TWI738000B - Speed reducing device having power source - Google Patents

Speed reducing device having power source Download PDF

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Publication number
TWI738000B
TWI738000B TW108119001A TW108119001A TWI738000B TW I738000 B TWI738000 B TW I738000B TW 108119001 A TW108119001 A TW 108119001A TW 108119001 A TW108119001 A TW 108119001A TW I738000 B TWI738000 B TW I738000B
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roller
fixed
disk
wheel set
roller wheel
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TW108119001A
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Chinese (zh)
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TW202018209A (en
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鐘啟聞
朱恩毅
林泓瑋
曹明立
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台達電子工業股份有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Friction Gearing (AREA)

Abstract

A speed reducing device includes a motor, a speed reducing mechanism, a fixing disc and a fixing assembly. The motor includes a stator portion and a rotator portion. The speed reducing mechanism is at least partially disposed in the inner side of the motor. The speed reducing mechanism comprises a roller assembly and a cycloid disc. The roller assembly is disposed in the rotator portion and is driven to revolve eccentrically by the rotator portion. The roller assembly comprises a wheel disc and rollers. The cycloid disc is disposed in the wheel disc and comprises a main body and cycloid teeth. Each of cycloid teeth is protruded from an outer periphery of the main body, and each of cycloid teeth is contacted with the corresponding rollers so that the cycloid teeth is pushed against the corresponding rollers when the roller assembly is revolved eccentrically. The fixing disc is located at the outer side of the roller assembly and keeps stationary without rotating relative to the roller assembly. The fixing assembly is cooperated with the fixed disc to prohibit the rotation of the corresponding the roller assembly.

Description

具動力源之減速裝置Reducer with power source

本案係為一種減速裝置，指一種具動力源之減速裝置。This case is a type of deceleration device, which refers to a deceleration device with a power source.

一般而言，馬達包含高轉速而扭力小之特性，因此不易驅動大型的負載，故當馬達欲使用於推動重物時，便須利用減速機來進行減速，藉此提高扭力。Generally speaking, a motor has the characteristics of high speed and low torque, so it is not easy to drive a large load. Therefore, when the motor is to be used to push heavy objects, a reducer must be used to decelerate to increase the torque.

然而習知減速機跟馬達為分開的零部件，因此必需透過額外的機構件，例如聯軸器或是齒輪箱等，將減速機跟馬達連結在一起，如此一來，將增加減速機跟馬達在整體結構上的體積與重量，導致前述減速機跟馬達的連結結構並無法應用在一些需求輕量與空間緊湊的裝置內， 例如工業用機器手臂或是行動輔具等。However, the conventional reducer and the motor are separate parts. Therefore, it is necessary to connect the reducer and the motor together through additional mechanical parts, such as a coupling or a gear box. In this way, the reducer and the motor will be added. Due to the volume and weight of the overall structure, the aforementioned connection structure of the reducer and the motor cannot be used in some devices that require light weight and compact space, such as industrial robotic arms or mobility aids.

另外，雖目前已有一些擺線型減速機在設計時即已包含馬達，藉此省去兩者間的聯軸器或是齒輪箱等，但該些擺線型減速機所具有的擺線盤為了形成齒部來與滾柱輪組上之滾柱相接觸，擺線輪之本體之一平面須先向內凹陷，進而在凹陷處進行加工來形成為內齒型結構之齒部，如此一來，將導致齒部在加工上較為不易。In addition, although there are some cycloid reducers that already include motors in their design, thereby eliminating the need for couplings or gearboxes between the two, the cycloid discs in these cycloid reducers are designed to To form the teeth to contact the rollers on the roller wheel set, one of the planes of the body of the cycloid must first be recessed inward, and then the recesses are processed to form the teeth of the internal tooth structure. , Will cause the teeth to be more difficult to process.

因此，如何發展一種可改善上述習知技術缺失之具動力源之減速裝置，實為相關技術領域者目前所迫切需要解決之問題。Therefore, how to develop a decelerating device with a power source that can improve the lack of the above-mentioned conventional technology is a problem urgently needed to be solved by those in the relevant technical field.

本案之一目的在於提供一種具動力源之減速裝置，其在無需使用聯軸器或是齒輪箱等的連接結構的情況下將為動力源之馬達跟減速機結合在一起 ，使得減速機跟馬達為一體的設計，藉此達到減低減速裝置整體的重量與體積之功效，此外，更解決傳統擺線減速機因擺線輪之齒部為內齒型結構所導致的加工不易的缺失。One purpose of this case is to provide a reduction gear with power source, which combines the motor of the power source with the reducer without using couplings or gearboxes, etc., so that the reducer and the motor The integrated design achieves the effect of reducing the overall weight and volume of the reduction gear. In addition, it also solves the difficulty in processing the traditional cycloid reducer due to the internal tooth structure of the cycloidal gear.

本案之另一目的在於提供一種具動力源之減速裝置，其係可使得減速裝置的散熱較容易達成，且具高剛性、高減速之特性。Another object of the present case is to provide a deceleration device with a power source, which can make the heat dissipation of the deceleration device easier to achieve, and has the characteristics of high rigidity and high deceleration.

為達上述目的，本案之一較廣義實施樣態為提供一種具動力源之減速裝置，包含：為動力源之馬達，包含：定子部；以及轉子部，為減速裝置之動力輸入端，且受定子部之驅動而相對於定子部進行轉動，並包含具中空結構之轉子殼體部，轉子殼體部之一環狀殼體內壁與一環狀殼體外壁之間存在偏心量；以及減速機構，至少部分設置於馬達之相對內側，且包含：至少一滾柱輪組，設置於轉子殼體部之環狀殼體內壁內，且被轉子部帶動而進行偏心公轉，並包含具中空結構之輪盤及設置於輪盤內壁上之至少一滾柱；以及擺線盤，為減速裝置之動力輸出端，且設置於輪盤之中空結構內，並具有本體及至少一擺線齒部，每一擺線齒部凸設於本體之外周面上，並與對應之滾柱相接觸，使擺線盤於滾柱輪組進行偏心公轉時受擺線齒部與對應之滾柱之間的推擠運動而轉動；至少一固定盤，位於滾柱輪組之外側，且相對於滾柱輪組而保持靜止不轉動；以及固定組件，包含至少一固定槽孔以及至少一固定銷，固定槽孔及固定銷分別形成於固定盤及對應之滾柱輪組之輪盤上，或固定銷及固定槽孔分別形成於固定盤及與對應之滾柱輪組之輪盤上，且固定銷容置於固定槽孔內，固定槽孔與位於固定槽孔內之固定銷之間存在徑向間隙，其中固定組件配合固定盤形成固定端，以禁止對應之滾柱輪組自轉。In order to achieve the above purpose, one of the broader implementations of this case is to provide a deceleration device with a power source, including: a motor as a power source, including a stator part; and a rotor part, which is the power input end of the deceleration device and is subjected to The stator part is driven to rotate relative to the stator part, and includes a rotor housing part with a hollow structure. There is an eccentricity between an inner wall of an annular housing of the rotor housing part and an outer wall of an annular housing; and a reduction mechanism , At least partially disposed on the opposite inner side of the motor, and including: at least one roller set, disposed in the inner wall of the annular housing of the rotor housing, and driven by the rotor to perform eccentric revolution, and including a hollow structure The wheel disc and at least one roller arranged on the inner wall of the wheel disc; and the cycloid disc, which is the power output end of the deceleration device, is arranged in the hollow structure of the wheel disc, and has a body and at least one cycloidal tooth part, Each cycloidal tooth part is protrudingly arranged on the outer peripheral surface of the body, and is in contact with the corresponding roller, so that the cycloidal disk is affected by the eccentric revolution between the cycloidal tooth part and the corresponding roller. Pushing motion to rotate; at least one fixed disk located on the outer side of the roller wheel set and kept stationary relative to the roller wheel set without rotating; and a fixing assembly including at least one fixing slot and at least one fixing pin, and fixing slot Holes and fixed pins are respectively formed on the fixed disc and the corresponding roller wheel disc, or the fixed pins and fixed slots are respectively formed on the fixed disc and the corresponding roller wheel disc, and the fixed pin capacity It is placed in the fixed slot, and there is a radial gap between the fixed slot and the fixed pin located in the fixed slot. The fixed component cooperates with the fixed plate to form a fixed end to prohibit the corresponding roller wheel set from rotating.

為達上述目的，本案之另一較廣義實施樣態為提供一種具動力源之減速裝置，包含：為動力源之馬達，包含：定子部，以及轉子部，為減速裝置之動力輸入端，且受定子部之驅動而相對於定子部進行轉動，並包含具中空結構之轉子殼體部，轉子殼體部之環狀殼體內壁與環狀殼體外壁之間存在偏心量；以及減速機構，至少部分設置於馬達之相對內側，且包含：第一滾柱輪組，設置於轉子殼體部之環狀殼體內壁內，且被轉子部帶動而進行偏心公轉，並包含具中空結構之第一輪盤及設置於第一輪盤內壁上之至少一第一滾柱；第二滾柱輪組，與第一滾柱輪組相鄰地設置於轉子殼體部之環狀殼體內壁內，且被轉子部帶動而進行偏心公轉，並與第一滾柱相組接而同步且同向的轉動，更包含具中空結構之第二輪盤及設置於第二輪盤內壁上之至少一第二滾柱；以及擺線盤，為減速裝置之動力輸出端，且設置於二輪盤之中空結構內，且具有本體及至少一擺線齒部，每一擺線齒部凸設於本體之外周面上，並與對應之第二滾柱相接觸，使擺線盤受擺線盤之擺線齒部與對應之第二滾柱之間的推擠運動而轉動；第一固定盤，固接於定子部上，且相對於第一滾柱輪組及第二滾柱輪組而保持靜止不轉動，並位於減速機構之第一外側而與第一滾柱輪組相鄰；以及固定組件，包含固定齒輪盤，設置於第一輪盤之中空結構內，並固接於第一固定盤，其中固定齒輪盤更包含至少一固定齒部，每一固定齒部凸設於對應之固定齒輪盤之外周面上，並與對應之第一滾柱相接觸，俾使固定組件配合第一固定盤形成固定端，以禁止第一滾柱輪組自轉。In order to achieve the above-mentioned purpose, another broad implementation aspect of this case is to provide a speed reduction device with a power source, including: a motor as a power source, including a stator part and a rotor part, which are the power input ends of the speed reduction device, and Driven by the stator part, it rotates relative to the stator part and includes a rotor housing part with a hollow structure. There is an eccentricity between the inner wall of the annular housing of the rotor housing part and the outer wall of the annular housing; and a speed reduction mechanism, It is arranged at least partly on the inner side of the motor, and includes: a first roller wheel set, arranged in the inner wall of the annular housing of the rotor housing, and driven by the rotor to perform eccentric revolution, and includes a hollow structure of the first roller wheel set. A wheel disc and at least one first roller arranged on the inner wall of the first wheel disc; a second roller wheel set, adjacent to the first roller wheel set, arranged on the inner wall of the annular shell of the rotor housing part It is driven by the rotor to perform eccentric revolution, and is combined with the first roller to rotate synchronously and in the same direction. It also includes a second wheel with a hollow structure and a second wheel arranged on the inner wall of the second wheel. At least one second roller; and the cycloid disc, which is the power output end of the deceleration device, and is arranged in the hollow structure of the two-wheel disc, and has a body and at least one cycloid tooth part, and each cycloid tooth part protrudes from The outer peripheral surface of the main body is in contact with the corresponding second roller, so that the cycloid plate is rotated by the pushing motion between the cycloid tooth part of the cycloid plate and the corresponding second roller; the first fixed plate , Fixedly connected to the stator part, kept stationary relative to the first roller wheel set and the second roller wheel set, and located on the first outer side of the speed reduction mechanism and adjacent to the first roller wheel set; and The fixed component includes a fixed gear plate, which is arranged in the hollow structure of the first wheel plate and is fixed to the first fixed plate, wherein the fixed gear plate further includes at least one fixed tooth portion, and each fixed tooth portion protrudes from the corresponding The outer peripheral surface of the fixed gear plate is in contact with the corresponding first roller, so that the fixed component cooperates with the first fixed plate to form a fixed end, so as to prohibit the rotation of the first roller wheel set.

為達上述目的，本案之又一較廣義實施樣態為提供一種具動力源之減速裝置，包含：為動力源之馬達，包含：定子部，以及轉子部，為減速裝置之動力輸入端，且受定子部之驅動而相對於定子部進行轉動，並包含具中空結構之轉子殼體部及複數個偏心環，複數個偏心環係設置於轉子殼體部之環狀殼體內壁上，且相鄰的兩個偏心環的偏心方向相反；以及減速機構，至少部分設置於馬達之相對內側，且包含：第一滾柱輪組，設置於對應之偏心環內，且包含具中空結構之第一輪盤及設置於第一輪盤內壁上之至少一第一滾柱；第二滾柱輪組，設置於對應之偏心環內，且包含具中空結構之第二輪盤及設置於第二輪盤內壁上之至少一第二滾柱，其中第二滾柱輪組與第一滾柱輪組相組接而連動；第三滾柱輪組，設置於對應之偏心環內，且包含具中空結構之第三輪盤及設置於第三輪盤內壁上之至少一第三滾柱；第四滾柱輪組，設置於對應之偏心環內，且包含具中空結構之第四輪盤及設置於第四輪盤內壁上之至少一第四滾柱，其中第三滾柱輪組與第四滾柱輪組相組接而連動，且第三滾柱輪組與第四滾柱輪組的偏心方向與第一滾柱輪組與第二滾柱輪組的偏心方向相反；以及擺線盤，為減速裝置之動力輸出端，且部分設置於第二輪盤之中空結構內，部分設置於第三輪盤之中空結構內，並具有本體及至少一擺線齒部，擺線盤之每一擺線齒部凸設於本體之外周面上，擺線盤之每一擺線齒部與對應之第二滾柱及對應之第三滾柱相接觸，使擺線盤受擺線盤之擺線齒部與對應之第二滾柱及對應之第三滾柱之間的推擠運動而轉動；至少一固定盤，固接於定子部上，且相對於第一滾柱輪組、第二滾柱輪組、第三滾柱輪組及第四滾柱輪組而保持靜止不轉動；固定組件，部分設置於第一輪盤之中空結構內，其餘部分設置於第四輪盤之中空結構內，且與固定盤相固接，其中固定組件更包含至少一固定齒輪盤，每一固定齒輪盤包含凸設於固定齒輪盤之外周面上之至少一固定齒部；以及其中每一第一滾柱及每一第四滾柱分別與對應之固定齒輪盤之固定齒部相接觸，俾使固定組件配合固定盤形成固定端，以禁止第一滾柱輪組及第四滾柱輪組自轉。In order to achieve the above-mentioned purpose, another broad implementation aspect of this case is to provide a speed reduction device with a power source, including: a motor as a power source, including a stator part and a rotor part, which are the power input ends of the speed reduction device, and Driven by the stator part, it rotates relative to the stator part, and includes a rotor housing part with a hollow structure and a plurality of eccentric rings. The plural eccentric rings are arranged on the inner wall of the annular housing of the rotor housing part and correspond The eccentric directions of the two adjacent eccentric rings are opposite; and the speed reduction mechanism is at least partially arranged on the opposite inner side of the motor, and includes: a first roller set arranged in the corresponding eccentric ring, and includes a first hollow structure The roulette and at least one first roller arranged on the inner wall of the first roulette; the second roller wheel set is arranged in the corresponding eccentric ring, and includes a second roulette with a hollow structure and arranged on the second At least one second roller on the inner wall of the roulette, wherein the second roller wheel set is connected to the first roller wheel set to move in conjunction; the third roller wheel set is arranged in the corresponding eccentric ring and includes The third wheel with a hollow structure and at least one third roller arranged on the inner wall of the third wheel; the fourth roller wheel set is arranged in the corresponding eccentric ring and includes the fourth wheel with a hollow structure Plate and at least one fourth roller arranged on the inner wall of the fourth wheel, wherein the third roller wheel group and the fourth roller wheel group are connected and linked, and the third roller wheel group is connected with the fourth roller wheel. The eccentric direction of the column wheel set is opposite to the eccentric direction of the first roller wheel set and the second roller wheel set; and the cycloidal disk, which is the power output end of the reduction gear, is partially set in the hollow structure of the second wheel disk , Partly arranged in the hollow structure of the third wheel disc, and has a body and at least one cycloidal tooth part. The line tooth part is in contact with the corresponding second roller and the corresponding third roller, so that the cycloid disc is contacted by the cycloid tooth part of the cycloid disc and the corresponding second roller and the corresponding third roller. Pushing motion to rotate; at least one fixed disk is fixed on the stator part and held relative to the first roller wheel set, the second roller wheel set, the third roller wheel set and the fourth roller wheel set Stationary and non-rotating; part of the fixed component is arranged in the hollow structure of the first wheel disc, and the remaining part is arranged in the hollow structure of the fourth wheel disc and fixedly connected to the fixed disc, wherein the fixed component further includes at least one fixed gear disc , Each fixed gear plate includes at least one fixed tooth portion protrudingly provided on the outer peripheral surface of the fixed gear plate; and each of the first roller and each fourth roller respectively corresponds to the fixed tooth portion of the fixed gear plate In contact with each other, the fixed component cooperates with the fixed plate to form a fixed end, so as to prohibit the rotation of the first roller wheel set and the fourth roller wheel set.

