TWI695568B - Motor module - Google Patents
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- TWI695568B TWI695568B TW108118717A TW108118717A TWI695568B TW I695568 B TWI695568 B TW I695568B TW 108118717 A TW108118717 A TW 108118717A TW 108118717 A TW108118717 A TW 108118717A TW I695568 B TWI695568 B TW I695568B
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Abstract
Description
本發明是有關於一種馬達模組,且特別是有關於一種應用外轉式馬達的馬達模組。 The invention relates to a motor module, and in particular to a motor module applying an external rotation motor.
輪轂馬達為一種直流無刷外轉式馬達,與直驅馬達主要差異在於其馬達線圈繞線、鎖固方式、回授精度。典型的馬達的位置回授方式通常採用馬達軸與外掛式編碼器的連結傳動,編碼器依照原理又分為光學式、磁性式、電阻式、電容式等。伺服輪轂馬達一廣泛應用在電動載具上,因此方便取得。若欲將伺服輪轂馬達應用於機械手臂,需將其與減速機良好地結合為馬達模組。 The hub motor is a DC brushless external rotation motor. The main difference from the direct drive motor is the winding of the motor coil, the locking method, and the feedback accuracy. The typical motor position feedback method usually uses the connection drive of the motor shaft and the external encoder. The encoder is divided into optical, magnetic, resistive, and capacitive according to the principle. The servo hub motor is widely used in electric vehicles, so it is easy to obtain. If you want to apply the servo hub motor to the mechanical arm, you need to combine it with the reducer as a motor module.
本發明提供一種馬達模組,係良好地整合外轉式馬達與減速機而成。 The invention provides a motor module, which is well integrated with an external rotation motor and a speed reducer.
本發明的馬達模組包括一外轉式馬達、一擺線減速機及一殼體結構。外轉式馬達包括相接的一定子及一外轉子,外轉子與定子間具軸承連接,定子具有一軸部,軸部有一第一階級及一 第二階級,第一階級為一圓軸,第二階級為一螺紋上削有兩平面,定子為部分中空且內有一馬達本體線路,馬達本體線路延伸至軸部末端的一出口,軸部從外轉式馬達的主體凸伸出,外轉式馬達後端安裝一馬達驅動相關電路。擺線減速機連接於外轉式馬達。殼體結構包覆外轉式馬達且連接擺線減速機,軸部鎖固於殼體結構以使外轉式馬達藉由軸部而與殼體結構相互組裝。 The motor module of the present invention includes an external rotation motor, a cycloidal reducer and a housing structure. The outer-rotation motor includes a fixed stator and an outer rotor. The outer rotor and the stator are connected by bearings. The stator has a shaft portion, and the shaft portion has a first stage and a The second stage, the first stage is a round shaft, the second stage is a thread cut with two planes, the stator is partially hollow and has a motor body circuit inside, the motor body circuit extends to an outlet at the end of the shaft portion, the shaft portion from the outside The main body of the rotary motor protrudes, and a motor drive related circuit is installed at the rear end of the external rotary motor. The cycloid reducer is connected to the external rotation motor. The casing structure covers the external rotation motor and is connected to the cycloidal reducer, and the shaft portion is locked to the casing structure so that the external rotation motor and the casing structure are assembled with each other through the shaft portion.
在本發明的一實施例中,上述的殼體結構包括一固定片、一被動端連接件及一馬達保護殼,固定片有一階級孔,階級孔為一直孔,軸部末端的螺紋通過直孔,階級孔抵住定子末端的法蘭面,鎖固螺帽鎖入軸部的螺紋,以將外轉式馬達與固定片鎖固,馬達保護殼與固定片接合,被動端連接件與固定片接合。 In an embodiment of the present invention, the above-mentioned housing structure includes a fixing piece, a passive end connector, and a motor protective shell. The fixing piece has a stepped hole, the stepped hole is a straight hole, and the thread at the end of the shaft portion passes through the straight hole , The class hole is against the flange surface of the stator end, and the locking nut is locked into the thread of the shaft to lock the external rotation motor and the fixing plate, the motor protective shell is engaged with the fixing plate, the passive end connection piece and the fixing plate Join.
在本發明的一實施例中,上述的擺線減速機包括一第一階滾子針殼、一軸套、一支撐盤、一組支撐盤滾子、一第一階擺線片、一第二階擺線片、一第二階滾子針殼、一減速機保護殼、一組滾子、一保護殼蓋及一驅動端連接件,第一階滾子針殼具有數個滾子孔洞且與馬達保護殼接合,各滾子孔洞皆安裝一滾子,軸套具有兩個偏心體,兩個偏心體的相位差180度,兩個偏心體上分別安裝一第一偏心軸承及一第二偏心軸承,兩偏心體之間有一支撐盤軸承,軸套有一帶鍵槽孔,帶鍵槽孔與外轉子上的一輸入軸接合,支撐盤具有數個支撐盤滾子孔且與支撐盤軸承接合,這些支撐盤滾子與這些支撐盤滾子孔接合,第一階擺線片的周緣具有複數個圓弧形齒與軸套上的第一偏心軸承接合,第一階擺線 片與第一階滾子針殼上之這些滾子嚙合,第二階擺線片的周緣具有複數個圓弧形齒與軸套上第二偏心軸承接合,第二階滾子針殼有數個滾子孔洞,各滾子孔洞各安裝一滾子,第二階滾子針殼中有一軸承與軸套接合,第二階擺線片與第二階滾子針殼上的這些滾子嚙合,減速機保護殼的一端與第一階滾子針殼接合,減速機保護殼的另一端安裝一薄型軸承與第二階滾子針殼接合,保護殼蓋安裝至第二階滾子針殼上,驅動端連接件與第二階滾子針殼接合;其中第一階滾子針殼上之這些滾子的數量比第一階擺線片的齒數多1至2個,第二階滾子針殼上之這些滾子的數量比第二階擺線片的齒數多1至2個。 In an embodiment of the present invention, the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, a first-stage cycloid, and a second Stepped cycloid, a second-stage roller needle shell, a reducer protective shell, a set of rollers, a protective shell cover and a drive end connector, the first-stage roller needle shell has several roller holes and Connected with the motor protection shell, each roller hole is equipped with a roller, the sleeve has two eccentric bodies, the phase difference of the two eccentric bodies is 180 degrees, and a first eccentric bearing and a second eccentric body are respectively installed on the two eccentric bodies An eccentric bearing, there is a support disk bearing between the two eccentric bodies, the sleeve has a key slot hole, and the key slot hole is engaged with an input shaft on the outer rotor, the support disk has several support disk roller holes and is engaged with the support disk bearing, These support disk rollers are engaged with these support disk roller holes. The circumference of the first-order cycloid has a plurality of arc-shaped teeth and is engaged with the first eccentric bearing on the sleeve. The first-order cycloid The blade engages with the rollers on the first-stage roller needle shell. The circumference of the second-stage gerotor has a plurality of arc-shaped teeth and is engaged with the second eccentric bearing on the bushing. The second-stage roller needle shell has several Roller holes, each roller hole is equipped with a roller, a bearing in the second-stage roller needle shell is engaged with the shaft sleeve, and the second-stage cycloid is engaged with these rollers on the second-stage roller needle shell. One end of the reducer protective shell is engaged with the first-stage roller needle shell, the other end of the reducer protective shell is installed with a thin bearing to engage with the second-stage roller needle shell, and the protective shell cover is installed on the second-stage roller needle shell , The drive end connector is engaged with the second-stage roller needle housing; the number of these rollers on the first-stage roller needle housing is 1 to 2 more than the number of teeth of the first-stage gerotor, the second-stage roller The number of these rollers on the needle housing is 1 to 2 more than the number of teeth of the second-stage gerotor.
