200828773 九、發明說明： 【發明所屬之技術領域】 本發明是關於一種電動可變高慣量器， — <曰 種矛||用 一環狀外迴轉馬達來驅動二自由度增速結構行星齒輪/用 外％齒輪，並以太陽齒輪軸銜接一飛輪作負載，控制^的 齒輪轉速與轉向，使負載軸速度控制改變，而產生1外％ 變的負載加載於輸入軸上，使得齒輪系行星臂輸入^對可 里變動’而對輸入端的扭矩作變化，而能達到可變斑古: 量化設計功能的開創性設計結構，其作為產業利用 用於精密機械穩定器與減振器、汽車避震 匕括 器、醫療保健器材，以及其他可受益於高慣量負載建之::震 【先前技術】 按’物體轉動時，讓轉動狀態改變的容 動態的轡4 Μ # θ Τ >^華^步到 為轉而對於物體維持轉動狀態的慣性，即稱 =轉動b或慣性矩，丨中，慣性矩愈大表示愈 2200828773 IX. Description of the Invention: [Technical Field] The present invention relates to an electrically variable high inertia device, which is an annular outer swing motor for driving a two-degree-of-freedom speed-increasing structure planetary gear / Use the outer % gear, and connect the flywheel to the load with the sun gear shaft, control the gear speed and steering, and change the load shaft speed control, and generate 1 external variable load on the input shaft, making the gear train planet The arm input ^ can change the torque in the input and change the torque at the input end, and can achieve the variable spot: The groundbreaking design structure of the quantitative design function, which is used as an industrial use for precision mechanical stabilizers and shock absorbers, and automobile avoidance Shock absorbers, health care equipment, and others that can benefit from high inertia loads:: [Previous technology] Pressing the object when the object rotates, let the rotation state change the dynamics of the 辔4 Μ # θ Τ > ^Step to inertia for the rotation of the object, that is, = rotation b or moment of inertia, in 丨, the greater the moment of inertia, the more 2
動，如同樣質量的而你 易I 里的兩物，其距離轉軸愈近 所需的能量較低，^ π ^ 要使其轉動 低而距離轉軸愈遠者，要使i+ 能量即相對較高。 女便/、轉動所需的 於目前汽車避雷哭曰y 器慣量要大，4;:，油氣壓或彈菁等，重車避震 性，但載重差盘路：車避震器慣量要小，講求舒適 則採用機構式高慣量哭 亦生揸及扣毀，而賽車 避震器需求會隨路況：：可變慣㈣圍有限，故於汽車 〃 重進行大範圍慣量調整，達到智 200828773 慧型避震器。 又，精密機械穩定器的單位體積 設備設計時，受設備承载與轉速限制， 阻尼來吸震，以確保機械設備穩定性 無黃或 無法進行控制，其隨者採用元件的特性進=採:者卻 行控制，且亦面臨慣量不屈 文…法進 題。 “不足或體積太大的空間與運用問 於營建業進行防雳扭# 3 大而mi 其體積|重量 術探討。 ‘，、、以足所冑n於進行學 在醫療保健或休閒健身哭 ^ m ^ ^ ^ ^ 身材業，目前則是利用彈菩口戈 油堡糸統進订设健與健身運動器材，其依使用二、:! 級，來進行不同的器材 " 區分等 小孩老人料機= 範圍無法從 制調整。 機適用’不能隨使用者等級去進行控 又’目前各種轉動裝置中 的旋轉物體’可藉其旋轉產生振動的：:=:=生 動力量的振動器結構’例如振 1物有振 粒的振動傳送，或者是螺 乍為&印樂物之顆 送而輸入後續的組合裝置：、螺帽亦可由振動盤的振動傳 械組合結構，則有可作為’以及相對於振動器的其他機 避震作用的避震器結構^㈣用的減振器’或者是作為 機械結構在進行吸震及：泛應用於產業界’然而，因為 噪音及耗能問題，作時’極易因為摩擦而產生 、械結構的反應速度較慢，而難以 5 200828773 順隨狀況進行調節。 【發明内容】 本發明目的在於，提供一種「電動可變高慣量器」， 其利用一環狀外迴轉馬達來驅動二自由度增速結構行星齒 輪$的外環齒輪，與行星臂組t所槐設的行星齒輪嗜合， 。亥行生#組的行生臂中具有_行星臂軸形成輸人端，於行 星回輪中樞設一嚙合的太陽齒輪軸，並於太陽齒輪軸上設 置^輪作負冑，藉此設計，而可以控制環狀外迴轉馬達 的轉速與轉向，使得承載由行星臂輸入的扭矩變化，而能 達到可變與高慣量化設計功能，此為本發明設計之主要目 的所在。 為達成上述目的之結構特徵及技術内容，本發明「電 動可變高慣量器」包括·· 固疋件，具有一馬達定子、一前座組、一後座組及 一外设，外殼具有一基板，於外殼内部形成一容置空間， 且於外殼一端設置一開口，後座組固設在外殼中，馬達定 子具有一線圈座，線圈座上設置一線圈組件，馬達定子固 設在後座組上，以及前座組固設在外殼的開口處； 一輸入件，具有一行星臂組，行星臂組包括一行星臂， 於行星臂上樞設數個行星齒輪，以及在行星臂中設置一行 星臂軸，行星臂軸樞設在前座組中； 一驅動件’具有一馬達轉子及一外環齒輪，馬達轉子 内部設置一磁鐵組，馬達轉子樞設在馬達定子外圍而形成 6 200828773 驅動馬達’以及外環齒輪0設在馬達轉子上，外環裔輪的 内部ί辰齒與數個行星齒輪的外圍相嚙合； 負載組，太陽齒輪 太陽齒輪輛，太陽 載組具有一飛輪， 負载件，具有一太陽齒輪組及— 、、且包括一太陽齒輪，太陽齒輪申設置一 ^輪與數個行星齒輪的内圍相嚙合，負 飛輪設置在太陽齒輪軸上。 藉此設計，可利用驅動件的馬達 增速結構行星齒輪系的外環絲，並且控制^自由度 向’而能變化負載件之飛輪負載；、與轉 能如以變化，目此而能達到高慣 ：“輸入的扭矩 亦即，本發明設計具有如下特點：負栽及可變負載效果， 1 ·單位體積下具有大慣量 2.可進行控制調整慣量 3·提供高慣量負載 4·運用場合甚廣 5 ·原理易懂，實施可行 因此，本發明設計可作為振動器、、、、 重負載、旋轉精密設備穩定器·二減振器、避震器、 用。 等内部核心結構加以應 【實施方式】 本發明「電動可變高慣蜃巧 里？