in FIG. 1(a), the input shaft 10, the carrier ring 20 and the socket ring 30 are coaxially coaxially from the inside to the outside with respect to a mechanism axis. Configuration. The wave generating portion 12 of the input shaft 10 has a non-orthogonal surface, which means that the distance between the curved surface of the wave generating portion 12 surrounding the axis and the axis is not constant (for example, see FIG. 10 and the following description. Description). Depending on the needs of the actual application, one of the carrier ring 20 and the socket ring 30 can be selected as a fixed ring, and the other as an output shaft or coupled to the output shaft. In the stationary state in which the assembly is completed, the wave generating portion 12 abuts the rollers 22 by its curved surface, so that a part of at least one of the rollers 22 is maximally accommodated in a socket 31; At least the other of the rollers 22 is not housed in any of the sockets 31. Taking the structure depicted in FIG. 1( a ) as an example, based on the curved surface design of the wave generating portion 12 of the input shaft 10 , where the point 1A is the maximum distance between the curved surface and the axis, the roller 22 at the top here is the largest. The ground is accommodated in the socket 31; and the point 1B is the minimum distance between the curved surface and the axis, and the roller 22 abutted here is not accommodated in any of the sockets 31 of the socket ring 30. In addition, on the circular arc between the points 1A and 1B, the distance from the axis is gradually reduced, so that the corresponding rollers 22 are gradually separated from the socket ring 30; There are no specific restrictions on the trend. The general knowledge in this field can be changed according to the needs and process feasibility.

Figure 2 is a cross-sectional view showing the entire speed reduction mechanism of the present invention. Among them, 2A The point (two points in total) is the full push point, and the curved surface of the wave generating portion 12 is the longest distance from the axis here, and the top roller is respectively received to be accommodated in the corresponding socket 31 at the maximum. In contrast, the 2B point (two points in total) is a complete release point, and the curved surface of the wave generating portion 12 is the shortest distance from the axis, and the roller 22 located at the complete release point is not accommodated in the socket ring 30. Any of the sockets 31. As described above, in the present invention, the total push point is preferably one point or more. However, in order to make the force relatively average, the number of complete push points is preferably plural and is equally divided on the circumference, for example, FIG. Show the full push point / complete release point as two points and relative to the circumference Set at both ends.

Secondly, in the structure of the speed reduction mechanism of the present invention, in order to make it effective The ground operation can appropriately configure the number of the socket 31, the full push-in point, the bearing hole 21 or the roller 22. Assuming that the number of sockets 31 is X, the number of fully pushed points is Y, and the number of bearing holes 21 or rollers 22 is Z, a preferred embodiment of the present invention satisfies the following design rules:

(1) X/Y is preferably an odd number; (2) (X-Y)/Y is preferably an even number; (3) Z/Y is an even number.

Taking the structure shown in FIG. 2 as an example, the number (X) of the sockets 31 is 46, the number of fully pushed points (Y) is 2, and the number of bearing holes 21 or rollers 22 (Z) is 24, which is in accordance with The above rules.

3 is an exploded view showing a specific example of the present invention, which is a reduction mechanism in which the socket ring 30 is fixed and the carrier ring 20 is an output shaft, and FIG. 4(b) is a specific example of FIG. FIG. 4(a) is a cross-sectional view of the vertical axis of the assembled example of FIG. 3 (along FIG. 4(b) 4A-4A); wherein the bearing ring 20 rotates in the same direction as the input shaft 10, The schematic diagram of the continuous action is shown in Fig. 5 (it should be noted that the arrow drawn on the outside of the speed reduction mechanism represents the direction of the carrier ring 20). For convenience of explanation, FIG. 6 is a schematic diagram of a continuous operation detail of the present embodiment, and the numbers in FIG. 6 represent the order of the respective drawings. Wherein, when the input shaft 10 is rotated in the counterclockwise direction, the non-cylindrical surface continuously pushes the plurality of rollers 22 outwardly, and the rollers 22 are restricted by the abutting of the input shaft 10 and the bearing hole 21, The rotation of the input shaft 10 is sequentially slid into the socket 31; in other words, the rollers 22 are sequentially accommodated in a socket 31 in the largest order. When the socket ring 30 is fixed, the roller 22 is pressed by the input shaft 10 and the socket 31. The carrier hole 21 will be pushed in the counterclockwise direction, and the carrier ring 20 will be rotated in the same direction as the input shaft 10 due to the pushing of the carrier hole 21.

