TWI675159B - Deformation gear and deformation gear transmission group using the same - Google Patents

Abstract

A deformed gear includes a pinion portion including a plurality of first gear teeth and defining a first pitch circle having a first pitch diameter, a plurality of second gear teeth and defining a gear having a size greater than the first A large gear portion of a second pitch circle of a second diameter and a second gear diameter, and two transmission gear portions connected between the small gear portion and the large gear portion, respectively. Each shifting gear portion has n shifting gear teeth spaced apart from each other, and can define n third pitch circles respectively corresponding to the shifting gear teeth, n is an integer greater than 1, and each third pitch circle has A third pitch diameter, the first gear wheel tooth is connected to the pinion gear part, and the third pitch diameter corresponding to the third pitch circle of the first gear wheel tooth is larger than the first pitch diameter, and the nth gear wheel The teeth are connected to the large gear portion, and the third pitch diameter of the third pitch circle corresponding to the nth shifting gear tooth is smaller than the second pitch diameter, and the third pitch diameter of the third pitching circle corresponding to the nth shifting gear tooth The three pitch diameter is larger than the third pitch diameter of the third pitch circle corresponding to the (n-1) th gear wheel tooth.

Description

Deformed gear and deformed gear transmission set using the deformed gear

The invention relates to a gear, in particular to a deformed gear and a deformed gear transmission set using the deformed gear.

As shown in FIGS. 1 and 2, a transmission gear set 1 for a four-foot walking mechanism (Taiwan Invention Patent No. I245661) capable of traveling independently is known, which includes a driving gear 2 and a gear meshing with the driving gear 2. The driven gear 3 has a high-speed section 201 and a low-speed section 202. The driven gear 3 has a high-speed section 301 and a low-speed section 302.

The driving gear 2 rotates at a fixed speed. As shown in FIG. 1, when the low-speed section 202 of the driving gear 2 meshes with the high-speed section 301 of the driven gear 3, the driven gear 3 will A high-speed speed greater than the fixed speed is generated. Conversely, as shown in FIG. 2, when the high-speed section 201 of the driving gear 2 and the low-speed section 302 of the driven gear 3 mesh, the driven gear is driven by the gear ratio. Gear 3 will generate a low speed that is lower than the fixed speed. In this way, the four-footed walking mechanism uses four sets of speed-changing gear sets 1 to drive its four sets of eight links, including the left front foot, right front foot, left rear foot, and right rear foot. Group, the quadruped walking mechanism can walk forward. However, in actual manufacture and use, this transmission gear set 1 has the following defects:

1. The number of teeth of the high-speed section 201 and the high-speed section 301 are different. The number of teeth of the low-speed section 202 and the low-speed section 302 are different. The driving gear 2 and the driven gear 3 are not the same shape. Therefore, the driving gear 2 and the The driven gears 3 must be separately opened and manufactured, which increases manufacturing costs.

2. When the driving gear 2 drives the driven gear 3 at the fixed speed, the driven gear 3 jumps directly from the high-speed speed to the low-speed speed, or directly from the low-speed speed to the high-speed speed. Since the driven gear 3 cannot generate a progressive speed conversion between the high speed and the low speed, the driven gear 3 may have an unsmooth operation or even a standstill when the speed is switched, and Affects the walking effect of the four-footed walking mechanism.

It is therefore an object of the present invention to provide a deformed gear capable of overcoming at least one of the disadvantages of the prior art.

Therefore, the deformed gear of the present invention includes a small gear portion, a large gear portion, and two transmission gear portions.

The pinion gear portion includes a plurality of first gear teeth spaced from each other. The pinion gear portion can define a first pitch circle having a first pitch diameter.

The large gear portion is opposite to the small gear portion and includes a plurality of second gear teeth spaced apart from each other. The large gear portion can define a second pitch circle having a second pitch diameter, and the second pitch diameter is greater than The first pitch diameter.

