TWM491756U - Inner-swing movement speed reducer - Google Patents

Description

Internal pendulum motion reducer

This creation is about a structure of a reducer that has an irreversible, easy to set integer ratio, low manufacturing cost, coaxial output and input, high mechanical efficiency and small overall structure.

According to the conventionally used reducer, the main function is to reduce the high speed of the power input end of the motor, thereby increasing the torque at the output end. Most of the speed reducers are now made using gears. For example, the new type M454479 "Planetary Gear Reducer" patent case announced by the Republic of China on June 1, 102. It is disclosed that: at least one sun gear is included, and the sun gear is disposed in a central hole of a carrier. The carrier has a first fixing portion, a second fixing portion and a third fixing portion disposed in parallel along the center hole. a plurality of first gears are rotatably disposed between the first and second fixing portions, a plurality of second gears are rotatably disposed between the second and third fixing portions, and each of the first gear and the second gear are coupled to the sun gear Intermeshing, the two-ring gears are looped and respectively meshed with the first gear and the second gear. By using the two-ring gears to mesh with the first and second gears respectively, the assembly difficulties and the operational interference caused by the phase error problems of the first and second gears can be reduced, and the overall structure is more stable and the volume is effectively reduced.

However, the gear-type planetary sun gear system of the patent case has many disadvantages such as many components, difficulty in fitting, reduction ratio is not a simple integer ratio, design conditions are easily limited, and precision manufacturing is difficult.

There is also a new type of M346694 "Reformer Structure Improvement" patent case announced by the Republic of China on December 11, 1997. The system discloses: a motor combined with a motor seat, the motor seat is combined with a gear box, wherein a reduction gear set is arranged in the motor seat, the reduction gear set is composed of two sets of first gears and a second gear, and then the second gear The gears are respectively meshed with the motor gears, wherein two worms are arranged in the gearbox to engage with a worm gear, and the bevel gears provided by the first gears of the reduction gear set are respectively rotated with the helical gears of the worm gear to drive the worm gear and the gears disposed thereon. The shaft rotates to achieve the functions of reducing the volume and disassembling.

Moreover, the worm and worm gear reducer of the patent case can achieve a large reduction ratio and has safety without reversal. However, the transmission efficiency is poor, the two axes need to be orthogonal in space, and the friction loss is large, and the efficiency is lower than that of the spur gear reducer and takes up a large space.

In addition, as in the case of the new No. 170756 "Rolling Gear Reducer" patent announced by the Republic of China on October 11, 1980. The system discloses: a hobbing transmission device that uses an eccentric circle to drive a short cylindrical cylinder of the cymbal to engage the fixed pin of the pin wheel to realize an approximately constant conjugate motion. The hobbing drive is a kind of transmission with rigid meshing. It can be used as a linear drive or as a rotary drive. The contour curve of the meshing part in the hobbing drive is a special equidistant envelope curve. The principle of the hobbing wave transmission is to use the eccentric circular shock absorber to periodically excite the hobbing teeth with circular arc shape to mesh with the fixed ring teeth of the outer ring to form a tangential wave of the bellows peristaltic motion, thereby realizing the driving relationship of the driving relationship. the way.

Although the patent predecessor disclosed the structure of the reducer using the transmission mode of the internal planetary gear and the cycloidal wheel, it does not reveal the transmission structure similar to the cross slide block of the present invention, so it cannot be the same as the original creation. The effect.

In view of the above, in view of the above-mentioned disadvantages of the structure of the reduction gearbox, the present invention provides an internal pendulum motion reducer, which is provided with a first fixing frame, which is provided with a first receiving groove, the first receiving groove a first shaft hole is disposed through the second shaft; a second fixing frame is coupled to the first fixing frame, and the second fixing frame is provided with a second receiving portion for engaging with the first receiving groove The second fixing frame is provided with a second shaft hole matched with the first shaft hole; an input shaft is disposed in the first shaft hole of the first fixing frame, the input The shaft system is provided with an eccentric wheel; a rotor is coupled to the input shaft, and a peripheral first ring is provided with a plurality of first tooth blocks, and one side of the rotor is concavely provided with a joint portion, the joint portion is for The eccentric wheel of the input shaft is coupled thereto, and the other side of the rotor is provided with a first sliding groove; the stator is coupled between the first fixing frame and the second fixing frame, and the stator is provided with a a through hole, the inner peripheral ring of the through hole is provided to be meshed with the first tooth block a second tooth block; a cross slide block coupled to the rotor, the cross slide block comprising a first slider and a second slider that are vertically coupled to each other at 90 degrees, the first slider system The sliding shaft is disposed in the first sliding slot of the rotor; an output shaft is disposed in the second shaft hole of the second fixing frame, the output shaft is provided with a coupling block, and the coupling block is provided with a coupling block a second sliding slot, wherein the second sliding slot is configured to slide the second slider therein.

