KR101445725B1 - A reducer - Google Patents

Abstract

The present invention discloses a speed reducer having an improved dustproof and soundproof structure. The decelerator according to the present invention decelerates a rotational force of an input shaft connected to a drive source and transmits the decelerated rotational force to an output member. The decelerator may be a damper for a vibration and soundproof provided in an output member. A damper hole, a viscous body filled in the damper hole, and a cover member coupled to the damper hole to prevent leakage of the viscous body. According to this configuration, it is possible to provide a reducer in which noise and vibration are reduced by effectively absorbing noise and vibration due to engagement of gear teeth, and high stiffness, an overload use environment, and the like.

Description

Reducer {A REDUCER}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a speed reducer, and more particularly, to a speed reducer improved in noise and vibration prevention structure.

Generally, a speed reducer which is widely used as a main power transmission component of various mechanical devices functions to decelerate the input side rotational speed from the output side mainly by the gear arrangement, and depending on the characteristics, has a great influence on the performance of the system I am crazy.

For example, a high-precision speed reducer that requires precise drive control, such as an industrial robot or a joint robot of a medical robot, requires characteristics such as high speed reduction ratio and repeat precision and light weight compared with general speed reducers. Particularly, As a key factor.

An example of a harmonic drive, a cycloidal drive, and an RV decelerator, which are commonly employed as high-precision reduction gears, are disclosed in Korean Patent Publication Nos. 10-0582446, 10-0786205, 10-0800449 , 10-0586451 and 10-0884819, and the like.

In general, in the case of a harmonic reduction gear, since the power receiving portion and the power transmitting portion have a single-stage decelerating structure that is engaged and decelerated, they are advantageous in downsizing and lightening, but they are weak in a portion requiring heavy load.

In the case of a cycloid reducer and an RV reducer using a cycloid gear, the two-stage reduction structure, in which a portion powered by an internal planetary gear and a portion transmitting power by a cycloid toothed gear are separated, It is small and lightweight, has high rigidity, and has a characteristic against overload.

However, the conventional conventional cycloid reducers and RV reducers have a problem that they are susceptible to noise and vibration due to high stiffness, overload use environment, and translational motion of the cyclic toothed gear.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems encountered in the conventional precision reducers such as the cycloid reducer and the RV reducer, and it is an object of the present invention to provide a reducer capable of effectively reducing vibration and noise And to provide a speed reducer having an improved anti-vibration structure.

In order to attain the above object, a speed reducer according to the present invention is a speed reducer for reducing a rotational force of an input shaft connected to a driving source and transmitting the reduced rotational force to an output member, wherein the output member is provided with a vibration damper for soundproofing and soundproofing.

According to another aspect of the present invention, there is provided a speed reducer for reducing a rotational force of an input shaft connected to a driving source and transmitting the reduced rotational speed to an output member, the reducer being rotatably mounted on a base, An input shaft driven; A sun gear installed on the input shaft and rotated together with the input shaft; A plurality of planetary gears engaged with the sun gear and rotating and revolving around the sun gear; A ring gear coupled to the base and meshing with the plurality of planetary gears to guide the plurality of planetary gears to rotate and revolve; A plurality of carrier pins provided at the rotation centers of the plurality of planetary gears for transmitting orbital movement of the plurality of planetary gears; Wherein a hollow is formed around the center of rotation of the input shaft, a center of the outer periphery has a predetermined outer circumferential cam profile eccentric to the center of the hollow, and the plurality of carrier pins An eccentric member mounted on the frame; Wherein the eccentric member includes a plurality of rotation-regulating holes formed through an outer surface of the eccentric member and concentric with the center of the outer peripheral edge of the eccentric member so as to penetrate the surface of the eccentric member and convert the eccentric orbital movement of the eccentric member into a translational motion, A translational motion member having an external tooth of a predetermined shape formed at its periphery; A rotation regulating pin connecting the ring gear and the base through the rotating shaft and regulating the rotation of the translating member; And an output member which is partially engaged with the external teeth of the translational motion member and has an internal tooth having a difference in external gear teeth and gear teeth number of the translational motion member and a damper for vibration and soundproofing and is rotated at reduced speed interlocked with the translational motion of the translational motion member .