§」 ，士 〜増速行星齒輪組與一負载件等— 要包括一驅動件、 行星齒輪組的行星臂軸載入 伤’其輸入是由增速 執入，驅動件 、 J用外迴轉馬達控 200828773If the two objects in the same mass are in the same mass, the energy required to get closer to the axis of rotation is lower, ^ π ^ to make the rotation lower and the farther from the axis, the i+ energy is relatively higher. . Female toilet /, the rotation required for the current car lightning protection y y device inertia is large, 4;:, oil pressure or elastic, etc., heavy-duty shock absorber, but the load difference circuit: car shock absorber inertia is small For comfort, the high-inertia crying is also smashed and demolition, and the demand for the shock absorber of the car will be related to the road conditions: the variable habit (4) is limited, so the car is heavily weighted for large-scale inertia adjustment, reaching Zhi 200828773 Hui Type shock absorber. Moreover, the unit volume equipment of the precision mechanical stabilizer is designed to be shock-absorbing by the load-bearing and speed limitation of the equipment, so as to ensure that the stability of the mechanical equipment is not yellow or impossible to control, and the characteristics of the components are adopted. Line control, and also face the inertia of incompetent text... "Insufficient or too large space and application to the construction industry to carry out anti-twisting #3 big and mi its volume|weight discussion. ',,,,,,,,,,,,,,,,,,,,,, m ^ ^ ^ ^ The body industry, currently using the Bodhisattva Gebaobao system to set up health and fitness equipment, according to the use of two, :!, to carry out different equipment " Machine = range cannot be adjusted from the system. The machine is suitable for 'cannot control with user level and 'current rotating objects in various rotating devices' can be rotated by vibration::=:=vibrator structure of vivid force' The vibrating object has the vibration transmission of the granules, or the snail is fed into the subsequent combination device: the nut can also be combined by the vibrating disk vibration vibration structure, and Shock absorber structure with respect to other shock absorbers of the vibrator ^ (4) Damper used either as a mechanical structure for shock absorption and: general application in the industry' However, due to noise and energy consumption problems, 'very easy because The reaction speed of the mechanical structure is slow, and it is difficult to adjust according to the situation. The present invention aims to provide an "electric variable high inertia" using an annular external swing motor. The outer ring gear that drives the two-degree-of-freedom speed-increasing structure planetary gear $ is in harmony with the planetary gear set by the planetary arm set t. The inner arm of the Hai Xingsheng# group has a _ planet arm shaft forming an input end, a meshing sun gear shaft is arranged in the planetary return wheel, and a wheel is set as a negative yoke on the sun gear shaft, thereby designing, The rotation speed and steering of the annular outer swing motor can be controlled so that the torque input by the planetary arm can be changed to achieve variable and high inertia design functions, which is the main purpose of the design of the invention. In order to achieve the structural features and technical contents of the above object, the "electric variable high inertia device" includes a solid stator, a motor stator, a front seat set, a rear seat set and a peripheral unit, and the outer casing has a base plate. Forming an accommodating space inside the outer casing, and providing an opening at one end of the outer casing, the rear seat set is fixed in the outer casing, the motor stator has a coil base, a coil assembly is disposed on the coil base, and the motor stator is fixed on the rear seat set The upper and the front seat are fixed at the opening of the outer casing; an input