TWM567514U - Rotation actuator - Google Patents
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- TWM567514U TWM567514U TW107205731U TW107205731U TWM567514U TW M567514 U TWM567514 U TW M567514U TW 107205731 U TW107205731 U TW 107205731U TW 107205731 U TW107205731 U TW 107205731U TW M567514 U TWM567514 U TW M567514U
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Abstract
本創作公開了一種旋轉致動器，尤指一種減速機構中具有一外轉馬達的旋轉致動器，該減速機構主要包含第一外齒環與第二外齒環構成的齒差外環，二外齒環分別提供致動器組接至外部相對應作用端；一與第一外齒環及第二外齒環同步嚙合作用的內齒環，內齒環使第一外齒環與第二外齒環形成速差轉動；一作用於內齒環的中空狀凸輪；一嵌組設於凸輪內部的外轉馬達，外轉馬達驅動凸輪讓內齒環與二齒差外環嚙合作動，使內齒環與二齒差外環具有與軸向長度相當之嚙合傳動作用，達到減速機構最大輸出的扭矩。The present invention discloses a rotary actuator, and more particularly to a rotary actuator having an external rotation motor in a reduction mechanism, the reduction mechanism mainly comprising a tooth outer ring formed by a first outer ring gear and a second outer ring gear. The two outer ring gears respectively provide an actuator assembly to the external corresponding action end; an inner ring gear that synchronously meshes with the first outer ring gear and the second outer ring gear, the inner ring gear makes the first outer ring gear and the first outer ring The outer ring gear forms a speed difference rotation; a hollow cam acting on the inner ring gear; an outer rotation motor embedded in the cam, the outer rotation motor driving cam causes the inner ring gear to mesh with the outer ring of the second tooth difference, The inner ring gear and the second tooth outer ring have an meshing transmission function equivalent to the axial length, and the torque of the maximum output of the speed reduction mechanism is achieved.
Description
本創作係有關於一種旋轉致動器，尤指一種將外轉馬達內置嵌組在減速機構中的旋轉致動器，且使致動器的減速機構具有更大扭矩輸出之結構組成。The present invention relates to a rotary actuator, and more particularly to a rotary actuator in which an external rotation motor is built-in in a reduction mechanism, and which has a structure in which a reduction mechanism of the actuator has a larger torque output.
傳統的旋轉致動器多係應用馬達輸出動力軸接至減速機構，透過減速機構將馬達高速輸出的轉速，轉化成高扭力之動力輸出，使旋轉致動器可適合應用至高負載需求之應用領域，例如安裝應用在機械手臂的各關節部。但是，習知的技術應用上，為馬達的馬達軸與減速機構串接的動力傳動模式，形成馬達與減速機構軸向排列，如此勢必造成旋轉致動器整體的軸向長度過長，導致旋轉致動器的安裝空間需要較大尺寸，不利機械手臂整體機構的規劃與設計。因此，台灣發明專利公開號第201626696號已經提出一種旋轉致動器，希望通過中空型的諧波齒輪裝置來容置馬達，以期達到縮減旋轉致動器軸向尺寸的目的。The conventional rotary actuator multi-purpose application motor output power shaft is connected to the speed reduction mechanism, and the speed of the high-speed output of the motor is converted into a high-torque power output through the speed reduction mechanism, so that the rotary actuator can be applied to the application field with high load demand. For example, the mounting is applied to each joint of the robot arm. However, in the conventional technical application, the power transmission mode in which the motor shaft of the motor is connected in series with the speed reduction mechanism forms an axial arrangement of the motor and the speed reduction mechanism, so that the axial length of the entire rotary actuator is excessively long, resulting in rotation. The installation space of the actuator requires a large size, which is unfavorable for the planning and design of the overall mechanism of the mechanical arm. Therefore, a rotary actuator has been proposed in Taiwan Patent Publication No. 201626696, and it is desirable to accommodate a motor through a hollow type harmonic gear device in order to achieve the purpose of reducing the axial size of the rotary actuator.