在本發明的一實施例中,上述的兩偏心體及軸套之安裝支撐盤軸承之部位彼此獨立且分別安裝至輸入軸,或者兩偏心體及軸套之安裝支撐盤軸承之部位與輸入軸一體化。 In an embodiment of the present invention, the above-mentioned two eccentric bodies and the bushings are provided with support disk bearings independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the shaft bushings with support disk bearings and the input shaft Integration.
本發明的馬達模組包括一外轉式馬達、一擺線減速機、一殼體結構及一線路。外轉式馬達包括相接的一定子及一外轉子,其中外轉子與定子間具軸承連接,其中定子具有一軸部,軸部為部分中空且具有一第一階級、一第二階級及一第三階級,其中第二階級位於第一階級與第三階級之間,第一階級及第二階級的其中之一為一圓軸削去兩平面,第一階級及第二階級的其中之另一為一圓軸,第三階級為一螺紋削去兩平面,軸部內有一馬達本體線路,馬達本體線路延伸至軸部末端的一出口,軸部從馬達的主體凸伸出,其中外轉式馬達後端安裝一馬達驅動相關電路。 擺線減速機連接於外轉式馬達。殼體結構包覆外轉式馬達且連接擺線減速機,其中軸部鎖固於殼體結構以使外轉式馬達藉軸部而與殼體結構相互組裝。線路進入馬達模組內且繞軸部。 The motor module of the present invention includes an external rotation motor, a cycloid reducer, a housing structure and a circuit. The outer-rotation motor includes a stator and an outer rotor, wherein the outer rotor and the stator are connected by bearings, wherein the stator has a shaft portion, the shaft portion is partially hollow, and has a first stage, a second stage, and a first stage Three classes, of which the second class is located between the first class and the third class, one of the first class and the second class is a circular axis cut off two planes, the other of the first class and the second class is A round shaft, the third stage is a thread cut off two planes, there is a motor body circuit in the shaft part, the motor body circuit extends to an outlet of the end of the shaft part, the shaft part protrudes from the main body of the motor, and the rear end of the external rotation motor Install a motor drive related circuit. The cycloid reducer is connected to the external rotation motor. The casing structure covers the external rotation motor and is connected to the cycloid reducer, wherein the shaft portion is locked to the casing structure so that the external rotation motor is assembled with the casing structure through the shaft portion. The circuit enters the motor module and surrounds the shaft.
在本發明的一實施例中,上述的殼體結構包括一固定片、一間隔套、一被動端連接件及一馬達保護殼,固定片有一階級孔,階級孔為一直孔,固定片安裝於第一階級與第二階級之間,馬達保護殼與固定片接合,第二階級上有間隔套,一被動端連接件有一階級孔,階級孔為一直孔,軸部末端的螺紋通過階級孔,階級孔安裝於第二階級與第三階級之間,一鎖固螺帽鎖固於軸部以限制固定片、間隔套、被動端連接件及馬達保護殼之軸向位移。 In an embodiment of the present invention, the above-mentioned housing structure includes a fixing piece, a spacing sleeve, a passive end connector and a motor protective case. The fixing piece has a stepped hole, and the stepped hole is a straight hole. The fixing piece is installed in Between the first class and the second class, the motor protective shell is connected to the fixing plate, the second class has a spacer sleeve, a passive end connector has a class hole, the class hole is a straight hole, and the thread at the end of the shaft portion passes through the class hole, The class hole is installed between the second class and the third class, and a locking nut is fixed to the shaft part to limit the axial displacement of the fixing piece, the spacer sleeve, the passive end connector and the motor protective shell.