member having a planetary arm set, the planetary arm set including a planetary arm, a plurality of planetary gears pivoted on the planetary arm, and a planet disposed in the planetary arm The arm shaft and the planetary arm shaft are pivoted in the front seat group; a driving member ' has a motor rotor and an outer ring gear, a magnet group is disposed inside the motor rotor, and the motor rotor is pivoted on the periphery of the motor stator to form a 6 200828773 driving motor' And the outer ring gear 0 is disposed on the rotor of the motor, and the inner teeth of the outer ring wheel mesh with the outer periphery of the plurality of planet gears; the load group, the sun gear sun gear, too The positive load group has a flywheel, a load member having a sun gear set and, and including a sun gear, the sun gear is provided with a wheel and meshes with inner circumferences of the plurality of planet gears, and the negative flywheel is disposed at the sun gear shaft on. By this design, the outer ring wire of the planetary gear train of the speed increasing structure of the motor of the driving member can be utilized, and the flywheel load of the load member can be controlled by controlling the degree of freedom; and the energy can be changed as shown in the figure. High habit: "The input torque is also the design of the present invention: load and variable load effect, 1 · large inertia per unit volume 2. control inertia can be controlled 3. high inertia load 4 Very wide 5 · The principle is easy to understand, the implementation is feasible. Therefore, the design of the invention can be used as a vibrator, a heavy load, a rotating precision equipment stabilizer, a second damper, a shock absorber, etc. Embodiments of the present invention "Electrically variable high inertia ? ? §", 士~増 planetary gear set and a load member, etc. - To include a drive member, a planetary gear set of a planetary arm axle loaded with an injury' input Is carried out by the speed increase, the drive parts, J external swing motor control 200828773
的開創性設 組的外環齒輪，負載件 接飛輪等負載，經由增 ，使負載軸速度發生改 軸上’使得輸入端產生 計結構。The ground-breaking outer ring gear, the load member and the flywheel and other loads, through the increase, the load shaft speed is changed on the shaft to make the input end generate the meter structure.
外叙（430) ’外叙（43 0)具有一基板（434)，於外殼（43〇)内部 形成一容置空間，且於外殼（430)—端設置一開口（43丨），後 座組（420)固設在外殼（430)中，以及前座組（41〇)固設在外 殼（430)的開口（431)處； 一驅動件，其具有一馬達定子（11〇)及一馬達轉子 (120)，馬達定子（11〇)具有一線圈座（113)，線圈座（113)上 設置一線圈組件（111)，馬達定子（110)固設在上述固定件的 後座組（420)上，於馬達轉子（12〇)内部設置一磁鐵組（丨2丨）， 馬達轉子（120)樞設在馬達定子（π0)外圍而形成驅動馬達 (100)，以及外環齒輪（230)固設在馬達轉子（120)上； 所述之驅動件可為上述馬達或壓電元件，或者轉接任 何型式的減速機構。 一增速行星齒輪組，其具有一外環齒輪（230)，外環齒 輪（230)固設在馬達轉子（120)上，以及具有一行星臂組 200828773 (220) ’仃星臂組（220)包括一行星臂（221)，於行星臂（22ι) 上樞設數個行星齒輪（222)，以及在行星臂（221)中設置一行 星臂軸（225)，行星臂軸（225)樞設在固定件的前座組_) 中，行生齒輪（222)外圍與驅動件的外環齒輪（23〇)之内部環 齒相嚙合； 一負載件，其具有一太陽齒輪組（210)及一負載組 (300)，太陽齒輪組（210)包括一太陽齒輪（211)，太陽齒輪 (211)中設置一太陽齒輪軸（212)，太陽齒輪（211)與數個行 星齒輪（222)内圍相嚙合，負載組（3〇〇)具有一飛輪（3〇1)， 飛輪（301)設置在太陽齒輪軸（212)上。 所述之負載組（ 300 )除了可為上述飛輪（3〇1)，亦可 為齒輪喃合的齒輪組或磁控裝置。 上述馬達定子（11 〇)的組裝，是將矽鋼片的線圈組件 (11 1)緊配組裝於線圈座（11 3)上，再將線圈繞設於線圈組件 (111)上，並將與太〜齒輪轴（212)相對運動的轴承（112)套 入線圈座（113)中，完成馬達定子（110)組裝。 上述馬達轉子（120)的組裝，是將磁鐵組（121)貼設在馬 達轉子（120)内部，並將與線圈座套筒（114)相對運動的軸承 (123)設置在馬達轉子（120)中，且利用C型扣環（122)定位 裝設，完成馬達轉子（120)組裝。 以及設置一線圈座套筒（114)穿入馬達轉子（120)的軸承 (123)内，線圈座套筒（114)周緣設置數個螺孔（1140)及沈埋 孔（1141)，且於線圈座套筒（114)前端套設一擋板襯片（丨16) 以及裝上馬達定子（1 10)，而可以固定螺栓（U 7)穿入沈埋孔 9 200828773 (1141)及穿過擋板襯片（11 6)上所設置的穿孔（116)，而螺入 線圈座（11 3)中所設置的螺孔（Π 3 0)中，將線圈座套筒 (114)、馬達轉子（120)與馬達定子（丨10)結合成一體。 