但是，上述該專利公開案所揭示的諧波旋轉致動器，係採用諧波齒輪減速機構，其外齒環與柔輪的輪齒的總咬合齒寬，受限於柔輪的結構及其材質因素，因而無法達到高扭矩輸出，例如柔輪為可撓性合金所製成，其應用在高負載的情況下，能導致柔輪很快就發生機械疲乏。由此可見，上述諧波旋轉致動器的構造將致使其負載能力較不足，產業上的應用範圍也受到限制。為此，本創作人乃秉持精益求精之研發精神，提出一種旋轉致動器的創作，期使旋轉致動器在縮減軸向尺寸之目的下，同時能在扭矩輸出上有著極佳的表現，使旋轉致動器整體的應用領域更加廣泛。However, the harmonic rotary actuator disclosed in the above patent publication adopts a harmonic gear reduction mechanism, and the total engagement tooth width of the outer ring gear and the teeth of the flexible wheel is limited by the structure of the flexible wheel and Due to the material factor, high torque output cannot be achieved. For example, the flexible wheel is made of a flexible alloy, and its application under high load can cause the soft wheel to suffer mechanical fatigue quickly. It can be seen that the construction of the above-mentioned harmonic rotary actuator will result in insufficient load capacity, and the industrial application range is also limited. To this end, the creator is adhering to the spirit of research and development, and proposes the creation of a rotary actuator, which enables the rotary actuator to have an excellent performance in torque output while reducing the axial dimension. Rotating actuators are used in a wider range of applications.
本創作之目的在提供一種旋轉致動器，其應用二個相互軸向套接的齒差外環，一囓合在二齒差外環內齒環，一設置在內齒環中的中空凸輪，及一設置在中空凸輪的外轉馬達，組成一齒差旋轉致動器，進而達到旋轉致動器軸向體積縮小，能夠產生最大的力矩與增進負載能力等目的。The purpose of the present invention is to provide a rotary actuator that uses two externally toothed outer rings that are axially sleeved, one engaged in a two-toothed outer ring inner ring, and a hollow cam that is disposed in the inner ring. And an external rotation motor disposed on the hollow cam constitutes a tooth difference rotary actuator, thereby achieving axial reduction of the rotary actuator, which can generate maximum torque and enhance load capacity.
為了達到上述目的，本創作之旋轉致動器，其較佳技術方案包含：一第一外齒環與一第二外齒環，該第一外齒環的一內環面具有一圈第一內齒，該第一外齒環的一端設有一直徑大於該第一內齒且同軸心的套接孔；該第二外齒環的內環面具有一圈第二內齒，該第二外齒環的一端轉動地設置入該第一外齒環的套接孔，該第一內齒與該第二內齒並排，該第一內齒與該第二內齒的模數相同而齒數不同；一內齒環，該內齒環的外環面設有一圈外齒，該外齒的寬度等於該第一內齒與該第二內齒的總合，且該外齒嚙合在該第一內齒與該第二內齒；一凸輪，其軸心設有一連通二端的容置孔，其外圍具有一凸輪面，該凸輪面抵靠在該內齒環的內環面以驅轉該內齒環；一外轉馬達，其具有一軸心，一設置於該軸心的定子，與一環繞該定子的外殼轉子，該外殼轉子結合在該凸輪的容置孔以驅轉該凸輪，該軸心的二端突出該凸輪；二端蓋，其中一端蓋結合在該第一外齒環的外側面，另一端蓋結合在該第二外齒環的外側面，且上述該軸心一端固定於其中一個該端蓋。In order to achieve the above object, a preferred embodiment of the rotary actuator of the present invention comprises: a first outer ring gear and a second outer ring gear, and an inner ring mask of the first outer ring gear has a first ring The inner tooth has a sleeve hole having a diameter larger than the first inner tooth and concentric; the inner ring of the second outer ring has a second inner tooth, the second outer One end of the ring gear is rotatably disposed into the sleeve hole of the first outer ring gear, the first inner tooth is parallel to the second inner tooth, and the first inner tooth and the second inner tooth have the same modulus and different numbers of teeth An inner ring gear, the outer ring surface of the inner ring gear is provided with a ring of external teeth, the outer teeth having a width equal to the total of the first inner teeth and the second inner teeth, and the outer teeth meshing with the first The inner tooth and the second inner tooth; a cam having an axial center with a receiving hole communicating with the two ends, the outer periphery having a cam surface, the cam surface abutting against the inner annular surface of the inner ring gear to drive the inner An external gear motor; an outer rotation motor having an axis, a stator disposed on the shaft, and a casing rotor surrounding the stator, the casing rotor being coupled a accommodating hole of the cam to drive the cam, the two ends of the shaft protrude from the cam; the two end cover, wherein one end cover is coupled to the outer side of the first outer ring gear, and the other end cover is coupled to the second outer tooth An outer side of the ring, and one end of the shaft is fixed to one of the end caps.
