TWI438360B - Deceleration mechanism - Google Patents

Description

Speed reduction mechanism

The invention relates to a speed reduction mechanism.

As an important part of mechanical transmission, the speed reduction mechanism is widely used in robots, automobiles and other industries. A common deceleration mechanism usually achieves deceleration by means of two mutually meshing gears of different diameters.

A speed reduction mechanism includes an internal gear formed on an outer casing thereof, a crankshaft having an eccentric portion disposed in the outer casing body, and a cycloidal wheel provided with gear teeth disposed on the eccentric portion. The cycloidal wheel is interlocked with the eccentric portion of the crankshaft, and the input rotation is decelerated to obtain an output rotation by revolving while meshing with the internal gear. However, in order to achieve a high degree of meshing coincidence and obtain a smooth output, the cycloidal wheel of the above-described speed reduction mechanism usually forms closely arranged teeth on its outer circumferential surface, and the number of teeth to be set is large and the overall size of the speed reduction mechanism When restricted, the gear teeth need to be made very small, and the gear teeth are also very small in the circumferential direction. Even the tooth roots will have overlapping interference, which makes the cycloid wheel and its gear teeth more difficult to manufacture. The production cost is high and the structure is complicated.

In view of the above, it is necessary to provide a speed reduction mechanism that is simple in structure and low in cost.

A speed reduction mechanism includes a driving wheel and a driven wheel, wherein the diameter of the driven wheel is larger than the diameter of the driving wheel, and the speed reducing mechanism further comprises a transmission member wound on the driving wheel and the driven wheel, and a tensioning device fixed on the driven wheel, the transmission member is wound on the driving wheel and intersected and wound on the driven wheel, the tensioning device is elastically between the transmission member and the driven wheel, and the tensioning device comprises a resisting member and the first The elastic member has a peripheral surface, and the driven wheel is provided with a receiving portion from the outer circumferential surface. The resisting member is movably connected to the receiving portion, and the first elastic member is located between the receiving portion and the resisting member, and the resisting member has abutting Holding the surface, the resisting surface is a circular arc surface, and the radius of the circular arc surface is the same as the outer diameter of the driven wheel, so that the resisting surface of the resisting member and the outer circumferential surface of the driven wheel smoothly transition, and the transmission member is wound On the outer circumferential surface of the driven wheel and the abutting surface of the resisting member.

The above-mentioned speed reduction mechanism realizes the speed reduction transmission by the transmission members wound on the driving wheel and the driven wheel, thereby eliminating the complicated structure of the gears, the structure is simple, and the production cost is low. The winding manner of the transmission parts can increase the length of contact between the transmission parts and the driving wheel and the driven wheel, thereby increasing the friction between the transmission part and the driving wheel and the driven wheel, so as to achieve a good transmission and the setting of the tensioning device, which can further Increase the friction during the transmission process.

100‧‧‧Deceleration mechanism

10‧‧‧Active parts

20‧‧‧ Followers

30‧‧‧ Transmission parts

40‧‧‧ Tensioning device

50‧‧‧Fixed components

11‧‧‧Active shaft

13‧‧‧Drive wheel

21‧‧‧ driven shaft

23‧‧‧ driven wheel

231‧‧‧Axle

232‧‧·wheel shell

233‧‧‧ Housing Department

234‧‧‧ card slot

2331‧‧‧ receiving holes

2333‧‧‧ screw holes

31‧‧‧Connected end

41‧‧‧Resistance

43‧‧‧First elastic parts

45‧‧‧guides

47‧‧‧Connecting parts

411‧‧‧Resistance

413‧‧‧connection hole

51‧‧‧ activities

511‧‧‧First clamping section

513‧‧‧Second gripping section

515‧‧‧fasteners

52‧‧‧ Positioning parts

53‧‧‧Adjustment

54‧‧‧Second elastic parts

531‧‧‧ head

533‧‧‧ Rod

1 is a perspective assembled view of a speed reduction mechanism according to an embodiment of the present invention.

2 is an exploded perspective view of the speed reduction mechanism shown in FIG. 1.

3 is an exploded perspective view of the follower and the tensioning device used in the speed reduction mechanism shown in FIG. 1.

Figure 4 is an enlarged schematic view of the speed reduction mechanism IV shown in Figure 2.

Figure 5 is a plan view showing the speed reduction mechanism shown in Figure 1.