體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化，其皆不脫離本案的範圍，且其中的說明及圖示在本質上係當作說明之用，而非架構於限制本案。Some typical embodiments embodying the features and advantages of this case will be described in detail in the following description. It should be understood that this case can have various changes in different aspects, which do not depart from the scope of this case, and the descriptions and illustrations therein are essentially for illustrative purposes, rather than being constructed to limit the case.

請參閱第1圖、第2圖及第三圖，其中第1圖為本案第一較佳實施例之具動力源之減速裝置的正面結構示意圖，第2圖為第1圖所示之具動力源之減速裝置的背面結構示意圖，第三圖為第2圖所示之虛框區域A的放大結構示意圖。如圖所示，本實施例之具動力源之減速裝置1a可為但不限於應用在各種動力機械內，例如工業用機器手臂或是行動輔具等，以便提供適當的減速功能，另外，減速裝置1a實際上屬於一級減速的擺線型減速機Please refer to Figure 1, Figure 2, and Figure 3. Figure 1 is the front structure diagram of the deceleration device with power source according to the first preferred embodiment of the present invention, and Figure 2 is the power source shown in Figure 1. The schematic diagram of the rear structure of the deceleration device of the source, the third diagram is the enlarged diagram of the imaginary frame area A shown in the second diagram. As shown in the figure, the deceleration device 1a with power source of this embodiment can be, but is not limited to, used in various power machinery, such as industrial robotic arms or mobility aids, so as to provide appropriate deceleration functions. In addition, deceleration Device 1a is actually a cycloid reducer with one-stage reduction

減速裝置1a包含為動力源之馬達2、減速機構3a、固定盤4以及固定組件。馬達2位於減速機構3a的外側，且可由徑向磁通馬達所構成，並包含定子部20及轉子部21。定子部20位於馬達2整體的相對外側。轉子部21位於馬達2整體的相對內側，且包含具中空結構且為環形之轉子殼體部210，轉子殼體部210之環狀殼體內壁210a與環狀殼體外壁210b之間存在偏心量，亦即轉子殼體部210之環狀殼體內壁210a之圓心與環狀殼體外壁210b之圓心之間存在偏心量。The deceleration device 1a includes a motor 2 as a power source, a deceleration mechanism 3a, a fixed plate 4, and a fixed component. The motor 2 is located outside the speed reduction mechanism 3a, and can be constituted by a radial magnetic flux motor, and includes a stator portion 20 and a rotor portion 21. The stator part 20 is located on the relatively outer side of the motor 2 as a whole. The rotor part 21 is located on the relatively inner side of the whole motor 2 and includes a hollow structure and a ring-shaped rotor housing part 210. There is an eccentricity between the ring-shaped housing inner wall 210a and the ring-shaped housing outer wall 210b of the rotor housing part 210 , That is, there is an eccentricity between the center of the ring-shaped housing inner wall 210a of the rotor housing portion 210 and the center of the ring-shaped housing outer wall 210b.

當然，馬達2並不侷限於如第1圖及第2圖所示由徑向磁通馬達所構成，於其它實施例中，亦可由軸向磁通馬達所構成，然因軸向磁通馬達與徑向磁通馬達在本案之減速裝置所能達成之目的相同，又軸向磁通馬達的結構已常見於馬達領域中，故於此不再對軸向磁通馬達的結構進行描述。Of course, the motor 2 is not limited to being constituted by a radial flux motor as shown in Figs. 1 and 2. In other embodiments, it can also be constituted by an axial flux motor. The same purpose can be achieved by the radial flux motor in the deceleration device of this case, and the structure of the axial flux motor is already common in the motor field, so the structure of the axial flux motor will not be described here.

減速機構3a設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含滾柱輪組30及擺線盤31。滾柱輪組30設置於轉子殼體部210之環狀殼體內壁210a上，當轉子部21相對於定子部20進行轉動時，因轉子殼體部210之環狀殼體內壁210a與環狀殼體外壁210b之間存在偏心量，故滾柱輪組30被轉子部21帶動並以相對於轉子殼體部210之環狀殼體外壁210b之圓心進行偏心公轉。此外，滾柱輪組30包含具中空結構之輪盤300及設置於輪盤300內壁上之至少一滾柱301。The deceleration mechanism 3 a is disposed on the relatively inner side of the motor 2 and is accommodated in the hollow structure of the rotor housing portion 210, and includes a roller wheel set 30 and a cycloid plate 31. The roller wheel set 30 is arranged on the inner wall 210a of the annular housing of the rotor housing 210. When the rotor 21 rotates relative to the stator 20, the inner wall 210a of the annular housing of the rotor housing 210 and the annular housing There is an amount of eccentricity between the outer shell walls 210b, so the roller set 30 is driven by the rotor part 21 and revolves eccentrically with respect to the center of the annular shell outer wall 210b of the rotor shell part 210. In addition, the roller wheel set 30 includes a roulette 300 with a hollow structure and at least one roller 301 arranged on the inner wall of the roulette 300.

擺線盤31設置於滾柱輪組30之輪盤300之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之滾柱301相接觸，當滾柱輪組30被轉子部21帶動而以相對於轉子殼體部210之環狀殼體外壁210b之圓心進行偏心公轉時，擺線盤31便受擺線齒部311與對應之滾柱301之間的推擠運動而轉動。The cycloidal disk 31 is arranged in the hollow structure of the wheel 300 of the roller wheel set 30, and has a body 310 and at least one cycloidal tooth portion 311. Each cycloidal tooth portion 311 is projected on the outer peripheral surface of the body 310. And contact with the corresponding roller 301. When the roller wheel set 30 is driven by the rotor part 21 to eccentrically revolve with respect to the center of the outer wall 210b of the annular housing of the rotor housing part 210, the cycloid disc 31 is subjected to eccentric revolution. The pushing motion between the cycloidal tooth portion 311 and the corresponding roller 301 rotates.

固定盤4與輪盤300之盤面相組接，並位於滾柱輪組30之外側，其中固定盤4保持靜止不轉動。於一些實施例中，固定盤4可直接利用減速裝置1a內之元件，例如利用固定於定子部20上，來進行固定，亦或利用額外附加的元件來進行固定，藉此達到靜止不轉動。The fixed disk 4 is assembled with the surface of the roulette 300 and is located on the outer side of the roller wheel set 30, in which the fixed disk 4 remains stationary and does not rotate. In some embodiments, the fixed disk 4 can be fixed directly by using elements in the deceleration device 1a, for example, by being fixed on the stator part 20, or by using additional elements for fixing, so as to be stationary and not rotating.

在本實施例中，固定組件實際上包含至少一固定槽孔50a以及至少一固定銷50b。固定槽孔50a形成於固定盤4上。固定銷50b由滾柱輪組30之輪盤300延伸而成 ，且每一固定銷50b的位置與固定槽孔50a的位置相對應，每一固定銷50b可部分穿設於固定槽孔50a內而與固定槽孔50a之槽孔壁面相接觸，此外，固定槽孔50a與位於固定槽孔50a內之固定銷50b之間更存在徑向間隙H(如第三圖所示)，其中於轉子部21轉動時，由於固定銷50b的一端固接於輪盤300上，固定銷50b之另一端穿設於固定槽孔50a內，又固定盤4為靜止不轉動，因此，可藉由固定組件與固定盤4相配合形成固定端，以禁止滾柱輪組30自轉，然因固定槽孔50a與位於固定槽孔50a內之固定銷50b之間存在徑向間隙H，故滾柱輪組30仍可在轉子部21轉動時被轉子部21帶動而進行偏心公轉。In this embodiment, the fixing assembly actually includes at least one fixing slot 50a and at least one fixing pin 50b. The fixing slot 50a is formed on the fixing plate 4. The fixing pin 50b is formed by extending the wheel 300 of the roller wheel set 30, and the position of each fixing pin 50b corresponds to the position of the fixing slot 50a, and each fixing pin 50b can be partially penetrated in the fixing slot 50a It is in contact with the wall surface of the fixing slot 50a. In addition, there is a radial gap H between the fixing slot 50a and the fixing pin 50b located in the fixing slot 50a (as shown in the third figure). When the part 21 rotates, since one end of the fixing pin 50b is fixed to the wheel 300, the other end of the fixing pin 50b is inserted into the fixing slot 50a, and the fixing disc 4 is stationary and does not rotate, therefore, the fixing assembly can be used It cooperates with the fixed disk 4 to form a fixed end to prevent the roller wheel set 30 from rotating. However, because there is a radial gap H between the fixed slot 50a and the fixed pin 50b located in the fixed slot 50a, the roller wheel set 30 It can still be driven by the rotor part 21 to perform eccentric revolution when the rotor part 21 rotates.

由上可知，本案之具動力源之減速裝置1a的馬達2跟減速機構3a為一體設計， 馬達2被配置在減速裝置1a整體結構的徑向外側，減速機構3a至少部分配置在減速裝置1a整體結構的徑向內側，當轉子部21轉動時，轉子部21便帶動滾柱輪組30進行偏心轉動，使得擺線盤31因擺線齒部311與滾柱輪組30對應之滾柱301之間的推擠運動而轉動，進而產生一階減速，因此本案之減速裝置1a不需要額外聯軸器來連接馬達2跟減速機構3a，故可減少重量與體積。此外，由於馬達2被配置在減速裝置1a整體結構的徑向外側，故容易與電機一體式整合設計，再者，當減速裝置1a與電機一體式設計時，因為電機可設置在最外側， 使得減速裝置1a的散熱較容易達成。再者，本案之具動力源之減速裝置1a為擺線型減速裝置，故具有高剛性及高減速比的特性，更甚者，於本實施例之減速裝置1a中，由於擺線盤31之擺線齒部311形成於擺線盤31之本體310之外周面上而形成外齒型結構，因此擺線齒部311較為容易進行加工。It can be seen from the above that the motor 2 of the reduction gear 1a with power source in this case and the reduction mechanism 3a are integrated. The motor 2 is arranged on the radially outer side of the overall structure of the reduction gear 1a, and the reduction mechanism 3a is at least partially arranged on the entire reduction gear 1a. On the radial inner side of the structure, when the rotor part 21 rotates, the rotor part 21 drives the roller wheel set 30 to rotate eccentrically, so that the cycloid disk 31 is due to the cycloidal tooth part 311 and the roller 301 corresponding to the roller wheel set 30 It rotates by pushing motion between the two, and then produces a first-order deceleration. Therefore, the deceleration device 1a in this case does not require an additional coupling to connect the motor 2 and the deceleration mechanism 3a, so the weight and volume can be reduced. In addition, since the motor 2 is arranged on the radially outer side of the overall structure of the reduction gear 1a, it is easy to integrate the design with the motor. Furthermore, when the reduction gear 1a and the motor are integrally designed, because the motor can be arranged on the outermost side, The heat dissipation of the reduction gear 1a is easier to achieve. Furthermore, the deceleration device 1a with power source in this case is a cycloid type deceleration device, so it has the characteristics of high rigidity and high reduction ratio. What's more, in the deceleration device 1a of this embodiment, due to the pendulum of the cycloid disc 31 The line tooth portion 311 is formed on the outer peripheral surface of the main body 310 of the cycloid disk 31 to form an external tooth structure, so the cycloid tooth portion 311 is easier to process.

於上述實施例中，滾柱輪組30之滾柱301的數量可為A個，擺線盤31之擺線齒部311的數量可為B個，而減速裝置1a之減速比則為B/(B-A)，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1a之動力輸入端，擺線盤31實際上構成減速裝置1a之動力輸出端。In the above embodiment, the number of rollers 301 of the roller wheel set 30 can be A, the number of cycloidal teeth 311 of the cycloidal disk 31 can be B, and the reduction ratio of the reduction gear 1a is B/ (BA), where A and B are integers greater than zero. In addition, the rotor portion 21 of the motor 2 actually constitutes the power input end of the reduction gear 1a, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1a.

於一些實施例中，固定槽孔50a與位於固定槽孔50a內之固定銷50b之間的徑向間隙H的最大值可大於或等於轉子殼體部210之環狀殼體內壁210a之圓心與環狀殼體外壁210b之圓心之間所存在的偏心量的兩倍。另外，擺線盤31存在旋轉中心，擺線盤31在旋轉時以旋轉中心為軸而旋轉，而每一固定槽孔50a的位置則異於擺線盤31在旋轉時之旋轉中心。In some embodiments, the maximum value of the radial gap H between the fixing slot 50a and the fixing pin 50b located in the fixing slot 50a may be greater than or equal to the center of the annular housing inner wall 210a of the rotor housing part 210 and The amount of eccentricity existing between the centers of the outer wall 210b of the annular shell is twice as large. In addition, the cycloidal disk 31 has a center of rotation, and the cycloidal disk 31 rotates with the center of rotation as an axis when rotating, and the position of each fixed slot 50a is different from the center of rotation of the cycloidal disk 31 when rotating.

當然，固定組件之固定槽孔50a以及固定銷50b的設置位置並不侷限於如上所述，亦可有其它不同的實施態樣，例如固定槽孔50a可改為形成於輪盤300上，固定銷50b則改為由固定盤4之盤面上延伸而形成，然此變化應可由前述揭露之內容思及，故於不再例示於圖式中。Of course, the positions of the fixing slots 50a and the fixing pins 50b of the fixing assembly are not limited to those described above, and other different implementations are possible. For example, the fixing slots 50a can be changed to be formed on the wheel 300 to fix The pin 50b is instead formed by extending the surface of the fixed disk 4. However, this change should be considered by the content of the foregoing disclosure, so it is no longer illustrated in the drawings.

請參閱第4圖及第5圖，其中第4圖為本案第二較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第5圖為第4圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1b實際上屬於一階式擺線型減速機，且包含為動力源之馬達2及減速機構3b、第一固定盤4a以及固定組件，其中本實施例之馬達2的結構與作動相似於第1圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。惟本實施例中，馬達2之轉子部21之轉子殼體部210更包含第一偏心環211及第二偏心環212，第一偏心環211以及第二偏心環212相鄰地設置於轉子殼體部210之環狀殼體內壁上，且第一偏心環211以及第二偏心環212的偏心方向相反。Please refer to Figures 4 and 5. Figure 4 is a schematic diagram of the exploded structure of the deceleration device with power source according to the second preferred embodiment of the present invention, and Figure 5 is the deceleration device with power source shown in Figure 4 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1b of this embodiment is actually a one-step cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3b, a first fixed disc 4a, and a fixed assembly. The structure and operation of the motor 2 are similar to those of the motor 2 shown in FIG. However, in this embodiment, the rotor housing portion 210 of the rotor portion 21 of the motor 2 further includes a first eccentric ring 211 and a second eccentric ring 212. The first eccentric ring 211 and the second eccentric ring 212 are adjacently disposed on the rotor housing. On the inner wall of the annular housing of the body 210, the eccentric directions of the first eccentric ring 211 and the second eccentric ring 212 are opposite.

減速機構3b至少部分設置於馬達2之相對內側並容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b及擺線盤31。第一滾柱輪組30a設置於第一偏心環211內，第二滾柱輪組30b設置於第二偏心環212內，且第一滾柱輪組30a包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a，第二滾柱輪組30b包含具中空結構之第二輪盤300b及設置於輪盤300a內壁上之至少一第二滾柱301b，其中第一滾柱301a的個數與第二滾柱301b的個數相同。此外，當轉子部21相對於定子部20進行轉動時，因轉子殼體部210之環狀殼體內壁與環狀殼體外壁之間存在偏心量，故第一滾柱輪組30a及第二滾柱輪組30b被轉子部21帶動並以相對於轉子殼體部210之環狀殼體外壁之圓心進行偏心公轉。The deceleration mechanism 3b is at least partially disposed on the inner side of the motor 2 and accommodated in the hollow structure of the rotor housing 210, and includes a first roller wheel set 30a, a second roller wheel set 30b, and a cycloid plate 31. The first roller wheel set 30a is arranged in the first eccentric ring 211, the second roller wheel set 30b is arranged in the second eccentric ring 212, and the first roller wheel set 30a includes a first wheel 300a with a hollow structure And at least one first roller 301a arranged on the inner wall of the first wheel 300a, the second roller wheel set 30b includes a second wheel 300b with a hollow structure and at least one first roller arranged on the inner wall of the wheel 300a Two rollers 301b, wherein the number of first rollers 301a is the same as the number of second rollers 301b. In addition, when the rotor part 21 rotates with respect to the stator part 20, because of the eccentricity between the inner wall of the annular housing of the rotor housing 210 and the outer wall of the annular housing, the first roller set 30a and the second roller set 30a and the second The roller wheel set 30b is driven by the rotor part 21 and revolves eccentrically with respect to the center of the outer wall of the annular housing of the rotor housing part 210.