所述之太陽齒輪（211)裝設於太陽齒輪軸（212)上，配合 參看第三、四、五圖所示，其係利用一鍵（21 3)的設置，使 太陽齒輪（21 1)與太陽齒輪軸（212)固結一起而可作旋轉驅 動，並以一 C型扣壤（214)軸向定位，太陽齒輪軸（212)可穿 過線圈座（11 3)内部所設置的軸承（1丨2)，完成驅動馬達（1 〇〇) 組裝。 上述後座組（420)具有一基座（421)，基座（421)内部形 成一容置空間（4210)，基座（421)端面中心處設置一階級孔 (4211)，以及在基座（421)端面的階級孔（4211)周圍設置數 個沈埋孔（424)，馬達定子（丨1〇)固設在後座組（42〇)上，是 以數根固定螺栓（425)穿過沈埋孔（424)及螺入線圈座套筒 (114)的螺孔（1140)中加以固結定位。 所述之外環齒輪（230)固設在馬達轉子（230)上，是在馬 達轉子（230)—端形成凸緣邊（124)，於凸緣邊（124)上設置 數個穿孔（125)，以及在外環齒輪（230)上設置相對的螺孔 (231)，而可以固定螺栓（125)穿入穿孔（125)及螺入螺孔（231) 中加以固結。 所述之太陽齒輪組（2 10)的太陽齒輪軸（2 12)穿入驅動馬 達（100)的軸承（112)中，且於太陽齒輪軸（212)末端設置一 鍵（213)及組合設置飛輪並以一 c型扣環（214)軸向扣 持定位，而完成負載件的組合裝設。 200828773 又，鈿座組（410)具有一前座（41 l)，其固設在外殼（43〇) 的開口（431)處’是在外殼（430)開口（431)周緣形成凸緣邊 (432)，以及在凸緣邊（432)上設置數個沈埋孔（433)，且於 前座（41 1)周緣没置數個螺孔（4 1 5 )，而可以固定螺栓（4 3 3 ) 穿入沈埋孔（433)及螺入螺孔（415)中加以固結。 所述之行星臂組（220)的行星臂軸（225)樞設在前座組 (410)中，是在前座組（410)的前座（411)中設置一階級孔 (414)，階級孔（414)中設置一軸承（413)，使行星臂軸（225) 可穿過軸承（4 13)並以一 C型扣環（412)扣持定位，使行星臂 軸（225)樞設在前座組（410)中，完成輸入件組裝。 於外殼（430)的基板（434)上設置數個沈埋孔（435)，以 及在後座組（420)的基座（421)底端凸緣邊（4212)處設置數個 相對的螺孔（4213)，上述後座組（420)的基座（421)置入外殼 (43 0)容置空間中，可以固定螺栓（436)穿入沈埋孔（435)及 螺入螺孔（42 1 3)中加以固結定位，而完成本發明組裝。 配合參看第一圖至第六圖所示，本發明設計解析說明 如下： 本發明採用二自由度增速行星齒輪組傳動結構，由行 星齒輪系的行星臂軸（225)與外環齒輪（230)當二輸入端， 負載端為太陽齒輪軸（212)時，其負載端的轉速與扭矩為 ns=2(l + ri).na 一(ΐ + 2η)·ηΓ 11 200828773 其中，&為行星齒輪與太陽齒輪的齒數比，即η ， rc 而rp、&分別為行星齒輪與太陽齒節圓半徑，心、nP與心分 別為太陽齒、行星臂與外環齒輪之轉速，T。、Ta與Tr分別 為負載轴（太陽齒）、行星臂（輸入軸）與外環齒輪之扭矩。 當輸入端保持等速運轉（na)時，驅動控制三種模式如下： (1) 當驅動馬達（100)控制轉速在 nr=^^_na，與輸入 1 + 2η 軸（即行星臂軸（225))同向旋轉時，負載飛輪（301)為 靜止（n。= ns = 0 rpm )，其負載對輸入端為零負載。 (2) 當驅動馬達(100)靜止，負載端轉速為 n〇=ns=2(1 + ri)*na 提供輸入軸的負載轉矩為The outer surface (430) has a substrate (434), an accommodation space is formed inside the outer casing (43〇), and an opening (43丨) is arranged at the end of the outer casing (430), and the rear seat is provided. The set (420) is fixed in the outer casing (430), and the front seat set (41〇) is fixed at the opening (431) of the outer casing (430); a driving member having a motor stator (11〇) and a motor The rotor (120) has a coil base (113). The coil base (113) is provided with a coil assembly (111), and the motor stator (110) is fixed to the rear seat set of the fixing member (420). A magnet group (丨2丨) is disposed inside the motor rotor (12〇), the motor rotor (120) is pivoted on the periphery of the motor stator (π0) to form a drive motor (100), and the outer ring gear (230) It is fixed on the motor rotor (120); the driving member may be the above-mentioned motor or piezoelectric element, or any type of speed reduction mechanism. A speed increasing planetary gear set having an outer ring gear (230), an outer ring gear (230) fixed to the motor rotor (120), and a planetary arm set 200828773 (220) 'compass arm set (220) The utility model comprises a planetary arm (221), a plurality of planetary gears (222) are arranged on the planetary arm (22ι), and a planetary arm shaft (225) is arranged in the planetary arm (221), and the planetary arm shaft (225) pivots Provided in the front seat set_) of the fixing member, the outer periphery of the inner gear (222) meshes with the inner ring gear of the outer ring gear (23〇) of the driving member; a load member having a sun gear set (210) and A load group (300), the sun gear set (210) includes a sun gear (211), a sun gear shaft (212) is disposed in the sun gear (211), and the sun gear (211) and the plurality of planet gears (222) are disposed. The outer meshing, the load group (3〇〇) has a flywheel (3〇1), and the flywheel (301) is disposed on the sun gear