在本發明的一實施例中,上述的擺線減速機包括一第一階滾子針殼、一軸套、一支撐盤、一組支撐盤滾子、一第一階擺線片、一第二階擺線片、一第二階滾子針殼、一組滾子、一減速機保護殼及一驅動端連接件,第一階滾子針殼上有數個滾子孔洞,各滾子孔洞安裝一滾子,第一階滾子針殼與馬達保護殼接合,間隔套間隔一被動端連接件與一固定片以使被動端連接件與固定片之間的空間供線路繞設,軸套上具有兩個偏心體,兩個偏心體的相位差180度,兩個偏心體上分別安裝一第一偏心軸承及一第二偏心軸承,兩偏心體之間有一支撐盤軸承,軸套有一帶鍵槽孔,帶鍵槽孔與外轉子上的一輸入軸接合,支撐盤具有數個支撐盤滾子孔且與支撐盤軸承接合,多個支撐盤滾子與這些支撐盤滾子孔接合,第一階擺線片的周緣具有複數個圓弧形齒與軸套上的第一 偏心軸承接合,第一階擺線片與第一階滾子針殼上之這些滾子嚙合,第二階擺線片的周緣具有複數個圓弧形齒與軸套上的第二偏心軸承接合,第二階滾子針殼有數個滾子孔洞,各滾子孔洞安裝一滾子,第二階擺線片與第二階滾子針殼上的這些滾子嚙合,減速機保護殼為一內階級直筒保護蓋且具有一側孔,側孔上有連接線路的一接頭,減速機保護殼內有一薄型軸承與第一階滾子針殼接合,驅動端連接件與第二階滾子針殼接合;其中第一階滾子針殼上之這些滾子的數量比第一階擺線片的齒數多1至2個,第二階滾子針殼上之這些滾子的數量比第二階擺線片的齒數多1至2個。 In an embodiment of the present invention, the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, a first-stage cycloid, and a second Stepped cycloid, a second-stage roller needle shell, a set of rollers, a reducer protective shell and a drive end connector, the first-stage roller needle shell has several roller holes, and each roller hole is installed A roller, the first-stage roller needle shell is connected with the motor protection shell, the spacing sleeve is separated by a passive end connector and a fixing piece, so that the space between the passive end connector and the fixing piece is provided for wiring around the shaft sleeve; There are two eccentric bodies, the phase difference of the two eccentric bodies is 180 degrees, a first eccentric bearing and a second eccentric bearing are respectively installed on the two eccentric bodies, a support disk bearing is arranged between the two eccentric bodies, and the shaft sleeve has a key groove Holes, with keyed holes to engage with an input shaft on the outer rotor, the support disk has several support disk roller holes and is engaged with the support disk bearings, a plurality of support disk rollers are engaged with these support disk roller holes, the first stage The circumference of the cycloid has a plurality of arc-shaped teeth and the first on the sleeve The eccentric bearing is engaged, the first-order cycloid is engaged with these rollers on the first-stage roller needle shell, and the circumference of the second-order cycloid has a plurality of arc-shaped teeth that are engaged with the second eccentric bearing on the sleeve , The second-stage roller needle shell has several roller holes, each roller hole is installed with a roller, the second-stage cycloid is engaged with these rollers on the second-stage roller needle shell, and the reducer protective shell is one Inner class straight cylinder protective cover with one side hole, there is a joint for connecting line on the side hole, a thin bearing in the protective case of the reducer is engaged with the first-stage roller needle shell, the driving end connecting piece is connected with the second-stage roller needle Shell joint; wherein the number of these rollers on the first-stage roller needle shell is 1 to 2 more than the number of teeth of the first-stage cycloid disc, and the number of these rollers on the second-stage roller needle shell is larger than that of the second The number of teeth of the step cycloid is 1 to 2 more.
在本發明的一實施例中,上述的線路從減速機保護殼之側孔進入,被動端連接件與固定片之間的空間安裝一旋轉導電滑環。 In an embodiment of the present invention, the above-mentioned line enters through the side hole of the reducer protective shell, and a rotating conductive slip ring is installed in the space between the passive end connector and the fixing piece.
在本發明的一實施例中,上述的兩偏心體及軸套之安裝支撐盤軸承之部位彼此獨立且分別安裝至輸入軸,或者兩偏心體及軸套之安裝支撐盤軸承之部位與輸入軸一體化。 In an embodiment of the present invention, the above-mentioned two eccentric bodies and the bushings are provided with support disk bearings independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the shaft bushings with support disk bearings and the input shaft Integration.
在本發明的一實施例中,上述的馬達模組彼此串聯而為機械手臂。 In an embodiment of the invention, the above-mentioned motor modules are connected in series with each other to form a robot arm.
基於上述,本發明將外轉式馬達與減速機整合為馬達模組,殼體結構用以包覆外轉式馬達並連接減速機,外轉式馬達既有的軸部可用於進行殼體結構與外轉式馬達的組裝。此外,外轉式馬達既有的軸部可供線路繞設,以避免線路因繞設於裝置外圍 而占據較多空間且影響其外觀。在本發明的配置方式之下,外轉式馬達既有的軸部不僅不會阻礙外轉式馬達與減速機的整合,更有利於馬達模組之組裝。 Based on the above, the present invention integrates the outer-rotation motor and the reducer into a motor module. The housing structure is used to wrap the outer-rotation motor and connect to the reducer. The existing shaft portion of the outer-rotation motor can be used for the housing structure Assembly with external rotation motor. In addition, the existing shaft of the external rotation motor can be routed around the circuit to avoid the circuit being wound around the device. And occupy more space and affect its appearance. Under the configuration of the present invention, the existing shaft portion of the external rotation motor not only does not hinder the integration of the external rotation motor and the speed reducer, but also facilitates the assembly of the motor module.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.
1:鎖固螺帽 1: locking nut
2:固定片 2: fixed piece
3、104:被動端連接件 3. 104: Passive end connector
4:外轉式馬達 4: External rotation motor
5:輸入軸 5: input shaft
6、76、711A、751A:保護殼 6, 76, 711A, 751A: protective shell
7、853、862:減速機 7, 853, 862: reducer
21:法蘭面 21: flange face
22:鎖固孔 22: Locking hole
41、41A:定子 41, 41A: stator
41a:軸部 41a: Shaft
41B、41F:螺紋 41B, 41F: thread
41C、41G:階級 41C, 41G: Class
41D、41E:階級面 41D, 41E: Class side
42:線圈 42: coil
43、78A、87、106、733、734、736、737、751:軸承 43, 78A, 87, 106, 733, 734, 736, 737, 751: bearings
44:外轉子 44: outer rotor
45:驅動電路板 45: Drive circuit board
46:鎖固螺絲 46: locking screw
47:側孔 47: Side hole
71、71A:第一階滾子針殼 71, 71A: First-order roller needle shell
71B:鎖蓋 71B: Lock cover
72:第一階擺線片 72: first order cycloid
73:滾子支撐盤與軸套組合 73: Combination of roller support disk and shaft sleeve
74:第二階擺線片 74: second order cycloid
75、75A:第二階滾子針殼 75, 75A: second-order roller needle shell
77:保護殼蓋 77: protective cover
78:薄型軸承 78: thin bearing
81:機械手臂機座 81: Robot arm base
82:第一連接件 82: First connector
83:第二連接件 83: Second connector
84:第三連接件 84: third connector
85:第四連接件 85: fourth connector
86:第五連接件 86: Fifth connector
88:連接軸 88: connecting shaft
91:第一軸手臂關節 91: First axis arm joint
92:第二軸手臂關節 92: Second axis arm joint
93:第三軸手臂關節 93: Third axis arm joint
94:第四軸手臂關節 94: fourth axis arm joint
101:線路轉接組 101: line transfer group
101A:線路轉接頭 101A: line adapter
102:扁平排線 102: flat cable
102A:扁平狀排線 102A: Flat cable
103:線路 103: line
105:驅動連接件 105: drive connector
107:馬達本體線路 107: Motor body circuit
108:間隔套 108: spacer
712A:第一階滾子針殼體 712A: First order roller needle housing
721、741:滾子孔 721, 741: roller hole
732:滾子 732: Roller
731:第一間隔片 731: First spacer
735:支撐盤 735: Support plate
738:第二間隔片 738: Second spacer
739:槽孔 739: Slot
752A:第二階滾子針殼體 752A: Second-order roller needle housing
851、861:伺服馬達 851, 861: Servo motor
852:皮帶組 852: belt set
圖1係機械手臂關節一型組合示意圖。
Figure 1 is a schematic diagram of a
圖2係外轉式馬達組合剖面圖。 Fig. 2 is a sectional view of the combination of the external rotation motor.