擺線盤31部分設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，其餘部分則設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第一滾柱301a及對應之第二滾柱301b相接觸，當第一滾柱輪組30a及第二滾柱輪組30b被轉子部21帶動而以相對於轉子殼體部210之環狀殼體外壁之圓心進行偏心公轉時，擺線盤31便受擺線齒部311與對應之第一滾柱301a及對應之第二滾柱301b之間的推擠運動而轉動。The cycloidal disk 31 is partially disposed in the hollow structure of the first wheel 300a of the first roller wheel set 30a, and the rest is disposed in the hollow structure of the second wheel 300b of the second roller wheel 30b, and has The main body 310 and at least one cycloid tooth portion 311, each cycloid tooth portion 311 is protrudingly provided on the outer peripheral surface of the main body 310 and is in contact with the corresponding first roller 301a and the corresponding second roller 301b. When a roller wheel set 30a and a second roller wheel set 30b are driven by the rotor part 21 to eccentrically revolve with respect to the center of the outer wall of the annular housing of the rotor housing part 210, the cycloidal disk 31 is subjected to cycloidal teeth. The pushing motion between the portion 311 and the corresponding first roller 301a and the corresponding second roller 301b rotates.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3b之第一外側而與第一滾柱輪組30a相鄰，且第一固定盤4a保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator part 20, and is located on the first outer side of the speed reduction mechanism 3b and adjacent to the first roller wheel set 30a, and the first fixed disk 4a remains stationary and does not rotate .

在本實施例中，固定組件實際上包含固定槽孔50a以及至少一固定銷50b。固定槽孔50a形成於第一固定盤4a上並為環形槽狀結構。固定銷50b由第一滾柱輪組30a之第一輪盤300a之盤面上垂直延伸所形成 ，且每一固定銷50b的位置皆與固定槽孔50a的位置相對應，每一固定銷50b可部分穿設於固定槽孔50a內而與固定槽孔50a之槽孔壁面相接觸，此外，固定槽孔50a與位於固定槽孔50a內之固定銷50b之間更存在徑向間隙(未圖示)，其中於轉子部21轉動時，由於固定銷50b的一端固接於第一固定盤4a上，固定銷50b之另一端穿設於固定槽孔50a內，又第一固定盤4a為靜止不轉動，因此，可藉由固定組件與第一固定盤4a相配合而形成固定端，以禁止第一滾柱輪組30a自轉，然因固定槽孔50a與位於固定槽孔50a內之固定銷50b之間存在徑向間隙，故第一滾柱輪組30a仍可在轉子部21轉動時被轉子部21帶動而進行偏心公轉。In this embodiment, the fixing assembly actually includes a fixing slot 50a and at least one fixing pin 50b. The fixing slot 50a is formed on the first fixing plate 4a and has an annular groove-like structure. The fixing pins 50b are formed by vertically extending the surface of the first wheel 300a of the first roller wheel set 30a, and the position of each fixing pin 50b corresponds to the position of the fixing slot 50a, and each fixing pin 50b can Part of it penetrates through the fixing slot 50a and contacts the wall surface of the fixing slot 50a. In addition, there is a radial gap between the fixing slot 50a and the fixing pin 50b located in the fixing slot 50a (not shown) ), when the rotor part 21 rotates, since one end of the fixing pin 50b is fixed to the first fixing plate 4a, the other end of the fixing pin 50b is inserted into the fixing slot 50a, and the first fixing plate 4a is not stationary Therefore, a fixed end can be formed by the fixing assembly and the first fixing plate 4a in cooperation with each other to prevent the first roller wheel set 30a from rotating. However, the fixing slot 50a and the fixing pin 50b located in the fixing slot 50a There is a radial gap between them, so the first roller set 30a can still be driven by the rotor part 21 to perform eccentric revolution when the rotor part 21 rotates.

由上可知，本實施例之減速裝置1b除了包含相似於第1圖所示之減速裝置1a之功效外，由於減速裝置1b之減速機構3a更包含第一滾柱輪組30a及第二滾柱輪組30b，又第一滾柱輪組30a及第二滾柱輪組30b分別設置於偏心方向相反之第一偏心環211以及第二偏心環212上，因此使得第一滾柱輪組30a及第二滾柱輪組30b可以相互平衡，並提高第一滾柱輪組30a之第一滾柱301a及第二滾柱輪組30b之第二滾柱301b有效受力的個數，故本實施例之減速裝置1b更可達到動力平衡。It can be seen from the above that the reduction gear 1b of this embodiment includes functions similar to the reduction gear 1a shown in Figure 1, because the reduction mechanism 3a of the reduction gear 1b further includes a first roller set 30a and a second roller set. The wheel set 30b, and the first roller wheel set 30a and the second roller wheel set 30b are respectively arranged on the first eccentric ring 211 and the second eccentric ring 212 whose eccentricity is opposite, so that the first roller wheel set 30a and The second roller wheel set 30b can balance each other and increase the effective number of the first roller 301a of the first roller wheel set 30a and the second roller 301b of the second roller wheel set 30b, so this implementation For example, the deceleration device 1b can achieve power balance.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量與第二滾柱輪組30b之第一滾柱301b的數量可分別為A個，擺線盤31之擺線齒部311的數量可為B個，而減速裝置1b之減速比則為B/(B-A)，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1b之動力輸入端，擺線盤31實際上構成減速裝置1b之動力輸出端。In the above-mentioned embodiment, the number of the first rollers 301a of the first roller set 30a and the number of the first rollers 301b of the second roller set 30b may be A, respectively. The cycloid of the cycloid disc 31 The number of teeth 311 can be B, and the reduction ratio of the reduction gear 1b is B/(BA), where A and B are integers greater than zero. In addition, the rotor portion 21 of the motor 2 actually constitutes the power input end of the reduction gear 1b, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1b.

於一些實施例中，固定槽孔50a與位於固定槽孔50a內之固定銷50b之間的徑向間隙的最大值可大於或等於轉子殼體部210之環狀殼體內壁之圓心與環狀殼體外壁之圓心之間所存在的偏心量的兩倍。另外，固定槽孔50a的位置異於擺線盤31在旋轉時之旋轉中心。In some embodiments, the maximum value of the radial gap between the fixing slot 50a and the fixing pin 50b located in the fixing slot 50a may be greater than or equal to the center and the ring shape of the inner wall of the annular housing of the rotor housing part 210 Twice the amount of eccentricity between the centers of the outer walls of the shell. In addition, the position of the fixing slot 50a is different from the center of rotation of the cycloid disk 31 when it rotates.

當然，固定組件之固定槽孔50a以及固定銷50b的設置位置並不侷限於如上所述，亦可有其它不同的實施態樣，例如固定槽孔50a可改為形成於第一滾柱輪組30a之第一輪盤300a上，固定銷50b則改為由第一固定盤4a垂直延伸所形成，然此變化應可由前述揭露之內容思及，故於此不再例示於圖式中。Of course, the positions of the fixing slot 50a and the fixing pin 50b of the fixing assembly are not limited to the above, and other different implementations are possible. For example, the fixing slot 50a can be changed to be formed in the first roller wheel set. On the first wheel 300a of 30a, the fixing pin 50b is changed to be formed by the first fixing plate 4a extending vertically. However, this change should be considered by the content of the foregoing disclosure, so it is no longer illustrated in the drawings.

於一些實施例中，第一固定盤4a更包含兩個延伸壁40，兩個延伸壁40相間隔地由第一固定盤4a之盤面41朝垂直於盤面41之方向延伸，且兩個延伸壁40與第一固定盤4a之盤面41可共同定義出固定槽孔50a。In some embodiments, the first fixed disk 4a further includes two extension walls 40, and the two extension walls 40 are spaced apart from the disk surface 41 of the first fixed disk 4a extending in a direction perpendicular to the disk surface 41, and the two extension walls 40 and the disc surface 41 of the first fixing disc 4a can jointly define a fixing slot 50a.

於其它實施例中，減速裝置1b更包含第二固定盤4b，第二固定盤4b與定子部20相固接，並位於與減速機構3b之第一外側相對之減速機構3b之第二外側而與第二滾柱輪組30b相鄰，且第二固定盤4b保持靜止不轉動。此外，第一固定盤4a、第二固定盤4b與馬達2更共同包覆減速機構3b。In other embodiments, the deceleration device 1b further includes a second fixed disc 4b. The second fixed disc 4b is fixedly connected to the stator portion 20 and is located on the second outer side of the deceleration mechanism 3b opposite to the first outer side of the deceleration mechanism 3b. It is adjacent to the second roller wheel set 30b, and the second fixed disk 4b remains stationary and does not rotate. In addition, the first fixed disk 4a, the second fixed disk 4b and the motor 2 further cover the speed reduction mechanism 3b.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之本體310之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42，輸出軸312之另一端穿設第二固定盤4b之中心孔42，而輸出軸312可構成減速裝置1b之動力輸出端。In some embodiments, the first fixed disk 4 a and the second fixed disk 4 b further each include a central hole 42. In addition, the cycloidal disk 31 further includes an output shaft 312, which penetrates the center position of the body 310 of the cycloidal disk 31, one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a, and the other of the output shaft 312 One end penetrates the central hole 42 of the second fixed plate 4b, and the output shaft 312 can constitute the power output end of the speed reducer 1b.

請參閱第6圖及第7圖，其中第6圖為本案第三較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第7圖為第6圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1c實際上屬於二階式擺線型減速機，且包含為動力源之馬達2及減速機構3c、第一固定盤4a以及固定組件，其中本實施例之馬達2的結構與作動相似於第1圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。Please refer to Figures 6 and 7. Figure 6 is a schematic diagram of the exploded structure of the deceleration device with power source according to the third preferred embodiment of the present invention, and Figure 7 is the deceleration device with power source shown in Figure 6 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1c of this embodiment is actually a two-stage cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3c, a first fixed disc 4a, and a fixed component. The motor of this embodiment The structure and operation of 2 are similar to those of the motor 2 shown in Fig. 1, so the same symbols are used here to represent the same function and operation, and no further description will be given here.

減速機構3c至少部分設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b及擺線盤31。第一滾柱輪組30a設置於轉子殼體部210之環狀殼體內壁上，且包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a，其中當轉子部21相對於定子部20進行轉動時，因轉子殼體部210之環狀殼體內壁與環狀殼體外壁之間存在偏心量，故第一滾柱輪組30a被轉子部21帶動並以相對於轉子殼體部210之環狀殼體外壁之圓心進行偏心公轉。第二滾柱輪組30b與第一滾柱輪組30a相鄰地設置於轉子殼體部210之環狀殼體內壁上，且與第一滾柱輪組30a相組接而連動，即同步且同向的轉動，並包含具中空結構之第二輪盤300b及設置於第二輪盤300b內壁上之至少一第二滾柱301b，其中當轉子部21相對於定子部20進行轉動時，因轉子殼體部210之環狀殼體內壁與環狀殼體外壁之間存在偏心量，故第二滾柱輪組30b被轉子部21帶動並以相對於轉子殼體部210之環狀殼體外壁之圓心進行偏心公轉，其中第一滾柱輪組30a與第二滾柱輪組30b在轉動時並無相位差。The deceleration mechanism 3c is at least partially disposed on the inner side of the motor 2 and accommodated in the hollow structure of the rotor housing 210, and includes a first roller set 30a, a second roller set 30b, and a cycloid plate 31. The first roller wheel set 30a is arranged on the inner wall of the annular shell of the rotor housing part 210, and includes a first wheel 300a with a hollow structure and at least one first roller arranged on the inner wall of the first wheel 300a Column 301a, in which when the rotor part 21 rotates relative to the stator part 20, the first roller wheel set 30a is eccentric due to the eccentricity between the inner wall of the annular shell and the outer wall of the annular shell of the rotor shell part 210 The rotor part 21 drives and revolves eccentrically with respect to the center of the outer wall of the annular housing of the rotor housing part 210. The second roller wheel set 30b and the first roller wheel set 30a are adjacently arranged on the inner wall of the annular shell of the rotor housing part 210, and are connected to the first roller wheel set 30a to be linked, that is, synchronous It rotates in the same direction and includes a second wheel 300b with a hollow structure and at least one second roller 301b arranged on the inner wall of the second wheel 300b. When the rotor part 21 rotates relative to the stator part 20 Since there is an eccentricity between the inner wall of the annular casing of the rotor housing portion 210 and the outer wall of the annular casing, the second roller wheel set 30b is driven by the rotor portion 21 to form an annular shape relative to the rotor housing portion 210. The center of the outer wall of the casing revolves eccentrically, and there is no phase difference between the first roller set 30a and the second roller set 30b when they rotate.

擺線盤31設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第二滾柱301b相接觸，當第二滾柱輪組30b被轉子部21帶動而以相對於轉子殼體部210之環狀殼體外壁之圓心進行偏心公轉時，擺線盤31便受擺線齒部311與對應之第二滾柱301b之間的推擠運動而轉動。The cycloidal disk 31 is disposed in the hollow structure of the second wheel 300b of the second roller wheel set 30b, and has a body 310 and at least one cycloidal tooth portion 311. Each cycloidal tooth portion 311 is protruding from the body 310 The outer peripheral surface is in contact with the corresponding second roller 301b, when the second roller wheel set 30b is driven by the rotor part 21 to eccentrically revolve with respect to the center of the outer wall of the annular housing of the rotor housing part 210 , The cycloidal disk 31 is rotated by the pushing motion between the cycloidal tooth portion 311 and the corresponding second roller 301b.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3b之第一外側而與第一滾柱輪組30a相鄰，且第一固定盤4a保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator part 20, and is located on the first outer side of the speed reduction mechanism 3b and adjacent to the first roller wheel set 30a, and the first fixed disk 4a remains stationary and does not rotate .

在本實施例中，固定組件包含固定齒輪盤50c，設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，並位於第一固定盤4a及擺線盤31之間，更固接於第一固定盤4a，其中固定齒輪盤50c更包含至少一固定齒部50d，每一固定齒部50d凸設於對應之固定齒輪盤50c之外周面上，並與對應之第一滾柱300a相接觸，由於固定齒輪盤50c固接於第一固定盤4a，因此，可藉由固定組件與第一固定盤4a相配合而形成固定端，以禁止第一滾柱輪組30a自轉。In this embodiment, the fixed assembly includes a fixed gear plate 50c, which is disposed in the hollow structure of the first wheel plate 300a of the first roller wheel set 30a, and is located between the first fixed plate 4a and the cycloid plate 31, and more Fixedly connected to the first fixed disk 4a, wherein the fixed gear disk 50c further includes at least one fixed tooth portion 50d, each fixed tooth portion 50d protruding on the outer peripheral surface of the corresponding fixed gear disk 50c, and corresponding to the first roller When the posts 300a are in contact, since the fixed gear plate 50c is fixed to the first fixed plate 4a, a fixed end can be formed by matching the fixing component and the first fixed plate 4a to prevent the first roller wheel set 30a from rotating.

由於本實施例之減速裝置1c的功效相似於前述減速裝置1a、1b之功效，故於此不再贅述。Since the effect of the deceleration device 1c of this embodiment is similar to that of the aforementioned deceleration devices 1a and 1b, it will not be repeated here.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量為A個，擺線盤31之擺線齒部311的數量為B個，第二滾柱輪組30b之第二滾柱301b的數量為C個，固定齒輪盤50c之固定齒部50d的數量為D個，而減速裝置1c之減速比則為(AⅹB) / [(AⅹB)–(DⅹC)]，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1c之動力輸入端，擺線盤31實際上構成減速裝置1c之動力輸出端。In the above embodiment, the number of the first rollers 301a of the first roller wheel set 30a is A, the number of the cycloidal teeth 311 of the cycloidal disk 31 is B, and the number of the second roller wheel 30b is The number of two rollers 301b is C, the number of fixed teeth 50d of the fixed gear plate 50c is D, and the reduction ratio of the reduction gear 1c is (AⅹB) / [(AⅹB)–(DⅹC)], where A , B is an integer greater than 0. In addition, the rotor portion 21 of the motor 2 actually constitutes the power input end of the reduction gear 1c, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1c.