The first fixing frame is provided with a plurality of first fixing holes on the periphery of the first shaft hole, and the second fixing frame is provided with a plurality of second fixing holes matched with the first fixing holes, and the stator system is penetrated And a plurality of third fixing holes, wherein the first fixing holes, the second fixing holes and the third fixing holes are screwed into a screwing member, thereby fixing the stator to the first fixing frame Between the accommodating groove and the second accommodating groove of the second fixing frame.

A circular groove is defined in the second receiving groove.

The rotor is a spur gear of modulus 1, 55 teeth, and the stator is an internal gear of modulus 1, 60 teeth.

The first sliding slot and the second sliding slot are both formed in a long groove shape.

The present invention can also be an internal pendulum motion reducer, comprising: a first fixing frame, which is provided with a first receiving groove, the first receiving groove is provided with a first shaft hole; a second fixing And the second fixing frame is provided with a second accommodating groove which is matched with the first accommodating groove, and the second fixing frame is provided with The first shaft hole is matched with one of the second shaft holes; an input shaft is disposed in the first shaft hole of the first fixing frame, the input shaft is provided with an eccentric wheel; and a cycloidal rotor Attached to the input shaft, one side of the cycloidal rotor is concavely provided with a joint portion, the joint portion is for the eccentric wheel of the input shaft to be coupled therein, and the other side of the cycloidal rotor is provided with a first slide a pin gear stator coupled between the first fixing frame and the second fixing frame, the pin gear stator is provided with a plurality of pins arranged in a circular shape in a ring shape, and the pins are connected Forming a corresponding number of circular arc grooves for the cycloidal rotor to cooperate with the transmission; a cross a sliding block, which is coupled to the cycloidal rotor, the cross sliding block comprises a first slider and a second slider which are vertically coupled to each other at a 90 degree angle, and the first slider is slidably disposed on the rotor An output shaft is disposed in the second shaft hole of the second fixing frame, the output shaft is provided with a coupling block, and the coupling block is provided with a second sliding slot. The second chute is configured to slide the second slider therein.

The first fixing frame is provided with a plurality of first fixing holes at a peripheral position of the first receiving groove, and the second fixing frame is provided with a plurality of second fixing holes matched with the first fixing holes, The first fixing hole and the second fixing hole are screwed into a screw.

The pin gear stator is composed of 10 pins, thereby forming 9 arc grooves, the center of the cycloid rotor is rotated once, and each arc groove only jumps one pin, thereby achieving a deceleration effect of 9:1. .

The first sliding slot and the second sliding slot are both formed in a long groove shape.

This creation has the following advantages:

1. The output of this creation is completely driven by the input, that is, the input shaft can be used for forward and reverse movement. When the input shaft stops, the output shaft will also stop rotating.

2. The reduction ratio of this creation is easier to set, that is, under the same size design, as long as the different rotor sizes and the length of the cross slide block are changed, different reduction ratios can be achieved.

3. The efficiency of this creation is equivalent to that of a general gear type reducer. If it is compared with the worm and worm gear with irreversible characteristics, it is much higher.

4. This creation has irreversible nature. It can only drive the rotor from the input shaft. The rotor cannot be driven backward by the output shaft. This property is applied to cranes and other machinery, and its safety and precision will be greatly improved.

5. The angular output of this creation is stable and can have better output stability.

6. The design of the creation is simple, easy to manufacture, and small in combination.

7. The coaxial output input of the creation, the axis of the input shaft and the output shaft are connected in a line, which can increase the design simplicity when combined with the mechanical design.

8. The cost of this creation is low, especially the inner pendulum rotor type, which is easy to construct and easy to manufacture. It can be completed by today's computer integrated manufacturing technology.

First, referring to the first figure and the second figure, the present embodiment includes a first fixing frame (1), a second fixing frame (2), an input shaft (3), a rotor (4), and a stator ( 5), cross slide block (6) and output shaft (7).

The first fixing frame (1) is provided with a first receiving groove (11). The first accommodating groove (11) is provided with a first shaft hole (12), and the first fixing frame (1) is provided with a plurality of first fixing holes at a circumferential position of the first shaft hole (12) ( 13), the first fixing holes (13) can be screwed into a screw member (14), the first fixing hole (13) can be a screw hole, and the screw member (14) can be For a screw.

The second fixing frame (2) is fixed to the first fixing frame (1) (as shown in the third figure). The second fixing frame (2) is provided with a second receiving groove (21) that cooperates with the first receiving groove (11). Further, the second fixing frame (2) is provided with a second shaft hole (22) matched with the first shaft hole (12). The second fixing hole (23) is matched with the first fixing hole (13), so that the screwing member (14) can be screwed and fixed, and the second fixing hole (23) can be a screw. hole. A circular groove (24) is further disposed in the second receiving groove (21).

The input shaft (3) is disposed in the first shaft hole (12) of the first fixing frame (1). The input shaft (3) is provided with a circular eccentric (31).

A rotor (4) is coupled to the input shaft (3), which is a spur gear having a modulus of 1, 55 teeth. The outer peripheral ring of the rotor (4) is provided with a plurality of first tooth blocks (41). One side of the rotor (4) is recessed with a circular joint (42), and the joint (42) is adapted to be coupled to the eccentric (31) of the input shaft (3). Further, the other side of the rotor (4) is provided with a long groove-shaped first chute (43).