The speed reduction mechanism of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to FIG. 1, a speed reduction mechanism 100 according to an embodiment of the present invention can be applied to a mechanical device such as a robot. The speed reduction mechanism 100 includes an active member 10, a follower member 20, a transmission member 30, a tensioning device 40, and a fixing assembly 50. The transmission member 30 is wound around the driving member 10 and the driven member 20, and the tensioning device 40 is coupled to the driven member 20 between the driven member 20 and the transmission member 30.

The driving member 10 includes a driving shaft 11 and a driving wheel 13 protruding from the outside of the driving shaft 11.

Referring to FIGS. 2 and 3 , the follower 20 includes a driven shaft 21 and a driven wheel 23 that is rotatably sleeved on the driven shaft 21 . The driven wheel 23 includes an axle 231 that is sleeved on the driven shaft 21 and a wheel housing 232 that is wrapped around the outside of the axle 231. A housing portion 233 and a card slot 234 are defined in the wheel housing 232 in a radial direction. The accommodating portion 233 is a flat surface, and a receiving hole 2331 is opened from the plane to the inside of the driven wheel 23. The number of the receiving portions 233 is two, and is substantially oppositely disposed on two sides of the driven wheel 23. Each of the receiving portions 233 defines four receiving holes 2331 and two screw holes 2333. The card slot 234 is located between the two receiving portions 233. The wheel axle 231 and the wheel housing 232 can be made of the same material or different materials. In the present embodiment, the axle 231 is made of a small density aluminum alloy, and the wheel housing 232 is made of a dense steel. The driven wheel 23 has both sufficient strength and weight to reduce the moment of inertia of the driven wheel 23. In order to achieve the purpose of deceleration, the diameter of the driven wheel 23 is larger than the diameter of the driving wheel 13, and the diameter ratio of the two is the transmission ratio. The gear ratio can be determined according to actual needs. In the present embodiment, the diameter of the driven wheel 23 is six times the diameter of the driving wheel 13.

There are five transmission parts 30, which are basically " The type is wound around the driving wheel 13 and the driven wheel 23. Each of the transmission members 30 is wound around the driving wheel 13 and is wound and wound on the driven wheel 23. The end of the transmission member 30 has a connecting end 31. The transmission member 30 can be Steel wire rope, steel belt and other structures, as long as they have sufficient strength and toughness to ensure good transmission. In the present embodiment, the transmission member 30 is a steel belt, the transmission speed of the steel belt is high, the rigidity is good, and the transmission is stable. Good sex.

The tensioning device 40 includes a resisting member 41, a first elastic member 43, a guide rod 45, and a connecting member 47. The resisting member 41 has a resisting surface 411 which is a circular arc surface, and the radius of the circular arc surface is the same as the outer diameter of the wheel housing 232 of the driven wheel 23, so that the resisting member 41 The abutting surface 411 and the outer circumferential surface of the wheel housing 232 of the driven wheel 23 smoothly transition. A connecting hole 413 is also formed in the resisting member 41. The first elastic member 43 is a compression spring and is sleeved on the guide rod 45. The first elastic member 43 and the guide rod 45 are all four, and are respectively received in the four receiving holes 2331 of the follower 20. The connecting member 47 is a screw that passes through the connecting hole 413 of the resisting member 41 and is screwed with the screw hole 2333 of the follower 20. The diameter of the connecting hole 413 is larger than the diameter of the screw of the connecting member 47 to move the resisting member 41 relative to the follower 20.

Referring to FIG. 4, the fixing assembly 50 includes a movable member 51, a positioning member 52, an adjusting member 53, and a second elastic member 54. The movable member 51 includes a first clamping portion 511, a second clamping portion 513, and a fastener 515 that connects the first and second clamping portions 511, 513. The positioning member 52 is fixedly coupled to the driven wheel 23 by a screw 521. The adjusting member 53 is a screw and has a head portion 531 and a rod portion 533. The second elastic member 54 is a compression spring that is sleeved on the adjusting member 53 and respectively abuts against the head portion 531 of the adjusting member 53 and the positioning member 52. The number of the fixing components 50 is two, which are respectively located at opposite ends of the card slot 234 of the follower 20.

