Page 10 - 2018村田型錄1-46

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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