The stator (5) is coupled to the first fixing frame (1) and the second fixing frame (2), and the stator (5) is an internal gear of a modulus of 1,60 teeth. A through hole (51) is disposed, and the inner peripheral ring of the stator (5) through hole (51) is provided with a second tooth block (52) that meshes with the first tooth block (41). Further, the stator (5) is provided with a plurality of third fixing holes (53), and the third fixing holes (53) are screwed into the screw member (14), thereby being used for the stator (5) Fixedly coupled between the first receiving groove (11) of the first fixing frame (1) and the second receiving groove (21) of the second fixing frame (2), the third fixing hole (53) is Can be a screw hole.

A cross slide block (6) that is coupled to the rotor (4). The cross slide block (6) includes a first slider (61) and a second slider (62) which are vertically coupled to each other at 90 degrees, and the first slider (61) is slidably disposed on the rotor (4). ) in the first chute (43).

An output shaft (7) is disposed in the second shaft hole (22) of the second fixing frame (2). The output shaft (7) is provided with a circular joint block (71), and the joint block (71) is provided with a long groove-shaped second sliding groove (72), and the second sliding groove (72) is A second slider (62) for the cross slider (6) is slidably disposed therein.

When used in rotation, as shown in the fourth and fifth figures (where the imaginary line in the fifth figure indicates the relative position of the output shaft (7) and the cross slide block (6)), the input shaft (3) is It can be connected to a power source for inputting a power, and the eccentric wheel (31) of the input shaft (3) is eccentrically rotated, and the rotor (4) can be driven to rotate. Since the rotor (4) performs the rotation motion, since the first tooth block (41) of the rotor (4) is in mesh with the second tooth block (52) of the stator (5), the stator is received ( 5) the constraint that the rotor (4) produces a revolution trajectory in the through hole (51) of the stator (5) [as shown in the sixth and seventh figures, wherein the imaginary line in the seventh figure It indicates the relative position of the output shaft (7) and the cross slide block (6). When the rotor (4) performs a revolving motion, the first slider (61) of the cross slide block (6) can only move linearly in the first chute (43), so the first slider is utilized ( The linear motion of 61) causes the cross slider (6) to rotate. The cross slide block (6) can further drive the output shaft (7) to rotate through the second slider (62), and the other second slider (62) of the cross slider block (6) can Another linear motion is made in the second chute (72) of the output shaft (7). Therefore, the revolving motion of the rotor can be slidably absorbed by the first slider (61) of the cross slider (6) in the first sliding slot (43), and the second slider (62) is in the second Sliding absorption in the chute (72) to cancel the revolving motion of the rotor (4), and the rotation motion of the rotor (4) is output from the output shaft (7) via the coupling block (71), For use as a deceleration.

Therefore, the operation of the entire reducer of the present invention mainly makes the rotor (4) revolve through the stator (5) to drive the cross slide block (6) to output power relatively easily, but if the cross slide block (6) The reverse moving rotor (4) produces a rotation motion output, which is impossible to occur, so the entire speed reduction mechanism produces a self-locking action, so that the output shaft (7) cannot reversely rotate the input shaft (3). Therefore, the input shaft (3) of the present invention can be used for forward and reverse movement. When the input shaft (3) is stopped, the output shaft (7) will also stop rotating relatively to achieve the purpose of coaxial output. In the same size design, the same reduction ratio can be achieved by changing the size of the different rotors (4) and the eccentricity of the input shaft (3) on the eccentric (31).

Another embodiment of the present invention, as shown in the eighth and ninth drawings, includes a first fixing frame (1A), a second fixing frame (2A), an input shaft (3A), a rotor (4A), and a stator. (5A), cross slide block (6A) and output shaft (7A).

The first fixing frame (1A) is provided with a first receiving groove (11A). The first accommodating groove (11A) is provided with a first shaft hole (12A), and the first accommodating groove (11A) is provided with a plurality of first fixing holes (13A), and the first fixing holes (13A) 13A) can be screwed into a screw member (14A), the first fixing hole (13A) can be a screw hole, and the screw member (14A) can be a screw.

The second fixing frame (2A) is fixed to the first fixing frame (1A) in combination with each other (as shown in the tenth figure). The second fixing frame (2A) is provided with a second accommodating groove (21A) that cooperates with the first accommodating groove (11A). Further, the second fixing frame (2A) is provided with a second shaft hole (22A) matched with the first shaft hole (12A). Further, a second fixing hole (23A) is matched with the first fixing hole (13A), so that the screwing member (14A) can be screwed and fixed, and the second fixing hole (23A) can be a screw. hole.

The input shaft (3A) is disposed in the first shaft hole (12A) of the first fixing frame (1A). The input shaft (3A) is provided with a circular eccentric (31A).