Referring to FIG. 2 to FIG. 5 , when the speed reduction mechanism 100 is assembled, the first elastic member 43 of the tensioning device 40 is first placed on the guide rod 45 and then placed in the receiving hole 2331 of the follower 20 . The holding member 41 is screwed into the screw hole 2333 of the follower 20 by the connecting member 47, and is fixed to the receiving portion 233 of the follower 20. In order to ensure the mounting effect, the connecting member 47 needs to be screwed into the housing as much as possible. In the screw hole 2333 of the portion 233, the first elastic member 43 is compressed to cause a large elastic deformation. The transmission member 30 is wound around the driving wheel 13 of the driving member 10, and is wound around the outer circumferential surface of the wheel housing 232 of the driven wheel 23 of the driven member 20. Wherein, the transmission member 30 forms an intersection between the driving wheel 13 and the driven wheel 23, so that it is substantially " The type is wound on the driving wheel 13 and the driven wheel 23. The two connecting ends 31 of the transmission member 30 are respectively fixed by a movable member 51, and the connecting end 31 is placed on the first clamping portion 511 of the movable member 51 and the second clamping portion. Between the portions 513, the first and second clamping portions 511, 513 are fixedly connected by fasteners 515, and the connecting end 31 of the transmission member 30 is fastened therein. The positioning member 52 is fixed to the driven by the screw 521. The rod portion 533 of the adjusting member 53 passes through the second elastic member 54 and the positioning member 52 in sequence, and is screwed into the movable member 51 to which the connecting end 31 of the transmission member 30 is fixed, thereby transmitting the transmission member. The two ends of the 30 are fixedly connected to the follower 20. When the two fixing components 50 are fixed on the driven member 20, they are staggered so that the two connecting ends 31 of each of the transmitting members 30 are staggered, that is, each transmitting member 30 is spirally wound. On the driving member 10 and the driven member 20, the transmission member 30 is prevented from contacting when the driving member 10 and the driven member 20 are crossed, thereby avoiding interference of the transmission member 30 during the transmission.

When the two ends of the transmission member 30 are fixed, the connecting member 47 of the tensioning device 40 is screwed out from the screw hole 2333 of the follower 20 by a distance, so that the abutting surface 411 of the resisting member 41 is offset from the transmission member 30. In order to have a greater friction between the two.

When the speed reduction mechanism 100 is in operation, the power unit drives the driving wheel 13 to rotate. For convenience of description, in the present embodiment, it is assumed that the driving wheel 13 rotates in the X direction (ie, rotates in the clockwise direction), and the movement of one of the transmission members 30 is performed. Be explained. When the driving wheel 13 rotates in the X direction, a part of the transmission member 30 wound around the driving wheel 13 is turned into the driven wheel 23, and correspondingly, the portion of the transmission member 30 close to the driving wheel 13 is pulled out and wounded on the active side. On the wheel 13, since the transmission member 30 is tightly wound around the driving wheel 13 and the driven wheel 23, the frictional force of the transmission member 30 and the two drives the driven wheel 23 to rotate in the opposite direction of the X direction. As the driving wheel 13 continues to rotate, it will gradually approach one of the transmission members 30. At the connection end 31, at this time, it is impossible to continue the rotation. Therefore, after the driving wheel 13 is rotated a certain number of turns in the X direction, the power unit automatically adjusts the rotation of the driving wheel 13 in the opposite direction of the X direction. Accordingly, the driven wheel 23 rotates in the X direction, and the rotation of the process The principle is the same as the above-described principle of rotation. The driving wheel 13 and the driven wheel 23 have different diameters, and the driving wheel 13 needs to be rotated a certain number of turns to make the driven wheel 23 rotate one turn, so that the purpose of deceleration can be achieved.

The speed reduction mechanism 100 of the embodiment of the present invention realizes the speed reduction transmission by the transmission member 30 wound on the driving wheel 13 and the driven wheel 23, thereby eliminating the complicated structure of the gear, and the like, and the structure is simple and the production cost is low. " The winding mode can increase the length of the transmission member 30 in contact with the driving wheel 13 and the driven wheel 23, thereby increasing the friction between the transmission member 30 and the driving wheel 13 and the driven wheel 23 to achieve good transmission.