圖3係固定片輔助視圖。 Figure 3 is an auxiliary view of the fixing plate.
圖4係兩階擺線減速機組合示意圖。 Figure 4 is a schematic diagram of two-stage cycloid reducer combination.
圖5係第二階滾子針殼輔助視圖。 Figure 5 is an auxiliary view of the second-stage roller needle housing.
圖6係滾子支撐盤與軸套組合示意圖。 Figure 6 is a schematic diagram of the combination of roller support disk and bushing.
圖7係軸套與軸承以及擺線片剖面圖。 Fig. 7 is a cross-sectional view of the shaft sleeve, the bearing, and the gerotor.
圖8係擺線片與支撐盤滾子配合示意圖。 Fig. 8 is a schematic diagram of the cooperation between the cycloid and the support roller.
圖9係外轉式馬達二型定子剖面圖。 Fig. 9 is a cross-sectional view of the second-type stator of the external rotation motor.
圖10係外轉式馬達一型定子剖面圖。
Fig. 10 is a cross-sectional view of a
圖11係機械手臂關節二型組合示意圖。 Fig. 11 is a schematic diagram of the two-type combination of mechanical arm joints.
圖12係機械手臂關節二型剖面圖。
Fig. 12 is a sectional view of the
圖13係針殼拆解示意圖。 Figure 13 is a schematic diagram of the disassembly of the needle housing.
圖14係六軸機械手臂組合示意圖。 Figure 14 is a schematic diagram of six-axis robot arm combination.
圖15係機械手臂末端結構示意圖。 Figure 15 is a schematic diagram of the end structure of the robot arm.
本發明之實施例中包含兩種機械手臂關節構造,其中機械手臂關節一型針對方便拆裝而設計,當某關節需要維修馬達元件或者電路,可以獨立將該馬達直接取出,不須拆裝其他手臂連接件。機械手臂關節二型係針對方便走線而設計,主要使線路繞線於極小的軸徑(馬達定子)上,因此線路預留的長度可以大幅縮減,並搭配線路轉接組切換扁型排線以及圓束型排線來減省空間。外轉式馬達一型與外轉式馬達二型分別用來表示應用於機械手臂關節一型與機械手臂關節二型。
The embodiment of the present invention includes two types of mechanical arm joint structures, of which one type of mechanical arm joint is designed for convenient disassembly and assembly. When a joint needs to repair motor components or circuits, the motor can be taken out independently without disassembly and assembly. Arm connector. The mechanical arm
請參考圖1係機械手臂一型關節組合示意圖,該圖主要闡述手臂關節的組合關係,特別是指外轉式馬達與二階擺線減速機的組合成一次系統(馬達模組),並於本實施例成為機器手臂的關節驅動源。馬達模組可彼此串聯而為機械手臂。各馬達模組的組合關係說明如下。
Please refer to Figure 1 for a schematic diagram of the
外轉式馬達驅動電路板45以鎖固螺絲46鎖入外轉式馬達(例如是輪轂馬達)4後端,外轉式馬達驅動電路板45包含馬達驅動板、控制器以及其他相關電路。外轉式馬達固定片2與外轉式馬達4接合並將鎖固螺帽1鎖入外轉式馬達4的軸部41a上,以此限制外轉式馬達固定片2與外轉式馬達4。外轉式馬達固定片2與被動端連接件3接合。減速機輸入軸5與外轉式馬達4的外轉
子44接合,此處的減速機輸入軸5,也是外轉式馬達4的輸出軸。外轉式馬達保護殼6與被動端連接件3接合,此時外轉式馬達保護殼6便可成為減速機固定面。二階擺線減速機7之軸套與減速機輸入軸5接合,據以使減速機7與外轉式馬達4相連接。二階擺線減速機7輸出面連接下一個連接件。二階擺線減速機7之封裝模式與通用的RV減速機與諧和減速機相似,即為一固定面、一輸入端、一輸出面,因此在這種關節型態下可根據需求將二階擺線減速機替換成其他兩種減速機。
The outer rotation motor
請參考圖2係外轉式馬達組合剖面圖,該圖主要闡述外轉式馬達內部構造以及外轉式馬達組合模式,外轉式馬達主要係由外轉式馬達定子41、馬達軸承43、馬達線圈42、外轉式馬達外轉子(馬達轉子)44構成,定子41與外轉子44之間具軸承連接,馬達定子41具有中空部分,且有一馬達定子側孔47使得馬達以及驅動電路板45線路進出,此中空部分內的線路延伸至軸部41a末端的出口。外轉式馬達定子41的軸部41a末端係一外螺紋,並將外螺紋削去兩個平面。外轉式馬達定子41的軸部41a末端有一階級,此階級的法蘭面抵住外轉式馬達固定片法蘭面21,其中固定片2有一階級孔,此階級孔為直孔,此直孔之孔徑為所述兩平面之間的距離,軸部41a末端的螺紋通過此直孔,此階級孔安裝於所述第二階級與所述第三階級之間且抵住定子41末端的所述階級的法蘭面。下一步將鎖固螺帽1鎖入外轉式馬達定子41的軸部41a的螺紋,以將外轉式馬達4與固定片2鎖固並限制固定片2與
外轉式馬達4,使兩零件對齊軸心。外轉式馬達保護殼6以及被動端連接件3內孔孔徑皆須大於外轉式馬達4外徑,方能使外轉式馬達4抽出,使得機械手臂關節便於拆卸。亦即,外轉式馬達保護殼6以及被動端連接件3皆有比外轉式馬達4的直徑大的孔洞。若無馬達方便拆裝需求,可以將外轉式馬達固定片2與被動端連接件3做為一體來增加連接件的強度。
