KR101351528B1 - Separable actuator - Google Patents

Abstract

The present invention relates to a power transmission device of a separate actuator, which is configured by a circuit part provided in a PCB form to control a driving motor, a driving motor as a power source, and receiving feedback of the position of a secondary output shaft as a control information, and configured by a gear coupling method. A primary deceleration module having a primary decelerator for primary deceleration of the output of the motor; A secondary reducer is included to receive the deceleration output of the primary reduction module to reduce the secondary, wherein the secondary reducer includes an involute tooth type gear reducer, an electric reducer, a harmonic drive reducer, and a cycloid reducer. A secondary deceleration module, which includes any one of magnetic absolute encoders, potentiometers, and optical rotary absolute encoders to detect and feed back the position of the secondary output shaft, the second deceleration module being gear-coupled to the primary deceleration module; In the separate actuator comprising a; The power transmission means, the primary pulley module which is bolted or screwed to the primary reduction module to be geared with the output shaft of the primary reduction module; It consists of a secondary pulley module that is bolted or screwed to the secondary reduction module to gear engagement with the input shaft of the secondary reduction module; a belt for transmitting power by connecting the primary pulley module and the secondary pulley module in an endless track form; It provides a power transmission device of a separate actuator characterized in that.
According to the present invention, by modularizing the primary reducer and the secondary reducer constituting the actuator, it is possible to series according to the gear type and the gear ratio, can flexibly respond to the requirements of the user, excellent expandability and compatibility, high freedom In addition, it is possible to obtain an effect that can vary the reduction ratio, and furthermore, to obtain an effect that can be usefully installed and used in a narrow environment where it is difficult to install a fully assembled actuator.

Description

Removable Actuator {SEPARABLE ACTUATOR}

The present invention relates to a power transmission device of a separate actuator, and more particularly, the first deceleration unit by making actuators that are applied to the joints of the robot to guide the movement smoothly in a module form and connecting them to each other to transfer power. The distance between the secondary deceleration unit and the user can be spaced apart as desired by the user relates to a power transmission device of a separate actuator that maximizes utilization.

As is well known, robots used in various fields from industrial robots to humanoid robots use actuators having a deceleration function for flexible movement of joints.

In particular, the recent rapid development of robotics technology is integrating robotics mechanisms that were previously only used for industrial applications to other industries, such as household cleaning robots, programming education robots, and toys. Development and production of robots and entertainment robots.

In this robot technology, the actuator related to driving is a very important core component, and furthermore, the reduction gear is a main component of the actuator.

Prior art related to such a speed reducer is registered in Korean Patent No. 0325018 'Cycloid Reducer Using Involute Gear', Patent Publication No. 2010-0038146 'Rotary Reducer', Patent Publication No. 2011-0068500 'Multi-Axis Cycloid Reducer' And the like are disclosed.

However, in the case of the speed reducers belonging to the related art as well as the disclosed prior art, since the first and second reducers are configured in one body, the size of the reducer is inevitably increased, and the user can not adjust the degree of freedom. There are disadvantages.

In addition, in the case of the reduction ratio, the fixed (fixed) can only be used, the user's requirements (center distance, gear type, gear ratio, etc.) has a limitation that can not be changed flexibly.

Accordingly, the present inventors modularize the primary deceleration part and the secondary deceleration part constituting the actuator, respectively, and divide the primary deceleration module and the secondary deceleration module, and standardize them so that various combinations are possible, and according to the combination, Of course, we have developed a modular structure with diversified degrees of freedom.

Under such development background, if the power transmission is possible with sufficient control of the separation distance between the primary deceleration module and the secondary deceleration module, for example, the actuator may be fully assembled. It was expected that it could be used efficiently and usefully in difficult and narrow spaces.

However, since the actuator in the related art does not have an example of a separable type itself, it was not easy to envision such a concept.

The present invention has been made in view of the above-mentioned problems in the prior art, and has been created to solve this problem. The actuator is modularized to allow a flexible coupling by combining a primary reducer and a secondary reducer, thereby providing high degree of freedom, expandability, and compatibility. This provides a separate actuator that can freely configure and change various applications according to the user's purpose, but allows power to be smoothly transmitted even when two modular gear units are sufficiently spaced apart. Its main purpose is to provide a device.