The transmission gear portions are respectively connected between the two ends of the small gear portion and the two ends of the large gear portion and are symmetrical to each other. Each transmission gear portion has n transmission gear teeth spaced from each other and can be defined. n respectively correspond to the third pitch circles of the gear wheels, n is an integer greater than 1, each third pitch circle has a third pitch diameter, and the first gear wheel teeth are connected to the pinion portion, corresponding to The third pitch diameter of the third pitch circle of the first shifting gear tooth is larger than the first pitch diameter, and the nth shifting gear tooth is connected to the large gear portion, corresponding to the third of the nth shifting gear tooth. The third pitch diameter of the pitch circle is smaller than the second pitch diameter, and the third pitch diameter of the third pitch circle corresponding to the n-th gear wheel is larger than that of the third pitch circle corresponding to the n-1th gear wheel tooth. Third pitch.

Another object of the present invention is to provide a deformed gear transmission set capable of overcoming at least one disadvantage of the prior art.

The deformed gear transmission set of the present invention includes two deformed gears.

The deformed gears mesh with each other. Each deformed gear includes a small gear portion, a large gear portion, and two variable-speed gear portions. The pinion portion includes a plurality of first gear teeth spaced apart from each other. The pinion portion may define a first pitch circle having a first pitch diameter. The large gear portion is opposite to the pinion portion and includes a plurality of Second gear teeth spaced apart from each other, the large gear portion may define a second pitch circle having a second pitch diameter, The two pitch diameters are larger than the first pitch diameter. The transmission gear portions are respectively connected between the two ends of the small gear portion and the two ends of the large gear portion and are symmetrical to each other. Each transmission gear portion has n mutually spaced intervals. The provided gear wheels can define n third pitch circles respectively corresponding to the gear wheels, n is an integer greater than 1, each third pitch circle has a third pitch diameter, and the first shift The gear teeth are connected to the pinion gear portion, and the third pitch diameter corresponding to the third pitch circle of the first shift gear teeth is larger than the first pitch diameter, and the nth shift gear teeth are connected to the large gear portion, corresponding to The third pitch diameter of the third pitch circle of the nth shifting gear tooth is smaller than the second pitch diameter, and the third pitch diameter of the third pitch circle of the nth shifting gear tooth is greater than that corresponding to the n-1th The third pitch diameter of the third pitch circle of each gear tooth.

Wherein, one of the deformed gears rotates at an input speed, and when the small gear portion of one of the deformed gears and the large gear portion of the other of the deformed gears mesh with each other, the deformed gears The other produces a minimum output speed that is less than the input speed. When the large gear portion of one of the deformed gears and the small gear portion of the other of the deformed gears mesh with each other, the The other produces a maximum output speed that is greater than the input speed. When one of the transmission gear portions of one of the deformation gears and one of the corresponding transmission gear portions of the other deformation gears mesh with each other, The other of the deformed gears generates a variable speed output speed that is greater than the minimum output speed and less than the maximum output speed.

The effect of the present invention lies in that the tooth structure of the two deformed gears of the deformed gear transmission group is completely the same, and the gears are the same shape. Low manufacturing cost, and when one of the deformed gears drives the other of the deformed gears at the input rotational speed, the deformed gears make use of the design of the transmission gear parts to make the deformation of the deformed gears The other gradually converts the rotation speed between the minimum output rotation speed and the maximum output rotation speed, so that the other one of the deformed gears can move smoothly without stopping when the rotation speed is switched.