Please refer to FIG. 2 for a sectional view of the combination of the external rotation motor, which mainly illustrates the internal structure of the external rotation motor and the combination mode of the external rotation motor. The external rotation motor is mainly composed of the external
如圖1及圖2所示,定子41具有一軸部41a,軸部41a從外轉式馬達4的主體凸伸出。殼體結構(包含固定片2、被動端連接件3及馬達保護殼6)包覆外轉式馬達4且連接減速機7。外轉式馬達4的軸部41a穿過所述殼體結構的固定片2並被鎖固螺帽1鎖附,以藉由軸部41a而與所述殼體結構的固定片2相互組裝。當外轉式馬達應用於載具時,所述軸部用以連接載具的輪胎。此處,外轉式馬達4例如應用於機械手臂而藉由所述殼體結構與減速機7整合,其既有的軸部可如前所述般用於進行外轉式馬達與殼體結構之間的組裝。從而,外轉式馬達既有的軸部不僅不會阻礙外轉式馬達與減速機的整合,更有利於馬達模組之組裝。
As shown in FIGS. 1 and 2, the
請參考圖3係固定片輔助視圖,外轉式馬達定子41的軸部41a最尾端係一個外螺紋,並將外螺紋削去兩個平面。圖3中外轉式馬達定子41所示,外轉式馬達固定片鎖固孔22為一直孔,因此將外轉式馬達定子41放入孔洞中便可限制外轉式馬達之徑向位移又兩零件對齊軸心,故外轉式馬達4完全鎖固於馬達固定片2,如圖2所示。
Please refer to FIG. 3 for the auxiliary view of the fixing piece. The outermost end of the
請參考圖4與圖5,係圖1中的兩階擺線減速機7之內部各元件組合示意圖,擺線片與滾子針殼係透過偏心軸套與偏心軸套上軸承產生偏心運動,並由於滾子針殼上的滾子數與擺線片齒數差進而產生滾動嚙合,本發明之實施例之滾子針殼滾子個數皆比擺線片齒數多1,且第一階擺線片齒數多於第二階擺線片齒數1至2齒。第一階滾子針殼71具有數個滾子孔洞且與所述馬達保護殼接合,各滾子孔洞安裝一滾子711,數個滾子711與第一階擺線片72嚙合。滾子支撐盤與軸套組合73中的滾子與第一階擺線片72滾子孔接合。滾子支撐盤與軸套組合73中的滾子再與第二階擺線片74滾子孔接合。第二階滾子針殼75具有數個滾子孔洞,各滾子孔洞安裝一滾子752且數個滾子752與第二階擺線片74嚙合,圖5係第二階滾子針殼75輔助視圖,其中圖5中的第二階滾子針殼軸承751與滾子支撐盤與軸套組合73中的軸套接合。減速機保護殼76的一端與第一階滾子針殼71接合,減速機保護殼76的另一端安裝薄型軸承78與第二階滾子針殼75接合。其中,減速機保護殼76可為一內階級直筒保護蓋且可具有一側孔,側孔上有連接線路的接頭供線路進入,保護蓋內有所述薄型軸承78。驅動端連接件與第二階滾子針殼75接合,最後保護殼蓋77安裝至第二階滾子針殼75上而與減速機保護殼76接合以保護內部零件以及限制軸向位移。減速機之固定面為第一階滾子針殼71、減速機之輸出面為第二階滾子針殼75,亦可將第二階滾子針殼75與驅動端連接件做成一體。
Please refer to FIG. 4 and FIG. 5, which is a schematic diagram of the internal components of the two-
請參考圖6,係圖4滾子支撐盤與軸套組合73之爆炸示意圖,支撐盤735的兩面皆有圓環狀凹槽,第一間隔片731與支撐盤735上其中一圓環狀凹槽接合且頂住第一階擺線片72,意在間隔擺線片與支撐盤,避免擺線片直接摩擦支撐盤。支撐盤滾子732與支撐盤735的支撐盤滾子孔接合。第二間隔片738與支撐盤735另一圓環狀凹槽接合且頂住第二階擺線片74。第一階擺線片軸承733與軸套734接合。支撐盤軸承736與軸套734接合。第二階擺線片軸承737與軸套734接合。軸套734具有兩個偏心圓軸(偏心體)及一同心圓軸,兩個偏心圓軸的相位差180度,兩個偏心圓軸上分別安裝一第一偏心軸承及一第二偏心軸承,同心圓軸有一支撐盤軸承736與支撐盤滾子732接合。第一階擺線片72的周緣具有複數個圓弧形齒與軸套734上的第一偏心軸承接合。第二階擺線片74的周緣具有複數個圓弧形齒與軸套734上的第二偏心軸承接合。兩偏心體及軸套734之安裝支撐盤軸承736之部位彼此獨立且分別安裝至輸入軸,或者兩偏心體及軸套734之安裝支撐盤軸承736之部位與輸入軸一體化。
Please refer to FIG. 6, which is an exploded schematic view of the roller support disc and
請參考圖7,係軸套與軸承以及擺線片剖面圖,主要闡述完成後的軸套組合,將減速機內的軸承安裝在同一個軸套上(如圖中第一階擺線片軸承733、支撐盤軸承736、第二階擺線片軸承737、軸套734之組合關係)有便於馬達輸入軸的插拔,也使得減速機內部元件對正中心,減速機之軸輸入面為軸套734之帶鍵槽
孔739。
Please refer to Figure 7, the cross-sectional view of the shaft sleeve and the bearing and the gerotor, which mainly explains the completed shaft sleeve combination, and the bearings in the reducer are installed on the same shaft sleeve (as shown in the first-order gerotor bearing 733, the combination of support disk bearing 736, second order cycloid bearing 737, and bushing 734) facilitates the insertion and removal of the motor input shaft, and also makes the internal components of the reducer aligned with the center, and the shaft input surface of the reducer is the shaft Set of 734 with
請參考圖8係擺線片與支撐盤滾子配合示意圖,兩片擺線片擺放的相位差180度(兩個偏心軸套相差180度),兩個擺線片上的擺線片滾子孔721交集的區域以支撐盤滾子732連接(兩個圓交集處有一相切於交集處之圓即為支撐盤滾子732),亦可參考圖7中第一階擺線片72與第二階擺線片74以及支撐盤滾子732關係,第一階擺線片滾子孔721上緣與支撐盤滾子732相切,而第二階擺線片滾子孔741下緣與支撐盤滾子732相切,使得第二階擺線片74運動透過支撐盤735與支撐盤滾子732而受到第一階擺線片72拘束,亦可當成兩片擺線片為一體,因此主要驅動元件為第一階擺線片72,被動元件為第二階擺線片74。兩片擺線片必須具有齒差方能使第二階擺線片74驅動第二階滾子針殼75,第一階擺線片齒數多於第二階擺線片1至2齒,且質量必須相同,否則會產生晃動。