較佳的，上述的旋轉致動器中，該第二外齒環的一端設有一凸環，該凸環轉動地設置入該第一外齒環的套接孔。Preferably, in the above rotary actuator, one end of the second outer ring gear is provided with a convex ring, and the convex ring is rotatably disposed into the sleeve hole of the first outer ring gear.
較佳的，上述的旋轉致動器中，該套接孔的內孔壁設有一圈第一珠溝，該凸環的外環面設有一圈第二珠溝，該第一珠溝與該第二珠溝相對應，並於該第一珠溝與該第二珠溝內設有多數個滾子。Preferably, in the above rotary actuator, the inner hole wall of the sleeve hole is provided with a first bead groove, and the outer ring surface of the convex ring is provided with a second bead groove, the first bead groove and the The second bead corresponds to a plurality of rollers disposed in the first bead and the second bead.
較佳的，上述的旋轉致動器中，該凸環的外環面套設一滾動軸承，該滾動軸承設置入該第一外齒環的套接孔。Preferably, in the above rotary actuator, the outer ring surface of the convex ring is sleeved with a rolling bearing, and the rolling bearing is disposed in the sleeve hole of the first outer ring gear.
較佳的，上述的旋轉致動器中，該滾動軸承設有螺孔，該第一外齒環與該第二外齒環分別穿設有螺絲，該螺絲鎖附於該滾動軸承的螺孔。Preferably, in the above rotary actuator, the rolling bearing is provided with a screw hole, and the first outer ring gear and the second outer ring gear are respectively provided with screws, and the screw is locked to the screw hole of the rolling bearing.
較佳的，上述的旋轉致動器中，該凸輪為一偏心輪。Preferably, in the above rotary actuator, the cam is an eccentric.
較佳的，上述的旋轉致動器中，該凸輪的凸輪面設有一滾子槽，該滾子槽設置有多數個滾子，該滾子抵靠該內齒環的內環面以驅轉該內齒環。Preferably, in the above rotary actuator, the cam surface of the cam is provided with a roller groove, the roller groove is provided with a plurality of rollers, and the roller abuts against the inner annular surface of the inner ring gear to drive The internal tooth ring.
較佳的，上述的旋轉致動器中，該端蓋設有一滾動軸承，該滾動軸承並套設於該外轉馬達的軸心。Preferably, in the above rotary actuator, the end cover is provided with a rolling bearing, and the rolling bearing is sleeved on the axis of the external rotation motor.