A rotor (4A) is coupled to the input shaft (3A), which is a cycloidal rotor. One side of the rotor (4A) is recessed with a circular joint (42A) to which the eccentric (31A) of the input shaft (3A) is coupled. Further, the other side of the rotor (4A) is provided with a long groove-shaped first chute (43A).

a stator (5A) coupled between the first fixing frame (1A) and the second fixing frame (2A), the stator (5A) being a pin gear stator composed of 10 pin spacings arranged and matched A cycloid shape is arranged in a ring shape (the system can form 9 arc grooves), that is, the center of the rotor (4A) (cycloid rotor) is rotated once, and each arc groove only jumps one pin [1] /9], so it can achieve a 9:1 deceleration effect.

A cross slide block (6A) is coupled to the rotor (4A). The cross slide block (6A) includes a first slider (61A) and a second slider (62A) that are vertically coupled to each other at 90 degrees, and the first slider (61A) is slidably disposed on the rotor (4A). ) in the first chute (43A).

An output shaft (7A) is disposed in the second shaft hole (22A) of the second fixing frame (2A). The output shaft (7A) is provided with a circular joint block (71A), and the joint block (71A) is provided with a long groove-shaped second chute (72A), and the second chute (72A) is A second slider (62A) for the cross slider (6A) is slidably disposed therein.

In use, as shown in the eleventh and twelfth figures (where the imaginary line in the twelfth figure represents the relative position of the output shaft (7A) and the cross slide block (6A)), the input shaft (3A) The system can be connected to a power source for inputting a power, and the eccentric wheel (31A) of the input shaft (3A) is eccentrically rotated, and the rotor (4A) is rotated to perform the rotation motion. The rotor (4A) is restrained by the stator (5A) to generate a revolution trajectory (as shown in the thirteenth and fourteenth figures, wherein the imaginary line in the fourteenth figure represents the output shaft (7A) and the The relative position of the cross slider (6A)]. And causing the first slider (61A) of the cross slider (6A) to move linearly in the first sliding slot (43A), and the second slider (62A) of the cross slider moving block (6A) ), another linear motion can be performed in the second chute (72A) of the output shaft (7A), and the output shaft (7A) is driven to rotate, so that it can also be used as a deceleration.

In addition, this creation proves that the above two embodiments can achieve the expected effect. Therefore, through the simulation function of the computer software, the size of the internal gear stator and the gear self-rotor in the simulation diagram is replaced by the pitch diameter, and the contact point is set to Pure rolling constraints. When the input shaft is set to 600 rad/s [as shown in Figure 15], the output shaft speed is 54.5 rad/s [as shown in Figure 16], the speed ratio is the same as the original design, and the output speed is In the sixteenth figure, it can be seen that the rotational speed of the output shaft is stable and there is no obvious jump or periodic change.

In order to prove whether the speed reducer (9) designed by this creation can achieve the purpose of design, a test platform (B) is assembled. The test platform (B) includes a computer (B1), a motor (B2), and a non-contact type. Tachometer (B3) and tachometer software, etc. (as shown in Figure 17). The main test reducer (9) three functions: the first is the reduction ratio test, the second is whether the angular speed of the output shaft end is stable output test, and the third is the mechanical efficiency test.

(1) Reduction ratio test.

Firstly, this test is carried out by the cycloidal rotor type of the internal pendulum motion reducer (9). The reduction ratio is tested by manual and visual methods. The input shaft end is rotated 90 times, and the output shaft end is rotated 10 times. Preliminary observation As a result, there is a goal of 9:1 (this is a cycloidal rotor type).

(2) Angular speed stable output test.

Fix the motor (B2) and the cycloidal gear-rotor reducer (9) on two aluminum frames, and then align the center of the motor (B2) with the center height of the input shaft (as shown in Figure 17). And the coupling (B4) coupling is used to make the motor (B1) and reducer (9) drive the speed smoothly. The non-contact tachometer (B3) uses the reflective sticker to reflect the red light to measure the rotation speed, and each rotation reflects once, thereby calculating the rotation speed (rpm). The test result proves the angular speed of the reducer (9) (output) The speed is a stable value (as shown in the list below).