100‧‧‧ deformed gear transmission

ω4‧‧‧Maximum output speed

10I‧‧‧ Deformed Gear

ω5‧‧‧ Variable Speed Output Speed

10Ⅱ‧‧‧ Deformed Gear

ω6‧‧‧ Variable Speed Output Speed

11‧‧‧Pinion Gear Department

200‧‧‧Bionic model

111‧‧‧First Gear

210‧‧‧ Body

12‧‧‧ Large Gear Department

220‧‧‧foot link set

121‧‧‧Second Gear

221‧‧‧Crank

13I‧‧‧Speed change gear

222‧‧‧Support rod

13Ⅱ‧‧‧Shift gear section

230‧‧‧ Motor Drive Module

131‧‧‧ Gear teeth

231‧‧‧Drive motor

132‧‧‧ Gear teeth

232‧‧‧Gear transmission mechanism

C1‧‧‧First Round

1‧‧‧speed gear set

D1‧‧‧First pitch

2‧‧‧Drive gear

C2‧‧‧Second Section Circle

201‧‧‧High-speed section

D2‧‧‧The second pitch

202‧‧‧low speed

C3‧‧‧The third quarter

3‧‧‧ driven gear

D3‧‧‧ Third pitch

301‧‧‧high-speed section

C4‧‧‧The third quarter

302‧‧‧low speed

D4‧‧‧ Third pitch

ω0‧‧‧Input speed

ω1‧‧‧Minimum output speed

ω2‧‧‧ variable speed output speed

ω3‧‧‧ Variable Speed Output Speed

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: FIG. 1 is a transmission schematic diagram of a conventional transmission gear set for a four-foot walking mechanism that can travel independently; FIG. 2 1 is a view similar to FIG. 1, illustrating the transmission of the transmission gear set; FIG. 3 is a perspective view of a deformation gear of an embodiment of the deformation gear transmission set of the present invention; FIG. 4 is a plan view of the deformation gear; 5A to FIG. 5D are schematic diagrams of a transmission of this embodiment; FIGS. 6A to 6D are schematic diagrams of another transmission of this embodiment; FIG. 7 is a perspective view of a bionic building block model in which this embodiment is installed; 7 is a side view; FIG. 9 is a front view of FIG. 7; FIG. 10 is a cross-sectional view taken along line XX in FIG. 9; FIG. 11 is a cross-sectional view taken along line XI-XI in FIG. 9; and FIG. 12 is a line XII-XII in FIG. A cutaway view.

Referring to FIGS. 3, 4 and 5A, an embodiment of a deformed gear transmission set 100 according to the present invention is shown. The deformed gear transmission set 100 includes two deformed gears 10I and 10II. In this embodiment, the teeth of the deformed gears 10I and 10II Shape structure is exactly the same.

The deformed gears 10I and 10II mesh with each other. Each of the deformed gears 10I and 10II includes a small gear portion 11, a large gear portion 12, and two variable-speed gear portions 13I and 13II.

The pinion portion 11 defines a first pitch circle C1 having a first pitch diameter D1. In this embodiment, the pinion portion 11 includes six first gear teeth 111 spaced from each other. The module of the pinion portion 11 is 1. Preferably, the first pitch diameter D1 is 14 mm. . It should be noted that, in other variations of this embodiment, the number of the first gear teeth 111 may also be less than six or more than six.

In addition, it should be noted that, in this embodiment, the pinion portion 11 is taken from an imaginary gear (Number not shown) with a number of teeth of 14. Therefore, the following description is about the The calculation of the rotation speed of the pinion portion 11 is represented by the number of teeth 14.

The large gear portion 12 is opposite to the small gear portion 11 and can define a second pitch circle C2 having a second pitch diameter D2. The second pitch diameter D2 is larger than the first pitch diameter D1. In this embodiment, the large gear portion 12 includes seven second gear teeth 121 spaced apart from each other. The module of the large gear portion 12 is 1, which is preferable. The second pitch diameter D2 is 26 mm. It should be noted that, in other variations of this embodiment, the number of the second gear teeth 121 may also be less than seven or more than seven.

In addition, it should be noted that, in this embodiment, the large gear portion 12 is taken from an imaginary gear (Number not shown) with a number of teeth of 26. Therefore, the following description is about the The calculation of the rotation speed of the large gear unit 12 is represented by the number of teeth 26.

The transmission gear portions 13I and 13II are respectively connected between both ends of the small gear portion 11 and both ends of the large gear portion 12 and are symmetrical to each other. In this embodiment, each of the shifting gear portions 13I, 13II has two shifting gear teeth 131, 132 spaced apart from each other, and two third pitch circles corresponding to the shifting gear teeth 131, 132, respectively, can be defined. C3, C4, the third pitch circle C3 has a third pitch diameter D3, the third pitch circle C4 has a third pitch diameter D4, and the module (Module) of each of the transmission gear portions 13I, 13II is 1. It should be noted that, in other variations of this embodiment, the number of the gear wheels 131 and 132 may be more than two.