於一些實施例中，減速裝置1c更包含第二固定盤4b，第二固定盤4b與定子部20相固接，並至少部分位於與減速機構3b之第一外側相對之減速機構3b之第二外側而與第二滾柱輪組30b相鄰，且第二固定盤4b保持靜止不轉動。此外，第一固定盤4a、第二固定盤4b與馬達2更共同包覆減速機構3c。In some embodiments, the deceleration device 1c further includes a second fixed disc 4b. The second fixed disc 4b is fixedly connected to the stator portion 20 and is at least partially located at the second of the deceleration mechanism 3b opposite to the first outer side of the deceleration mechanism 3b. The outer side is adjacent to the second roller wheel set 30b, and the second fixed disk 4b remains stationary and does not rotate. In addition, the first fixed disk 4a, the second fixed disk 4b and the motor 2 further cover the speed reduction mechanism 3c.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42，且固定齒輪盤50c亦包含中心孔50e。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之本體310之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42及固定齒輪盤50c之中心孔50e，輸出軸312之另一端穿設第二固定盤4b之中心孔42，輸出軸312可構成減速裝置1c之動力輸出端。In some embodiments, the first fixed disk 4a and the second fixed disk 4b further each include a center hole 42, and the fixed gear disk 50c also includes a center hole 50e. In addition, the cycloidal disk 31 further includes an output shaft 312 that penetrates the center position of the body 310 of the cycloidal disk 31, and one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a and the fixed gear disk 50c. In the center hole 50e, the other end of the output shaft 312 penetrates the center hole 42 of the second fixed disk 4b, and the output shaft 312 can constitute the power output end of the reduction gear 1c.

請參閱第8圖及第9圖，其中第8圖為本案第四較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第9圖為第8圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1d實際上屬於二階式擺線型減速機，且包含為動力源之馬達2及減速機構3d、第一固定盤4a以及固定組件，其中本實施例之馬達2的結構與作動相似於第4圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。惟本實施例中，馬達2之轉子部21之轉子殼體部210改為包含第一偏心環211、第二偏心環212及第三偏心環213，第一偏心環211、第二偏心環212及第三偏心環213設置於轉子殼體部210之環狀殼體內壁上，且第二偏心環212介於第一偏心環212及第三偏心環213之間，此外，第一偏心環211以及第三偏心環213的偏心方向相同，第一偏心環211以及第三偏心環213的偏心方向則與第二偏心環212的偏心方向相反。Please refer to Figures 8 and 9. Figure 8 is a schematic diagram of the exploded structure of the deceleration device with power source according to the fourth preferred embodiment of the present invention, and Figure 9 is the deceleration device with power source shown in Figure 8 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1d of this embodiment is actually a two-stage cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3d, a first fixed disc 4a, and a fixed component. The motor of this embodiment The structure and operation of 2 are similar to those of the motor 2 shown in Fig. 4, so the same symbols are used here to represent the same function and operation, and no further description will be given. However, in this embodiment, the rotor housing portion 210 of the rotor portion 21 of the motor 2 is changed to include a first eccentric ring 211, a second eccentric ring 212, and a third eccentric ring 213. The first eccentric ring 211 and the second eccentric ring 212 And the third eccentric ring 213 are disposed on the inner wall of the annular housing of the rotor housing portion 210, and the second eccentric ring 212 is interposed between the first eccentric ring 212 and the third eccentric ring 213. In addition, the first eccentric ring 211 And the eccentric direction of the third eccentric ring 213 is the same, and the eccentric direction of the first eccentric ring 211 and the third eccentric ring 213 are opposite to the eccentric direction of the second eccentric ring 212.

減速機構3d至少部分設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b、第三滾柱輪組30c、第四滾柱輪組30d及擺線盤31。第一滾柱輪組30a設置於第一偏心環211內，且位於減速機構3g之第一外側，並包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a。第二滾柱輪組30b設置於第三偏心環213內，且位於與減速機構3d之第一外側相對之減速機構3d之第二外側，並包含具中空結構之第二輪盤300b及設置於第二輪盤300b內壁上之至少一第二滾柱301b，其中第二滾柱輪組30b與第一滾柱輪組30a相組接而連動，即同步且同向的轉動，且因第一滾柱輪組30a設置於第一偏心環211內，第二滾柱輪組30b設置於第三偏心環213內，又第一偏心環211以及第三偏心環213的偏心方向相同，故第一滾柱輪組30a及第二滾柱輪組30b在轉動時並無相位差，此外，第一滾柱301a的個數相同於第二滾柱301b之個數。第三滾柱輪組30c設置於第二偏心環212內並介於第四滾柱輪組30d以及第二滾柱輪組30b之間，且包含具中空結構之第三輪盤300c及設置於第三輪盤300c內壁上之至少一第三滾柱301c。第四滾柱輪組30d設置於第二偏心環212內並介於第一滾柱輪組30a以及第三滾柱輪組30c之間，且包含具中空結構之第四輪盤300d及設置於第四輪盤300d內壁上之至少一第四滾柱301d，其中第三滾柱輪組30c與第四滾柱輪組30d相組接而連動，即同步且同向的轉動，且因第三滾柱輪組30c及第四滾柱輪組30d皆設置於第二偏心環212內，故第三滾柱輪組30c及第四滾柱輪組30d在轉動時並無相位差。此外，第三滾柱301c的個數相同於第四滾柱301d之個數。The deceleration mechanism 3d is at least partially disposed on the opposite inner side of the motor 2 and accommodated in the hollow structure of the rotor housing portion 210, and includes a first roller wheel set 30a, a second roller wheel set 30b, and a third roller wheel set 30c, the fourth roller wheel set 30d and the cycloid plate 31. The first roller wheel set 30a is arranged in the first eccentric ring 211, and is located at the first outer side of the speed reduction mechanism 3g, and includes a first wheel 300a with a hollow structure and at least one wheel set on the inner wall of the first wheel 300a A first roller 301a. The second roller wheel set 30b is arranged in the third eccentric ring 213, and is located at the second outer side of the speed reduction mechanism 3d opposite to the first outer side of the speed reduction mechanism 3d, and includes a second wheel 300b with a hollow structure and is arranged at At least one second roller 301b on the inner wall of the second wheel 300b, wherein the second roller wheel set 30b and the first roller wheel set 30a are connected and linked, that is, they rotate synchronously and in the same direction. A roller set 30a is arranged in the first eccentric ring 211, the second roller set 30b is arranged in the third eccentric ring 213, and the eccentric directions of the first eccentric ring 211 and the third eccentric ring 213 are the same. There is no phase difference between the one roller set 30a and the second roller set 30b when they rotate. In addition, the number of the first rollers 301a is the same as the number of the second rollers 301b. The third roller wheel set 30c is arranged in the second eccentric ring 212 and between the fourth roller wheel set 30d and the second roller wheel set 30b, and includes the third wheel 300c with a hollow structure and is arranged at At least one third roller 301c on the inner wall of the third wheel 300c. The fourth roller wheel set 30d is arranged in the second eccentric ring 212 and between the first roller wheel set 30a and the third roller wheel set 30c, and includes a fourth wheel 300d with a hollow structure and is arranged at At least one fourth roller 301d on the inner wall of the fourth wheel 300d, in which the third roller wheel set 30c and the fourth roller wheel set 30d are connected and linked, that is, they rotate synchronously and in the same direction. The three roller wheel set 30c and the fourth roller wheel set 30d are both arranged in the second eccentric ring 212, so the third roller wheel set 30c and the fourth roller wheel set 30d have no phase difference when rotating. In addition, the number of third rollers 301c is the same as the number of fourth rollers 301d.

擺線盤31部分設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，其餘部分則設置於第三滾柱輪組30c之第三輪盤300c之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第二滾柱301b及對應之第三滾柱301c相接觸，當第二滾柱輪組30b及第三滾柱輪組30c被轉子部21帶動而公轉運動時，擺線盤31便受擺線齒部311與對應之第二滾柱301b及對應之第三滾柱301c之間的推擠運動而轉動。The cycloidal disk 31 is partially disposed in the hollow structure of the second wheel 300b of the second roller wheel set 30b, and the rest is disposed in the hollow structure of the third wheel 300c of the third roller wheel 30c, and has The main body 310 and at least one cycloid tooth portion 311, each cycloid tooth portion 311 is protrudingly formed on the outer peripheral surface of the main body 310, and is in contact with the corresponding second roller 301b and the corresponding third roller 301c. When the second roller wheel set 30b and the third roller wheel set 30c are driven by the rotor part 21 to revolve, the cycloidal disk 31 is affected by the cycloidal tooth part 311 and the corresponding second roller 301b and the corresponding third roller. Pushing movement between 301c and rotating.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3d之第一外側而與第一滾柱輪組30a相鄰，其中第一固定盤4a保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator portion 20, and is located on the first outer side of the speed reduction mechanism 3d and adjacent to the first roller wheel set 30a, wherein the first fixed disk 4a remains stationary and does not rotate .

在本實施例中，固定組件包含固定齒輪盤50c，部分設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，其餘部分設置於第四滾柱輪組30d之第四輪盤300d之中空結構內，並位於第一固定盤4a及擺線盤31之間，更固接於第一固定盤4a，其中固定齒輪盤50c更包含至少一固定齒部50d，每一固定齒部50d凸設於對應之固定齒輪盤50c之外周面上，並與對應之第一滾柱300a及第四滾柱300d相接觸，由於固定齒輪盤50c固接於第一固定盤4a，因此，可藉由固定組件與第一固定盤4a相配合而形成固定端，以禁止第一滾柱輪組30a及第四滾柱輪組30d自轉。In this embodiment, the fixed assembly includes a fixed gear plate 50c, which is partly arranged in the hollow structure of the first wheel plate 300a of the first roller wheel set 30a, and the remaining part is arranged on the fourth wheel of the fourth roller wheel set 30d The disk 300d is located in the hollow structure between the first fixed disk 4a and the cycloid disk 31, and is further fixedly connected to the first fixed disk 4a. The fixed gear disk 50c further includes at least one fixed tooth portion 50d, and each fixed tooth The portion 50d is protrudingly provided on the outer peripheral surface of the corresponding fixed gear plate 50c and is in contact with the corresponding first roller 300a and the fourth roller 300d. Since the fixed gear plate 50c is fixed to the first fixed plate 4a, A fixed end can be formed by the fixing assembly and the first fixing plate 4a cooperated to prevent the rotation of the first roller wheel set 30a and the fourth roller wheel set 30d.

由於本實施例之減速裝置1d的功效相似於前述減速裝置1a、1b之功效，故於此不再贅述。Since the effect of the deceleration device 1d of this embodiment is similar to that of the aforementioned deceleration devices 1a and 1b, it will not be repeated here.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量為A個，擺線盤31之擺線齒部311的數量為B個，第三滾柱輪組30c之第二滾柱301c的數量為C個，固定齒輪盤50c之固定齒部50d的數量為D個，而減速裝置1d之減速比則為(AⅹB) / [(AⅹB)–(DⅹC)]，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1d之動力輸入端，擺線盤31實際上構成減速裝置1d之動力輸出端。In the above embodiment, the number of the first rollers 301a of the first roller wheel set 30a is A, the number of the cycloidal tooth portions 311 of the cycloidal disk 31 is B, and the number of the third roller wheel set 30c is The number of two rollers 301c is C, the number of fixed teeth 50d of the fixed gear plate 50c is D, and the reduction ratio of the reduction gear 1d is (AⅹB) / [(AⅹB)–(DⅹC)], where A , B is an integer greater than 0. In addition, the rotor 21 of the motor 2 actually constitutes the power input end of the reduction gear 1d, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1d.

於一些實施例中，減速裝置1d更包含第二固定盤4b，第二固定盤4b與定子部20相固接，並至少部分位於與減速機構3b之第一外側相對之減速機構3b之第二外側而與第二滾柱輪組30b相鄰，且第二固定盤4b保持靜止不轉動。此外，第一固定盤4a、第二固定盤4b與馬達2更共同包覆減速機構3c。In some embodiments, the deceleration device 1d further includes a second fixed disc 4b. The second fixed disc 4b is fixedly connected to the stator portion 20 and is at least partially located at the second of the deceleration mechanism 3b opposite to the first outer side of the deceleration mechanism 3b. The outer side is adjacent to the second roller wheel set 30b, and the second fixed disk 4b remains stationary and does not rotate. In addition, the first fixed disk 4a, the second fixed disk 4b and the motor 2 further cover the speed reduction mechanism 3c.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42，且固定齒輪盤50c亦包含中心孔50e。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42及固定齒輪盤50c之中心孔50e，輸出軸312之另一端穿設第二固定盤4b之中心孔42，輸出軸312可構成減速裝置1d之動力輸出端。In some embodiments, the first fixed disk 4a and the second fixed disk 4b further each include a center hole 42, and the fixed gear disk 50c also includes a center hole 50e. In addition, the cycloidal disk 31 further includes an output shaft 312 that penetrates the center position of the cycloidal disk 31, and one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a and the center hole 50e of the fixed gear disk 50c , The other end of the output shaft 312 penetrates the central hole 42 of the second fixed disk 4b, and the output shaft 312 can constitute the power output end of the reduction gear 1d.

請參閱第10圖及第11圖，其中第10圖為本案第五較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第11圖為第10圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1e實際上屬於二階式擺線型減速機，且包含為動力源之馬達2及減速機構3e、第一固定盤4a、第二固定盤4b以及固定組件，其中本實施例之馬達2的結構與作動相似於第4圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。Please refer to Figures 10 and 11. Figure 10 is a schematic diagram of the explosive structure of the deceleration device with power source according to the fifth preferred embodiment of the present invention, and Figure 11 is the deceleration device with power source shown in Figure 10 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1e of this embodiment actually belongs to a two-stage cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3e, a first fixed disc 4a, a second fixed disc 4b, and fixed components. The structure and operation of the motor 2 of this embodiment are similar to those of the motor 2 shown in FIG.

減速機構3e至少部分設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b、第三滾柱輪組30c、第四滾柱輪組30d及擺線盤31。第一滾柱輪組30a設置於第一偏心環211內，且位於減速機構3e之第一外側，並包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a。第二滾柱輪組30b與第一滾柱輪組30a相鄰地設置於第一偏心環211內，且介於第一滾柱輪組30a及第三滾柱輪組30c之間，並包含具中空結構之第二輪盤300b及設置於第二輪盤300b內壁上之至少一第二滾柱301b，其中第二滾柱輪組30b與第一滾柱輪組30a相組接而連動，即同步且同向的轉動，且因第一滾柱輪組30a及第二滾柱輪組30b設置於第一偏心環211內，故第一滾柱輪組30a及第二滾柱輪組30b在轉動時並無相位差，此外，第一滾柱301a的個數相同於第二滾柱301b之個數。第三滾柱輪組30c設置於第二偏心環212內並介於第二滾柱輪組30b以及第四滾柱輪組30d之間，且包含具中空結構之第三輪盤300c及設置於第三輪盤300c內壁上之至少一第三滾柱301c。第四滾柱輪組30d設置於第二偏心環212內，並位於與減速機構3e之第一外側相對之減速機構3e之第二外側，且包含具中空結構之第四輪盤300d及設置於第四輪盤300d內壁上之至少一第四滾柱301d，其中第三滾柱輪組30c與第四滾柱輪組30d相組接而連動，即同步且同向的轉動，且因第三滾柱輪組30c及第四滾柱輪組30d皆設置於第二偏心環212內，故第三滾柱輪組30c及第四滾柱輪組30d在轉動時並無相位差，此外，第三滾柱301c的個數相同於第四滾柱301d之個數。The deceleration mechanism 3e is at least partially disposed on the opposite inner side of the motor 2 to be accommodated in the hollow structure of the rotor housing portion 210, and includes a first roller wheel set 30a, a second roller wheel set 30b, and a third roller wheel set 30c, the fourth roller wheel set 30d and the cycloid plate 31. The first roller wheel set 30a is arranged in the first eccentric ring 211, and is located on the first outer side of the speed reduction mechanism 3e, and includes a first wheel 300a with a hollow structure and at least one wheel set on the inner wall of the first wheel 300a A first roller 301a. The second roller wheel set 30b and the first roller wheel set 30a are adjacently arranged in the first eccentric ring 211, and are located between the first roller wheel set 30a and the third roller wheel set 30c, and include A second wheel 300b with a hollow structure and at least one second roller 301b arranged on the inner wall of the second wheel 300b, wherein the second roller wheel set 30b and the first roller wheel set 30a are connected and linked to each other , That is, synchronous and same rotation, and because the first roller wheel set 30a and the second roller wheel set 30b are arranged in the first eccentric ring 211, the first roller wheel set 30a and the second roller wheel set There is no phase difference when 30b rotates. In addition, the number of first rollers 301a is the same as the number of second rollers 301b. The third roller wheel set 30c is arranged in the second eccentric ring 212 and between the second roller wheel set 30b and the fourth roller wheel set 30d, and includes the third wheel 300c with a hollow structure and is arranged at At least one third roller 301c on the inner wall of the third wheel 300c. The fourth roller wheel set 30d is arranged in the second eccentric ring 212, and is located at the second outer side of the reduction mechanism 3e opposite to the first outer side of the reduction mechanism 3e, and includes a fourth wheel 300d with a hollow structure and is arranged at At least one fourth roller 301d on the inner wall of the fourth wheel 300d, in which the third roller wheel set 30c and the fourth roller wheel set 30d are connected and linked, that is, they rotate synchronously and in the same direction. The three roller wheel set 30c and the fourth roller wheel set 30d are both arranged in the second eccentric ring 212, so the third roller wheel set 30c and the fourth roller wheel set 30d have no phase difference when rotating. In addition, The number of third rollers 301c is the same as the number of fourth rollers 301d.