shaft (212). The load group (300) may be a gear set or a magnetic control device that is a gear-coupling, in addition to the flywheel (3〇1). The motor stator (11 〇) is assembled by fitting the coil assembly (11 1) of the silicon steel sheet to the coil base (113), and then winding the coil on the coil assembly (111), and The bearing (112) of the relative movement of the gear shaft (212) is inserted into the coil base (113) to complete the assembly of the motor stator (110). The motor rotor (120) is assembled by attaching a magnet group (121) to the inside of the motor rotor (120), and mounting a bearing (123) that moves relative to the coil housing sleeve (114) to the motor rotor (120). The motor rotor (120) is assembled by using a C-shaped snap ring (122) positioning device. And a coil seat sleeve (114) is inserted into the bearing (123) of the motor rotor (120), and a plurality of screw holes (1140) and buried holes (1141) are disposed around the coil seat sleeve (114), and the coil is A baffle lining (丨16) is attached to the front end of the sleeve (114) and a motor stator (1 10) is mounted, and the fixing bolt (U 7) can be inserted into the buried hole 9 200828773 (1141) and through the baffle a through hole (116) provided in the lining (116), and screwed into a screw hole (Π30) provided in the coil seat (113), the coil seat sleeve (114), the motor rotor (120) ) integrated with the motor stator (丨10). The sun gear (211) is mounted on the sun gear shaft (212), as shown in the third, fourth and fifth figures, which uses a button (21 3) setting to make the sun gear (21 1) It can be rotationally driven together with the sun gear shaft (212) and is axially positioned by a C-type buckle (214). The sun gear shaft (212) can pass through the bearing provided inside the coil seat (113). (1丨2), complete the drive motor (1 〇〇) assembly. The rear seat set (420) has a base (421), and a receiving space (4210) is formed inside the base (421), a class hole (4211) is disposed at the center of the end surface of the base (421), and the base is (421) A plurality of buried holes (424) are arranged around the class hole (4211) of the end face, and the motor stator (丨1〇) is fixed on the rear seat group (42〇), and is passed through a plurality of fixing bolts (425). The buried hole (424) and the screw hole (1140) screwed into the coil seat sleeve (114) are fixed and positioned. The outer ring gear (230) is fixed on the motor rotor (230), forming a flange edge (124) at the motor rotor (230) end, and a plurality of perforations (125) on the flange side (124). And the opposite screw holes (231) are provided on the outer ring gear (230), and the fixing bolts (125) can be inserted into the through holes (125) and the screw holes (231) for consolidation. The sun gear shaft (2 12) of the sun gear set (2 10) penetrates into a bearing (112) of the drive motor (100), and a key (213) and a combination setting are arranged at the end of the sun gear shaft (212). The flywheel is axially held in a c-type buckle (214) to complete the assembly of the load members. 