In this embodiment, the gear wheel teeth 131 are connected to the pinion portion 11, and the third pitch diameter D3 corresponding to the third pitch circle C3 of the gear wheel teeth 131 is larger than the first gear pitch. Diameter D1, the gear wheel tooth 132 is connected to the large gear portion 12, and the third gear diameter D4 corresponding to the third pitch circle C4 of the gear wheel tooth 132 is smaller than the second gear diameter D2, corresponding to the gear wheel tooth 132 The third pitch diameter D4 of the third pitch circle C4 is larger than the third pitch diameter D3 of the third pitch circle C3 corresponding to the gear wheel teeth 131. Preferably, the third pitch diameter D3 is 17 mm and the third pitch The diameter D4 is 23 mm.

In addition, it should be noted that, in this embodiment, the gear wheel teeth 131 are taken from an imaginary gear (Number not shown) with a number of teeth of 17. Therefore, the following description is about the In the calculation of the rotation speed of the gear wheel teeth 131, the number of teeth 17 is taken as a representative. The gear wheel teeth 132 are obtained from an imaginary gear (Number not shown) having a number of teeth of 23. Therefore, the following description When calculating the rotation speed of the gear wheel teeth 132, the number of teeth 23 is used as a representative.

The following describes through FIG. 5A to FIG. 5D the driving process in which the deformed gear 10I rotates at an input speed ω0, and the deformed gear 10II is driven to convert from a low speed to a high speed:

First, as shown in FIG. 5A, when the small gear portion 11 of the deformed gear 10I and the large gear portion 12 of the deformed gear 10II mesh with each other, the deformed gear 10II generates a minimum output speed ω1 which is smaller than the input speed ω0. It can be known from the conversion of the speed ratio formula that the minimum output speed ω1 = 14 / 26ω0.

Next, as shown in FIG. 5B, when the gear teeth 131 of the speed change gear portion 13I of the deformation gear 10I and the large gear portion 12 of the deformation gear 10II mesh with each other, the deformation gear 10II generates a speed greater than the minimum output speed ω1. According to the conversion of the speed ratio formula, it can be known that the speed output speed ω2 of the variable speed output is ω2 = 17 / 26ω0.

Next, as shown in FIG. 5C, when the speed change gear teeth 132 of the speed change gear portion 13I of the deformation gear 10I and the speed change gear teeth 132 of the corresponding speed change gear portion 13I of the speed change gear 10II mesh with each other, the speed change gear 10II is generated. A speed change output speed ω3 that is greater than the speed change output speed ω2 can be known from the conversion of the speed ratio formula, and the speed change output speed ω3 = 23 / 23ω0.

Finally, as shown in FIG. 5D, when the large gear portion 12 of the deformed gear 10I and the small gear portion 11 of the deformed gear 10II mesh with each other, the deformed gear II generates a larger speed than the input speed ω0 and the variable speed output speed ω3. The maximum output speed ω4 can be known from the conversion of the speed ratio formula, and the maximum output speed ω4 = 26 / 14ω0.

Wherein, the variable-speed output rotation speeds ω2 and ω3 of the deformation gear 10II are both larger than the minimum output rotation speed ω1 and smaller than the maximum output rotation speed ω4.

It can be known from the above that during the process that the deformed gear 10I drives the deformed gear 10II from a low speed to a high speed with the input speed ω0, the deformed gear 10II gradually converts the speed, that is, the minimum output speed ω1 (14 / 26ω0) → the variable speed output speed ω2 (17 / 26ω0) → the variable speed output speed ω3 (23 / 23ω0) → the maximum output speed ω4 (26 / 14ω0).

The following describes through FIG. 6A to FIG. 6D the driving process in which the deformed gear 10I rotates at the input speed ω0 and drives the deformed gear 10II to change from a high speed to a low speed:

First, as shown in FIG. 6A, when the large gear portion 12 of the deformed gear 10I and the small gear portion 11 of the deformed gear 10II mesh with each other, the deformed gear II generates the maximum output speed ω4 that is greater than the input speed ω0. The conversion of the speed ratio formula shows that the maximum output speed ω4 = 26 / 14ω0.

Next, as shown in FIG. 6B, when the shift gear teeth 132 of the shift gear portion 13II of the deformable gear 10I and the shift gear teeth 131 of the corresponding shift gear portion 13II of the transform gear 10II mesh with each other, the transform gear 10II is generated. A variable-speed output speed ω5 that is smaller than the maximum output speed ω4 can be known from the conversion of the speed ratio formula, and the variable-speed output speed ω5 = 23 / 17ω0.