In the speed reduction mechanism fixed by the socket ring 30 shown in FIG. 3 and FIG. 4, the number X of the sockets 31, the number Y of the complete push-in points, and the number Z of the bearing holes 21 or the rollers 22 are preferably satisfied as follows. Design rule: 2*Z/Y=X/Y+1, wherein the coefficient 2 is understood to mean that the carrier ring 20 comprises the same number of ribs between the bearing holes 21 (or the rollers 22) and the adjacent bearing holes 21. Taking the cross-sectional view shown in Fig. 4(a) as an example, the number (X) of the sockets 31 is 46, the number of complete push-in points (Y) is 2, and the number of the bearing holes 21 or the rollers 22 (Z) 24, that is, meet the requirements of the above formula.

In addition, referring to the operation modes shown in FIG. 5 and FIG. 6, it is assumed that the number of the sockets 31 is X, the number of fully pushed points is Y, and the number of the bearing holes 21 or the rollers 22 is Z, and then the speed is reduced in FIG. In the mechanism, when the input shaft 10 rotates one turn and Y sockets 31, the carrier ring 20 (output shaft) rotates the Y sockets 31. Therefore, the reduction ratio R of this structure can be calculated as: R = Y: (X + Y).

Fig. 7 is an exploded view showing another embodiment of the present invention, which is a reduction mechanism in which the carrier ring 20 is fixed and the socket ring 30 is an output shaft, and Fig. 8(b) is a sectional view taken along the axial direction of Fig. 7 after assembly. Figure 8 (a) is a cross-sectional view of the vertical axis of Figure 7 (along 8A-8A of Figure 8 (b)); wherein the direction of rotation of the socket ring 30 is opposite to the input shaft 10, and its action exploded view It is depicted in Figure 9. When the input shaft 10 is rotated in the counterclockwise direction, its curved surface continuously pushes the plurality of rollers 22 outwardly, and the rollers 22 are restricted by the abutting of the input shaft 10 and the bearing hole 21, along with the input shaft 10 Rotating and sliding into the socket 31 in sequence; in other words, the rollers 22 are sequentially maximally It is housed in a socket 31. When the carrier ring 20 is fixed, the roller 22 is pressed by the input shaft 10 and the bearing hole 21, and the socket 31 will be pushed in a clockwise direction, and the socket ring 30 is pushed and pushed by the socket 31. The shaft 10 rotates in the opposite direction.

In the speed reduction mechanism in which the carrier ring 20 shown in Figs. 7 and 8 is fixed, the number X of the sockets 31, the number Y of the fully pushed points, and the number Z of the bearing holes 21 or the rollers 22 are preferably designed to satisfy the following design. Rule: 2*Z/Y=X/Y+1. Wherein the coefficient 2 is understood to mean that the carrier ring 20 comprises the same number of ribs between the bearing holes 21 (or the rollers 22) and the adjacent bearing holes 21. Taking the cross-sectional view shown in Fig. 8(a) as an example, the number (X) of the sockets 31 is 46, the number of complete push-in points (Y) is 2, and the number of the bearing holes 21 or the rollers 22 (Z) 24, that is, meet the requirements of the above formula. In addition, referring to the operation mode shown in FIG. 9, it is assumed that the number of the sockets 31 is X, the number of full push-in points is Y, and the number of the bearing holes 21 or the rollers 22 is Z, in the speed reduction mechanism of FIG. When the input shaft 10 makes one rotation, the socket ring 30 (output shaft) rotates the Y sockets 31. Therefore, the reduction ratio S of this structure can be calculated as: S=Y:X.