Table 1 <TABLE style="BORDER-BOTTOM: medium none; BORDER-LEFT: medium none; BORDER-COLLAPSE: collapse; BORDER-TOP: medium none; BORDER-RIGHT: medium none; mso-border-alt: double windowtext 1.5 Mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-border-insideh: 1.5pt double windowtext; mso-border-insidev: 1.5pt double windowtext" class="MsoTableGrid" Border="1" cellSpacing="0" cellPadding="0"><TBODY><tr><td> Sampling</td><td> Input (RPM) </td><td> Output (RPM) </ Td><td> ratio</td></tr><tr><td> 1 </td><td> 1555.5 </td><td> 140.79 </td><td> 11.04837 </td>< /tr><tr><td> 2 </td><td> 1555.5 </td><td> 140.79 </td><td> 11.04837 </td></tr><tr><td> 3 < </ br> </ br> <td> 140.79 </td><td> 11.04837 </td></tr><tr><td> 5 </td><td> 1555.5 </td><td> 140.79 </td><td> 11.04837 </td></tr><tr><td> 6 </td><td> 1555.3 </td><td> 140.79 </td><td> 11.02564 </td></tr><tr ><td> 7 </td><td> 1555.3 </td><td> 140.79 </td><td> 11.02564 </td></tr><tr><td> 8 </td><td> 1555.3 </td><td> 140.79 </td><td> 11.02564 </td ></tr><tr><td> 9 </td><td> 1555.3 </td><td> 140.57 </td><td> 11.0429 </td></tr><tr><td> 10 </td><td> 1555.3 </td><td> 140.57 </td><td> 11.0429 </td></tr><tr><td> 11 </td><td> 1555.3 </ Td><td> 140.57 </td><td> 11.0429 </td></tr><tr><td> 12 </td><td> 1555.7 </td><td> 140.57 </td>< Td> 11.06708 </td></tr><tr><td> 13 </td><td> 1555.7 </td><td> 140.57 </td><td> 11.06708 </td></tr> <tr><td> 14 </td><td> 1555.7 </td><td> 140.57 </td><td> 11.06708 </td></tr><tr><td> 15 </td> <td> 1555.7 </td><td> 140.57 </td><td> 11.06708 </td></tr><tr><td> 16 </td><td> 1555.7 </td><td> 140.57 </td><td> 11.06708 </td></tr><tr><td> 17 </td><td> 1555.7 </td><td> 140.57 </td><td> 11.06708 </ Td></tr><tr><td> 18 </td><td> 1557.7 </td><td> 140.57 </td><td> 11.08131 </td></tr><tr><td > 19 </td><td> 1557.7 </td><td> 140.57 </td><td> 11.08131 </td></tr><tr><td> 20 </td><td> 1557.7 < /td><td> 140.99 </td><td> 11.0483 </td></tr>< Tr><td> 21 </td><td> 1557.7 </td><td> 140.99 </td><td> 11.0483 </td></tr><tr><td> 22 </td>< Td> 1557.7 </td><td> 140.99 </td><td> 11.0483 </td></tr><tr><td> 23 </td><td> 1557.7 </td><td> 140.99 </td><td> 11.0483 </td></tr><tr><td> 24 </td><td> 1557.6 </td><td> 140.99 </td><td> 11.04759 </td ></tr><tr><td> 25 </td><td> 1557.6 </td><td> 140.99 </td><td> 11.04759 </td></tr><tr><td> 26 </td><td> 1557.6 </td><td> 140.99 </td><td> 11.04759 </td></tr><tr><td> 27 </td><td> 1557.6 </ Td><td> 140.99 </td><td> 11.04759 </td></tr><tr><td> 28 </td><td> 1557.6 </td><td> 140.99 </td>< Td> 11.04759 </td></tr><tr><td> 29 </td><td> 1557.6 </td><td> 140.99 </td><td> 11.04759 </td></tr> <tr><td> 30 </td><td> 1557.6 </td><td> 140.79 </td><td> 11.06329 </td></tr></TBODY></TABLE>

Referring to the eighteenth figure, we can see the stability of the reducer of this creation, the cyclical change of the output shaft, and the correct reduction ratio of 11, which is the theoretical value calculated from the original design. The prediction of the function is the same.

(3) Comparison of mechanical efficiency test and performance analysis of existing gear reducer.

According to the performance table of the general centering gear reducer provided by Lihai Electric Co., Ltd. (as shown in the second list below), the input power and output power are compared by the functional principle method, and the efficiency of the gear reducer is calculated. Between 89% and 90% (as shown in Listing 3 below). In addition, it can be observed from the nineteenth figure that the efficiency of the gear type reducer has no great relationship with the input power.