According to an aspect of the present invention, the vibration damping and sound damping damper includes at least one damper hole provided in the output member, a viscous body filled in the damper hole, and a damper hole for preventing leakage of the viscous body. And a cover member to be coupled.

According to another aspect of the present invention, the vibration damping and soundproofing damper includes at least one damper hole provided in the output member, a capsule member press-fitted into the damper hole, and a viscous body filled in the capsule member .

According to another aspect of the present invention, the dustproof and soundproofing damper may include at least one damper hole provided in the output member, and a porous body to be press-fitted into the damper hole. Preferably, the inner wall of the damper hole is an uneven surface formed with grooves.

INDUSTRIAL APPLICABILITY The decelerator according to the present invention can effectively absorb noise and vibration generated by meshing of gear teeth with high stiffness and overload, and vibration and soundproof dampers provided in the output member, Can be provided.

1 is a cross-sectional view schematically showing a speed reducer according to the present invention,
FIG. 2 is an exploded perspective view schematically showing the speed reducer according to the present invention shown in FIG. 1,
FIG. 3 is a schematic cross-sectional view showing the essential part of FIG. 1 and FIG. 2,
4 is a cross-sectional view showing the main part shown for explaining another embodiment of the present invention.

Hereinafter, a speed reducer according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 exemplarily illustrated in the embodiment of the present invention are cyclic speed reducers that use a cycloid tooth type such as an RV speed reducer having a limit to be susceptible to noise and vibration as it is mainly used in an environment of high rigidity and overload For example, the present invention can be applied to a planetary gear reducer, a harmonic reducer, and the like.

Referring to FIGS. 1 and 2, a cycloid speed reducer 100 having an improved dustproof and soundproof structure according to the present invention includes a base 110 as an installation base, and a driving unit (not shown) A plurality of carrier pins 140 for transmitting a rotationally decelerated rotational force from the input shaft 120, the planetary decelerator 130, the cycloidal decelerator 150, and the planetary decelerator 130 to the cycloidal decelerator 160, .

The base 110 is fixed to be coupled to a driving source (not shown) in a device body (not shown) such as a robot to which the speed reducer 100 is mounted. The first hollow 111, into which the input shaft 120 is inserted, And a plurality of second engaging holes 115 to which the plurality of first engaging holes 113 and the engaging screws 114 to which the plurality of rotation restricting pins 112 are coupled are formed.

The input shaft 120 is rotated about the first hollow 111 of the base 110 by a first bearing 121 interposed between the first hollow 111 and the input shaft 120 of the base 110. [ Lt; / RTI >

The planetary reduction portion 130 primarily decelerates the rotation of the input shaft 120 and includes a sun gear 131 and a plurality of planetary gears 132 and a ring gear 133.

The sun gear 131 is an external gear and is provided at one end of the input shaft 120 and rotates at the same rotation ratio as the input shaft 120. [

The planetary gear 132 is engaged with the sun gear 131 and the ring gear 133 and rotates and revolves around the sun gear 131 as the external teeth respectively and the carrier pin 140 To output the rotational force.

The ring gear 133 is an internal gear which is coupled to the base 110 by a rotation restricting pin 112 and is installed around the sun gear 131 with a plurality of planetary gears 132 interposed therebetween Thereby guiding the planetary gear 132 to rotate and revolve around the sun gear 131.

The carrier pins 140 are installed at the rotational centers of the plurality of planetary gears 132 to transmit the idle motions of the respective planetary gears 132 to the cycloidal decelerator 150 and to prevent the rotation of the planetary gears 132 from being transmitted. That is, the carrier pin 140 is installed to be idle rotatable with respect to at least one of the planetary gear 132 and an eccentric member 150 described later. For this purpose, the carrier pin 140, A bearing may be provided between the carrier pin 140 and the eccentric member 150 and / or between the carrier pin 140 and the eccentric member 150.