擺線盤31部分設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，其餘部分則設置於第三滾柱輪組30c之第三輪盤300c之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第二滾柱301b及對應之第三滾柱301c相接觸，當第二滾柱輪組30b及第三滾柱輪組30c被轉子部21帶動而公轉運動時，擺線盤31便受擺線齒部311與對應之第二滾柱301b及對應之第三滾柱301c之間的推擠運動而轉動。The cycloidal disk 31 is partially disposed in the hollow structure of the second wheel 300b of the second roller wheel set 30b, and the rest is disposed in the hollow structure of the third wheel 300c of the third roller wheel 30c, and has The main body 310 and at least one cycloid tooth portion 311, each cycloid tooth portion 311 is protrudingly formed on the outer peripheral surface of the main body 310, and is in contact with the corresponding second roller 301b and the corresponding third roller 301c. When the second roller wheel set 30b and the third roller wheel set 30c are driven by the rotor part 21 to revolve, the cycloidal disk 31 is affected by the cycloidal tooth part 311 and the corresponding second roller 301b and the corresponding third roller. Pushing movement between 301c and rotating.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3e之第一外側而與第一滾柱輪組30a相鄰，其中第一固定盤4a保持靜止不轉動。第二固定盤4b與定子部20相固接，並位於與減速機構3e之第一外側相對之減速機構3d之第二外側而與第四滾柱輪組30d相鄰，其中第二固定盤4b保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator portion 20, and is located on the first outer side of the speed reduction mechanism 3e and adjacent to the first roller wheel set 30a, wherein the first fixed disk 4a remains stationary and does not rotate . The second fixed disk 4b is fixedly connected to the stator portion 20, and is located on the second outer side of the reduction mechanism 3d opposite to the first outer side of the reduction mechanism 3e and is adjacent to the fourth roller set 30d, wherein the second fixed disk 4b Stay still and don't rotate.

在本實施例中，固定組件包含第一固定齒輪盤50c及第二固定齒輪盤50f。第一固定齒輪盤50c設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，並位於第一固定盤4a及擺線盤31之間，更固接於第一固定盤4a，其中第一固定齒輪盤50c更包含至少一固定齒部50d，每一固定齒部50d凸設於對應之固定齒輪盤50c之外周面上，並與對應之第一滾柱300a相接觸。第二固定齒輪盤50f設置於第四滾柱輪組30d之第四輪盤300d之中空結構內，並位於第二固定盤4b及擺線盤31之間，更固接於第二固定盤4b，其中第二固定齒輪盤50f更包含至少一固定齒部50g，每一固定齒部50g凸設於對應之第二固定齒輪盤50f之外周面上，並與對應之第四滾柱300d相接觸。由於第一固定齒輪盤50c固接於第一固定盤4a，而第二固定齒輪盤50f固接於第二固定盤4b，因此，可藉由固定組件與第一固定盤4a與第二固定盤4b相配合而形成固定端，以分別禁止第一滾柱輪組30a及第四滾柱輪組30d自轉。於上述實施例中，固定齒部50d的個數相同於固定齒部50g的個數。In this embodiment, the fixed assembly includes a first fixed gear plate 50c and a second fixed gear plate 50f. The first fixed gear plate 50c is arranged in the hollow structure of the first wheel plate 300a of the first roller wheel set 30a, is located between the first fixed plate 4a and the cycloid plate 31, and is further fixedly connected to the first fixed plate 4a , Wherein the first fixed gear plate 50c further includes at least one fixed tooth portion 50d, and each fixed tooth portion 50d is protruded on the outer peripheral surface of the corresponding fixed gear plate 50c and is in contact with the corresponding first roller 300a. The second fixed gear plate 50f is arranged in the hollow structure of the fourth wheel plate 300d of the fourth roller wheel set 30d, is located between the second fixed plate 4b and the cycloid plate 31, and is further fixedly connected to the second fixed plate 4b , Wherein the second fixed gear plate 50f further includes at least one fixed tooth portion 50g, and each fixed tooth portion 50g is protruded on the outer peripheral surface of the corresponding second fixed gear plate 50f and is in contact with the corresponding fourth roller 300d . Since the first fixed gear plate 50c is fixed to the first fixed plate 4a, and the second fixed gear plate 50f is fixed to the second fixed plate 4b, the fixing assembly can be used with the first fixed plate 4a and the second fixed plate 4b cooperates to form a fixed end to respectively prohibit the rotation of the first roller wheel set 30a and the fourth roller wheel set 30d. In the above embodiment, the number of fixed tooth portions 50d is the same as the number of fixed tooth portions 50g.

由於本實施例之減速裝置1e的功效相似於前述減速裝置1a、1b之功效，故於此不再贅述。Since the effect of the deceleration device 1e of this embodiment is similar to that of the aforementioned deceleration devices 1a, 1b, it will not be repeated here.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量為A個，擺線盤31之擺線齒部311的數量為B個，第二滾柱輪組30b之第二滾柱301b的數量為C個，第一固定齒輪盤50c之固定齒部50d的數量為D個，而減速裝置1e之減速比則為(AⅹB) / [(AⅹB)–(DⅹC)]，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1e之動力輸入端，擺線盤31實際上構成減速裝置1e之動力輸出端。In the above embodiment, the number of the first rollers 301a of the first roller wheel set 30a is A, the number of the cycloidal teeth 311 of the cycloidal disk 31 is B, and the number of the second roller wheel 30b is The number of the two rollers 301b is C, the number of the fixed teeth 50d of the first fixed gear plate 50c is D, and the reduction ratio of the reduction gear 1e is (AⅹB) / [(AⅹB)–(DⅹC)], Wherein A and B are integers greater than zero. In addition, the rotor portion 21 of the motor 2 actually constitutes the power input end of the reduction gear 1e, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1e.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42，且第一固定齒輪盤50c及第二固定齒輪盤50f亦包含中心孔50e。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之本體310之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42及第一固定齒輪盤50c之中心孔50e，輸出軸312之另一端穿設第二固定盤4b之中心孔42及第二固定齒輪盤50f之中心孔50e，輸出軸312可構成減速裝置1e之動力輸出端。In some embodiments, the first fixed disk 4a and the second fixed disk 4b further each include a center hole 42, and the first fixed gear disk 50c and the second fixed gear disk 50f also include a center hole 50e. In addition, the cycloidal disk 31 further includes an output shaft 312 that penetrates the center position of the body 310 of the cycloidal disk 31, and one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a and the first fixed gear disk. The center hole 50e of 50c, the other end of the output shaft 312 penetrates the center hole 42 of the second fixed disk 4b and the center hole 50e of the second fixed gear disk 50f, and the output shaft 312 can constitute the power output end of the reduction gear 1e.

請參閱第12圖及第13圖，其中第12圖為本案第六較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第13圖為第12圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1f實際上屬於二階式擺線型減速機，且包含為動力源之馬達2、減速機構3f、第一固定盤4a以及固定組件，其中本實施例之馬達2的結構與作動相似於第4圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。惟本實施例中，馬達2之轉子部21之轉子殼體部210改為包含第一偏心環211、第二偏心環212、第三偏心環213及第四偏心環214，第一偏心環211、第二偏心環212、第三偏心環213及第四偏心環214分別設置於轉子殼體部210之環狀殼體內壁上，且第二偏心環212介於第一偏心環212及第三偏心環213之間，第三偏心環213介於第二偏心環212及第四偏心環214之間，此外，第一偏心環211以及第三偏心環213的偏心方向相同，第二偏心環212以及第四偏心環214的偏心方向相同，第一偏心環211以及第三偏心環213的偏心方向則與第二偏心環212以及第四偏心環214的偏心方向相反。Please refer to Figures 12 and 13, where Figure 12 is a schematic diagram of the exploded structure of the deceleration device with power source according to the sixth preferred embodiment of the present invention, and Figure 13 is the deceleration device with power source shown in Figure 12 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1f of this embodiment is actually a two-stage cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3f, a first fixed disc 4a, and a fixed assembly. The motor of this embodiment The structure and operation of 2 are similar to those of the motor 2 shown in Fig. 4, so the same symbols are used here to represent the same function and operation, and no further description will be given. However, in this embodiment, the rotor housing portion 210 of the rotor portion 21 of the motor 2 includes a first eccentric ring 211, a second eccentric ring 212, a third eccentric ring 213, and a fourth eccentric ring 214. The first eccentric ring 211 , The second eccentric ring 212, the third eccentric ring 213, and the fourth eccentric ring 214 are respectively disposed on the inner wall of the annular housing of the rotor housing portion 210, and the second eccentric ring 212 is interposed between the first eccentric ring 212 and the third eccentric ring 212 Between the eccentric rings 213, the third eccentric ring 213 is between the second eccentric ring 212 and the fourth eccentric ring 214. In addition, the first eccentric ring 211 and the third eccentric ring 213 have the same eccentric direction, and the second eccentric ring 212 And the eccentric direction of the fourth eccentric ring 214 is the same, and the eccentric directions of the first eccentric ring 211 and the third eccentric ring 213 are opposite to the eccentric directions of the second eccentric ring 212 and the fourth eccentric ring 214.

減速機構3f至少部分設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b、第三滾柱輪組30c、第四滾柱輪組30d及擺線盤31。第一滾柱輪組30a設置於第一偏心環211內，且位於減速機構3f之第一外側，並包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a。第二滾柱輪組30b設置於第三偏心環213內，且介於第三滾柱輪組30c及第四滾柱輪組30d之間，並包含具中空結構之第二輪盤300b及設置於第二輪盤300b內壁上之至少一第二滾柱301b，其中第二滾柱輪組30b與第一滾柱輪組30a相組接而連動，即同步且同向的轉動，且因第一滾柱輪組30a設置於第一偏心環211內，第二滾柱輪組30b設置於第三偏心環213內，又第一偏心環211以及第三偏心環213的偏心方向相同，故第一滾柱輪組30a及第二滾柱輪組30b在轉動時並無相位差，此外，第一滾柱301a的個數相同於第二滾柱301b之個數。第三滾柱輪組30c設置於第四偏心環214內，並位於與減速機構3f之第一外側相對之減速機構3f之第二外側，且包含具中空結構之第三輪盤300c及設置於第三輪盤300c內壁上之至少一第三滾柱301c。第四滾柱輪組30d設置於第二偏心環212內，並介於第一滾柱輪組30a以及第二滾柱輪組30b之間，且包含具中空結構之第四輪盤300d及設置於第四輪盤300d內壁上之至少一第四滾柱301d，其中第三滾柱輪組30c與第四滾柱輪組30d相組接而連動，即同步且同向的轉動，且因第三滾柱輪組30c設置於第四偏心環214內，第四滾柱輪組30d設置於第二偏心環212內，並介於該第一滾柱輪組30a及第二滾柱輪組30b之間，又第二偏心環212以及第四偏心環214的偏心方向相同，故第三滾柱輪組30c及第四滾柱輪組30d在轉動時並無相位差。此外，第三滾柱301c的個數相同於第四滾柱301d之個數。The deceleration mechanism 3f is at least partially disposed on the opposite inner side of the motor 2 and accommodated in the hollow structure of the rotor housing portion 210, and includes a first roller wheel set 30a, a second roller wheel set 30b, and a third roller wheel set 30c, the fourth roller wheel set 30d and the cycloid plate 31. The first roller wheel set 30a is arranged in the first eccentric ring 211, and is located on the first outer side of the speed reduction mechanism 3f, and includes a first wheel 300a with a hollow structure and at least one wheel set on the inner wall of the first wheel 300a A first roller 301a. The second roller wheel set 30b is arranged in the third eccentric ring 213, and is located between the third roller wheel set 30c and the fourth roller wheel set 30d, and includes the second wheel 300b with a hollow structure and the set At least one second roller 301b on the inner wall of the second wheel 300b, wherein the second roller wheel set 30b and the first roller wheel set 30a are connected and linked, that is, they rotate synchronously and in the same direction. The first roller wheel set 30a is arranged in the first eccentric ring 211, the second roller wheel set 30b is arranged in the third eccentric ring 213, and the eccentric directions of the first eccentric ring 211 and the third eccentric ring 213 are the same, so The first roller wheel set 30a and the second roller wheel set 30b have no phase difference when rotating. In addition, the number of first rollers 301a is the same as the number of second rollers 301b. The third roller wheel set 30c is arranged in the fourth eccentric ring 214, and is located at the second outer side of the reduction mechanism 3f opposite to the first outer side of the reduction mechanism 3f, and includes a third wheel 300c with a hollow structure and is arranged at At least one third roller 301c on the inner wall of the third wheel 300c. The fourth roller wheel set 30d is arranged in the second eccentric ring 212, and is located between the first roller wheel set 30a and the second roller wheel set 30b, and includes a fourth wheel 300d with a hollow structure and a set At least one fourth roller 301d on the inner wall of the fourth wheel 300d, in which the third roller wheel set 30c and the fourth roller wheel set 30d are connected and linked, that is, they rotate synchronously and in the same direction. The third roller wheel set 30c is arranged in the fourth eccentric ring 214, and the fourth roller wheel set 30d is arranged in the second eccentric ring 212, between the first roller wheel set 30a and the second roller wheel set Between 30b, the eccentric directions of the second eccentric ring 212 and the fourth eccentric ring 214 are the same, so the third roller wheel set 30c and the fourth roller wheel set 30d have no phase difference when rotating. In addition, the number of third rollers 301c is the same as the number of fourth rollers 301d.

擺線盤31部分設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，其餘部分則設置於第三滾柱輪組30c之第三輪盤300c之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第二滾柱301b及對應之第三滾柱301c相接觸，當第二滾柱輪組30b及第三滾柱輪組30c被轉子部21帶動而公轉運動時，擺線盤31便受擺線齒部311與對應之第二滾柱301b及對應之第三滾柱301c之間的推擠運動而轉動。The cycloidal disk 31 is partially disposed in the hollow structure of the second wheel 300b of the second roller wheel set 30b, and the rest is disposed in the hollow structure of the third wheel 300c of the third roller wheel 30c, and has The main body 310 and at least one cycloid tooth portion 311, each cycloid tooth portion 311 is protrudingly formed on the outer peripheral surface of the main body 310, and is in contact with the corresponding second roller 301b and the corresponding third roller 301c. When the second roller wheel set 30b and the third roller wheel set 30c are driven by the rotor part 21 to revolve, the cycloidal disk 31 is affected by the cycloidal tooth part 311 and the corresponding second roller 301b and the corresponding third roller. Pushing movement between 301c and rotating.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3f之第一外側而與第一滾柱輪組30a相鄰，其中第一固定盤4a保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator portion 20, and is located on the first outer side of the speed reduction mechanism 3f and adjacent to the first roller wheel set 30a, wherein the first fixed disk 4a remains stationary and does not rotate .