Please refer to Figure 8 for the schematic diagram of the coordination between the cycloid and the support roller. The phase difference between the two cycloids is 180 degrees (the difference between the two eccentric bushings is 180 degrees), and the cycloid rollers on the two cycloids The area where the
請參考圖9係外轉式馬達二型定子剖面圖與圖10係外轉式馬達一型定子剖面圖,圖9所描述之外轉式馬達定子應用於機械手臂關節二型,此定子與其他馬達元件組合方式同圖2之外轉式馬達定子41、外轉式馬達線圈42、外轉式馬達軸承43、外轉式馬達外轉子44,差別在於定子41的軸部有更多的階級(如圖9所示的第一階級面41D、第二階級螺紋41B及第三階級41C或圖10所示的第一階級41G及第二階級41F),其中外轉式馬達定子二型幾何階級41C係一圓軸削去兩平面,幾何形狀與外轉式馬達定子
二型鎖固螺紋41B、外轉式馬達定子一型鎖固螺紋41F類似,皆是以此幾何形狀去限制欲固定物(請參考圖3中外轉式馬達定子41與固定片鎖固孔22幾何限制關係)。固定片2安裝於所述第一階級與所述第二階級之間。間隔套108在所述第二階級上且間隔被動端連接件與固定片以使被動端連接件與固定片之間的空間供線路繞設。被動端連接件與固定片之間的空間可安裝旋轉導電滑環。
Please refer to the cross-sectional view of the second-type stator of the external rotation motor of FIG. 9 and the cross-sectional view of the first-type stator of the external rotation motor of FIG. 10. The outer-rotation motor stator described in FIG. 9 is applied to the
請參考圖11係機械手臂關節二型組合示意圖,驅動連接件105與第二階滾子針殼75A接合,且第二階滾子針殼75A有一側孔,側孔上有一線路轉接組101,線路轉接組101主要係將圓束狀線路轉成扁平狀排線,切換成扁平狀排線在第二階滾子針殼75A內可以有效節省機械手臂關節空間,並且在滾子針殼75A裝有一薄型軸承78A。滾子支撐盤與軸套組合73與第一階擺線片72以及第二階擺線片74接合(結合關係如圖7),並且第一階擺線片72與第一階滾子針殼71A接合,在接合的同時由於第一階滾子針殼71A上有一階級,使得安裝於滾子針殼75A內的薄型軸承78A會卡在此階級上,如圖12所示,之後第二階擺線片74與第二階滾子針殼75A接合,第二階滾子針殼75A又與驅動連接件105接合,驅動連接件105上有一驅動連接件軸承106,滾子支撐盤與軸套組合73中的軸套734接合(圖7所示)。外轉式馬達4與減速機輸入軸5接合,減速機輸入軸5又與滾子支撐盤與軸套組合73中的帶鍵槽孔739接合(圖7所示)。第一階滾子針殼二型鎖蓋71B中央有一與外轉式馬達定子二型幾何階級41C(如圖9所示)幾何形狀相
同孔洞(與圖3中外轉式馬達定子41與固定片鎖固孔22幾何限制關係不同之處在於,此孔洞並非直孔而是幾何形狀與馬達定子二型幾何階級41C一致的孔洞),並且第一階滾子針殼二型鎖蓋71B抵住外轉式馬達定子二型第一階級面41D(如圖9所示)並與第一階滾子針殼71A接合。被動端連接件104與外轉式馬達定子二型鎖固螺紋41B接合(請參考圖3中外轉式馬達定子41與固定片鎖固孔22接合關係)並抵住外轉式馬達定子二型第二階級面(法蘭面)41E(如圖9所示),最後以鎖固螺帽1鎖入外轉式馬達定子二型鎖固螺紋41B,被動端連接件104與第一階滾子針殼71A中間有一空間可以使得關節在轉動時,關節內部線路103能夠以外轉式馬達定子二型鎖固螺紋41B為中心做繞線工作,由於鎖固螺紋直徑小,所需的繞線空間大幅縮小,關節內部線路103的一端從被動端連接件104的孔洞中出線,另一端連接線路轉接組101(如圖12所示)。
Please refer to FIG. 11 for a schematic diagram of the combined
請參考圖12係機械手臂關節二型剖面圖,此圖示中省略減速機輸入軸5與第一階擺線片72、滾子支撐盤與軸套組合73、第二階擺線片74接合的部分,主要係來闡述線路的詳細繞線模式以及馬達定子與固定物接合關係;線路轉接組101包含了兩個線路轉接頭101A以及一個扁平狀排線102A,其中位於第二階滾子針殼75A內部的線路轉接頭101A鎖固於第二階滾子針殼75A內部,而另一個101A則鎖固於第二階滾子針殼75A外部,因此使得扁平狀排線102A受到拘束,不會因為手臂關節轉動而扭動,這
也使得第二階滾子針殼75A的內徑只需比第一階滾子針殼71A的外徑大一些即可,最終可以讓手臂關節整體外徑縮小;當機械手臂關節轉動時,關節內部線路103會以外轉式馬達定子為中心做繞線工作,由於馬達定子極小的直徑,改善了實心型機械手臂關節(實心馬達搭配實心減速機)中走線必須繞過整個關節,因此預留的長度會大幅增加且浪費空間,使用實心型馬達以及減速機的成本又低於空心型,同時使用此結構也達到了節省成本的作用。
Please refer to the sectional view of the
請參考圖12,定子為部分中空且內有馬達本體線路107,馬達本體線路107延伸至軸部末端的一出口,軸部從外轉式馬達的主體凸伸出,外轉式馬達後端安裝一馬達驅動相關電路(驅動電路板45)。線路103進入馬達模組內且繞軸部。
Referring to FIG. 12, the stator is partially hollow and has a
請參考圖13係針殼拆解示意圖,其目的是將手臂關節二型也加入減速機相容的設計,只須將第一階滾子針殼71A拆解成外轉式馬達保護殼711A與第一階滾子針殼體712A,外轉式馬達保護殼711A與第一階滾子針殼二型鎖蓋71B鎖固後,711A便可成為一個減速機固定面,第二階滾子針殼75A拆解成減速機保護殼751A與第二階滾子針殼體752A,由於兩者為不同個體,因此卸下第二階滾子針殼體752A後並不影響其方便走線功能,此時減速機輸出面便可與驅動連接件105接合。