The present invention is a means for achieving the above object, the control unit is a drive unit, a drive unit which is configured as a circuit coupling, a gear coupling method provided in the form of a PCB to control the drive motor, the drive motor and the feedback of the position of the secondary output shaft is utilized as control information A primary deceleration module having a primary decelerator for primary deceleration of the output of the motor; A secondary reducer is included to receive the deceleration output of the primary reduction module to reduce the secondary, wherein the secondary reducer includes an involute tooth type gear reducer, an electric reducer, a harmonic drive reducer, and a cycloid reducer. A secondary deceleration module, which includes any one of magnetic absolute encoders, potentiometers, and optical rotary absolute encoders to detect and feed back the position of the secondary output shaft, the second deceleration module being gear-coupled to the primary deceleration module; In the separate actuator comprising a; The power transmission means, the primary pulley module which is bolted or screwed to the primary reduction module to be geared with the output shaft of the primary reduction module; It consists of a secondary pulley module that is bolted or screwed to the secondary reduction module to gear engagement with the input shaft of the secondary reduction module; a belt for transmitting power by connecting the primary pulley module and the secondary pulley module in an endless track form; It provides a power transmission device of a separate actuator characterized in that.

At this time, the belt is a timing belt, the outer peripheral surface of the first and second pulleys provided in the first and second pulley module is also characterized in that the teeth formed in engagement with the timing belt.

In addition, the primary pulley module, the primary module housing fixed to the primary deceleration module, the first pulley, which is rotatably fixed to the center of the primary module housing and gear-coupled with the output shaft of the primary reduction module, the first A primary tensioner installed on both sides of the opening of the primary module housing so as to elastically press both sides of the belt to be pulled out after being wound on the pulley; The secondary pulley module, the secondary module housing fixed to the secondary deceleration module, the second pulley which is rotatably fixed to the center of the secondary module housing, the gear is engaged with the second pulley and the input shaft of the secondary reduction module It is also characterized in that the output gear is installed in the secondary module housing for gear coupling, the secondary tensioner is installed on both sides of the opening of the secondary module housing to elastically press the both sides of the belt pulled out after being wound on the second pulley.

According to the present invention, by modularizing the primary reducer and the secondary reducer constituting the actuator, it is possible to series according to the gear type and the gear ratio, can flexibly respond to the requirements of the user, excellent expandability and compatibility, high freedom In addition, it is possible to obtain an effect that can vary the reduction ratio, and furthermore, to obtain an effect that can be usefully installed and used in a narrow environment where it is difficult to install a fully assembled actuator.

1 is an exemplary view of a separate actuator that is a prerequisite of the present invention.
Figure 2 is an exemplary view showing a primary deceleration module of a separate actuator which is a precondition of the present invention.
3 and 4 are exemplary views showing a combination example of a separate actuator which is a precondition of the present invention.
Figure 5 is an exemplary view showing an embodiment of a separate actuator power transmission device according to the present invention.
6 and 7 is an exemplary view showing a pulley module constituting a separate actuator power transmission device according to the present invention.
8 is an exemplary view showing an example of the use of the power transmission device according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Actuator power transmission apparatus according to an embodiment of the present invention presupposes that the first reduction gear and the secondary reduction gear module is configured to implement a variety of reduction ratio and degrees of freedom through the combination of the first reduction gear and the secondary reduction gear, respectively The main feature is that the 1st and 2nd deceleration modules are interconnected and configured to transmit power under the condition.

Then, prior to describing the power transmission apparatus according to the present invention, the modularity of the actuator, that is, the configuration of the separate actuator, which is a prerequisite, will be described with reference to FIG. 1.

As shown in FIG. 1, the separate actuator according to the present invention includes a primary deceleration module 100 and a secondary deceleration module 200.

Here, the most preferred embodiment according to the present invention is configured to implement a variety of reduction ratios and degrees of freedom by configuring a plurality of primary reduction module 100 in common, and a plurality of secondary reduction module 200 to have a variety of reduction ratios. In addition, if the primary deceleration module 100 is also implemented in plural number, the number of combinations increases exponentially and thus the reduction ratio and the degree of freedom can be varied in various ways.