在本實施例中，固定組件包含固定齒輪盤50c，部分設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，其餘部分設置於第四滾柱輪組30d之第四輪盤300d之中空結構內，並位於第一固定盤4a及擺線盤31之間，更固接於第一固定盤4a，其中固定齒輪盤50c更包含至少一固定齒部50d，每一固定齒部50d凸設於對應之固定齒輪盤50c之外周面上，並與對應之第一滾柱300a及第四滾柱300d相接觸，由於固定齒輪盤50c固接於第一固定盤4a，因此，可藉由固定組件與第一固定盤4a相配合而形成固定端，以禁止第一滾柱輪組30a及第四滾柱輪組30d自轉。In this embodiment, the fixed assembly includes a fixed gear plate 50c, which is partly arranged in the hollow structure of the first wheel plate 300a of the first roller wheel set 30a, and the remaining part is arranged on the fourth wheel of the fourth roller wheel set 30d The disk 300d is located in the hollow structure between the first fixed disk 4a and the cycloid disk 31, and is further fixedly connected to the first fixed disk 4a. The fixed gear disk 50c further includes at least one fixed tooth portion 50d, and each fixed tooth The portion 50d is protrudingly provided on the outer peripheral surface of the corresponding fixed gear plate 50c and is in contact with the corresponding first roller 300a and the fourth roller 300d. Since the fixed gear plate 50c is fixed to the first fixed plate 4a, A fixed end can be formed by the fixing assembly and the first fixing plate 4a cooperated to prevent the rotation of the first roller wheel set 30a and the fourth roller wheel set 30d.

由於本實施例之減速裝置1f的功效相似於前述減速裝置1a、1b之功效，故於此不再贅述。Since the effect of the deceleration device 1f of this embodiment is similar to that of the aforementioned deceleration devices 1a and 1b, it will not be repeated here.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量為A個，擺線盤31之擺線齒部311的數量為B個，第二滾柱輪組30b之第二滾柱301b的數量為C個，固定齒輪盤50c之固定齒部50d的數量為D個，而減速裝置1f之減速比則為(AⅹB) / [(AⅹB)–(DⅹC)]，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1f之動力輸入端，擺線盤31實際上構成減速裝置1f之動力輸出端。In the above embodiment, the number of the first rollers 301a of the first roller wheel set 30a is A, the number of the cycloidal teeth 311 of the cycloidal disk 31 is B, and the number of the second roller wheel 30b is The number of two rollers 301b is C, the number of fixed teeth 50d of the fixed gear plate 50c is D, and the reduction ratio of the reduction gear 1f is (AⅹB) / [(AⅹB)–(DⅹC)], where A , B is an integer greater than 0. In addition, the rotor portion 21 of the motor 2 actually constitutes the power input end of the reduction gear 1f, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1f.

於一些實施例中，減速裝置1f更包含第二固定盤4b，第二固定盤4b與定子部20相固接，並至少部分位於與減速機構3b之第一外側相對之減速機構3b之第二外側而與第二滾柱輪組30b相鄰，且第二固定盤保持靜止不轉動。此外，第一固定盤4a、第二固定盤4b與馬達2更共同包覆減速機構3f。In some embodiments, the deceleration device 1f further includes a second fixed disc 4b. The second fixed disc 4b is fixedly connected to the stator portion 20 and is at least partially located at the second of the deceleration mechanism 3b opposite to the first outer side of the deceleration mechanism 3b. The outer side is adjacent to the second roller wheel set 30b, and the second fixed disk remains stationary and does not rotate. In addition, the first fixed disk 4a, the second fixed disk 4b and the motor 2 further cover the speed reduction mechanism 3f.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42，且固定齒輪盤50c亦包含中心孔50e。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之本體310之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42及固定齒輪盤50c之中心孔50e，輸出軸312之另一端穿設第二固定盤4b之中心孔42，輸出軸312可構成減速裝置1f之動力輸出端。In some embodiments, the first fixed disk 4a and the second fixed disk 4b further each include a center hole 42, and the fixed gear disk 50c also includes a center hole 50e. In addition, the cycloidal disk 31 further includes an output shaft 312 that penetrates the center position of the body 310 of the cycloidal disk 31, and one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a and the fixed gear disk 50c. The center hole 50e, the other end of the output shaft 312 penetrates the center hole 42 of the second fixed disk 4b, and the output shaft 312 can constitute the power output end of the reduction gear 1f.

請參閱第14圖及第15圖，其中第14圖為本案第六較佳實施例之具動力源之減速裝置的爆炸結構示意圖，第15圖為第14圖所示之具動力源之減速裝置組合後之剖面結構示意圖。如圖所示，本實施例之減速裝置1g實際上屬於二階式擺線型減速機，且包含為動力源之馬達2及減速機構3g、第一固定盤4a、第二固定盤4b以及固定組件，其中本實施例之馬達2的結構與作動相似於第4圖所示之馬達2，故於此僅以相同符號標示來代表功能與作動相同，而不再進行贅述。惟本實施例中，馬達2之轉子部21之轉子殼體部210改為包含第一偏心環211、第二偏心環212、第三偏心環213及第四偏心環214，第一偏心環211、第二偏心環212、第三偏心環213及第四偏心環214分別設置於轉子殼體部210之環狀殼體內壁上，且第二偏心環212介於第一偏心環212及第三偏心環213之間，第三偏心環213介於第二偏心環212及第四偏心環214之間，此外，第一偏心環211以及第三偏心環213的偏心方向相同，第二偏心環212以及第四偏心環214的偏心方向相同，第一偏心環211以及第三偏心環213的偏心方向則與第二偏心環212以及第四偏心環214的偏心方向相反。Please refer to Figures 14 and 15. Figure 14 is a schematic diagram of the exploded structure of the deceleration device with power source according to the sixth preferred embodiment of the present invention, and Figure 15 is the deceleration device with power source shown in Figure 14 Schematic diagram of the cross-sectional structure after assembly. As shown in the figure, the reduction gear 1g of this embodiment is actually a two-stage cycloid reducer, and includes a motor 2 as a power source, a reduction mechanism 3g, a first fixed disc 4a, a second fixed disc 4b, and fixing components. The structure and operation of the motor 2 of this embodiment are similar to those of the motor 2 shown in FIG. However, in this embodiment, the rotor housing portion 210 of the rotor portion 21 of the motor 2 includes a first eccentric ring 211, a second eccentric ring 212, a third eccentric ring 213, and a fourth eccentric ring 214. The first eccentric ring 211 , The second eccentric ring 212, the third eccentric ring 213, and the fourth eccentric ring 214 are respectively disposed on the inner wall of the annular housing of the rotor housing portion 210, and the second eccentric ring 212 is interposed between the first eccentric ring 212 and the third eccentric ring 212 Between the eccentric rings 213, the third eccentric ring 213 is between the second eccentric ring 212 and the fourth eccentric ring 214. In addition, the first eccentric ring 211 and the third eccentric ring 213 have the same eccentric direction, and the second eccentric ring 212 And the eccentric direction of the fourth eccentric ring 214 is the same, and the eccentric directions of the first eccentric ring 211 and the third eccentric ring 213 are opposite to the eccentric directions of the second eccentric ring 212 and the fourth eccentric ring 214.

減速機構3g至少部分設置於馬達2之相對內側而容置於轉子殼體部210之中空結構內，且包含第一滾柱輪組30a、第二滾柱輪組30b、第三滾柱輪組30c、第四滾柱輪組30d及擺線盤31。第一滾柱輪組30a設置於第一偏心環211內，且位於減速機構3g之第一外側，並包含具中空結構之第一輪盤300a及設置於第一輪盤300a內壁上之至少一第一滾柱301a。第二滾柱輪組30b設置於第三偏心環213內，且位於第三滾柱輪組30c及第四滾柱輪組30d之間，並包含具中空結構之第二輪盤300b及設置於第二輪盤300b內壁上之至少一第二滾柱301b，其中第二滾柱輪組30b與第一滾柱輪組30a相組接而連動，即同步且同向的轉動，且因第一滾柱輪組30a設置於第一偏心環211內，第二滾柱輪組30b設置於第三偏心環213內，又第一偏心環211以及第三偏心環213的偏心方向相同，故第一滾柱輪組30a及第二滾柱輪組30b在轉動時並無相位差，此外，第一滾柱301a的個數相同於第二滾柱301b之個數。第三滾柱輪組30c設置於第二偏心環212內並介於第一滾柱輪組30a以及第二滾柱輪組30b之間，且包含具中空結構之第三輪盤300c及設置於第三輪盤300c內壁上之至少一第三滾柱301c。第四滾柱輪組30d設置於第四偏心環214內，並位於與減速機構3f之第一外側相對之減速機構3f之第二外側，且包含具中空結構之第四輪盤300d及設置於第四輪盤300d內壁上之至少一第四滾柱301d，其中第三滾柱輪組30c與第四滾柱輪組30d相組接而連動，即同步且同向的轉動，且因第三滾柱輪組30c設置於第二偏心環212內，第四滾柱輪組30d設置於第四偏心環214內，又第二偏心環212以及第四偏心環214的偏心方向相同，故第三滾柱輪組30c及第四滾柱輪組30d在轉動時並無相位差。此外，第三滾柱301c的個數相同於第四滾柱301d之個數。The deceleration mechanism 3g is at least partially disposed on the opposite inner side of the motor 2 and accommodated in the hollow structure of the rotor housing portion 210, and includes a first roller wheel set 30a, a second roller wheel set 30b, and a third roller wheel set 30c, the fourth roller wheel set 30d and the cycloid plate 31. The first roller wheel set 30a is arranged in the first eccentric ring 211, and is located at the first outer side of the speed reduction mechanism 3g, and includes a first wheel 300a with a hollow structure and at least one wheel set on the inner wall of the first wheel 300a A first roller 301a. The second roller wheel set 30b is arranged in the third eccentric ring 213, and is located between the third roller wheel set 30c and the fourth roller wheel set 30d, and includes a second wheel 300b with a hollow structure and is arranged at At least one second roller 301b on the inner wall of the second wheel 300b, wherein the second roller wheel set 30b and the first roller wheel set 30a are connected and linked, that is, they rotate synchronously and in the same direction. A roller set 30a is arranged in the first eccentric ring 211, the second roller set 30b is arranged in the third eccentric ring 213, and the eccentric directions of the first eccentric ring 211 and the third eccentric ring 213 are the same. There is no phase difference between the one roller set 30a and the second roller set 30b when they rotate. In addition, the number of the first rollers 301a is the same as the number of the second rollers 301b. The third roller wheel set 30c is arranged in the second eccentric ring 212 and between the first roller wheel set 30a and the second roller wheel set 30b, and includes the third wheel 300c with a hollow structure and is arranged at At least one third roller 301c on the inner wall of the third wheel 300c. The fourth roller wheel set 30d is arranged in the fourth eccentric ring 214, and is located at the second outer side of the reduction mechanism 3f opposite to the first outer side of the reduction mechanism 3f, and includes a fourth wheel 300d with a hollow structure and is arranged on At least one fourth roller 301d on the inner wall of the fourth wheel 300d, in which the third roller wheel set 30c and the fourth roller wheel set 30d are connected and linked, that is, they rotate synchronously and in the same direction. The three roller wheel set 30c is arranged in the second eccentric ring 212, the fourth roller wheel set 30d is arranged in the fourth eccentric ring 214, and the eccentric directions of the second eccentric ring 212 and the fourth eccentric ring 214 are the same, so the first There is no phase difference between the three roller wheel set 30c and the fourth roller wheel set 30d when they rotate. In addition, the number of third rollers 301c is the same as the number of fourth rollers 301d.

擺線盤31部分設置於第二滾柱輪組30b之第二輪盤300b之中空結構內，其餘部分則設置於第三滾柱輪組30c之第三輪盤300c之中空結構內，且具有本體310及至少一擺線齒部311，每一擺線齒部311凸設於本體310之外周面上，並與對應之第二滾柱301b及對應之第三滾柱301c相接觸，當第二滾柱輪組30b及第三滾柱輪組30c被轉子部21帶動而公轉運動時，擺線盤31便受擺線齒部311與對應之第二滾柱301b及對應之第三滾柱301c之間的推擠運動而轉動。The cycloidal disk 31 is partially disposed in the hollow structure of the second wheel 300b of the second roller wheel set 30b, and the rest is disposed in the hollow structure of the third wheel 300c of the third roller wheel 30c, and has The main body 310 and at least one cycloid tooth portion 311, each cycloid tooth portion 311 is protrudingly formed on the outer peripheral surface of the main body 310, and is in contact with the corresponding second roller 301b and the corresponding third roller 301c. When the second roller wheel set 30b and the third roller wheel set 30c are driven by the rotor part 21 to revolve, the cycloidal disk 31 is affected by the cycloidal tooth part 311 and the corresponding second roller 301b and the corresponding third roller. Pushing movement between 301c and rotating.

於本實施例中，第一固定盤4a與定子部20相固接，並位於減速機構3d之第一外側而與第一滾柱輪組30a相鄰，其中第一固定盤4a保持靜止不轉動。第二固定盤4b與定子部20相固接，並位於與減速機構3d之第一外側相對之減速機構3d之第二外側而與第四滾柱輪組30d相鄰，其中第二固定盤4b保持保持靜止不轉動。In this embodiment, the first fixed disk 4a is fixedly connected to the stator portion 20, and is located on the first outer side of the speed reduction mechanism 3d and adjacent to the first roller wheel set 30a, wherein the first fixed disk 4a remains stationary and does not rotate . The second fixed disk 4b is fixedly connected to the stator portion 20, and is located on the second outer side of the reduction mechanism 3d opposite to the first outer side of the reduction mechanism 3d and is adjacent to the fourth roller set 30d, wherein the second fixed disk 4b Keep it still without turning.

在本實施例中，固定組件包含第一固定齒輪盤50c及第二固定齒輪盤50f。第一固定齒輪盤50c設置於第一滾柱輪組30a之第一輪盤300a之中空結構內，並位於第一固定盤4a及擺線盤31之間，更固接於第一固定盤4a，其中第一固定齒輪盤50c更包含至少一固定齒部50d，每一固定齒部50d凸設於對應之固定齒輪盤50c之外周面上，並與對應之第一滾柱300a相接觸。第二固定齒輪盤50f設置於第四滾柱輪組30d之第四輪盤300d之中空結構內，並位於第二固定盤4b及擺線盤31之間，更固接於第二固定盤4b，其中第二固定齒輪盤50f更包含至少一固定齒部50g，每一固定齒部50g凸設於對應之第二固定齒輪盤50f之外周面上，並與對應之第四滾柱300d相接觸。由於第一固定齒輪盤50c固接於第一固定盤4a，而第二固定齒輪盤50f固接於第二固定盤4b，因此，可藉由固定組件與第一固定盤4a與第二固定盤4b相配合而形成固定端，以分別禁止第一滾柱輪組30a及第四滾柱輪組30d自轉。於上述實施例中，固定齒部50d的個數相同於固定齒部50g的個數。In this embodiment, the fixed assembly includes a first fixed gear plate 50c and a second fixed gear plate 50f. The first fixed gear plate 50c is arranged in the hollow structure of the first wheel plate 300a of the first roller wheel set 30a, is located between the first fixed plate 4a and the cycloid plate 31, and is further fixedly connected to the first fixed plate 4a , Wherein the first fixed gear plate 50c further includes at least one fixed tooth portion 50d, and each fixed tooth portion 50d is protruded on the outer peripheral surface of the corresponding fixed gear plate 50c and is in contact with the corresponding first roller 300a. The second fixed gear plate 50f is arranged in the hollow structure of the fourth wheel plate 300d of the fourth roller wheel set 30d, is located between the second fixed plate 4b and the cycloid plate 31, and is further fixedly connected to the second fixed plate 4b , Wherein the second fixed gear plate 50f further includes at least one fixed tooth portion 50g, and each fixed tooth portion 50g is protruded on the outer peripheral surface of the corresponding second fixed gear plate 50f and is in contact with the corresponding fourth roller 300d . Since the first fixed gear plate 50c is fixed to the first fixed plate 4a, and the second fixed gear plate 50f is fixed to the second fixed plate 4b, the fixing assembly can be used with the first fixed plate 4a and the second fixed plate 4b cooperates to form a fixed end to respectively prohibit the rotation of the first roller wheel set 30a and the fourth roller wheel set 30d. In the above embodiment, the number of fixed tooth portions 50d is the same as the number of fixed tooth portions 50g.

由於本實施例之減速裝置1g的功效相似於前述減速裝置1a、1b之功效，故於此不再贅述。Since the effect of the deceleration device 1g of this embodiment is similar to that of the aforementioned deceleration devices 1a, 1b, it will not be repeated here.

於上述實施例中，第一滾柱輪組30a之第一滾柱301a的數量為A個，擺線盤31之擺線齒部311的數量為B個，第三滾柱輪組30c之第三滾柱301c的數量為C個，第一固定齒輪盤50c之固定齒部50d的數量為D個，而減速裝置1g之減速比則為(AⅹB) / [(AⅹB)–(DⅹC)]，其中A、B為大於0之整數。此外，馬達2之轉子部21實際上構成減速裝置1g之動力輸入端，擺線盤31實際上構成減速裝置1g之動力輸出端。In the above embodiment, the number of the first rollers 301a of the first roller wheel set 30a is A, the number of the cycloidal tooth portions 311 of the cycloidal disk 31 is B, and the number of the third roller wheel set 30c is The number of three rollers 301c is C, the number of fixed teeth 50d of the first fixed gear plate 50c is D, and the reduction ratio of the reduction gear 1g is (AⅹB) / [(AⅹB)–(DⅹC)], Wherein A and B are integers greater than zero. In addition, the rotor 21 of the motor 2 actually constitutes the power input end of the reduction gear 1g, and the cycloid disc 31 actually constitutes the power output end of the reduction gear 1g.

