KR102151386B1 - Reducer with position feedback apparatus - Google Patents

Abstract

In an embodiment of the present invention, in a speed reducer having a position feedback device according to one aspect, power is provided by a speed reducer case of a form surrounding the outer circumference of the speed reducer, a hollow straight power transmission path and an output shaft of an integral bearing-type support structure. Includes an insert gear module that receives input and outputs after decelerating, and an encoder mounted on the insert gear module, wherein the encoder is provided at one side of the lower end of the output shaft of the bearing-integrated both ends support structure, and is provided in an internal groove provided in the reducer case. It provides a speed reducer with a built-in position feedback device, characterized in that the.

Description

Reducer with built-in position feedback device{REDUCER WITH POSITION FEEDBACK APPARATUS}

The present invention relates to a speed reducer with a built-in position feedback device, and more particularly, to a speed reducer having an output part position feedback device having a straight power transmission structure while mounting the position feedback device to the output part.

Recently, the range of use of robots is expanding not only for industrial use, but also for home robots and humanoid robots, and accordingly, robot technology is rapidly developing. In particular, in relation to robot technology, the actuator installed for the flexibility of the robot joint is one of the core parts of the robot, and the reducer is used as the main component of the actuator. Representative examples include gear type reducer, electric ball type reducer, and cycloidal reducer. There is this.

Conventional actuators are controlled only through the position feedback device of the input part corresponding to the motor, but in this case, if a reducer is installed to obtain high torque, the responsiveness according to the reduction ratio and the error increase, making precise control difficult. There are drawbacks. Therefore, recently, a position feedback device is attached to the output as well as the input part of the actuator, so that precise control is easy.In particular, the actuator is implemented so that the position of the output part can be immediately known after power is applied without a separate homing through the absolute position encoder. The output position feedback device has the characteristic that it must be directly connected to the rotating output. The multi-axis/multi-stage gear train like an involute gear train is easy to connect directly to the output, but planetary gears such as a cycloid gear reducer. The base internal gear train is a single axis/coaxial gear train, so if the position feedback device is directly connected to the output part, a hollow mechanical part (gear part) and an “S” type or “Zigzag” type input part (additional gear train) are required. It has an inevitable structure.

Referring to Figs. 1 and 2 showing a conventional speed reducer X with a built-in position feedback device, a rod equipped with a magnet (magnetic) is mounted on the output side 200 located inside the speed reducer X. It can be seen that the magnetic POT (potentiometer) sensor 300 (measures magnetic change) that measures the rotation of the rod (same rotation as the output shaft 200) is mounted. In this case, when power is received from the input side 100 and transmitted to the output side 200, the rod mounted at the center of the output side rotates and the sensor measuring this is fixed, so the power transmission structure could not be implemented in a straight line. Therefore, “S” A type or “zigzag” type power transmission structure 400 was used. However, the “S” type or “zigzag” type power transmission structure has a problem that may lead to a decrease in the durability of the reduction unit as a high torque reduction unit requires an increase in the volume of the gear train and the durability of the additional gear train.

Accordingly, there is a need for a speed reducer equipped with a position feedback device directly on the output side while having a straight power transmission structure so as not to reduce the durability of the reduction part as a whole.

The present invention was conceived to solve the above-described problem, and the technical problem to be achieved by the present invention is to provide a speed reducer with a built-in position feedback device having a straight power transmission structure while mounting a position feedback device to the output unit.

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

In order to solve the above technical problem, one embodiment of the present invention is a speed reducer having a position feedback device, comprising: a speed reducer case surrounding an outer peripheral surface of the speed reducer; An insert gear module that has a hollow straight power transmission path and an output shaft of a bearing-integrated support structure at both ends, receives power, decelerates, and outputs; And an encoder mounted on the insert gear module, wherein the insert gear module includes: an input unit having a hollow straight power transmission path and being located at the center of the insert gear module to receive power; And an output unit having an output shaft of a bearing-integrated support structure that outputs the output after decelerating by receiving the power, wherein the encoder is directly connected to the output shaft of the output unit to grasp absolute position information of the output unit, and the encoder Is provided on one side of the lower end of the output shaft of the bearing-integrated both-end support structure, and is provided in an internal groove provided in the reducer case, and the output shaft of the bearing-integrated both-end support structure includes an upper bearing module and a lower bearing module, and the upper bearing The module and the lower bearing module are coupled to each other and fixed through a coupling member, and the encoder is mounted on one side of a lower end of the lower bearing module.