茲依附圖實施例將本創作之結構特徵及其他之作用、目的詳細說明如下：The structural features of the present creation and other functions and purposes are described in detail in the following embodiments:
參閱圖1及圖2所示，係為本創作之一種旋轉致動器，並參閱圖3、圖4及圖5所示，本創作較佳的具體實施例包含一第一外齒環1與一第二外齒環2、一內齒環3、一凸輪4、一外轉馬達5以及二端蓋6、7，其中：Referring to FIG. 1 and FIG. 2, which is a rotary actuator of the present invention, and as shown in FIG. 3, FIG. 4 and FIG. 5, a preferred embodiment of the present invention includes a first outer ring gear 1 and a second outer ring gear 2, an inner ring gear 3, a cam 4, an outer rotating motor 5 and two end caps 6, 7, wherein:
該第一外齒環1為一合金或塑鋼製成的圓環體，其一內環面具有一圈第一內齒11，該第一外齒環1的一端設有一直徑大於該第一內齒11且同軸心的套接孔12；該第二外齒環2同樣為一合金或塑鋼製成的圓環體，其一內環面具有一圈第二內齒21，該第二外齒環2的一端轉動地設置入該第一外齒環1的套接孔12，使該第一內齒11與該第二內齒21並排，且該第一內齒11與該第二內齒21的模數相同而齒數不同，可利用其中的第二外齒環2作為固定端，而第一外齒環1作為動力輸出端。The first outer ring gear 1 is a ring body made of alloy or plastic steel, and an inner ring mask has a ring of first inner teeth 11 , and one end of the first outer ring gear 1 is provided with a diameter larger than the first inner ring a tooth 11 and a coaxial sleeve hole 12; the second outer ring 2 is also an annular body made of alloy or plastic steel, and an inner ring mask has a second inner tooth 21, the second outer tooth One end of the ring 2 is rotatably disposed in the sleeve hole 12 of the first outer ring gear 1 such that the first inner tooth 11 and the second inner tooth 21 are juxtaposed, and the first inner tooth 11 and the second inner tooth 21 has the same modulus and different numbers of teeth, and the second outer ring gear 2 can be used as a fixed end, and the first outer ring gear 1 serves as a power output end.
該內齒環3同樣為一合金或塑鋼製成的圓環體，其直徑適於設置在該第一外齒環1與該第二外齒環2之中，其外環面設有一圈外齒31，該外齒31的寬度等於該第一內齒11與該第二內齒21的寬度的總合，且該外齒31嚙合在該第一內齒11與該第二內齒21(如圖2及圖5所示)。該凸輪4為用於驅動該內齒環3的元件，其軸心設有一連通二端的容置孔41，其外圍具有一凸輪面42，將該凸輪4轉動地設置在該內齒環3之中(如圖5至圖7所示)，使其凸輪面42抵靠在該內齒環3的內環面，進而可以驅轉該內齒環3。The inner ring gear 3 is also an annular body made of alloy or plastic steel, and has a diameter suitable for being disposed in the first outer ring gear 1 and the second outer ring gear 2, and the outer ring surface is provided with a ring outer ring. a tooth 31 having a width equal to a total of the widths of the first internal teeth 11 and the second internal teeth 21, and the external teeth 31 are engaged with the first internal teeth 11 and the second internal teeth 21 ( As shown in Figure 2 and Figure 5). The cam 4 is an element for driving the inner ring gear 3, and the shaft center is provided with a receiving hole 41 communicating with the two ends, and a cam surface 42 is disposed on the periphery thereof, and the cam 4 is rotatably disposed on the inner ring gear 3 Among them (as shown in FIG. 5 to FIG. 7), the cam surface 42 is abutted against the inner annular surface of the inner ring gear 3, so that the inner ring gear 3 can be driven.
該外轉馬達5為一種軸心作為固定軸而外殼轉動的馬達，其主要具有一軸心51，一設置於該軸心51的定子52，與一環繞該定子52的外殼轉子53；其安裝時，將該外轉馬達5設置在該凸輪4的容置孔41(如圖5、圖6及圖7所示)，使該外殼轉子53結合在該凸輪的容置孔41的內壁，而其軸心51的二端突出該凸輪4；藉此，當該外轉馬達5轉動時，通過其外殼轉子53驅轉該凸輪4，而該凸輪4再驅轉該內齒環3。The outer rotation motor 5 is a motor whose shaft core is a fixed shaft and the outer casing rotates. The motor mainly has a shaft center 51, a stator 52 disposed on the shaft core 51, and a casing rotor 53 surrounding the stator 52. The outer rotation motor 5 is disposed in the accommodating hole 41 of the cam 4 (as shown in FIGS. 5, 6, and 7), and the outer casing rotor 53 is coupled to the inner wall of the accommodating hole 41 of the cam. The two ends of the shaft 51 project from the cam 4; thereby, when the outer rotation motor 5 rotates, the cam 4 is driven by its outer casing rotor 53, and the cam 4 re-drives the inner ring gear 3.