Please refer to Figure 13 for the disassembly diagram of the needle housing. The purpose is to add the arm
綜合上述圖1至圖13,可知本發明的實施例的外轉式馬達與二階擺線減速機能夠組合成一個次系統,此組合有別於傳統利用伺服馬達與諧和式減速機的組合,不但能夠成為移動載具的 輪系致動器(Actuator),也可以成為機械手臂各關節的致動器(Actuator),其預期可達到高負載與低成本的功效,將於以下實施例加以闡述。 Combining Figures 1 to 13 above, it can be seen that the external rotation motor and the second-order cycloid reducer of the embodiment of the present invention can be combined into a sub-system. This combination is different from the traditional combination of using a servo motor and a harmonic reducer. Capable of being a mobile vehicle The wheel train actuator (Actuator) can also be an actuator (Actuator) of each joint of the robot arm, which is expected to achieve high load and low cost efficiency, which will be described in the following embodiments.
請參考圖14係六軸機械手臂組合示意圖。圖中第一軸手臂關節91的旋轉軸向垂直於第二軸手臂關節92的旋轉軸向。第二軸手臂關節92的旋轉軸向平行於第三軸手臂關節93的旋轉軸向。第三軸手臂關節93的旋轉軸向垂直於第四軸手臂關節94的旋轉軸向。第四軸手臂關節94的旋轉軸向垂直於第五連接件86的旋轉軸向。
Please refer to Figure 14 for a schematic diagram of the combination of six-axis mechanical arm. In the figure, the axis of rotation of the first axis arm joint 91 is perpendicular to the axis of rotation of the second axis arm joint 92. The rotation axis of the second axis arm joint 92 is parallel to the rotation axis of the third axis arm joint 93. The rotation axis of the third axis arm joint 93 is perpendicular to the rotation axis of the fourth axis arm joint 94. The axis of rotation of the fourth axis arm joint 94 is perpendicular to the axis of rotation of the
詳細的組合模式敘述如下:機械手臂基座81與第一連接件82以第一軸手臂關節91連接,第一軸手臂關節91之固定面與機械手臂基座81接合,第一軸手臂關節91之輸出面與第一連接件82接合。第一連接件82與第二連接件83以第二軸手臂關節92連接,第二軸手臂關節92之固定面與第一連接件82接合,第二軸手臂關節92之輸出面與第二連接件83接合。第二連接件83與第三連接件84以第三軸手臂關節93連接,第三軸手臂關節93之固定面與第二連接件83接合,第三軸手臂關節93之輸出面與第三連接件84接合。第三連接件84與第四連接件85以第四軸手臂關節94連接,第四軸手臂關節94之固定面與第三連接件84接合,第四軸手臂關節94之輸出面與第四連接件85接合。第四連接件85內含有一個伺服馬達與一組皮帶輪與皮帶以及一個減速機,藉此帶動第五連接件86,最後第五連接件86上之減速機進行輸出。
The detailed combination mode is described as follows: the
請參考圖15係機械手臂末端結構示意圖,第四連接件85內含一第四連接件之伺服馬達851,馬達輸出軸帶動一組皮帶組852,並將動能輸入至第四連接件之減速機853。第四連接件之減速機853固定面與第四連接件85連接,第四連接件之減速機853輸出面與第五連接件86連接,末端連接軸88與第四連接件85接合。第五連接件86有一末端連接軸承87與末端連接軸88接合。第五連接件86內含一第五連接件之伺服馬達862,馬達輸出軸連接一第五連接件之減速機862,構成旋轉軸。
Please refer to FIG. 15 for a schematic diagram of the end structure of the robot arm. The fourth connecting
本發明機械手臂主要應用於移動載具且手臂負載20公斤至50公斤之場合,因此必須高體積扭矩比、結構輕量化、低耗能。為此將參考圖13及圖14,分別針對20公斤與50公斤的負載,提出對應的實施例,來說明圖1至圖13所呈現本發明的外轉式馬達與二階擺線減速機組合次系統的功效。 The mechanical arm of the present invention is mainly applied to the occasions where the carrier is moving and the arm is loaded from 20 kg to 50 kg. Therefore, it must have a high volume torque ratio, a lightweight structure, and low energy consumption. Therefore, referring to FIG. 13 and FIG. 14, corresponding embodiments are proposed for loads of 20 kg and 50 kg, respectively, to illustrate the combined times of the external rotation motor and the second-order cycloidal reducer of the present invention presented in FIGS. 1 to 13. The efficacy of the system.