The cycloidal decelerator 150 includes an eccentric member 151 that eccentrically rotates around the input shaft 120, a cyclic disc 153 that converts the eccentric rotational motion of the eccentric member 151 into a translational motion, And an output member 190 rotated in conjunction with the translational movement of the output shaft 153. According to such a configuration, the cycloidal decelerator 150 sequentially rotates the idle motion of the carrier pin 140 to the eccentric rotational motion, the translational motion, and the decelerated rotational motion, thereby to secondarily decelerate the rotational force and output the rotational force.

The eccentric member 151 is installed to rotate about the input shaft 20 with the second bearing 33 interposed in the second hollow 151a formed concentrically with the input shaft 120. The center of the other peripheral edge can be formed into a cylindrical shape having a cam profile having first and second eccentric portions eccentric to the center of the second hollow 210a. That is, when the eccentric member 151 is installed on the plurality of carrier pins 140, the eccentric member 151 is rotated around the input shaft 120 by the idle motion of the planetary gear 132. At this time, the outer peripheral edge of the eccentric member 151 is eccentrically rotated according to the cam profile.

The cyclodic disk 153 has a feature that it is idly installed on the outer periphery of the eccentric member 210 concentrically with the center of the outer peripheral edge of the eccentric member 151. Here, reference numerals B1 and B2 denote bearings for supporting rotational motion, respectively. Here, reference numeral 153a denotes an external tooth formed in a cycloid tooth shape so as to have a predetermined gear teeth number on the outer circumferential surface of the cycloid disk 153. [

The output member 190 is an element that characterizes the present invention. The output member 190 includes an internal tooth 191 having a gear teeth difference so as to partially match the external teeth 153a of the cycloid disk 153, And an anti-vibration and sound-absorbing damper 180. A separate needle pin (not shown) may be disposed between the external teeth 153a of the cycloid disk 153 and the internal teeth 192 of the output member 190 to perform gear movement.

3, the damper 180 is installed in at least one damper hole 193 provided in the output member 190, as shown in FIG. 3. As shown in FIG. And may include a capsule member 181 to be press-fitted into the damper hole 190 and a viscous body 182 to be filled in the capsule member 181. Here, the inner wall of the damper hole 193 may be formed of an uneven surface by the formation of the groove G, thereby enhancing the function of the vibration damping and soundproofing damper 180.

4, the vibration damping and soundproofing damper 180 includes a viscous body 182 filled in at least one damper hole 193 provided in the output member 190, And a cap member C coupled to the damper hole 193 to prevent the viscous body 182 from flowing out to the outside. The viscous body 182 may be filled with viscous oil, such as grease or lubricating oil, and the other side may be filled with the viscous body 182 such as cork, It may be replaced with a porous body.

Hereinafter, the operation of the cycloidal speed reducer according to the present invention having the above-described structure will be described in detail with reference to the accompanying drawings.

The sun gear 131 of the planetary decelerator 130 rotates about the axis of the input shaft 120 when the input shaft 120 is rotated by the driving force provided by the driving source (not shown). At this time, the plurality of planetary gears 132 are engaged with the sun gear 131 and the ring gear 133, respectively, to perform the rotation and idle motions. Here, the first deceleration is performed by the difference in the number of revolutions between the idle revolution of the planetary gear 132 and the rotation of the input shaft.

The idle motion of the planet gear 132 is then transmitted through the carrier pin 140,

Is transmitted to the eccentric member (151) of the deceleration section (150). Accordingly, the eccentric member 151 is rotatably supported by the input shaft 120,

And is rotated around the circumference. In this case, the cyclodic disk 153, which is idlely provided on the outer periphery of the eccentric member 151, performs circular translational motion around the input shaft 120 in accordance with the cam profile formed on the outer periphery of the eccentric member 151 . At this time, the rotation of the cycloid disk 153 is restrained by the rotation restricting pin 112.