Table 2 <TABLE style="BORDER-BOTTOM: medium none; BORDER-LEFT: medium none; BORDER-COLLAPSE: collapse; BORDER-TOP: medium none; BORDER-RIGHT: medium none; mso-border-alt: double windowtext 1.5 Mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-border-insideh: 1.5pt double windowtext; mso-border-insidev: 1.5pt double windowtext" class="MsoTableGrid" Border="1" cellSpacing="0" cellPadding="0"><TBODY><tr><td> reduction ratio</td><td> output shaft return speed (RPM) </td><td> output shaft Allowable value</td><td></td></tr><tr><td> 0.1KW </td><td> 0.75KW </td><td> 2.2KW </td><td> </td></tr><tr><td> Kg-m </td><td> Kg-m </td><td> Kg-m </td><td></td></ Tr><tr><td> 60HZ </td><td></td></tr><tr><td> 1/3 </td><td> 570 </td><td> 0.13 < /td><td> 1.0 </td><td> 3.5 </td><td></td></tr><tr><td> 1/5 </td><td> 360 </td ><td> 0.25 </td><td> 1.9 </td><td> 5.6 </td><td></td></tr><tr><td> 1/10 </td>< Td> 180 </td><td> 0.50 </td><td> 3.8 </td><td> 11.2 </td><td></td></tr><tr><td> 1/ 15 </td><td> 120 </td><td> 0.75 </td><td> 5.7 </td><td> 16.8 </td><td></td></tr><tr><td> 1/20 </td><td> 90 </ Td><td> 1.0 </td><td> 7.5 </td><td> 22.4 </td><td></td></tr><tr><td> 1/25 </td> <td> 72 </td><td> 1.2 </td><td> 9.4 </td><td> 28.0 </td><td></td></tr><tr><td> 1 /30 </td><td> 60 </td><td> 1.5 </td><td> 11.3 </td><td> 33 </td><td></td></tr>< Tr><td> 1/40 </td><td> 45 </td><td> 1.9 </td><td> 14.6 </td><td> 43 </td><td></td ></tr><tr><td> 1/50 </td><td> 36 </td><td> 2.4 </td><td> 18.3 </td><td> 54 </td> <td></td></tr><tr><td> 1/60 </td><td> 30 </td><td> 2.9 </td><td> 21.9 </td><td > / </td><td></td></tr><tr><td> 1/75 </td><td> 24 </td><td> 3.6 </td><td> 27.4 </td><td> / </td><td></td></tr><tr><td> 1/100 </td><td> 18 </td><td> 4.9 </ Td><td> 36 </td><td> / </td><td></td></tr><tr><td> 1/120 </td><td> 15 </td> <td> 5.8 </td><td> 43 </td><td> / </td><td></td></tr><tr><td> 1/150 </td><td > 12 </td><td> 7.3 </td><td> 54 </td><td> / </td><td></td></tr><tr><td> 1/200 </td><td> 9 </td><td> 9.7 </td><td> 73 </td><td> / </td><td></ Td></tr></TBODY></TABLE>

Table 3 <TABLE style="BORDER-BOTTOM: medium none; BORDER-LEFT: medium none; BORDER-COLLAPSE: collapse; BORDER-TOP: medium none; BORDER-RIGHT: medium none; mso-border-alt: double windowtext 1.5 Mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-border-insideh: 1.5pt double windowtext; mso-border-insidev: 1.5pt double windowtext" class="MsoTableGrid" Border="1" cellSpacing="0" cellPadding="0"><TBODY><tr><td> Input work (W) </td><td> Output torque (kg-m) </td><td > Speed (rpm) </td><td> Output work (w) </td><td> Efficiency percentage</td></tr><tr><td> 100 </td><td> 0.13 < /td><td> 570 </td><td> 76.00684 </td><td> 76.01% </td></tr><tr><td> 100 </td><td> 0.25 </td ><td> 360 </td><td> 92.316 </td><td> 92.32% </td></tr><tr><td> 100 </td><td> 0.5 </td>< Td> 180 </td><td> 92.316 </td><td> 92.32% </td></tr><tr><td> 100 </td><td> 0.75 </td><td> 120 </td><td> 92.316 </td><td> 92.32% </td></tr><tr><td> 100 </td><td> 1 </td><td> 90 < /td><td> 92.316 </td><td> 92.32% </td></tr></TBODY> </TABLE>

In order to measure the mechanical efficiency of the internal pendulum reducer, this creation uses a static efficiency measurement method. The ratio of the difference between the measured torque output and the reduction ratio is the mechanical efficiency. The formula is as follows:

The torque magnitude is measured by using two spring force gauges, and the efficiency of the pendulum reducer is calculated by comparing the input torque and the output torque. The measuring method is to first use two metal rods of the same length as the input arm and the output shaft. The measuring method is to apply a fixed force to the spring force gauge on the metal rod of the output shaft (still irreversible, still remain motionless). ]. At the same time, observe the metal rod of the input shaft and gradually increase the force applied by the hand to the spring tension meter, record the moment when the output shaft moves (the torque is equal), and record the data of the input shaft and the output shaft on the spring tension meter respectively.

Record the above test data, a total of four sets of test results, the data is substituted into the formula to calculate the efficiency, and is made into the next four. Since the force arms of the torque are equal, it is set to 1 directly.

Mechanical efficiency formula:

Table 4 <TABLE style="BORDER-BOTTOM: medium none; BORDER-LEFT: medium none; BORDER-COLLAPSE: collapse; BORDER-TOP: medium none; BORDER-RIGHT: medium none; mso-border-alt: double windowtext 1.5 Mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-border-insideh: 1.5pt double windowtext; mso-border-insidev: 1.5pt double windowtext" class="MsoTableGrid" Border="1" cellSpacing="0" cellPadding="0"><TBODY><tr><td> number of times</td><td> input torque (Ti) </td><td> output torque (To) </td><td> Efficiency (η) </td></tr><tr><td> 1 </td><td> 2000g-cm </td><td> 210g-cm </td> <td> 86.58% </td></tr><tr><td> 2 </td><td> 3000g-cm </td><td> 310g-cm </td><td> 87.98% < /td></tr><tr><td> 3 </td><td> 4000g-cm </td><td> 400g-cm </td><td> 90.91% </td></tr ><tr><td> 4 </td><td> 5000g-cm </td><td> 490g-cm </td><td> 92.76% </td></tr></TBODY>< /TABLE>

As can be seen from the above Table 4, the efficiency of the reducer of the built-in pendulum type reducer is between 87% and 93%, and the efficiency becomes higher as the force increases. Because the input force is large, the force of the maximum static friction is relatively reduced, so the efficiency is improved. Compared with the efficiency of the general gearbox of Table 3, the efficiency of the inner pendulum motion reducer is almost the same, so it can be achieved that the output is completely driven by the input, the reduction ratio is easy to set, and the efficiency is comparable to that of the general gear type reducer. It has the advantages of irreversible property, stable angular velocity output, simple structure, coaxial output input and low cost.

