KR101967507B1 - Wire reduction gear - Google Patents

Abstract

A wire speed reducer is provided. A wire speed reducer according to an embodiment of the present invention includes a first input shaft connected to a motor shaft, a support shaft spaced apart in the upper or lower direction of the motor shaft to be parallel to the motor shaft, At least one second input shaft arranged in the upper or lower direction, a first output shaft formed on the same axis as the second input shaft and coupled with the second input shaft, and a second output shaft formed on the same axis as the first input shaft, At least one second output shaft arranged on the outer periphery of one input shaft, a third input shaft formed on the same axis as the second output shaft and coupled with the second output shaft, and a second input shaft formed on the same axis as the second input shaft, And at least one third output shaft spaced apart in the upper or lower direction and arranged at an outer periphery of the second input shaft, A wire wound around the first output shaft is wound around the second input shaft and a wire wound around the second input shaft is wound around the second output shaft The first input shaft, the first output shaft, the second input shaft, and the second output shaft rotate as the motor shaft rotates, and the wire wound around the second output shaft is wound on the third input shaft, And the wire wound around the third input shaft is sequentially wound on the third output shaft so that the third input shaft and the third output shaft rotate as the motor shaft rotates.

Description

Wire reduction gear

The present invention relates to a wire speed reducer.

Most articulated robots use an electric motor as a torque source, but there are restrictions on high speed and low torque. To solve this problem, a reduction gear is used for a joint robot, and the performance of the reducer has a great influence on the performance of the robot system.

Good decelerators should have Zero Backlashes, Back Drivability, Durability, Compactness and so on.

In order to realize this, most of the robots use a harmonic drive. However, since the frictional force and the inertia are somewhat high, the reverse driveability is not satisfactory, and it is weak against axial shock and heavy.

Due to these performance limitations, the performance of the torque control is degraded, and the mass distribution becomes large, thus limiting the design of the robot mechanism portion.

Korean Patent Laid-Open No. 10-2007-0044008 (entitled " Reduction gear mounted on joints of industrial robot "

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wire speed reducer which can realize weight reduction and miniaturization.

Another object of the present invention is to realize a wire speed reducer capable of precise control

In order to attain the above object, a wire-speed reducer according to an embodiment of the present invention includes a first input shaft connected to a motor shaft, a support shaft spaced apart from the motor shaft in parallel to the motor shaft, At least one second input shaft arranged to be spaced apart from the first input shaft in the upper or lower direction, a first output shaft formed on the same axis as the second input shaft and coupled with the second input shaft, At least one second output shaft disposed on an outer periphery of the first input shaft, a third input shaft formed on the same axis as the second output shaft and coupled with the second output shaft, and a second input shaft formed on the same axis as the second input shaft, And at least one third output shaft arranged at the outer periphery of the second input shaft and spaced apart from the third input shaft in the upper or lower direction, Wherein one wire is connected from the first input shaft to the first output shaft and wound on the first output shaft, the wire wound around the first output shaft is wound on the second input shaft, and the wire wound on the second input shaft The wire is sequentially wound on the second output shaft so that the first input shaft, the first output shaft, the second input shaft, and the second output shaft rotate as the motor shaft rotates, and the wire wound around the second output shaft, Wherein the third input shaft and the third output shaft rotate as the motor shaft rotates by sequentially winding the wire wound around the third input shaft on the third output shaft, do.

The present invention has the effect of reducing the weight and size of the reducer.

The present invention has the effect of precisely implementing speed control.

1 is a front view of a wire speed reducer according to an embodiment of the present invention.
2 is a cross-sectional view illustrating a section of a wire speed reducer according to an embodiment of the present invention.
3 is a perspective view of a wire speed reducer according to an embodiment of the present invention.
4 is a side view of a wire speed reducer according to an embodiment of the present invention.
4 is a view showing one side of a wire speed reducer according to another angle of the present invention,
5 is a view illustrating one side of a final output shaft according to another embodiment of the present invention.
FIG. 6 is a view illustrating a wire wound around a final output shaft according to an embodiment of the present invention.
7 (a) to 7 (b) are views showing a fixing unit according to an embodiment of the present invention.
8 (a) to 8 (b) are views for explaining a form in which a wire is wound around each axis according to another embodiment of the present invention.
9 (a) to 9 (b) are views for explaining a form in which a wire is wound around each axis according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The present invention relates to a wire-speed reducer which can be driven without depending on a support frame, and a support frame used in a wire-speed reducer of a conventional type can be omitted, thereby realizing miniaturization of the wire-speed reducer. And to a wire speed reducer capable of precisely controlling the driving.