In the gear transmission, in order to prevent the teeth from being heated and expanded, a certain gap is reserved between the teeth of the two meshing. Therefore, when the direction of rotation changes, the gear needs to move the distance of the gap to mesh with the adjacent teeth. The invention affects the transmission precision. The invention adopts the method of winding the steel strip, and does not need to reserve a gap such as a gear transmission, and can maintain a good transmission precision when the rotation direction is changed.

The setting of the tensioning device 40 can further increase the frictional force during the transmission process, and the first elastic member 43 of the tensioning device 40 keeps the resisting member 41 and the transmission member 30 in a state of being held for a long time, even after using for a period of time. The transmission member 30 is slackened, and the pressure of the first elastic member 43 can also be used to maintain a large frictional force therebetween.

Further, the second elastic member 54 of the fixing assembly 50 can also maintain the transmission member 30 in a tensioned state by elastic restoring force. When the transmission member 30 is loosened beyond the elastic recovery force of the second elastic member 54 after being used for a long time. When the range can be tightened, it can be compressed The two elastic members 54 cause the transmission member 30 to be tightened again, thereby preventing the occurrence of slippage and the like.

In addition, the abutting surface 411 of the abutting member 41 of the tensioning device 40 is a circular arc surface, so that the resisting member 41 is fixed on the driven wheel 23, and can smoothly transition with the outer surface of the driven wheel 23, so that the transmission member 30 is basically It is still wound on the same circumferential surface, so the transmission ratio can be kept constant.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.

100‧‧‧Deceleration mechanism

10‧‧‧Active parts

20‧‧‧ Followers

30‧‧‧ Transmission parts

40‧‧‧ Tensioning device

50‧‧‧Fixed components

11‧‧‧Active shaft

13‧‧‧Drive wheel

21‧‧‧ driven shaft

23‧‧‧ driven wheel

231‧‧‧Axle

232‧‧·wheel shell

233‧‧‧ Housing Department

234‧‧‧ card slot

Claims (8)

A speed reduction mechanism includes a driving wheel and a driven wheel, the diameter of the driven wheel being larger than the diameter of the driving wheel, wherein the speed reducing mechanism further comprises a transmission member wound on the driving wheel and the driven wheel and fixed to the driven wheel The tensioning device is wound on the driving wheel and wound on the driving wheel, and the tensioning device is elastically abutted between the transmission member and the driven wheel, the tensioning device comprises a resisting member and a first elastic member having an outer circumferential surface, the driven wheel is provided with an accommodating portion facing the inner circumferential surface, the resisting member is movably connected to the accommodating portion, and the first elastic member is located at the accommodating portion and the resisting member The resisting member has a resisting surface which is a circular arc surface, and the radius of the circular arc surface is the same as the outer diameter of the driven wheel, so that the resisting surface of the resisting member and the receiving surface The outer circumferential surface of the moving wheel smoothly transitions, and the transmission member is wound around the outer circumferential surface of the driven wheel and the abutting surface of the resisting member. The damper mechanism of claim 1, wherein the accommodating portion is provided with a receiving hole, the tensioning device further includes a guiding rod, and the guiding rod and the first elastic member are partially received in the receiving hole of the driven wheel. The first elastic member is sleeved on the guide rod. The speed reduction mechanism of claim 1, wherein the transmission member has a connecting end, and the speed reducing mechanism further comprises a fixing assembly for fixing the connecting end of the transmission member, the fixing assembly being fixedly connected with the driven wheel. The speed reduction mechanism of claim 3, wherein the fixing component comprises a positioning member fixed on the driven wheel, a movable member and an adjusting member connecting the positioning member and the movable member, wherein the movable member fixes the transmission member Connection end. The speed reduction mechanism of claim 4, wherein the fixing component further comprises a second elastic member, the adjusting member comprises a head portion and a rod portion, and the second elastic member is sleeved on the rod portion of the adjusting member. And being held between the head of the adjusting member and the positioning member. The speed reduction mechanism of claim 4, wherein the movable member comprises a first clamping portion, a second clamping portion and a fastener, wherein the connecting end of the transmission member is clamped to the first clamping portion and the second Between the clamping portions and fixed by the fastener. The speed reduction mechanism of claim 3, wherein the driven wheel is provided with a card slot, the number of the fixing components is two, and the positioning components of each fixing component are respectively clamped at opposite ends of the card slot, The two ends of the transmission member are respectively fixed to the two fixing components. The speed reduction mechanism of claim 1, wherein the transmission member is a steel belt.