However, in the present invention, only the case in which the primary deceleration module 100, which is the most preferred embodiment, is commonly used will be described as an example.

In addition, the secondary deceleration module 200 includes a gear type reducer that is commonly used in the art, a reducer that mainly uses an Involute Tooth Form; An electric speed reducer for causing the ball to rotate in the guide groove having a shape in which an epicycloid curve and a hypocycloid curve face each other to execute deceleration rotation; As the bundle of elliptical wave generators rotates, only elliptical movements are transferred to the flexplane by bearings that are swept in an elliptical shape, and the flexplane slowly rotates by skipping the outermost ring gear one by one to induce deceleration. Wow; Cycloid reducers can be used to fix the pin gears and eccentrically rotate the plate gears having epitaxial teeth as planetary gears, and a decelerator made of a combination thereof can be used.

In particular, as shown in FIGS. 1 and 2, the primary deceleration module 100 is configured to decelerate power of the driving motor 120, which is input from the primary deceleration module 100 itself, through a gear ratio. do.

To this end, the primary deceleration module 100 is connected to the module housing 110, the drive motor 120 embedded in the module housing 110, the power supply and shutdown of the primary deceleration module 100, communication A main PCB 130 for performing control, a sub-PCB 140 for controlling the driving of the driving motor 120 by receiving the position of the output shaft, a driving gear 150 fixed to the rotating shaft of the driving motor 120, and The driven gear 160 is coupled to the drive gear 150 to induce a primary deceleration, and the transmission gear 170 is formed integrally with the driven gear 160 and transmits power to the secondary reduction module 200. It consists of.

In this case, the driving gear 150 and the driven gear 160 for implementing the reduction unit may use both a spur gear type or a harmonic gear type and a combination thereof.

At this time, the spur gear type may be understood as a conventional spur gear type, and the harmonic gear type is a known gear type having little backlash unlike other gear types, and it is preferable to apply it to a robot requiring precise control.

In addition, in the present invention, since the output shaft of the primary deceleration module 100 and the input shaft of the secondary deceleration module 200 are connected to each other in the form of gear coupling, preferably spur gear coupling, the primary reduction module 100 is provided. In addition to the primary deceleration function by the primary decelerator (drive gear + driven gear), and the secondary deceleration function by the secondary decelerator provided in the secondary deceleration module 200, the primary deceleration module 100 and the secondary Since the deceleration function (spur gear coupling), that is, the intermediate deceleration is further performed at the connection portion of the reduction module 200, the deceleration efficiency is further enhanced.

In addition, although not shown, the secondary deceleration module 200 further includes position detection means such as a magnetic absolute encoder, a potentiometer, an optical rotary absolute encoder, and the like, to detect the position of the secondary output shaft and feed it back to the PCB.

On the other hand, as shown in Figure 1, the actuator deceleration module according to the present invention for coupling the primary deceleration module 100 and the secondary deceleration module 200, the tab (Tab) on the coupling surface of the primary deceleration module 100, respectively A plurality of coupling holes 180 are formed, preferably quadrangular, and a plurality of coupling holes 210 having tabs are formed on a defect surface of the secondary reduction module 200.

In addition, a plurality of unit grid-type bolt holes 182 formed in multiples of the unit grids are formed on at least one side of the first and second reduction modules 100 and 200 so as to increase the expandability.

The unit grid bolt holes 182 are arranged so that at least four bolt balls form a substantially rectangular shape at regular intervals to form a unit grid which is a basic grid, and a plurality of other bolt balls are formed by multiples thereof based on the unit grid. It has a structure that is formed.

In other words, the unit lattice has a structure in which a plurality of unit grids are repeatedly formed, and thus, the plurality of primary deceleration modules having different sizes can be connected to each other to easily increase the volume, that is, increase scalability.

Therefore, the user can increase or decrease the size (volume) of the actuator module in proportion to the unit grid according to the use.

After all, the present invention has the advantage that the user can be arbitrarily changed to have a variety of volumes because these modules are modularized in multiples of the unit grid.