Next, as shown in FIG. 6C, when the gear teeth 131 of the speed change gear portion 13II of the deformation gear 10I and the gear teeth 132 of the speed change gear portion 13II of the deformation gear 10II mesh with each other, the deformation gear 10II is generated. A variable-speed output speed ω6 that is smaller than the variable-speed output speed ω5 can be known from the conversion of the speed ratio formula, and the variable-speed output speed ω6 = 17 / 23ω0.

Finally, as shown in FIG. 6D, when the small gear portion 11 of the deformed gear 10I and the large gear portion 12 of the deformed gear 10II mesh with each other, the deformed gear 10II will produce The minimum output speed ω1 can be known from the conversion of the speed ratio formula, and the minimum output speed ω1 = 14 / 26ω0.

Among them, the variable-speed output rotation speeds ω5 and ω6 of the deformation gear 10II are both greater than the minimum output rotation speed ω1 and smaller than the maximum output rotation speed ω4.

It can be known from the above that during the process that the deformed gear 10I drives the deformed gear 10II from high speed to low speed with the input speed ω0, the deformed gear 10II also gradually converts the speed, that is, the maximum output speed ω4 ( 26 / 14ω0) → the variable speed output speed ω5 (23 / 17ω0) → the variable speed output speed ω6 (17 / 23ω0) → the minimum output speed ω1 (14 / 26ω0).

Thus, as shown in FIGS. 7, 8 and 9, the deformed gear transmission set 100 can be applied to a bionic building block model 200, which includes a body 210 and four left and right sides of the body 210, respectively. The leg link groups 220 on both sides, and a motor driving module 230 disposed on the body 210.

Each foot link set 220 includes a crank 221 and a support rod 222 for contacting the ground.

As shown in FIG. 10, the motor driving module 230 includes a driving motor 231 and a gear transmission mechanism 232 driven by the driving motor 231.

As shown in FIGS. 10, 11, and 12, the bionic building block model 200 is provided with two sets of deformed gear transmission sets 100 on the left and right sides of the body 210, and two sets of deformed gear transmission sets 100 on the same side share the same Deformation gear 10I. Two deformation gears 10I on the left and right sides of the body 210 are coaxially arranged and can be driven by the gear transmission mechanism 232. Four deformation gears 10II on the left and right sides of the body 210 are respectively It is connected to the cranks 221 of the foot link groups 220. In this way, when the two deformation gears 10I on the left and right sides of the body 210 are driven by the motor driving module 230, the left side of the body 210 can be made. The four deformable gears 10Ⅱ on the right and right sides generate a progressive speed conversion as shown in FIG. 5A to FIG. 5D or as shown in FIG. 6A to FIG. 6D, and the crank 221 of the foot link group 220 is linked to make the The supporting rods 222 of the equal-foot link group 220 generate smooth movements, and thus the bionic building block model 200 has a better walking effect.

Through the above description, the advantages of the present invention can be summarized as follows:

1. The deformed gears 10I and 10II of the deformed gear transmission set 100 of the present invention are identical gears, and do not need to be separately opened for manufacturing. Compared with the conventional technology, the present invention can effectively reduce the manufacturing cost.

2. When the deformed gear 10I of the deformed gear transmission set 100 of the present invention drives the deformed gear 10II at the input rotational speed ω0, the deformed gears 10I and 10II can use the design of the transmission gear portions 13I and 13II to make the deformation. Gear 10Ⅱ gradually converts the rotation speed between the minimum output speed ω1 and the maximum output speed ω4. Compared with the conventional technology, the deformation gear 10Ⅱ operates smoothly when the speed is switched. It does not stop, but can use the building block model of the present invention (such as the bionic building block model 200) to produce a better action effect.

In summary, the deformed gear of the present invention and the deformed gear transmission set using the deformed gear can not only reduce the manufacturing cost, but also allow the driven deformed gear to gradually convert the rotational speed, so the objective of the present invention can be achieved.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited in this way, any simple equivalent changes and modifications made in accordance with the scope of the patent application and the content of the patent specification of the present invention are still Within the scope of the invention patent.