於一些實施例中，第一固定盤4a及第二固定盤4b更各自包含中心孔42，且第一固定齒輪盤50c及第二固定齒輪盤50f亦包含中心孔50e。此外，擺線盤31更包含輸出軸312，輸出軸312貫穿擺線盤31之本體310之中心位置，其中輸出軸312之一端穿設第一固定盤4a之中心孔42及第一固定齒輪盤50c之中心孔50e，輸出軸312之另一端穿設第二固定盤4b之中心孔42及第二固定齒輪盤50f之中心孔50e，輸出軸312可構成減速裝置1g之動力輸出端。In some embodiments, the first fixed disk 4a and the second fixed disk 4b further each include a center hole 42, and the first fixed gear disk 50c and the second fixed gear disk 50f also include a center hole 50e. In addition, the cycloidal disk 31 further includes an output shaft 312 that penetrates the center position of the body 310 of the cycloidal disk 31, and one end of the output shaft 312 penetrates the center hole 42 of the first fixed disk 4a and the first fixed gear disk. The center hole 50e of 50c, the other end of the output shaft 312 penetrates the center hole 42 of the second fixed disk 4b and the center hole 50e of the second fixed gear disk 50f, and the output shaft 312 can constitute the power output end of the reduction gear 1g.

綜上所述，本案提供一種具動力源之減速裝置，其中減速裝置的馬達跟減速機構為一體設計， 馬達被配置在減速裝置整體結構的徑向外側，減速機構至少部分配置在減速裝置整體結構的徑向內側，當轉子部轉動時，轉子部便帶動滾柱輪組進行偏心轉動，使得擺線盤因擺線齒部與滾柱輪組對應之滾柱之間的推擠運動而轉動，進而產生一階減速，因此本案之減速裝置不需要額外聯軸器來連接馬達跟減速機構，故可減少重量與體積。此外，由於馬達被配置在減速裝置整體結構的徑向外側，故容易與電機一體式整合設計，再者，當本案之減速裝置與電機一體式設計時，因為電機可設置在最外側， 使得本案之減速裝置的散熱較容易達成。再者，由於本案之具動力源之減速裝置為擺線型減速裝置，故具有高剛性及高減速比的特性。更甚者，本案之減速裝置由於擺線盤之擺線齒部形成於擺線盤之本體之外周面上而形成外齒型結構，因此擺線齒部較為容易進行加工。In summary, the present application provides a reduction gear with power source, in which the motor of the reduction gear and the reduction mechanism are integrated, the motor is arranged on the radially outer side of the overall structure of the reduction gear, and the reduction mechanism is at least partially arranged in the overall structure of the reduction gear When the rotor part rotates, the rotor part drives the roller wheel set to eccentrically rotate, so that the cycloid disk rotates due to the pushing motion between the cycloidal tooth part and the corresponding roller of the roller wheel set. In turn, a first-order deceleration is generated. Therefore, the deceleration device in this case does not require an additional coupling to connect the motor and the deceleration mechanism, so the weight and volume can be reduced. In addition, since the motor is arranged on the radially outer side of the overall structure of the reduction gear, it is easy to integrate the design with the motor. Moreover, when the reduction gear and the motor are integrated in the design, the motor can be arranged on the outermost side, making this case The heat dissipation of the deceleration device is easier to achieve. Furthermore, since the reduction gear with power source in this case is a cycloid reduction gear, it has the characteristics of high rigidity and high reduction ratio. Furthermore, in the deceleration device of the present invention, the cycloidal tooth part of the cycloidal disk is formed on the outer peripheral surface of the body of the cycloidal disk to form an external tooth structure, so the cycloidal tooth part is easier to process.

1a、1b、1c、1d、1e、1f、1g:具動力源之減速裝置 2:馬達 20:定子部 21:轉子部 210:轉子殼體部 210a:環狀殼體內壁 210b:環狀殼體外壁 3a、3b、3c、3d、3e、3f、3g:減速機構 30:滾柱輪組 31:擺線盤 300:輪盤 301:滾柱 310:本體 4:固定盤 50a:固定槽孔 50b:固定銷 H:徑向間隙 211:第一偏心環 212:第二偏心環 30a:第一滾柱輪組 30b:第二滾柱輪組 300a:第一輪盤 301a:第一滾柱 300b:第二輪盤 301b:第二滾柱 4a:第一固定盤 40:延伸壁 4b:第二固定盤 41:盤面 42:中心孔 312:輸出軸 311:擺線齒部 50c:固定齒輪盤 50d、50g:固定齒部 50e:中心孔 213:第三偏心環 30c:第三滾柱輪組 300c:第三輪盤 301c:第三滾柱 30d:第四滾柱輪組 300d:第四輪盤 301d:第四滾柱 50f:第二固定齒輪盤 214:第四偏心環1a, 1b, 1c, 1d, 1e, 1f, 1g: reduction gear with power source 2: motor 20: Stator 21: Rotor part 210: Rotor housing part 210a: inner wall of annular shell 210b: Outer wall of annular shell 3a, 3b, 3c, 3d, 3e, 3f, 3g: reduction mechanism 30: Roller wheel set 31: Cycloidal disk 300: Roulette 301: Roller 310: body 4: Fixed disk 50a: fixed slot 50b: fixed pin H: Radial clearance 211: The first eccentric ring 212: second eccentric ring 30a: The first roller wheel set 30b: The second roller wheel set 300a: first roulette 301a: The first roller 300b: second roulette 301b: second roller 4a: The first fixed disk 40: extension wall 4b: Second fixed disk 41: plate 42: Center hole 312: output shaft 311: Cycloid tooth 50c: fixed gear plate 50d, 50g: fixed teeth 50e: Center hole 213: third eccentric ring 30c: The third roller wheel set 300c: third round 301c: third roller 30d: The fourth roller wheel set 300d: fourth roulette 301d: fourth roller 50f: second fixed gear plate 214: The fourth eccentric ring

第1圖為本案第一較佳實施例之具動力源之減速裝置的正面結構示意圖； 第2圖為第1圖所示之具動力源之減速裝置的背面結構示意圖； 第三圖為第2圖所示之虛框區域A的放大結構示意圖； 第4圖為本案第二較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第5圖為第4圖所示之具動力源之減速裝置組合後之剖面結構示意圖； 第6圖為本案第三較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第7圖為第6圖所示之具動力源之減速裝置組合後之剖面結構示意圖； 第8圖為本案第四較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第9圖為第8圖所示之具動力源之減速裝置組合後之剖面結構示意圖； 第10圖為本案第五較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第11圖為第10圖所示之具動力源之減速裝置組合後之剖面結構示意圖； 第12圖為本案第六較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第13圖為第12圖所示之具動力源之減速裝置組合後之剖面結構示意圖； 第14圖為本案第六較佳實施例之具動力源之減速裝置的爆炸結構示意圖； 第15圖為第14圖所示之具動力源之減速裝置組合後之剖面結構示意圖。Figure 1 is a schematic front view of the deceleration device with power source according to the first preferred embodiment of the present invention; Figure 2 is a schematic diagram of the back structure of the reduction gear with power source shown in Figure 1; The third figure is a schematic diagram of the enlarged structure of the virtual frame area A shown in figure 2; Figure 4 is a schematic diagram of the explosive structure of the deceleration device with power source according to the second preferred embodiment of the present invention; Figure 5 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 4 after being combined; Figure 6 is a schematic diagram of the explosive structure of the deceleration device with power source according to the third preferred embodiment of the present invention; Figure 7 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 6 after being combined; Figure 8 is a schematic diagram of the explosive structure of the deceleration device with power source according to the fourth preferred embodiment of the present invention; Figure 9 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 8 after being combined; Figure 10 is a schematic diagram of the explosive structure of the deceleration device with power source according to the fifth preferred embodiment of the present invention; Figure 11 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 10 after being combined; Figure 12 is a schematic diagram of the explosive structure of the deceleration device with power source according to the sixth preferred embodiment of the present invention; Figure 13 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 12 after being combined; Figure 14 is a schematic diagram of the explosive structure of the deceleration device with power source according to the sixth preferred embodiment of the present invention; Figure 15 is a schematic cross-sectional structure diagram of the reduction gear with power source shown in Figure 14 after being combined.

1c:具動力源之減速裝置 1c: Deceleration device with power source

2:馬達 2: motor

20:定子部 20: Stator

21:轉子部 21: Rotor part

210:轉子殼體部 210: Rotor housing part

3c:減速機構 3c: Deceleration mechanism

31:擺線盤 31: Cycloidal disk

310:本體 310: body

311:擺線齒部 311: Cycloid tooth

30a:第一滾柱輪組 30a: The first roller wheel set

30b:第二滾柱輪組 30b: The second roller wheel set

300a:第一輪盤 300a: first roulette

301a:第一滾柱 301a: The first roller

300b:第二輪盤 300b: second roulette

301b:第二滾柱 301b: second roller

4a:第一固定盤 4a: The first fixed disk

4b:第二固定盤 4b: Second fixed disk

50c:固定齒輪盤 50c: fixed gear plate

50d:固定齒部 50d: fixed teeth

50e:中心孔 50e: Center hole

Claims (15)