In a specific embodiment of the present invention, the curved surface of the wave generating portion 12 of the input shaft 10 is not particularly limited, and the speed reducing mechanism only needs to be operated according to the intention of the present invention. Design its changes. However, in order to make the speed reduction mechanism of the present invention have higher efficiency, Fig. 10 discloses a specific example of the curved surface section of the wave generating portion of the present invention. In Fig. 10, the curved surface of the wave generating portion is composed of a plurality of consecutive cylindrical faces, the purpose of which is to allow the rollers at each position to as close as possible to the socket ring, so that the roller can be pushed more efficiently. Carrying holes or sockets 31. In the actual design process, the wave generating part The surface can be obtained by manual fitting by the drawing software to find the appropriate cylindrical radius and axis position of each segment; in Figure 10, an example of the radius of the cylindrical surface of each segment and the corresponding axis position is shown, due to the wave of Figure 10. The generating portion is bilaterally symmetrical and vertically symmetrical, so only the radius value of one of the quadrants is indicated. It should be noted that, as can be seen from FIG. 10, the cross-sections of the cylindrical sections are not centered at the same point; in other words, the "curved surface" in the present invention does not have a single axis (for example, the aforementioned mechanism axis) as the axis. . Fig. 11 (a) and (b) show another example of the curved surface of the wave generating portion, which is designed to fit a steel ball having a diameter of 1.5 mm. 11(a) is a cross-sectional view of the wave generating portion, and FIG. 11(b) is an enlarged view of a portion C in FIG. 11(a), and the position of the center of each cylindrical segment can be more clearly seen.

The above description of the present invention and the specific embodiments are merely illustrative, and not all of the possible variations. The scope of the claims of the applicant or the patentee as set forth in the “Scope of Patent Application” as set forth below, and the changes or changes in the meaning and scope of each request are covered by this patent.

12‧‧‧Wave Generation Department

20‧‧‧ Carrying ring

21‧‧‧ carrying hole

22‧‧‧Roller

30‧‧‧ socket ring

31‧‧‧ socket

Claims (10)

A speed reduction mechanism comprising: an input shaft having a non-positive cylindrical wave generating portion, the wave generating portion having a curved surface, the curved surface being composed of a continuous segment cylindrical surface; a bearing ring having a plurality of bearing holes, each One of the bearing holes is provided with a roller movable relative to the carrier ring; and a socket ring having a plurality of sockets formed on an inner surface thereof, each socket accommodating at least one of the rollers to enable the roller The socket and the roller are urged to each other; the wave generating portion of the input shaft, the bearing ring, and the socket ring are disposed coaxially from the inside to the outside, wherein when all the rollers are combined with the wave generating portion At the time of abutment, at least one of the rollers is maximally received in one of the sockets, and at least one of the rollers is not received in any of the sockets of the socket ring. The speed reduction mechanism of claim 1, wherein the rollers are balls or rollers. The speed reduction mechanism of claim 2, wherein the sockets are partial cylindrical concave surfaces having the same or larger radii as the balls or rollers. The speed reduction mechanism of claim 2, wherein the socket is a V-shaped groove or a polygonal groove. The speed reduction mechanism of any one of claims 1 to 4, wherein when all the rollers abut the wave generator, the diametrically opposed two rollers are accommodated on the carrier ring to the maximum extent. In the second socket, and the other two rollers diametrically opposed to the bearing ring are not accommodated in any of the sockets of the socket ring. The speed reduction mechanism of claim 1, wherein when all the rollers are in contact with the wave generator, the Y rollers equally divided on the bearing ring are pushed into the Y bearings. In the nest, and Y is at least 2. The speed reduction mechanism of claim 6, wherein the number of the sockets is X, the number of the rollers is Z, and 2*Z/Y=X/Y+1. The speed reduction mechanism of claim 7, wherein the carrier ring is coupled to the output shaft or coupled to the output shaft; the number of the sockets is X, and the reduction ratio of the speed reduction mechanism is Y: (X+ Y). The speed reduction mechanism of claim 7, wherein the socket ring is coupled to the output shaft or coupled to the output shaft; the number of the sockets is X, and the speed reduction ratio of the speed reduction mechanism is Y:X. The speed reduction mechanism of claim 1, wherein the cylindrical faces of the segments correspond to at least two different circular axes and two different radii.