Claims (8)

A deformed gear comprising:
A pinion portion including a plurality of first gear teeth spaced from each other, the pinion portion can define a first pitch circle having a first pitch diameter;
A large gear portion opposite to the small gear portion includes a plurality of second gear teeth spaced apart from each other. The large gear portion can define a second pitch circle having a second pitch diameter. The second pitch diameter Larger than the first pitch diameter; and two transmission gear portions, which are respectively connected between the two ends of the small gear portion and the two ends of the large gear portion, and are symmetrical with each other, and each transmission gear portion has n mutually spaced intervals. Variable gear teeth, and can define n third pitch circles corresponding to the gear teeth, n is an integer greater than 1, each third pitch circle has a third pitch diameter, and the first gear pitch Connected to the pinion gear portion, a third pitch diameter corresponding to a third pitch circle of the first shift gear tooth is larger than the first pitch diameter, and an n-th shift gear tooth is connected to the large gear gear portion, corresponding to the first The third pitch diameter of the third pitch circle of the n gear wheels is smaller than the second pitch diameter, and the third pitch diameter of the third pitch circle of the nth gear wheel teeth is greater than that corresponding to the n-1th shift The third pitch diameter of the third pitch circle of the gear teeth. The deformed gear according to claim 1, wherein n is 2, each transmission gear portion has two transmission gear teeth, and two third pitch circles corresponding to the transmission gear teeth can be defined. The deformed gear according to claim 2, wherein the small gear portion includes six first gear teeth spaced apart from each other, and the large gear portion includes seven second gear teeth spaced apart from each other. The deformed gear according to claim 1, wherein the modulus of the small gear portion is 1, the modulus of the large gear portion is 1, and the modulus of each transmission gear portion is 1. A deformed gear transmission group comprising:
Two deformed gears, the deformed gears mesh with each other, each deformed gear includes a small gear part, a large gear part, and a two-speed gear part,
The pinion portion includes a plurality of first gear teeth spaced from each other. The pinion portion may define a first pitch circle having a first pitch diameter.
The large gear portion is opposite to the small gear portion and includes a plurality of second gear teeth spaced apart from each other. The large gear portion can define a second pitch circle having a second pitch diameter, and the second pitch diameter Larger than the first pitch diameter,
The transmission gear portions are respectively connected between two ends of the small gear portion and the two ends of the large gear portion and are symmetrical to each other. Each transmission gear portion has n transmission gear teeth spaced from each other and can be defined. There are n third pitch circles respectively corresponding to the gear wheels, n is an integer greater than 1, each third pitch circle has a third pitch diameter, and the first gear wheel is connected to the pinion portion, The third pitch diameter of the third pitch circle corresponding to the first shift gear tooth is larger than the first pitch diameter, the n-th shift gear tooth is connected to the large gear portion, and the third pitch circle corresponds to the n-th shift gear tooth. The third pitch diameter of the three pitch circles is smaller than the second pitch diameter, and the third pitch diameter of the third pitch circle corresponding to the nth shift gear tooth is larger than the third pitch circle corresponding to the n-1th shift gear tooth. The third pitch,
Wherein, one of the deformed gears rotates at an input speed, and when the small gear portion of one of the deformed gears and the large gear portion of the other of the deformed gears mesh with each other, the deformed gears The other produces a minimum output speed that is less than the input speed. When the large gear portion of one of the deformed gears and the small gear portion of the other of the deformed gears mesh with each other, the The other produces a maximum output speed that is greater than the input speed. When one of the transmission gear portions of one of the deformation gears and one of the corresponding transmission gear portions of the other deformation gears mesh with each other, The other of the deformed gears generates a variable speed output speed that is greater than the minimum output speed and less than the maximum output speed. The deformable gear transmission set according to claim 5, wherein n is 2, each transmission gear portion has two transmission gear teeth, and two third pitch circles corresponding to the transmission gear teeth can be defined. The deformable gear transmission set according to claim 6, wherein the small gear portion includes six first gear teeth spaced apart from each other, and the large gear portion includes seven second gear teeth spaced apart from each other. The deformation gear transmission set according to claim 5, wherein the modulus of the small gear portion is 1, the modulus of the large gear portion is 1, and the modulus of each transmission gear portion is 1.