一種具動力源之減速裝置，包含： 為動力源之一馬達，包含： 一定子部；以及 一轉子部，為該減速裝置之一動力輸入端，且受該定子部之驅動而相對於該定子部進行轉動，並包含具中空結構之一轉子殼體部，該轉子殼體部之一環狀殼體內壁與一環狀殼體外壁之間存在一偏心量；以及 一減速機構，至少部分設置於該馬達之相對內側，且包含： 至少一滾柱輪組，設置於該轉子殼體部之該環狀殼體內壁內，且被該轉子部帶動而進行偏心公轉，並包含具中空結構之一輪盤及設置於該輪盤內壁上之至少一滾柱；以及 一擺線盤，為該減速裝置之一動力輸出端，且設置於該輪盤之中空結構內，並具有一本體及至少一擺線齒部，每一該擺線齒部凸設於該本體之外周面上，並與對應之該滾柱相接觸，使該擺線盤於該滾柱輪組進行偏心公轉時受該擺線齒部與對應之該滾柱之間的推擠運動而轉動； 至少一固定盤，位於該滾柱輪組之外側，且相對於該滾柱輪組而保持靜止不轉動；以及 一固定組件，包含至少一固定槽孔以及至少一固定銷，該固定槽孔及固定銷分別形成於該固定盤及對應之該滾柱輪組之該輪盤上，或該固定銷及該固定槽孔分別形成於該固定盤及與對應之該滾柱輪組之該輪盤上，且該固定銷容置於該固定槽孔內，該固定槽孔與位於該固定槽孔內之該固定銷之間存在一徑向間隙，其中該固定組件配合該固定盤形成一固定端，以禁止對應之該滾柱輪組自轉。A deceleration device with power source, including: A motor as one of the power sources, including: Fixed part; and A rotor part is a power input end of the deceleration device, and is driven by the stator part to rotate relative to the stator part, and includes a rotor housing part with a hollow structure, and a ring of the rotor housing part There is an eccentricity between the inner wall of the shaped casing and the outer wall of an annular casing; and A deceleration mechanism is at least partially arranged on the relatively inner side of the motor, and includes: At least one roller set is arranged in the inner wall of the annular shell of the rotor shell part, and is driven by the rotor part to perform eccentric revolution, and includes a wheel disc with a hollow structure and arranged on the inner wall of the wheel disc At least one roller on top; and A cycloidal disk is a power output end of the deceleration device, and is arranged in the hollow structure of the wheel disk, and has a body and at least one cycloidal tooth portion, each of the cycloidal tooth portions protruding from the body The outer peripheral surface is in contact with the corresponding roller, so that the cycloidal disk is rotated by the pushing motion between the cycloidal tooth portion and the corresponding roller when the roller set is eccentrically revolving ； At least one fixed disk located on the outer side of the roller wheel set and kept stationary relative to the roller wheel set; and A fixing component includes at least one fixing slot hole and at least one fixing pin, the fixing slot hole and the fixing pin are respectively formed on the fixing plate and the corresponding roulette of the roller wheel set, or the fixing pin and the fixing pin Slot holes are respectively formed on the fixed disk and the wheel disk corresponding to the roller wheel set, and the fixed pin is accommodated in the fixed slot, and the fixed slot is connected to the fixed slot located in the fixed slot. There is a radial gap between the pins, and the fixed component cooperates with the fixed disk to form a fixed end to prohibit the corresponding roller wheel set from rotating. 如請求項1所述之具動力源之減速裝置，其中該徑向間隙的最大值大於或等於兩倍該偏心量。The reduction gear with power source according to claim 1, wherein the maximum value of the radial gap is greater than or equal to twice the eccentricity. 如請求項1所述之具動力源之減速裝置，其中該固定槽孔形成於該固定盤上，該固定銷形成於對應之該滾柱輪組之該輪盤上。The deceleration device with power source according to claim 1, wherein the fixing slot is formed on the fixing plate, and the fixing pin is formed on the wheel plate of the corresponding roller wheel set. 如請求項1所述之具動力源之減速裝置，其中該至少一滾柱輪組包含一第一滾柱輪組以及一第二滾柱輪組，且該至少一固定盤包含一第一固定盤以及一第二固定盤，該第一固定盤與該定子部相固接，並位於該減速機構之第一外側而與該第一滾柱輪組相鄰，其中該固定組件部分形成於該第一固定盤上而其餘部分形成於該第一滾柱輪組上，且該固定組件配合該第一固定盤形成該固定端，以禁止該第一滾柱輪組自轉，該第二固定盤與該定子部相固接，並位於該減速機構之第二外側而與該第二滾柱輪組相鄰。The deceleration device with power source according to claim 1, wherein the at least one roller set includes a first roller set and a second roller set, and the at least one fixed disk includes a first fixed Disc and a second fixed disc, the first fixed disc is fixedly connected to the stator part, and is located on the first outer side of the deceleration mechanism and adjacent to the first roller wheel set, wherein the fixed component is partially formed on the The first fixed disk and the rest are formed on the first roller wheel set, and the fixed component cooperates with the first fixed disk to form the fixed end to prevent the first roller wheel set from rotating, and the second fixed disk It is fixedly connected with the stator part and is located at the second outer side of the speed reduction mechanism and is adjacent to the second roller wheel set. 如請求項4所述之具動力源之減速裝置，其中該第一固定盤包含兩個延伸壁，該兩個延伸壁相間隔地由該第一固定盤之一盤面朝垂直於該盤面之方向延伸，且該兩個延伸壁與該第一固定盤之該盤面共同定義出該固定槽孔，該固定銷形成於該第一滾柱輪組之該輪盤上。The deceleration device with a power source according to claim 4, wherein the first fixed disk includes two extension walls, and the two extension walls are spaced apart from one of the first fixed disks facing perpendicular to the surface of the disk The two extension walls and the disk surface of the first fixed disk jointly define the fixed slot hole, and the fixed pin is formed on the wheel of the first roller wheel set. 一種具動力源之減速裝置，包含： 為動力源之一馬達，包含： 一定子部，以及 一轉子部，為該減速裝置之一動力輸入端，且受該定子部之驅動而相對於該定子部進行轉動，並包含具中空結構之一轉子殼體部，該轉子殼體部之一環狀殼體內壁與一環狀殼體外壁之間存在偏心量；以及 一減速機構，至少部分設置於該馬達之相對內側，且包含： 一第一滾柱輪組，設置於該轉子殼體部之該環狀殼體內壁內，且被該轉子部帶動而進行偏心公轉，並包含具中空結構之一第一輪盤及設置於該第一輪盤內壁上之至少一第一滾柱； 一第二滾柱輪組，與該第一滾柱輪組相鄰地設置於該轉子殼體部之該環狀殼體內壁內，且被該轉子部帶動而進行偏心公轉，並與該第一滾柱相組接而同步且同向的轉動，更包含具中空結構之一第二輪盤及設置於該第二輪盤內壁上之至少一第二滾柱；以及 一擺線盤，為該減速裝置之一動力輸出端，且設置於該二輪盤之中空結構內，並具有一本體及至少一擺線齒部，每一該擺線齒部凸設於該本體之外周面上，並與對應之該第二滾柱相接觸，使該擺線盤受該擺線盤之該擺線齒部與對應之該第二滾柱之間的推擠運動而轉動； 一第一固定盤，固接於該定子部上，且相對於該第一滾柱輪組及該第二滾柱輪組而保持靜止不轉動，並位於該減速機構之第一外側而與該第一滾柱輪組相鄰；以及 一固定組件，包含一固定齒輪盤，設置於該第一輪盤之中空結構內，並固接於該第一固定盤，其中該固定齒輪盤更包含至少一固定齒部，每一該固定齒部凸設於對應之該固定齒輪盤之外周面上，並與對應之該第一滾柱相接觸，俾使該固定組件配合該第一固定盤形成一固定端，以禁止該第一滾柱輪組自轉。A deceleration device with power source, including: A motor as one of the power sources, including: The fixed part, and A rotor part is a power input end of the deceleration device, and is driven by the stator part to rotate relative to the stator part, and includes a rotor housing part with a hollow structure, and a ring of the rotor housing part There is an amount of eccentricity between the inner wall of the shaped shell and the outer wall of an annular shell; and A deceleration mechanism is at least partially arranged on the relatively inner side of the motor, and includes: A first roller wheel set is arranged in the inner wall of the annular shell of the rotor shell part, and is driven by the rotor part to perform eccentric revolution, and includes a first wheel disc with a hollow structure and arranged on the At least one first roller on the inner wall of the first wheel; A second roller set is arranged in the inner wall of the annular housing of the rotor housing adjacent to the first roller set, and is driven by the rotor to perform eccentric revolution, and is connected with the first roller set. A roller is assembled to rotate synchronously and in the same direction, and further includes a second wheel with a hollow structure and at least one second roller arranged on the inner wall of the second wheel; and A cycloidal disk is a power output end of the deceleration device, and is arranged in the hollow structure of the two wheel disks, and has a body and at least one cycloidal tooth part, each cycloidal tooth part protruding from the body The outer peripheral surface is in contact with the corresponding second roller, so that the cycloidal disk is rotated by the pushing motion between the cycloidal tooth portion of the cycloidal disk and the corresponding second roller; A first fixed disc is fixedly connected to the stator part and remains stationary relative to the first roller wheel set and the second roller wheel set. The first roller wheel set is adjacent; and A fixed assembly, including a fixed gear plate, is arranged in the hollow structure of the first wheel plate and fixedly connected to the first fixed plate, wherein the fixed gear plate further includes at least one fixed tooth portion, each of the fixed teeth The portion is protrudingly provided on the outer peripheral surface of the corresponding fixed gear plate and is in contact with the corresponding first roller, so that the fixed component cooperates with the first fixed plate to form a fixed end to prohibit the first roller The wheels rotate on their own. 如請求項6所述之具動力源之減速裝置，其中該減速裝置更包含一第二固定盤，該第二固定盤與該定子部相固接，並至少部分位於該減速機構之第二外側而與該第二滾柱輪組相鄰，且保持靜止不轉動。The deceleration device with a power source according to claim 6, wherein the deceleration device further comprises a second fixed disc, the second fixed disc is fixedly connected to the stator portion and is at least partially located on the second outer side of the deceleration mechanism And it is adjacent to the second roller wheel set and remains stationary without rotating. 如請求項7所述之具動力源之減速裝置，其中該第一固定盤及該第二固定盤更各自包含一中心孔，該固定齒輪盤更包含一中心孔，且該擺線盤更包含一輸出軸，該輸出軸貫穿該擺線盤之中心位置，其中該輸出軸之一端穿設該第一固定盤之該中心孔及該固定齒輪盤之該中心孔，該輸出軸之另一端穿設該第二固定盤之該中心孔。The speed reduction device with power source according to claim 7, wherein the first fixed disk and the second fixed disk each further include a center hole, the fixed gear disk further includes a center hole, and the cycloid disk further includes An output shaft, the output shaft passing through the center position of the cycloid disk, wherein one end of the output shaft penetrates the center hole of the first fixed disk and the center hole of the fixed gear disk, and the other end of the output shaft penetrates Set the center hole of the second fixed plate. 一種具動力源之減速裝置，包含： 為動力源之一馬達，包含： 一定子部，以及 一轉子部，為該減速裝置之一動力輸入端，且受該定子部之驅動而相對於該定子部進行轉動，並包含具中空結構之一轉子殼體部及複數個偏心環，複數個該偏心環係設置於該轉子殼體部之一環狀殼體內壁上，且相鄰的兩個該偏心環的偏心方向相反；以及 一減速機構，至少部分設置於該馬達之相對內側，且包含： 一第一滾柱輪組，設置於對應之該偏心環內，且包含具中空結構之一第一輪盤及設置於該第一輪盤內壁上之至少一第一滾柱； 一第二滾柱輪組，設置於對應之該偏心環內，且包含具中空結構之一第二輪盤及設置於該第二輪盤內壁上之至少一第二滾柱，其中該第二滾柱輪組與該第一滾柱輪組相組接而連動； 一第三滾柱輪組，設置於對應之該偏心環內，且包含具中空結構之一第三輪盤及設置於該第三輪盤內壁上之至少一第三滾柱； 一第四滾柱輪組，設置於對應之該偏心環內，且包含具中空結構之一第四輪盤及設置於該第四輪盤內壁上之至少一第四滾柱，其中該第三滾柱輪組與該第四滾柱輪組相組接而連動，且該第三滾柱輪組與該第四滾柱輪組的偏心方向與該第一滾柱輪組與該第二滾柱輪組的偏心方向相反；以及 一擺線盤，為該減速裝置之一動力輸出端，且部分設置於該第二輪盤之中空結構內，部分設置於該第三輪盤之中空結構內，並具有一本體及至少一擺線齒部，該擺線盤之每一該擺線齒部凸設於該本體之外周面上，該擺線盤之每一該擺線齒部與對應之該第二滾柱及對應之該第三滾柱相接觸，使該擺線盤受該擺線盤之該擺線齒部與對應之該第二滾柱及對應之該第三滾柱之間的推擠運動而轉動； 至少一固定盤，固接於該定子部上，且相對於該第一滾柱輪組、該第二滾柱輪組、該第三滾柱輪組及該第四滾柱輪組而保持靜止不轉動； 一固定組件，部分設置於該第一輪盤之中空結構內，其餘部分設置於該第四輪盤之中空結構內，且與該固定盤相固接，其中該固定組件更包含至少一固定齒輪盤，每一該固定齒輪盤包含凸設於該固定齒輪盤之外周面上之至少一固定齒部；以及 其中每一該第一滾柱及每一該第四滾柱分別與對應之該固定齒輪盤之該固定齒部相接觸，俾使該固定組件配合該固定盤形成一固定端，以禁止該第一滾柱輪組及該第四滾柱輪組自轉。A deceleration device with power source, including: A motor as one of the power sources, including: The fixed part, and A rotor part is a power input end of the deceleration device, and is driven by the stator part to rotate relative to the stator part, and includes a rotor housing part with a hollow structure and a plurality of eccentric rings, a plurality of the The eccentric ring system is arranged on the inner wall of an annular shell of the rotor housing part, and the eccentric directions of two adjacent eccentric rings are opposite; and A deceleration mechanism is at least partially arranged on the relatively inner side of the motor, and includes: A first roller wheel set, arranged in the corresponding eccentric ring, and including a first wheel with a hollow structure and at least one first roller arranged on the inner wall of the first wheel; A second roller wheel set is arranged in the corresponding eccentric ring, and includes a second wheel with a hollow structure and at least one second roller arranged on the inner wall of the second wheel, wherein the first wheel The second roller wheel set is connected to the first roller wheel set to move in tandem; A third roller wheel set, arranged in the corresponding eccentric ring, and including a third wheel with a hollow structure and at least one third roller arranged on the inner wall of the third wheel; A fourth roller wheel set is arranged in the corresponding eccentric ring, and includes a fourth wheel with a hollow structure and at least one fourth roller arranged on the inner wall of the fourth wheel, wherein the first The three-roller set is connected to the fourth roller set to move in conjunction, and the eccentric direction of the third roller set and the fourth roller set is the same as the first roller set and the second roller set. The eccentricity of the roller wheel set is opposite; and A cycloidal disc, which is a power output end of the reduction gear, is partly arranged in the hollow structure of the second wheel disc and partly arranged in the hollow structure of the third wheel disc, and has a body and at least one pendulum Each of the cycloidal teeth of the cycloidal disk is projected on the outer peripheral surface of the body, and each of the cycloidal teeth of the cycloidal disk and the corresponding second roller and the corresponding The third roller contacts, so that the cycloidal disk is rotated by the pushing motion between the cycloidal tooth portion of the cycloidal disk and the corresponding second roller and the corresponding third roller; At least one fixed disk is fixedly connected to the stator part and remains stationary relative to the first roller wheel set, the second roller wheel set, the third roller wheel set, and the fourth roller wheel set Not rotating A fixing component partly arranged in the hollow structure of the first wheel disc, and the remaining part arranged in the hollow structure of the fourth wheel disc and fixedly connected to the fixed disc, wherein the fixing element further includes at least one fixed gear Discs, each of the fixed gear discs includes at least one fixed tooth protruding on the outer peripheral surface of the fixed gear disc; and Each of the first roller and each of the fourth rollers is in contact with the fixed tooth portion of the corresponding fixed gear disk, so that the fixed component cooperates with the fixed disk to form a fixed end, so as to prohibit the second A roller set and the fourth roller set rotate on its own. 如請求項9所述之具動力源之減速裝置，其中該第一滾柱輪組位於該減速機構之第一外側，該第二滾柱輪組位於該減速機構之第二外側，該第三滾柱輪組介於該第四滾柱輪組以及該第二滾柱輪組之間，該第四滾柱輪組介於該第一滾柱輪組以及該第三滾柱輪組之間，且該固定盤位於該減速機構之第一外側而與該第一滾柱輪組相鄰。The reduction gear with power source according to claim 9, wherein the first roller set is located on the first outer side of the reduction mechanism, the second roller set is located on the second outer side of the reduction mechanism, and the third The roller set is between the fourth roller set and the second roller set, and the fourth roller set is between the first roller set and the third roller set , And the fixed disk is located on the first outer side of the deceleration mechanism and adjacent to the first roller wheel set. 如請求項9所述之具動力源之減速裝置，其中該第一滾柱輪組位於該減速機構之第一外側，該第二滾柱輪組介於該第一滾柱輪組及該第三滾柱輪組之間，該第三滾柱輪組介於該第二滾柱輪組以及該第四滾柱輪組之間，該第四滾柱輪組位於該減速機構之第二外側，且至少一該固定盤包含一第一固定盤以及一第二固定盤，該第一固定盤位於該減速機構第一外側而與該第一滾柱輪組相鄰，該第二固定盤位於該減速機構之第二外側而與該第四滾柱輪組相鄰。The speed reduction device with power source according to claim 9, wherein the first roller set is located on the first outer side of the speed reduction mechanism, and the second roller set is between the first roller set and the first roller set Between three roller wheel sets, the third roller wheel set is between the second roller wheel set and the fourth roller wheel set, and the fourth roller wheel set is located on the second outer side of the speed reduction mechanism , And at least one of the fixed disks includes a first fixed disk and a second fixed disk, the first fixed disk is located at the first outer side of the deceleration mechanism and is adjacent to the first roller wheel set, and the second fixed disk is located at The second outer side of the deceleration mechanism is adjacent to the fourth roller set. 如請求項11所述之具動力源之減速裝置，其中至少一該固定齒輪盤包含一第一固定齒輪盤及一第二固定齒輪盤，該第一固定齒輪盤設置於該第一滾柱輪組之該第一輪盤之中空結構內，並位於該第一固定盤及該擺線盤之間，且固接於該第一固定盤，其中該第一固定齒輪盤之該固定齒部與對應之該第一滾柱相接觸，該第二固定齒輪盤設置於該第四滾柱輪組之該第四輪盤之中空結構內，並位於該第二固定盤及該擺線盤之間，且固接於該第二固定盤，其中該第二固定齒輪盤之該固定齒部與對應之該第四滾柱相接觸，又該第一固定齒輪盤之該固定齒部的個數相同於該第二固定齒輪盤之該固定齒部的個數。The speed reduction device with power source according to claim 11, wherein at least one of the fixed gear plates includes a first fixed gear plate and a second fixed gear plate, and the first fixed gear plate is disposed on the first roller wheel The first wheel disc of the group is located in the hollow structure between the first fixed disc and the cycloid disc, and is fixed to the first fixed disc, wherein the fixed tooth portion of the first fixed gear disc and Corresponding to the contact of the first roller, the second fixed gear disk is arranged in the hollow structure of the fourth wheel of the fourth roller wheel set, and is located between the second fixed disk and the cycloid disk , And fixedly connected to the second fixed disk, wherein the fixed tooth portion of the second fixed gear disk is in contact with the corresponding fourth roller, and the number of the fixed tooth portions of the first fixed gear disk is the same The number of the fixed teeth on the second fixed gear plate. 如請求項9所述之具動力源之減速裝置，其中該第一滾柱輪組位於該減速機構之第一外側，該第二滾柱輪組介於該第三滾柱輪組及該第四滾柱輪組之間，該第三滾柱輪組位於該減速機構之第二外側，該第四滾柱輪組介於該第一滾柱輪組及該第二滾柱輪組之間，且該固定盤位於該減速機構之第一外側而與該第一滾柱輪組相鄰。The speed reduction device with power source according to claim 9, wherein the first roller set is located on the first outer side of the speed reduction mechanism, and the second roller set is located between the third roller set and the first roller set Between four roller wheel sets, the third roller wheel set is located on the second outer side of the speed reduction mechanism, and the fourth roller wheel set is between the first roller wheel set and the second roller wheel set , And the fixed disk is located on the first outer side of the deceleration mechanism and adjacent to the first roller wheel set. 如請求項9所述之具動力源之減速裝置，其中該第一滾柱輪組位於該減速機構之第一外側，該第二滾柱輪組位於該第三滾柱輪組及該第四滾柱輪組之間，該第三滾柱輪組介於該第一滾柱輪組以及該第二滾柱輪組之間，該第四滾柱輪組位於該減速機構之第二外側，且至少一該固定盤包含一第一固定盤以及一第二固定盤，該第一固定盤位於該減速機構之第一外側而與該第一滾柱輪組相鄰，該第二固定盤位於該減速機構之第二外側而與該第四滾柱輪組相鄰。The reduction gear with power source according to claim 9, wherein the first roller set is located on the first outer side of the reduction mechanism, and the second roller set is located on the third roller set and the fourth roller set Between the roller wheel sets, the third roller wheel set is between the first roller wheel set and the second roller wheel set, and the fourth roller wheel set is located on the second outer side of the speed reduction mechanism, And at least one of the fixed disks includes a first fixed disk and a second fixed disk, the first fixed disk is located on the first outer side of the speed reduction mechanism and is adjacent to the first roller wheel set, and the second fixed disk is located at The second outer side of the deceleration mechanism is adjacent to the fourth roller set. 如請求項14所述之具動力源之減速裝置，其中至少一該固定齒輪盤包含一第一固定齒輪盤及一第二固定齒輪盤，該第一固定齒輪盤設置於該第一滾柱輪組之該第一輪盤之中空結構內，並位於該第一固定盤及該擺線盤之間，且固接於該第一固定盤，其中該第一固定齒輪盤之該固定齒部與對應之該第一滾柱相接觸，該第二固定齒輪盤設置於該第四滾柱輪組之該第四輪盤之中空結構內，並位於該第二固定盤及該擺線盤之間，且固接於該第二固定盤，其中該第二固定齒輪盤之該固定齒部與對應之該第四滾柱相接觸，又該第一固定齒輪盤之該固定齒部的個數相同於該第二固定齒輪盤之該固定齒部的個數。The speed reduction device with power source according to claim 14, wherein at least one of the fixed gear plates includes a first fixed gear plate and a second fixed gear plate, and the first fixed gear plate is disposed on the first roller wheel The first wheel disc of the group is located in the hollow structure between the first fixed disc and the cycloid disc, and is fixed to the first fixed disc, wherein the fixed tooth portion of the first fixed gear disc and Corresponding to the contact of the first roller, the second fixed gear disk is arranged in the hollow structure of the fourth wheel of the fourth roller wheel set, and is located between the second fixed disk and the cycloid disk , And fixedly connected to the second fixed disk, wherein the fixed tooth portion of the second fixed gear disk is in contact with the corresponding fourth roller, and the number of the fixed tooth portions of the first fixed gear disk is the same The number of the fixed teeth on the second fixed gear plate.
TW108119001A 2018-11-07 2019-05-31 Speed reducing device having power source TWI738000B (en)

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