該二端蓋6、7為對應該第一外齒環1與該第二外齒環2直徑的圓盤，其中一端蓋6通過多數螺絲61軸向鎖附在該第一外齒環1的外側面(如圖2或圖6所示)，另一端蓋7則通過多數螺絲71軸向鎖附在該第二外齒環2的外側面(如圖2或圖6所示)，且上述該外轉馬達5的軸心51一端固定於其中一個該端蓋7(如圖5所示)，例如該第一外齒環1作為動力輸出端，而第二外齒環2作為固定端時，該外轉馬達5的軸心51一端固定在與第二外齒環2相結合的該端蓋7；再者，上述該端蓋7可設有一滾動軸承10，該滾動軸承10並套設於該外轉馬達5的軸心51，藉此組成本創作之旋轉致動器。The two end caps 6 and 7 are discs corresponding to the diameters of the first outer ring gear 1 and the second outer ring gear 2, wherein the one end cover 6 is axially locked to the first outer ring gear 1 by a plurality of screws 61. The outer side surface (as shown in FIG. 2 or FIG. 6), the other end cover 7 is axially locked to the outer side surface of the second outer ring gear 2 by a plurality of screws 71 (as shown in FIG. 2 or FIG. 6), and the above One end of the shaft 51 of the external rotation motor 5 is fixed to one of the end covers 7 (as shown in FIG. 5), for example, the first outer ring gear 1 serves as a power output end, and the second outer ring gear 2 serves as a fixed end. One end of the shaft 51 of the external rotation motor 5 is fixed to the end cover 7 combined with the second outer ring gear 2; further, the end cover 7 can be provided with a rolling bearing 10, and the rolling bearing 10 is sleeved on the end The shaft 51 of the outer motor 5 is externally rotated, thereby constituting the rotary actuator of the present invention.
上述該第一外齒環1與該第二外齒環2彼此套接在一起可相對轉動，進而縮短致動器的總體寬度，為使二者能以較低的磨擦力作相對轉動，本創作較佳的實施例之一，係在該第二外齒環2的一端設有一凸環22，該凸環22轉動地設置入該第一外齒環1的套接孔12，該套接孔12的內孔壁設有一圈第一珠溝13，該凸環22的外環面設有一圈第二珠溝23，使該第一珠溝13與該第二珠溝23相對應，並於該第一珠溝13與該第二珠溝23內設有多數個滾子8，例如滾柱或滾珠，藉此使該第一外齒環1與該第二外齒環2低磨擦力相對轉動。The first outer ring gear 1 and the second outer ring gear 2 are sleeved together to be relatively rotatable, thereby shortening the overall width of the actuator, so that the two can be relatively rotated with a low friction force. One of the preferred embodiments is provided with a convex ring 22 at one end of the second outer ring gear 2, and the convex ring 22 is rotatably disposed into the sleeve hole 12 of the first outer ring gear 1, the sleeve hole The inner wall of the inner wall of the ring 12 is provided with a first bead groove 13 , and the outer ring surface of the convex ring 22 is provided with a second bead groove 23 , so that the first bead groove 13 corresponds to the second bead groove 23 , and The first bead groove 13 and the second bead groove 23 are provided with a plurality of rollers 8 , such as rollers or balls, thereby making the first outer ring gear 1 and the second outer ring gear 2 have a low frictional force. Turn.
再參閱圖8所示，本創作較佳的實施例之二，若該第一外齒環1與該第二外齒環2採用塑鋼材料製成時，本創作可選擇在該凸環22的外環面套設一滾動軸承9，該滾動軸承9設置入該第一外齒環1的套接孔12，且該滾動軸承9的外環與內環分別設有多個軸向的螺孔91、92，藉此，在該第一外齒環1與該第二外齒環2分別穿設有螺絲14、24，該螺絲14、24分別鎖附於該滾動軸承9的螺孔91、92，藉此使該第一外齒環1與該第二外齒環2低磨擦力相對轉動。Referring to FIG. 8 again, in the second preferred embodiment of the present invention, if the first outer ring gear 1 and the second outer ring gear 2 are made of a plastic steel material, the present invention can be selected at the convex ring 22. The outer ring surface is sleeved with a rolling bearing 9 , and the rolling bearing 9 is disposed in the sleeve hole 12 of the first outer ring gear 1 , and the outer ring and the inner ring of the rolling bearing 9 are respectively provided with a plurality of axial screw holes 91 , 92 . Thereby, the first outer ring gear 1 and the second outer ring gear 2 are respectively provided with screws 14 and 24, and the screws 14 and 24 are respectively locked to the screw holes 91 and 92 of the rolling bearing 9, thereby The first outer ring gear 1 and the second outer ring gear 2 are relatively rotated with a low frictional force.