The output member 190 is partially engaged with the internal teeth of the output member 190 by the eccentric circular motion of the eccentric member 151 of the cycloid disk 153, So that the rotational force is decelerated secondarily and output through the output member 190.

The noise and vibration generated in the process of partially translating the outer teeth of the cycloid disk 153 and the inner teeth of the output member 190 and translating them are transmitted to the damper holes 193 of the output member 190, And the groove (G) uneven surface, and the viscous body 182 or the porous body of the dustproof and soundproofing damper 180, so that noise and vibration are reduced.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. And such changes are within the scope of the appended claims.

110: base 112: rotation regulation pin
113: first coupling hole 114: fastening screw
115: second coupling hole 120: input shaft
130: planetary decelerator 131: sun gear
132: planetary gear 133: ring gear
140: carrier pin 150: cycloid speed reduction part
151: eccentric member 153: cycloid disk
180: Dustproof soundproofing damper 181: Capsule
182: viscous body 190: output member
191: Damper hole

Claims (5)

A decelerator for decelerating a rotational force of an input shaft connected to a drive source and transmitting the decelerated rotational force to an output member,
The output member is provided with a damper for soundproofing and soundproofing,
Wherein the vibration damping and soundproofing damper includes at least one damper hole provided in the output member, a viscous body filled in the damper hole, and a cover member coupled to the damper hole to prevent leakage of the viscous body,
And a groove is formed in the inner wall of the damper hole along the circumferential direction. A decelerator for decelerating a rotational force of an input shaft connected to a drive source and transmitting the decelerated rotational force to an output member,
An input shaft rotatably mounted on the base, the input shaft being rotationally driven by a power provided from a driving source;
A sun gear installed on the input shaft and rotated together with the input shaft;
A plurality of planetary gears engaged with the sun gear and rotating and revolving around the sun gear;
A ring gear coupled to the base and meshing with the plurality of planetary gears to guide the plurality of planetary gears to rotate and revolve;
A plurality of carrier pins provided at the rotation centers of the plurality of planetary gears for transmitting orbital movement of the plurality of planetary gears;
Wherein a hollow is formed around the center of rotation of the input shaft, a center of the outer periphery has a predetermined outer circumferential cam profile eccentric to the center of the hollow, and the plurality of carrier pins An eccentric member mounted on the frame;
Wherein the eccentric member includes a plurality of rotation-regulating holes formed through an outer surface of the eccentric member and concentric with the center of the outer peripheral edge of the eccentric member so as to penetrate the surface of the eccentric member and convert the eccentric orbital movement of the eccentric member into a translational motion, A translational motion member having an external tooth of a predetermined shape formed at its periphery;
A rotation regulating pin connecting the ring gear and the base through the rotating shaft and regulating the rotation of the translating member;
And an output member which is partially engaged with the external teeth of the translational motion member and has an internal tooth having a difference in external gear teeth and gear teeth number of the translational motion member and a damper for vibration and soundproofing and is rotated at reduced speed interlocked with the translational motion of the translational motion member In addition,
Wherein the vibration damping and soundproofing damper includes at least one damper hole provided in the output member, a viscous body filled in the damper hole, and a cover member coupled to the damper hole to prevent leakage of the viscous body,
And a groove is formed in the inner wall of the damper hole along the circumferential direction. delete 3. The method according to claim 1 or 2,
Wherein the vibration damping and soundproofing damper includes at least one damper hole provided in the output member, a capsule member press-fitted into the damper hole, and a viscous body filled in the capsule member. 3. The method according to claim 1 or 2,
Wherein the vibration damping and soundproofing damper includes at least one damper hole provided in the output member, and a porous body press-fitted into the damper hole.

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