However, the above description is only two of the examples in this creation. When it is not possible to limit the scope of patent protection of this creation, the simple equivalent changes and replacements made by the scope of the patent application and the contents of the manual are all It shall remain within the scope of the protection covered by the scope of this patent application.

(1) ‧‧‧First mount (11)‧‧‧First accommodating groove (12)‧‧‧First shaft hole (13)‧‧‧First fixing hole (14)‧‧‧ Screw joint (2) ‧‧‧Second fixing frame (21)‧‧‧Second accommodating groove (22)‧‧‧Second shaft hole (23)‧‧‧Second fixing hole (24)‧‧‧ Round groove (3)‧‧‧ Input shaft (31)‧‧‧Eccentric wheel (4)‧‧‧Rotor (41)‧‧‧First tooth block (42)‧‧‧ Joint part (43)‧‧‧ first slip Slot (5) ‧‧‧status (51)‧‧ ‧through hole (52)‧‧‧second tooth block (53)‧‧‧third fixed hole (6)‧‧‧ cross slide block (61) ‧‧First Slider (62)‧‧‧Second Slider (7)‧‧‧ Output Shaft (71)‧‧‧ Combination Block (72)‧‧‧Second Chute (1A)‧‧‧ First Fixing frame (11A) ‧‧‧First accommodating groove (12A)‧‧‧First shaft hole (13A)‧‧‧First fixing hole (14A)‧‧‧ Connector (2A)‧‧‧Second holder (21A)‧‧‧Second accommodating groove (22A)‧‧‧Second shaft hole (23A)‧‧‧Second fixing hole (3A)‧‧ Input Axis (31A) ‧ ‧ eccentric (4A) ‧ ‧ rotor (42A) ‧ ‧ joint (43A) ‧ ‧ first chute (5A) ‧ ‧ stator (6A) ‧ ‧ cross slide (61A)‧‧‧First Slider (62A)‧‧‧Second Slider (7A)‧‧‧ Output Shaft (71A)‧‧‧ Combination Block (72A)‧‧‧Second Chute (9)‧ ‧ ‧ Reducer (B) ‧ ‧ Test Platform (B1) ‧ ‧ Computer (B2) ‧ ‧ Motor (B3) ‧ ‧ Non-contact tachometer (B4) ‧ ‧ coupling

[The first picture] is a three-dimensional exploded view of the creation.

[Second picture] is a three-dimensional combination of the creation.

[Third image] is a sectional view of the combination of the creation.

[Fourth] is a schematic diagram of the rotation (1) of the creation from the front view.

[Picture 5] is a schematic diagram of the rotation (1) of the creation from the rear view.

[Sixth] is a schematic diagram of the rotation (2) of the creation from the front view.

[Seventh] is a schematic diagram of the rotation (2) of the creation from the rear view.

[Eighth image] is an exploded perspective view of another embodiment of the present creation.

[Ninth aspect] is a three-dimensional combination diagram of another embodiment of the creation.

[Tenth Graph] is a sectional view of a combination of another embodiment of the present creation.

[11th] is a schematic diagram of the rotation (1) of a front view of another embodiment of the present invention.

[Twelfth Figure] is a schematic diagram of the rotation (a) of another embodiment of the present invention from the rear view.

[Thirteenth Figure] is a schematic diagram showing the rotation (2) of a front view of another embodiment of the present invention.

[Fourteenth] is a schematic diagram of the rotation (2) of another embodiment of the present invention from the rear view.

[Fifteenth] is a graph of the speed of the computer's analog output shaft.

[Sixteenth] is a graph of the speed of the input shaft of the computer simulation.

[17th] is a schematic diagram of the test platform used for the experiment.

[Eighteenth image] is a graph of the stable angular output output test.

[19th] is a graph of the efficiency of a general gear reducer.

Table 1: This is the record of the speed ratio of the output shaft and the input shaft captured by the computer.

Table 2: is the performance table of the general gear reducer.

Table 3: It is the efficiency calculation table of the general gear reducer.

Table 4: This is the efficiency calculation table for the creative internal pendulum motion reducer.