200828773 In addition, the squatting group (410) has a front seat (41 l) fixed to the opening (431) of the outer casing (43 ') to form a flange edge at the periphery of the opening (431) of the outer casing (430) (432) ), and a plurality of buried holes (433) are arranged on the flange side (432), and no screw holes (4 15) are placed on the periphery of the front seat (41 1), and the bolts (4 3 3 ) can be fixed. Consolidation is carried out by sinking into the sinking hole (433) and screwing into the screw hole (415). The planetary arm shaft (225) of the planetary arm set (220) is pivoted in the front seat set (410), and a class hole (414) is disposed in the front seat (411) of the front seat set (410), and the class hole ( A bearing (413) is disposed in 414) such that the planet arm shaft (225) can pass through the bearing (4 13) and is held in a C-shaped buckle (412) to pivot the planetary arm shaft (225) in the front seat. In the group (410), the input assembly is completed. A plurality of buried holes (435) are disposed on the substrate (434) of the outer casing (430), and a plurality of opposing screw holes are disposed at the bottom flange edge (4212) of the base (421) of the rear seat group (420). (4213), the base (421) of the rear seat set (420) is placed in the accommodating space of the outer casing (43 0), and the fixing bolt (436) can be inserted into the buried hole (435) and the screwed hole (42 1). 3) Consolidation positioning is performed to complete the assembly of the present invention. Referring to the first to sixth figures, the design of the present invention is explained as follows: The present invention adopts a two-degree-of-freedom speed-increasing planetary gear set transmission structure, which is composed of a planetary gear shaft (225) and an outer ring gear (230). When the input end is the sun gear shaft (212), the speed and torque of the load end are ns=2(l + ri).na one (ΐ + 2η)·ηΓ 11 200828773 where & The gear ratio of the gear to the sun gear, namely η, rc and rp, & respectively, is the radius of the planetary gear and the sun pitch circle, and the heart, nP and heart are the rotational speeds of the sun gear, the planet arm and the outer ring gear, respectively. Ta and Tr are the torque of the load shaft (solar teeth), the planetary arm (input shaft) and the outer ring gear, respectively. When the input is kept at constant speed (na), the drive control three modes are as follows: (1) When the drive motor (100) controls the speed at nr=^^_na, and the input 1 + 2η axis (ie the planetary arm shaft (225) When rotating in the same direction, the load flywheel (301) is stationary (n. = ns = 0 rpm) and its load is zero load on the input. (2) When the drive motor (100) is stationary, the load end speed is n〇=ns=2(1 + ri)*na. The load torque of the input shaft is provided.
Ta η)[Τ0 + 3rsmpap + Isas· (Tr -Irar) -f Iaaa 其中，負載端扭矩為 T〇 =IW -a = Iw Δω △t 其中，：^為飛輪轉動慣量Iw=|mr2，單位為kg-m2。Δω為角速 度變化量（rad/s)。即若由（1)負載飛輪(301)靜止到驅動馬達（100)靜 止，所需時間為At，則負載端轉速變化為 Δω = ω2 —ω! =[2(1 + ι\)·(η& ·2π/60)]- 0 其負載端扭矩為 τ Δω=Τ 2(1 + ri).(na ·2π/β0) 〇 — w ·Ι— w At 僅就簡化内部各加速度及角加速度項，使驅動高慣量器負載所需輸入 12 200828773 = [2(1 + η)2] 1' 而驅動高慣量器所需功率為 轉矩為 Τ，(1 + η)·Τ。 2(1 + η)2·(η& ·2π/60) Δί (η,·2π/60) Δί P = V〇a=[2[(l + ri)2] Iw·色a’27l/6〇)] Δί 故就機構而言，採用增速行星齒輪傳動機構等效慣量增加了 2(1 + η)2 倍。又選用適當驅動馬達，使改變速度所需時間（Δί)縮短，亦可增大 等效慣量。 (3)當驅動馬達控制外環齒輪轉速由靜止到 n ^ a，與輸入軸 1 + 2η 4(1 + η)·ηα)，其轉速變 2(1 + η) ^ 反向時，負載飛輪(301)作高速運轉 化量為 Δω = ω3 -ω2 = {[4(1 + η)·η&]-[2(1 + η)·η」}·2π/60 = 2(1 + 6).(1^ ·2π/60) 其負載端的負載對輸入端產生的扭矩為 τ .，= T 2(1 + ri)^na，27l/6Q) °~ w "δΓ~ w Δί 僅就簡化内部各加速度項及角加速度項，並同時忽略7；項，使驅動高 慣量器負載所需輸入轉矩為 ϋ+η)·τ0 = ] -[2(1 +η)2] I, 而驅動高慣量器所需功率為 2(1 + η)2 · (na · 2π/60)Ta η)[Τ0 + 3rsmpap + Isas· (Tr -Irar) -f Iaaa where the load end torque is T〇=IW -a = Iw Δω Δt where: ^ is the flywheel moment of inertia Iw=|mr2, in units Kg-m2. Δω is the angular velocity change (rad/s). That is, if (1) the load flywheel (301) is stationary until the drive motor (100) is stationary, and the time required is At, the load end speed changes to Δω = ω2 — ω! = [2(1 + ι\)·(η& ; 2π/60)]- 0 The torque at the load end is τ Δω=Τ 2(1 + ri).