Further, the present invention relates to a wire speed reducer capable of more precisely controlling the winding and deceleration while maintaining a predetermined tension by transferring (applying) from an input / output shaft to another output shaft or an input shaft without interruption by using one wire.

Such a wire reducer can be used, for example, in the joint of a robot. For example, the wire speed reducer can be used for the joint of the arm of the robot, and the arm can be folded or extended according to the relaxation of the wire wound on the wire speed reducer.

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

The input shaft used for the description of the present invention may include both the first input shaft, the second input shaft, and the third input shaft. The output shaft may include a first output shaft, a second output shaft, and a third output shaft to be.

1 is a front view of a wire speed reducer according to an embodiment of the present invention.

Referring to FIG. 1, a wire speed reducer 100 according to an embodiment of the present invention includes a motor shaft 3, a first input shaft 10, a first output shaft 20, a second input shaft 30, A third input shaft 40, a third input shaft 50, a third output shaft 60, and a torque sensor 70.

The motor shaft 3 is the center axis of the motor 1 located outside.

The first input shaft 10 may be formed on the motor shaft 3. According to another embodiment, the first input shaft 10 is not directly coupled to the motor shaft 3, but may be indirectly connected to the motor shaft 3 by being coupled onto a separate support connected to the motor shaft 3 .

The first input shaft 10 is rotatably fixed to the center of the motor shaft 3 so that the first input shaft 10 can rotate in the same direction as the motor shaft 3 in response to the driving of the motor 1 .

It can be confirmed that the second output shaft 40 and the third input shaft 50 are provided in the direction of the motor shaft 3 symmetrically with respect to the first input shaft 10, The first input shaft 10, the second output shaft 40, and the third input shaft 50 may rotate in the same direction.

A support shaft 5 formed parallel to the motor shaft 3 is provided below the motor shaft 3 of the wire speed reducer 100.

The first output shaft 20 is rotatably fixed to the central portion of the support shaft 5 so that the first output shaft 20 can rotate in the same direction as the support shaft 5 in response to the drive of the support shaft 5 have

It can be seen that the second input shaft 30 and the third output shaft 60 are symmetrically provided on the support shaft 5 with respect to the first output shaft 20, The second output shaft 30, and the third output shaft 60 in the same direction as the first output shaft 20, the second output shaft 30, and the third output shaft 60. [

A first input shaft 10, a plurality of second output shafts 40, and a third input shafts 50 are formed on the motor shaft 3. The second output shafts 40 are formed on the outer periphery of the first input shaft 10 with respect to the first input shaft 10 and the third input shafts 50 are formed on the outer periphery of the first input shaft 10 with reference to the first input shaft 10 And is formed on the outer periphery of the second output shaft 40.

The left second output side 40 and the third input shaft 50 may be arranged symmetrically with the right second output side 40 and the third input side 50 with respect to the first input shafts 10 .

The support shaft 5 is arranged to be spaced apart from the lower portion of the motor shaft 3, and may preferably be arranged parallel to the motor shaft 3. [ The first output shaft 20 is connected to the support shaft and the second input shaft 50 is coupled to the first output shaft 40. The third output shaft 60 is spaced apart from the first output shaft 20, .

The wire is connected from the first output shaft 20 to the second input shaft 30 and is wound on the second input shaft 30. As the motor shaft rotates, the first output shaft 20 and the second input shaft rotate, The reduction ratio of the wire speed reducer can be realized.

In contrast, according to another embodiment of the present invention, the first output shaft 20 and the second output shaft 40 are spaced apart from each other, and when viewed in the Y-axis direction in FIG. 1, .

Of course, the first output shaft 20 and the second output shaft 40 may be arranged so as not to overlap each other. However, considering the downsizing of the wire reducer 10, the first output shaft 20 and the second output shaft 40 may be spaced apart from each other State.

The first output shaft 20 and the second output shaft 40 are spaced apart from each other. In addition, the first output shaft 20 and the second output shaft 40 are spaced apart from each other, The efficiency of space utilization can be further increased.

As a result, it is possible to design the wire-speed reducer 100 to be miniaturized, and even if the wire-speed reducer 100 is applied to the joints of the robot, miniaturization of the wire-speed reducer 100 can be more advantageous.

The first input shaft 10, the first output shaft 20, the second input shaft 30, the second output shaft 40, the third input shaft 50, and the third output shaft 60 are configured in a multi- In the case where the wire wound around the input shaft is continuously wound on the output shaft to realize the reduction ratio, a greater number of input and output shafts can be used in the same manner.

In addition, although the first output shaft 20 is constituted by a single number, it is also possible that a plurality of the first output shafts 20 are symmetrically formed.

That is, the configuration of the output shaft can be implemented differently depending on the apparatus in which the wire speed reducer 100 is provided.