(1)‧‧‧First mount

(11) ‧‧‧First accommodating slot

(12)‧‧‧First shaft hole

(13)‧‧‧First fixed hole

(14)‧‧‧ Screw joints

(2) ‧‧‧second mount

(21)‧‧‧Second accommodating slot

(22)‧‧‧Second shaft hole

(23)‧‧‧Second fixing hole

(24)‧‧‧round groove

(3)‧‧‧ Input shaft

(31) ‧ ‧ eccentric

(4) ‧‧‧Rotor

(41)‧‧‧First tooth block

(42) ‧ ‧ joints

(43)‧‧‧First chute

(5) ‧ ‧ stator

(51) ‧‧‧through holes

(52) ‧‧‧second tooth block

(53) ‧‧‧ third fixed hole

(6) ‧‧‧ cross slide block

(61)‧‧‧First slider

(62)‧‧‧Second slider

(7)‧‧‧ Output shaft

(71) ‧‧‧Binding blocks

(72)‧‧‧Second chute

Claims (9)

An internal pendulum motion reducer includes: a first fixing frame, which is provided with a first receiving groove, the first receiving groove is provided with a first shaft hole; a second fixing frame is coupled with The first fixing frame is fixedly coupled to each other, and the second fixing frame is provided with a second receiving groove that cooperates with the first receiving groove, and the second fixing frame is provided with the first axial hole. Cooperating with one of the second shaft holes; an input shaft is disposed in the first shaft hole of the first fixing frame, the input shaft is provided with an eccentric wheel; and a rotor is coupled to the input shaft, The outer peripheral ring of the rotor is provided with a plurality of first tooth blocks, one side of the rotor is concavely provided with a joint portion, the joint portion is for the eccentric wheel of the input shaft to be coupled therein, and the other side of the rotor is provided a first chute; the stator is coupled between the first fixing frame and the second fixing frame, the stator is provided with a through hole, and the inner peripheral ring of the through hole is provided with the first a plurality of second teeth engaged by a tooth block; a cross slide block coupled to the rotor, the cross The moving block comprises a first slider and a second slider which are vertically coupled with each other at 90 degrees, and the first slider is slidably disposed in the first sliding slot of the rotor; an output shaft is threaded through In the second shaft hole of the second fixing frame, the output shaft is provided with a coupling block, and the coupling block is provided with a second sliding slot for the second sliding block to be slidably disposed on the second sliding block. among them. The internal pendulum motion reducer of claim 1, wherein the first fixing frame is provided with a plurality of first fixing holes at a periphery of the first shaft hole, and the second fixing frame is provided with the first a plurality of second fixing holes are matched with the fixing holes, and the stator system is provided with a plurality of third fixing holes, wherein the first fixing holes, the second fixing holes and the third fixing holes are screwed into a screw The stator is fixedly coupled between the first receiving groove of the first fixing frame and the second receiving groove of the second fixing frame. The inner pendulum motion reducer of claim 1, wherein the second receiving groove is provided with a circular groove. The inner swing motion reducer according to claim 1, wherein the rotor is a spur gear having a modulus of 1, 55 teeth, and the stator is an internal gear of a modulus of 1, 60 teeth. The inner swing motion reducer according to the first aspect of the invention, wherein the first chute and the second chute are each formed in a long trough shape. An internal pendulum motion reducer includes: a first fixing frame, which is provided with a first receiving groove, the first receiving groove is provided with a first shaft hole; a second fixing frame is coupled with The first fixing frame is fixedly coupled to each other, and the second fixing frame is provided with a second receiving groove that cooperates with the first receiving groove, and the second fixing frame is provided with the first axial hole. Cooperating with one of the second shaft holes; an input shaft is disposed in the first shaft hole of the first fixing frame, the input shaft is provided with an eccentric wheel; and a cycloidal rotor is coupled to the input One side of the cycloidal rotor is concavely provided with a joint portion, wherein the joint portion is provided with an eccentric wheel for the input shaft, and the other side of the cycloidal rotor is provided with a first chute; a stator coupled between the first fixing frame and the second fixing frame, wherein the pin gear stator is provided with a plurality of pins arranged in a circular shape in a ring shape, and the corresponding numbers are formed between the pins Arc groove, the arc groove is for the cycloid rotor to cooperate with the transmission; a cross slide block, The first sliding block and the second sliding block are respectively disposed at a first chute of the rotor. The first sliding block is disposed on the first chute of the rotor. An output shaft is disposed in the second shaft hole of the second fixing frame, the output shaft is provided with a coupling block, and the coupling block is provided with a second sliding slot, the second sliding slot The second slider is slidably disposed therein. The internal pendulum motion reducer according to the sixth aspect of the invention, wherein the first fixing frame is provided with a plurality of first fixing holes at a peripheral position of the first receiving groove, and the second fixing frame is configured And a plurality of second fixing holes matched with the first fixing holes, wherein the first fixing holes and the second fixing holes are screwed into a screwing member. The inner pendulum motion reducer according to claim 6, wherein the pin gear stator is composed of 10 pins, thereby forming 9 arc grooves, and the center of the cycloid rotor is rotated once, each The arc groove only jumps one pin, so as to achieve a 9:1 deceleration effect. The inner swing motion reducer according to the sixth aspect of the invention, wherein the first chute and the second chute are each formed in a long trough shape.