In particular, when the positioning pin 190 is further provided at any position of the coupling surfaces of the primary and secondary modules 100 and 200 as shown in FIG. 1, the assembly can be performed quickly, smoothly and more accurately in a very short time. It can be very advantageous.

In addition, the output member 220 provided in the secondary deceleration module 200 is a member for outputting the reduced power. In the past, the output member 220 is normally formed in the form of a shaft. It was very inconvenient because it had to be assembled in the form of connecting or connecting the ring, but in the present invention, by changing it to a circular flange type, and forming a plurality of bolt holes (not shown) in the flange surface simply tighten the bolt in the required position Ease of use is further enhanced because it allows the use of reduced power.

Based on the above concept, the actuator module as shown in FIG. 3 may be implemented.

For example, in the case of Figure 3 shows a form in which the input shaft and the output shaft that power when the primary deceleration module 100 and the secondary deceleration module 200 is assembled in a general type is kept in parallel.

As another example, the actuator module as shown in FIG. 4 may also be implemented.

In the case of FIG. 4, when the primary deceleration module 100 and the secondary deceleration module 200 are assembled in an orthogonal shape, the input shaft and the output shaft that power the power are orthogonal to each other.

As described above, the actuator module according to the present invention can perform the secondary deceleration through the secondary deceleration module 200 while performing the primary deceleration function through the primary deceleration module 100 more precisely It can be used in fields requiring precise and precise control, and furthermore, since it is composed of modules with specifications, the expansion and contraction of the actuator is free, and the replacement combination is possible to have the desired reduction ratio according to the user's environment to maximize the user's freedom. Has an advantage.

On the other hand, the power transmission device of the actuator according to the present invention on the premise that the modular actuator as described above has a belt system as shown in FIG.

That is, as shown in FIG. 5, the primary pulley module 300 is bolted or screwed on one side of the primary deceleration module 100, for example, the side on which the power transmission shaft is provided.

Similarly, the secondary pulley module 400 is bolted or screwed on one side of the secondary deceleration module 200, for example, the side on which power is input for secondary deceleration.

In addition, the primary pulley module 300 and the secondary pulley module 400 are connected to each other to enable power transmission by the belt 500.

In addition, the first and second deceleration modules 100 and 200 may be connected by the belt 500 in various forms in addition to the example of FIG. 5, and these structures may be applied to the joint motion of the robot as shown in FIG. 8.

Meanwhile, as shown in FIG. 6, in the case of the primary pulley module 300, a substantially rectangular primary module housing 310 is provided, and an inner center of the primary module housing 310 of the primary deceleration module 100 is provided. A first pulley 330 is rotatably fixed to the first pulley 330 having a first gear 320 that is coupled to the transmission gear 170 for outputting power, and the belt 500 is wound around the first pulley 330. .

Here, the belt 500 which is the power transmission means according to the present invention can be used as long as the belt structure capable of power transmission up to the timing belt, including the flat belt.

However, in the case of the timing belt, the only difference is that the tooth puller is further provided on the outer circumferential surface of the first pulley 330 to be coupled with the timing belt.

In addition, the primary module housing 310 is configured such that one side is open so that the belt 500 can be drawn out through the opening.

In addition, the pair of first tensioners 340 are installed at both sides of the opening of the primary module housing 310 so as to apply tension to the belt 500 by suppressing the drawn belt 500. .

At this time, the first tensioner 340 is provided with a small roll in contact with the belt 500, the roll is fixed by a 'c' shaped support 346, the support 346 is the primary It is configured to move in the guide groove 344 formed on the upper and lower surfaces of the opening of the module housing 310, it is also configured to be adjusted by the adjustment bolt 342.

Thus, the belt 500 may be stably drawn out and disposed.

Likewise, as shown in FIG. 7, the secondary pulley module 400 fixed to the input side of the secondary reduction module 200 is fixed.

The second pulley 430 having the primary module housing 410 and the second gear 420 in a configuration corresponding to the components embedded in the primary pulley module 300 described above also inside the secondary pulley module 400. ), The second tensioner 440 for adjusting the tension of the belt 500 is provided in the same structure.