Further, the wire speed reducer 100 may include a torque sensor 70.

The torque sensor 70 senses a torque according to the rotation of the support shaft, and a control unit (not shown) connected to the wire speed reducer controls the rotation of the motor shaft according to the sensed torque.

The torque sensor 70 may be a load system or a load sensor, and is a converter for measuring a force or a load, and is a means for outputting a load (force) as an electric signal.

And can detect the torque applied to the final output shaft when the plurality of output shafts are configured. The reduction ratio of the robot can be precisely controlled by using the signal outputted to the torque sensor 70 provided in the wire speed reducer 100.

2 is a cross-sectional view illustrating a section of a wire speed reducer according to an embodiment of the present invention.

2, the first input shaft 10, the second output shaft 40 and the third input shaft 50 are coupled to the motor shaft 3 and the first output shaft 20, It can be seen that the second input shaft 30, the second output shaft 40, and the torque sensor 70 are coupled.

With the above-described coupling, it is possible to rotate the output shaft or the input shaft corresponding to the rotation of the motor shaft 3 and the support shaft 5.

The support frame 90 may further include a support frame 90 to allow the input shaft and the output shaft to rotate stably when the motor shaft 3 and the support shaft 5 are rotated. So that the input shaft and the output shaft can be easily driven without being limited by the installation on the external accessory even when mounted for realizing the reduction ratio of the robot or other equipment.

In addition, the motor shaft may form a first support shaft 5 connected to the motor shaft, and the input shaft may be coupled to the first support shaft 5.

Further, the wire is separated from the first support shaft so that the second support shaft (not shown in the drawing) is arranged at the lower portion and the output shaft coupled with the second support shaft is connected to the output shaft, As the motor shaft rotates, the first support shaft connected to the motor shaft rotates to enable rotation of the input shaft and the output shaft.

FIG. 3 is a perspective view of a wire speed reducer 100 according to an embodiment of the present invention, FIG. 4 is a view illustrating one side of a wire speed reducer 100 according to another angle of the present invention, and FIG. FIG. 3 illustrates one side of a third output shaft according to one embodiment.

Further, in order to facilitate understanding of the present invention, when defining a wire path, a wire refers to a wire winding area within the wire speed reducer 100. [

3, wire grooves 83 may be formed in the first input shaft 10, the second input shaft 30, and the third input shaft 50, respectively.

The wire groove 83 functions to guide the wire to be wound according to a predetermined wire path by preventing the wire from being separated or rewound when the wire is wound and unwound according to the determined wire path.

Since the wire used to maintain the reduction ratio of the wire speed reducer 100 is a structure that is wound and unwound through the input shaft and the output shaft while maintaining a constant tension, the wire groove is formed in the output shaft, So that the wire can be wound and unwound.

As shown in FIG. 4, the output shaft is coupled to both sides of the wire speed reducer 100. The output shaft receives inputting (transitioning) of the transferred wire through the upper input shaft and outputs (transfers) the wire to the coupled output shaft .

The output shaft fastened to the support shaft 5 receives (transfers) the wire of the upper input shaft so that the wire of the output shaft fastened to the support shaft 5 is wound and loosened according to the winding or unwinding of the wire in accordance with the rotation of the input shaft. have.

For example, one end of the wire output from the first input shaft 10 is connected to the first output shaft 20, and the other end of the wire is connected to the first output shaft 20 and the second input shaft 30 connected to both sides. Is wound.

Therefore, when the motor is operated in the winding mode, the joint is pulled on the robot joint equipped with the wire speed reducer. When the motor is operated in the opposite direction, the joint is operated through the output shaft and as a result, the wire speed reducer is mounted The robot joint can again perform the relaxation operation.

4 and 5, a flange 87 is provided on the third output shaft 60 of the cylindrical shaped body to prevent the wire from deviating from the wire path while being wound and unwound according to the determined wire path So that it is possible to more effectively prevent the detachment of the wire effectively.

5 is a view illustrating one side of an output shaft according to another embodiment of the present invention.

Referring to FIG. 5, a wire path groove 85 for guiding a wire to an output shaft is formed.

The wire path groove 85 is a structure for outputting the wire wound through the input shaft to the corresponding output shaft without deviation.

The wire path groove 85 is formed in a spiral shape at the center of the output shaft, and can guide the wire to be directly connected to the output shaft.

Since the wire path groove 85 is formed for each output axis, it is preferable that the number of the wire pass grooves 85 is the same as the number of the output axes.

6 is a view illustrating a wire wound around an output shaft according to an embodiment of the present invention.

6, the wire path groove 85 guides the wire output through the third output shaft 60 to be directly output to the third output shaft 60 without floating in the air.