再參閱圖6及圖7所示，上述該凸輪4較佳的實施為一偏心輪，當其轉動時，能夠驅動該內齒環3，使該內齒環3同時嚙合於第一內齒11與第二內齒21，進而產生減速傳動作用；其中，該凸輪4的凸輪面42更可以設有一圈滾子槽43，並在該滾子槽43設置有多數個滾子44，藉此使該滾子44抵靠該內齒環3的內環面以驅轉該內齒環3，藉此達到降低磨擦力的效果。Referring to FIG. 6 and FIG. 7 , the cam 4 is preferably embodied as an eccentric. When the cam 4 is rotated, the inner ring gear 3 can be driven to simultaneously engage the inner ring gear 3 with the first inner teeth 11 . And the second internal tooth 21, thereby generating a reduction transmission function; wherein the cam surface 42 of the cam 4 is further provided with a ring of roller grooves 43, and a plurality of rollers 44 are disposed in the roller groove 43, thereby The roller 44 abuts against the inner annular surface of the inner ring gear 3 to drive the inner ring gear 3, thereby achieving the effect of reducing friction.
本創作之旋轉致動器使用時，可使用該端蓋6、7分別結合在活動機械手臂關節的二端，當該外轉馬達5啟動時，通過其外殼轉子53驅轉該凸輪4，該凸輪4再驅轉該內齒環3，使內齒環3一側的外齒31嚙合在該第一外齒環1的第一內齒11與該第二外齒環2的第二內齒21轉動，由於第一內齒11與第二內齒21為模數相同而齒數不同，因此該第一外齒環1與該第二外齒環2呈高減速比相對轉動，達到高減速比輸出的功能。特別是，本創作的第一外齒環1與第二外齒環2為軸向套合的構造，其軸向的寬度能更縮小，而其第一內齒11與第二內齒21及內齒環3的外齒31的寬度能因其結構的關係實施到最寬，能夠增進其輸出力矩。又本創作之外轉馬達5實施在凸輪4中，可以縮小致動器的整體軸向寬度，使旋轉致動器整體的應用領域更加廣泛。When the rotary actuator of the present invention is used, the end caps 6 and 7 can be respectively coupled to the two ends of the movable mechanical arm joint, and when the external rotation motor 5 is started, the cam 4 is driven by the outer casing rotor 53 thereof. The cam 4 re-drives the inner ring gear 3 such that the outer teeth 31 on one side of the inner ring gear 3 mesh with the first inner teeth 11 of the first outer ring gear 1 and the second inner teeth of the second outer ring gear 2 21 rotation, since the first inner teeth 11 and the second inner teeth 21 have the same modulus and different numbers of teeth, the first outer ring gear 1 and the second outer ring gear 2 rotate relative to each other at a high reduction ratio to achieve a high reduction ratio. The function of the output. In particular, the first outer ring gear 1 and the second outer ring gear 2 of the present invention are axially nested, and the axial width thereof can be further reduced, and the first inner teeth 11 and the second inner teeth 21 and The width of the outer teeth 31 of the inner ring gear 3 can be maximized due to its structural relationship, and the output torque can be increased. Further, the present external rotation motor 5 is implemented in the cam 4, and the overall axial width of the actuator can be reduced, so that the application field of the rotary actuator as a whole is more extensive.
