Page 11 - 2018村田型錄1-46
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R R
 滾柱減速機構成



 STRUCTURE OF ROLLER REDUCER






                                                                                     4  Internal rollers
                                                                                                  1 外滾柱
 L                                                                                                   External rollers
 Pr                                                                                                   2  Needle pin

                                                                   D1 針齒直徑 Needle pin pitch diameter  Needle pin(Pin gear)diameter  5 (Pinroll)








 曲柄  滾柱盤  外殼                                                                                      3       Shaft pin
       crank                Roller disc          Roller              Housing             Roller      Roller disc


   ▲展開  Stretch  ▲輸出  Output  ▲激波                                   ▲組合  Assembly
 將滾輪波動傳動展開如上圖所示，當曲柄1 單向移動將  將滾輪（齒輪3）受曲柄1 激動後，一面以高速公轉，  當外殼4的齒廓採用圓形滾柱5和激波器選用標準  以上機構精巧組合如上圖所示，當滾柱盤3上之內滾

 逐次壓下滾柱盤2 內之滾柱3 和外殼4 之滾柱5 嚙合，  一面以低速自轉，自轉減速可經由滾子4驅動滾子內  偏心圓時，其激波規律類似曲柄滑塊運動的規律 (如  柱4較小時，尤其在傳動比較大狀況下，滾柱內無法
 滾柱盤2上各滾柱3反向移動，滾柱3被拘限於滾柱盤2齒  之軸銷5(直接或間接固定於輸出軸2上)直接輸出。很  上圖所示)。      安置軸銷 5時，通常將其置放於滾柱盤3上，其輸出

 距Pr內，滾輪齒輪被推而連續移動。周而復始，不存在  容易證明m,n,o,p為平行四邊形，因此輸出轉速等於              轉速仍然不變，全系統基本上為純滾動接觸，機械
           S =Rp Cos β-e Cos ω
 死點。而且滿足L＝Tg x Pg＝Tr x Pr之關係。Tr和Tg為滾  滾柱盤3之低速轉速。(如上圖所示)             損失非常微小，故可得極高之傳動效率。
                        2
                  2
                     2
          S' =√Rp -e  Sin ωt-e Cos ωt-RO
 柱3和滾柱5之個數。
          Rp＝偏心圓理論輪廓半徑                  e=偏心距
          Ro＝激波器基圓半徑                    ω=偏心圓角速度
           β＝連杆和導軌中線間夾角                  t=時間參數


 First，stretch the basic roller wave transmission  The  roller  disc  (3)  are  propelled  by  the   The detail shown as the above figure, when

 as the figure 1，when crank(1) moved to certain  crank(1)，make the high speed revolution and  internal rollers(4) of roller disc (3) are small
 direction，propel roller (3) of roller disc (2) to  the low speed rotation itself at the same time.  so that shaft pin(5) can’t be inserted into

 mesh  with  roller  (5)  of  housing  (4)，then  Retarding rotation could propel shaft pin (5) via  internal   rollers，especially   high   ratio

 rollers (3) of roller disc (2) are moved adversely  roller (4)，(PS.:shaft pin (5) mounted on output  status， shaft  pin(5)  is  used  to  being  put  in
 ，rollers (3) also are limited in the pitch (Pr)  shaft (2) directly or indirectly)，we can easily  roller disc (3) directly，also maintain the same

 of  roller disc (2)，the rollers are propelled  prove : the 4 points of m，n，o，p form a  output  speed. Basically，this  system  is
 continuously，one by one，no dead point and  parallelogram，therefore output speed is equal  rolling  contact completely  with  very  low

 meet below formula : L=Tg x Pg = Tr x Pr  to low speed of roller disc (3). Shown as the  mechanical  loss  and  obtain  very  high

 Tr and Tg represent the number of roller(3) and  above figure.     efficiency.
 roller(5) separately.









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