It is possible to prevent the wire 7 from deviating from the wire path by transferring (outputting) the wire 7 to the third output shaft 60 through the wire path groove 85, There is an advantage that it is not necessary to provide a fixing device for performing the operation. That is, the number of the wire fixing devices can be minimized by implementing a reduction ratio by connecting a plurality of input shafts and a plurality of output shafts using one wire.

As a result, the size of the wire speed reducer 100 of the present invention can be remarkably reduced, and the wire speed reducer 100 can be easily mounted on the robot joints to shrink and relax the robot joints.

Furthermore, a more effective reduction ratio can be controlled through the wire speed reducer 100 for a robot or the like requiring precision control.

FIG. 7 is a view showing that the fixing part 9 according to the embodiment of the present invention is provided.

When the fixing portion 9 is coupled through the inside of the motor shaft 3 and the inside of the shaft, the transmission torque of the shaft can be further improved as the motor shaft 3 rotates.

As a result, the winding position of the wire winding can be always constant by winding the fixing portion 9 on the wire speed reducer 100, and it is possible to stably implement the reduction ratio.

8 (a) to 8 (b) are views for explaining a form in which a wire is wound around each axis according to another embodiment of the present invention.

8 (a) to 8 (b), it can be seen that the motor shaft 3 is provided at the center of the wire speed reducer 100.

Fig. 8 (a) shows the same direction in which the wires are wound, and Fig. 8 (b) shows the direction in which the wires are wound.

8 (a), when the wire 7 is sequentially wound on the second input shaft and the second output shaft and is wound clockwise on the first input shaft at the second input shaft, the first output shaft is wound clockwise .

On the other hand, referring to FIG. 8 (b), it can be seen that the wire 7 is wound counterclockwise on the first output shaft when it is wound clockwise on the first input shaft.

 8A and 8B, when the winding direction of the wire is the same, the pull-in or pull-out distance from the input shaft or the input shaft at the output shaft is shorter than the case where the winding direction of the wire is opposite, Small.

9 (a) to 9 (b), it can be seen that the motor shaft 3 is provided at the center of the wire speed reducer 100. It can be seen that a plurality of first output shafts are formed, 8 (a) to 8 (b) are formed in the same number as the first output shaft, the input shaft and the output shaft are formed so as to be clockwise identical in clockwise direction, or a wire wound clockwise in the input shaft, It may be wound in a counterclockwise direction.

10 (a) to 10 (b), it can be seen that the first input shaft 10 is provided on both sides of the wire speed reducer 100.

In the case where the first input shaft 10 is provided on both sides as well as in the case where the first input shaft 10 is provided at the center, the direction in which the wires are wound may be the same as shown in FIG. 10 (a) Can be formed by winding in the opposite direction.

Likewise, when the winding direction of the wire 7 is wound in the opposite direction, the tension of the wire is larger than that of the winding direction of the input shaft or the output shaft and the winding direction of the output shaft or the input shaft.

As a result, the deceleration control of the wire speed reducer 100 is effectively controlled by the provision of the wire, and at the same time, more precise control is possible according to the winding direction of the wire, and the position of the input shaft is designed in accordance with the position of the mounted motor It is possible to design a wire speed reducer.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

3: motor shaft, 5: support shaft
7: wire, 9:
10: first input shaft, 20: first output shaft
30: second input shaft, 40: second output shaft
50: third input shaft, 60: third output shaft
70: torque sensor, 83: wire groove
85: wire path groove, 90: support frame
100: Wire reducer

Claims (1)

A first input shaft connected to the motor shaft;
A support shaft spaced from the motor shaft in the upper or lower direction and formed parallel to the motor shaft;
At least one second input shaft formed on the support shaft and spaced apart from the first input shaft in the upper or lower direction;
A first output shaft formed on the same axis as the second input shaft and coupled with the second input shaft;
At least one second output shaft formed on the same axis as the first input shaft and arranged at an outer periphery of the first input shaft;
A third input shaft formed on the same axis as the second output shaft and coupled with the second output shaft; And
At least one third output shaft which is formed on the same axis as the second input shaft and which is spaced apart from the third input shaft in the upper or lower direction and arranged at an outer periphery of the second input shaft,
, ≪ / RTI &
One wire is connected from the first input shaft to the first output shaft and wound on the first output shaft, the wire wound around the first output shaft is wound on the second input shaft,
Wherein the first input shaft, the first output shaft, the second input shaft, and the second output shaft rotate as the motor shaft rotates by sequentially winding the wire wound around the second input shaft by the second output shaft,
The wire wound on the second output shaft is wound on the third input shaft and the wire wound on the third input shaft is wound on the third output shaft sequentially so that the third input shaft and the third input shaft, (3) The output shaft is rotated.

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