(na ·2π/β0) 〇— w ·Ι— w At simply simplifies the internal acceleration and angular acceleration terms The input required to drive the high inertia load is 12 200828773 = [2(1 + η)2] 1' and the power required to drive the high inertia is 转矩, (1 + η)·Τ. 2(1 + η)2·(η& ·2π/60) Δί (η,·2π/60) Δί P = V〇a=[2[(l + ri)2] Iw·color a'27l/6 〇)] Δί Therefore, in terms of the mechanism, the equivalent inertia of the speed-increasing planetary gear transmission is increased by 2 (1 + η) 2 times. The appropriate drive motor is also used to shorten the time required to change the speed (Δί) and increase the equivalent inertia. (3) When the drive motor controls the outer ring gear speed from rest to n ^ a, and the input shaft 1 + 2η 4(1 + η)·ηα), the speed becomes 2 (1 + η) ^ reverse, the load flywheel (301) The amount of high-speed operation is Δω = ω3 - ω2 = {[4(1 + η)·η&]-[2(1 + η)·η"}·2π/60 = 2(1 + 6) (1^ · 2π/60) The load generated by the load on the load end is τ . , = T 2(1 + ri)^na, 27l/6Q) °~ w "δΓ~ w Δί Internal acceleration term and angular acceleration term, and ignore 7; at the same time, the input torque required to drive the high inertia load is ϋ+η)·τ0 = ] -[2(1 +η)2] I, and drive The power required for high inertia is 2 (1 + η) 2 · (na · 2π/60)
At (na · 2π/60) Δί 13 200828773 P = Ta. coa = [(1 + η )2] Iw ·.2π/6〇)2-At (na · 2π/60) Δί 13 200828773 P = Ta. coa = [(1 + η )2] Iw ·.2π/6〇)2-
At 故採用增速行星齒輪傳動機構等效慣量增加了 2(1 + η)2倍，上述說明 僅就傳動部份估算，實質上具有更高倍數的增加能力。 故採用驅動馬達（100)控制二自由度增速行星齒輪傳動機構的外環齒輪 (230)轉速，直接由〜=¥¥九到，即可獲得等效慣量增 加至4(1 + η)2倍。若行星齒輪與太陽齒輪取大小相同，減速比為η =1， 則慣量可增大16倍；若太陽齒輪小行星齒輪一半，減速比為η =2，則慣 量可增大36倍。 本發明之驅動件亦可採用一般伺服馬達加減速機來驅 動增速行星齒輪組的外環齒輪，以及，負載端亦可銜接磁 阻器等做變動負載，使慣量變動更大。 因此，經由上述結構特徵、組合操作及原理、範例解 析說明，可清楚看出本發明設計特點在於： 提供一種「電動可變高慣量器」，其藉由驅動件的馬 ν 達轉子來驅動二自由度增速結構行星齒輪系的外環齒輪， 控制其轉速、轉向，而能變化負載件的飛輪負載，使由行 星臂輸入的扭矩能加以變化，故能達到高慣量負載及可變 負載作用，其利用電動驅動方式來提高慣量及變化慣量， 可作為振動器、減振器、避震器、重負載、旋轉精密設備 穩定器··等内部核心結構加以使用，藉此設計，可減少 摩擦、降低噪音及減少耗能，且比一般機械組合結構，更 能提高反應速度及達到迅速調節功效。 14 200828773 【圖式簡單說明】 第一圖：本發明立體分解圖。 後座 第二圖：本發明中有關驅動馬達、太陽齒輪組、 組、飛輪的立體分解圖。 太陽齒輪 第二圖：本發明中有關前座組、行星臂組 組、外環齒輪的立體分解圖。 第四圖：本發明組合剖視圖。 第五圖：本發明另一橫向剖視圖。 第六圖：本發明電動可變高慣量器的驅動件（馬達、 外環齒輪）、輸入軸（行星臂軸）及負载: (太陽齒輪軸和飛輪）的簡要組合示意圖。 【主要元件符號說明】 (1 0 0 )驅動馬達 (11 0 )馬達定子 (111)線圈組件 (112)軸承 (11 3)線圈座 (1130)螺孔 (114)線圈座套筒 (1140)穿孔 (11 41)沈埋孔 (11 5 ) C形扣環 (116)擔板襯片 (1160)穿孔 (11 7)固定螺栓 (120)馬達轉子 (1 21)磁鐵組 (122)C形扣環 (123)軸承 (124)凸緣邊 (125)穿孔 (126)固定螺栓 (210)太陽齒輪組 (211)太陽齒輪 15 200828773 (2 1 2)太陽齒輪軸 (213)鍵 (214)C形扣環 (220)行星臂組 (221)行星臂 (222)行星齒輪 (223)軸承 (224)C形扣環 (225)行星臂軸 (230)外環齒輪 (231)螺孔 (300)負載組 (301)飛輪 (410)前座組 (411)前座 (412)C形扣環 (413)軸承 (414)階級孔 (415)螺孔 (420)後座組 (421)基座 (4210)容置空間 (4211)階級孔 (4212)凸緣邊 (4213)螺孔 (422)C形扣環 (423)軸承 (424)沈埋孔 (425)固定螺栓 (430)外殼 (431)開口 (432)凸緣邊 (4 3 3 )沈埋孔 (4331 )固定螺栓 (434)基板 (435)沈埋孔 (436)固定螺栓 16Therefore, the equivalent inertia of the speed-increasing planetary gear transmission is increased by 2 (1 + η) twice. The above description only estimates the transmission part, and has a substantially higher increase capability. Therefore, the driving motor (100) is used to control the rotation speed of the outer ring gear (230) of the two-degree-of-freedom speed increasing planetary gear transmission mechanism, and the equivalent inertia is increased to 4 (1 + η) 2 directly by ~=¥¥9. Times. If the planetary gear and the sun gear take the same size and