綜上所述，本創作之旋轉致動器，已確具實用性與創作性，其技術手段之運用亦出於新穎無疑，且功效與設計目的誠然符合，已稱合理進步至明。為此，依法提出新型專利申請，惟懇請 鈞局惠予詳審，並賜准專利為禱，至感德便。In summary, the rotary actuator of this creation has been practical and creative, and its technical means are also novel and undoubted, and the efficacy and design purpose are in line with the fact that it has been reasonably improved. To this end, a new type of patent application is filed in accordance with the law, but the bureau is requested to give a detailed examination and grant the patent as a prayer.
1‧‧‧第一外齒環
11‧‧‧第一內齒
12‧‧‧套接孔
13‧‧‧第一珠溝
14‧‧‧螺絲
2‧‧‧第二外齒環
21‧‧‧第二內齒
22‧‧‧凸環
23‧‧‧第二珠溝
24‧‧‧螺絲
3‧‧‧內齒環
31‧‧‧外齒
4‧‧‧凸輪
41‧‧‧容置孔
42‧‧‧凸輪面
43‧‧‧滾子槽
44‧‧‧滾子
5‧‧‧外轉馬達
51‧‧‧軸心
52‧‧‧定子
53‧‧‧外殼轉子
6、7‧‧‧端蓋
61、71‧‧‧螺絲
8‧‧‧滾子
9‧‧‧滾動軸承
91、92‧‧‧螺孔
10‧‧‧滾動軸承1‧‧‧First outer ring
11‧‧‧First internal tooth
12‧‧‧ sockets
13‧‧‧The first bead
14‧‧‧ screws
2‧‧‧Second outer ring gear
21‧‧‧Second internal tooth
22‧‧‧ convex ring
23‧‧‧Second Pearl Ditch
24‧‧‧ screws
3‧‧‧ internal tooth ring
31‧‧‧ external teeth
4‧‧‧ cam
41‧‧‧ accommodating holes
42‧‧‧ cam surface
43‧‧‧Roller slot
44‧‧‧Roller
5‧‧‧External motor
51‧‧‧Axis
52‧‧‧ Stator
53‧‧‧ casing rotor
6, 7‧‧‧ end caps
61, 71‧‧‧ screws
8‧‧‧Roller
9‧‧‧ rolling bearings
91, 92‧‧‧ screw holes
10‧‧‧ rolling bearings
圖1為本創作旋轉致動器之組合狀態立體示意圖。 圖2為本創作旋轉致動器之組合狀態剖面立體示意圖。 圖3為本創作旋轉致動器之分解狀態立體示意圖。 圖4為本創作旋轉致動器之分解狀態立體示意圖。 圖5為本創作旋轉致動器之組合狀態剖面示意圖。 圖6為本創作旋轉致動器之部分構件分解立體示意圖。 圖7為本創作旋轉致動器之部分構件分解立體示意圖。 圖8為本創作旋轉致動器另一較佳實施例之示意圖。Fig. 1 is a perspective view showing the combined state of the rotary actuator of the present invention. Fig. 2 is a schematic perspective view showing the combined state of the rotary actuator of the present invention. Fig. 3 is a perspective view showing the exploded state of the rotary actuator of the present invention. Fig. 4 is a perspective view showing the exploded state of the rotary actuator of the present invention. Fig. 5 is a schematic cross-sectional view showing the combined state of the rotary actuator of the present invention. Fig. 6 is an exploded perspective view showing a part of the structure of the rotary actuator. Fig. 7 is an exploded perspective view showing a part of the structure of the rotary actuator. Figure 8 is a schematic view of another preferred embodiment of the inventive rotary actuator.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107205731U TWM567514U (en) | 2018-05-03 | 2018-05-03 | Rotation actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107205731U TWM567514U (en) | 2018-05-03 | 2018-05-03 | Rotation actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TWM567514U true TWM567514U (en) | 2018-09-21 |
Family
ID=64400044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW107205731U TWM567514U (en) | 2018-05-03 | 2018-05-03 | Rotation actuator |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWM567514U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114337090A (en) * | 2020-09-30 | 2022-04-12 | 日本电产东测有限公司 | Electric actuator |
-
2018
- 2018-05-03 TW TW107205731U patent/TWM567514U/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114337090A (en) * | 2020-09-30 | 2022-04-12 | 日本电产东测有限公司 | Electric actuator |
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