However, since the secondary pulley module 400 cannot directly transmit power to the input side of the secondary deceleration module 200, the secondary pulley module 400 further includes a separate output gear 450 that is tooth-coupled with the second gear 420. There is only a difference in that the output gear 450 is tooth-coupled with the input gear 202 provided in the secondary deceleration module 200.

Therefore, when the first and second deceleration modules 100 and 200 are coupled to each other by the belt 500, the belt 500 may rotate in a caterpillar shape and continuously transmit power.

In particular, when arranged as shown in Figure 8 it is possible to design the robot joint portion to enable efficient operation while reducing the number of reducers.

As such, the belt-type power transmission device used in the modular actuator according to the present invention is transferred to the secondary deceleration module 200 in the state in which the primary deceleration is made through the primary deceleration module 100 to make the secondary deceleration. Since a little deceleration through the first and second tensioners 340 and 440 is further performed in the step before losing, the secondary deceleration load in the secondary deceleration module 200 is further reduced, which has the advantage of improving efficiency.

Moreover, the belt type power transmission device used for the modular actuator according to the present invention is to implement the actuator in a narrow space where it is difficult to install the actuator in an assembly state or to perform the actuator function while maintaining a certain interval or more. Even when the primary deceleration module 100 and the secondary deceleration module 200 are spaced apart from each other, a smooth and accurate power transmission and deceleration control are possible, thereby making it very useful and increasing the utilization range.

This has the advantage of wider use of the actuator function.

100: 1st deceleration module 110: module housing
120: drive motor 130: main PCB
140: Sub PCB 150: Drive Gear
160: driven gear 170: transmission gear
180: coupling hole 190: positioning pin
200: secondary reduction module 210: coupling hole
300: primary pulley module 310: primary module housing
320: first gear 330: first pulley
400: 2nd pulley module 410: 2nd module housing
420: second gear 430: second pulley
500: belt

Claims (4)

In the actuator is installed on the operation frame of the robot to control the joint motion of the robot, the actuator having a secondary deceleration module for receiving and outputting power from the primary deceleration module and the primary deceleration module,
The primary deceleration module may include a driving motor as a power source, a printed circuit board controlling the driving motor by feeding back the output of the secondary reduction module, a plurality of primary reduction gears rotated by the driving motor, and the driving motor. And a module housing in which the printed circuit board and the first reduction gear are mounted.
The secondary reduction module may include a plurality of secondary reduction gears, a case in which the secondary reduction gears are mounted, an output member installed at one side of the case to generate the output by the secondary reduction gear, and the output. Equipped with a position detector for sensing,
The primary reduction gears are driven on a rotating shaft of the drive motor, driven gears engaged with the drive gears, and installed on the same shaft as the driven gears to rotate together with the driven gears and open the module housing. It has a transmission gear exposed through the output side,
The secondary reduction gears are provided on the open input side of the case and have an input gear exposed through the input side.
The actuator includes:
A primary pulley module having a first gear rotating in engagement with the transmission gear and a first pulley rotating together with the first gear;
A secondary pulley module having an output gear that rotates in engagement with the input gear, a second gear that rotates in engagement with the output gear, and a second pulley that rotates with the second gear; And
And a belt connecting the first and second pulleys to transfer power of the first pulley to the second pulley. The method of claim 1,
The secondary deceleration module is installed on the front end of the operating frame, the primary deceleration module is separated from the secondary deceleration module is installed inside the front end of the operating frame, separate actuator. 3. The method according to claim 1 or 2,
The belt is a timing belt,
Separate actuators are formed on the outer circumferential surface of the first and second pulleys engaging teeth with the timing belt. 3. The method according to claim 1 or 2,
The primary pulley module is fixed to the module housing and the first gear housing, the first gear and the first pulley is mounted, and the belt fixed to the primary module housing is installed in and out of the primary module housing Equipped with an elastic pressure primary tensioner,
The secondary pulley module is fixed to the case and the output gear and the second gear, and the second module housing on which the second pulley is mounted, and fixed to the secondary module housing is installed in and out of the secondary module housing Is provided with a secondary tensioner for elastically pressing the belt to
And the first gear and the first pulley are disposed at the center of the primary module housing, and the second gear and the second pulley are disposed at the center of the secondary module housing.

Images