the reduction ratio is η =1, the inertia can be increased by 16 times; if the sun gear is half of the planetary gear and the reduction ratio is η = 2, the inertia can be increased by 36 times. The driving member of the present invention can also use a general servo motor acceleration and deceleration machine to drive the outer ring gear of the speed increasing planetary gear set, and the load end can also be connected to the magnetoresistor to make a varying load, so that the inertia variation is greater. Therefore, through the above structural features, combined operations and principles, and example analysis, it can be clearly seen that the design features of the present invention are as follows: An "electrically variable high inertia" is provided, which is driven by a rotor of a driving member. Freedom speed increase structure The outer ring gear of the planetary gear train controls its speed and steering, and can change the flywheel load of the load member, so that the torque input from the planetary arm can be changed, so that high inertia load and variable load can be achieved. The electric drive method is used to increase the inertia and the change inertia, and can be used as an internal core structure such as a vibrator, a damper, a shock absorber, a heavy load, a rotary precision device stabilizer, etc., thereby reducing friction. It reduces noise and reduces energy consumption, and it can improve the reaction speed and achieve rapid adjustment efficiency compared with the general mechanical combination structure. 14 200828773 [Simplified description of the drawings] First figure: An exploded perspective view of the present invention. Rear seat Second figure: an exploded perspective view of the drive motor, the sun gear set, the set, and the flywheel in the present invention. Sun Gear Figure 2: An exploded perspective view of the front seat set, the planetary arm set, and the outer ring gear in the present invention. Fourth Figure: A cross-sectional view of the combination of the present invention. Fifth Figure: Another transverse cross-sectional view of the present invention. Fig. 6 is a schematic diagram showing the brief combination of the driving members (motor, outer ring gear), input shaft (planetary arm shaft) and load (sun gear shaft and flywheel) of the electric variable high inertia device of the present invention. [Main component symbol description] (1 0 0 ) drive motor (11 0 ) motor stator (111) coil assembly (112) bearing (11 3) coil base (1130) screw hole (114) coil seat sleeve (1140) perforation (11 41) buried hole (11 5 ) C-shaped buckle (116) plate lining (1160) perforated (11 7) fixing bolt (120) motor rotor (1 21) magnet group (122) C-shaped buckle ( 123) bearing (124) flange side (125) perforation (126) fixing bolt (210) sun gear set (211) sun gear 15 200828773 (2 1 2) sun gear shaft (213) key (214) C-shaped buckle (220) Planetary arm set (221) Planetary arm (222) Planetary gear (223) Bearing (224) C-shaped buckle (225) Planetary arm shaft (230) Outer ring gear (231) Screw hole (300) Load set ( 301) Flywheel (410) Front seat group (411) Front seat (412) C-shaped buckle (413) Bearing (414) Class hole (415) Screw hole (420) Rear seat group (421) Base (4210) Housing space (4211) Class Hole (4212) Flange Edge (4213) Screw Hole (422) C-Ring (423) Bearing (424) Buried Hole (425) Fixing Bolt (430) Housing (431) Opening (432) Flange Edge (4 3 3 ) buried hole (4331) fixing bolt (434) substrate (435) buried hole (436) fixing bolt 16