實施例一:對於20公斤負載,本發明的機械手臂第一至第四軸關節使用上述之外轉式馬達搭配二階擺線減速機組合,其中第一軸與第二軸使用400W外轉式馬達,第三軸與第四軸使用200W外轉式馬達,第五軸使用200W伺服馬達並以皮帶輪與皮帶帶動諧和減速機驅動第六軸關節。最後,第六軸使用200W伺服馬達搭配諧和減速機,如圖9及圖10。 Embodiment 1: For a load of 20 kg, the first to fourth shaft joints of the robot arm of the present invention use the above-mentioned out-rotating motor combined with a second-order cycloidal reducer, wherein the first shaft and the second shaft use 400W out-rotating motors , The third axis and the fourth axis use 200W external rotation motor, and the fifth axis uses a 200W servo motor and drives the sixth axis joint with a pulley and belt driven harmonic reducer. Finally, the sixth axis uses a 200W servo motor with a harmonic reducer, as shown in Figure 9 and Figure 10.
現今負載20公斤工業機械手臂由於必須具備高速效率、高精度,其驅動容量約在3000瓦至6000瓦,手臂總重約40公斤至上百公斤不等,最大臂長約1公尺至1.8公尺。相較於工業機械 手臂,本發明之實施例的機械臂由於需要安裝於移動裝置上,因此必須具備節能、輕量,但是同時也犧牲工作效率以及結構剛性精度,不過仍然可以勝任搬運以及照護作業。 Nowadays, industrial robot arms with a load of 20 kg must have high speed efficiency and high precision. Its driving capacity is about 3000 watts to 6000 watts. The total arm weight ranges from 40 kg to hundreds of kg. The maximum arm length is about 1 meter to 1.8 meters. . Compared to industrial machinery Arm, because the mechanical arm of the embodiment of the present invention needs to be installed on a mobile device, it must have energy saving and light weight, but at the same time it also sacrifices work efficiency and structural rigidity accuracy, but it is still capable of handling and caring operations.
本發明之機械手臂驅動容量約為1600瓦左右,手臂總重量約為40至50公斤,最大臂長約0.7公尺至0.8公尺,其手臂各關節平均之最大速度約為工業機械手臂的三分之一,由此實施上以達成節能、輕量化的目的。臂長不足的問題,可使用移動裝置去彌補。在效率方面由於照護型與搬運作業考慮到安全與穩定性因此較慢的作業速度是較為恰當的應用。 The driving capacity of the mechanical arm of the present invention is about 1600 watts, the total weight of the arm is about 40 to 50 kg, the maximum arm length is about 0.7 meters to 0.8 meters, and the average maximum speed of each joint of the arm is about three One in one, so as to achieve energy saving and light weight. The problem of insufficient arm length can be compensated by using a mobile device. In terms of efficiency, due to the safety and stability of the care and handling operations, the slower operation speed is a more appropriate application.
綜上所述,本發明將外轉式馬達與減速機整合為馬達模組,殼體結構用以包覆外轉式馬達並連接減速機,外轉式馬達既有的軸部可用於進行殼體結構與外轉式馬達的組裝。在本發明的配置方式之下,外轉式馬達既有的軸部不僅不會阻礙外轉式馬達與減速機的整合,更有利於馬達模組之組裝。 In summary, the present invention integrates the outer-rotation motor and the reducer into a motor module. The shell structure is used to cover the outer-rotation motor and connect to the reducer. The existing shaft portion of the outer-rotation motor can be used for the housing Assembly of body structure and external rotation motor. Under the configuration of the present invention, the existing shaft portion of the external rotation motor not only does not hinder the integration of the external rotation motor and the speed reducer, but also facilitates the assembly of the motor module.
雖然本發明已以實施例揭露如上,然其並非用以限定本發明,任何所屬技術領域中具有通常知識者,在不脫離本發明的精神和範圍內,當可作些許的更動與潤飾,故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.
1:鎖固螺帽 1: locking nut
2:固定片 2: fixed piece
3:被動端連接件 3: Passive end connector
5:輸入軸 5: input shaft
6:保護殼 6: protective shell
21:法蘭面 21: flange face
41:定子 41: stator
41a:軸部 41a: Shaft
42:線圈 42: coil
43:軸承 43: Bearing
44:外轉子 44: outer rotor
45:驅動電路板 45: Drive circuit board
46:鎖固螺絲 46: locking screw
47:側孔 47: Side hole
Claims (10)
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TWM431244U (en) * | 2012-01-09 | 2012-06-11 | Cun-Tian Yao | Outer rotor full roller type transmission mechanism |
US8863874B2 (en) * | 2012-01-09 | 2014-10-21 | Mando Corporation | Mounting structure for in-wheel motor system |
TW201808718A (en) * | 2016-07-01 | 2018-03-16 | 行安機電股份有限公司 | Geared motor of wheel hub |
CN108291612A (en) * | 2015-12-01 | 2018-07-17 | 日本电产新宝株式会社 | Speed reducer with motor |
CN208024801U (en) * | 2017-02-23 | 2018-10-30 | 台达电子工业股份有限公司 | With dynamically balanced gerotor type speed reducer |
TW201843403A (en) * | 2017-05-03 | 2018-12-16 | 台達電子工業股份有限公司 | Cycloid speed reducer |
US20190085941A1 (en) * | 2017-09-16 | 2019-03-21 | Genesis Advanced Technology Inc. | Differential planetary gearbox |
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Publication number | Priority date | Publication date | Assignee | Title |
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TWM431244U (en) * | 2012-01-09 | 2012-06-11 | Cun-Tian Yao | Outer rotor full roller type transmission mechanism |
US8863874B2 (en) * | 2012-01-09 | 2014-10-21 | Mando Corporation | Mounting structure for in-wheel motor system |
CN108291612A (en) * | 2015-12-01 | 2018-07-17 | 日本电产新宝株式会社 | Speed reducer with motor |
TW201808718A (en) * | 2016-07-01 | 2018-03-16 | 行安機電股份有限公司 | Geared motor of wheel hub |
CN208024801U (en) * | 2017-02-23 | 2018-10-30 | 台达电子工业股份有限公司 | With dynamically balanced gerotor type speed reducer |
TW201843403A (en) * | 2017-05-03 | 2018-12-16 | 台達電子工業股份有限公司 | Cycloid speed reducer |
US20190085941A1 (en) * | 2017-09-16 | 2019-03-21 | Genesis Advanced Technology Inc. | Differential planetary gearbox |
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