In an embodiment of the present invention, the speed reducer case includes a housing surrounding the speed reducer, a coupling gear integrally formed on an inner circumferential surface of the speed reducer and coupled to the insert gear module, and an internal groove in which the encoder is embedded. , The reducer case may be replaced, so that the insert gear module may be customizable.

delete

In an embodiment of the present invention, the output shaft of the bearing-integrated support structure at both ends is in the form of a cross roller bearing, and the upper bearing module and the lower bearing module have the same shape, each has a coupling groove, and can be coupled to the coupling groove. It may be coupled to each other through the coupling member.

In an embodiment of the present invention, the encoder is mounted on the insert gear module, has a magnet and a PCB, analyzes and acquires the position information of the output unit by a magnetic flux detection method, and performs position feedback based on the position information. It can be an eccentric absolute encoder.

In an embodiment of the present invention, the encoder may be coupled to a gear driven type or a belt driven type when mounted on one side of the lower end of the lower bearing module.

In an embodiment of the present invention, the encoder is coupled to a gear driven type or a belt driven type when mounted on one side of the lower end of the lower bearing module, and may further include a contamination prevention cover provided on an outer peripheral surface of the encoder.

According to various embodiments of the present invention, an eccentric absolute encoder may be mounted at the bottom of the output shaft of the support structure at both ends to mount an output-side position feedback device inside the speed reducer, and a speed reducer having a straight power transmission structure while having an output-side position feedback device is installed. Can be implemented.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 and 2 are a side view and a partial exploded perspective view schematically showing an internal configuration of a reduction gear in which a conventional position feedback device is incorporated.
3 is a side view schematically showing the internal configuration of a speed reducer with a built-in position feedback device according to an embodiment of the present invention.
4 is a partial exploded perspective view showing a detailed configuration of a speed reducer with a built-in position feedback device according to an embodiment of the present invention.
5 is a view showing a schematic configuration of an insert gear module including a speed reducer with a built-in position feedback device according to an embodiment of the present invention.
6 is a view showing a detailed configuration of an output shaft, which is one of the sub-elements of an insert gear module including a speed reducer with a built-in position feedback device according to an embodiment of the present invention.
7 is a diagram showing a detailed configuration of an encoder including a speed reducer according to an embodiment of the present invention.
8 is a view showing the external appearance of a gear-driven encoder according to an embodiment of the present invention.
9 is a view showing the outer shape of a belt-driven encoder according to another embodiment of the present invention.
10 is a view showing a belt-driven encoder according to another embodiment of the present invention and a cover for preventing contamination formed on the outer circumferential surface thereof.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and therefore is not limited to the embodiments described herein. The suffixes "module" and "unit" for components used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description has been omitted, and similar parts are similar throughout the specification. Reference numerals are attached. In particular, it is apparent that the conventional speed reducer structure and gear structure, the speed reducer internal structure, the structure of the output shaft, and a method of coupling each component may be variously implemented in addition to the method described below.

When it is said that a part is "connected (connected, contacted, bonded)" with another part throughout the specification, it is not only "directly connected", but "indirectly connected" with another member in the middle. It includes cases where it is made. In addition, when a part "includes" a certain component, it means that other components may be further provided, rather than excluding other components unless specifically stated to the contrary.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In addition, in the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other It is to be understood that the presence or addition of features, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of being excluded.

3 is a side view schematically showing an internal configuration of a speed reducer 1 with a built-in position feedback device according to an embodiment of the present invention, and FIG. 4 is a partial exploded perspective view showing a detailed configuration of the speed reducer 1 As a drawing, the reducer 1 will be described with reference to this.

3 and 4, the speed reducer 1 includes a speed reducer case 1000, an insert gear module 2000, and an encoder 3000.

The speed reducer case 1000 is implemented in a form surrounding the outer circumferential surface of the speed reducer 1, protects the inside of the speed reducer 1 from the outside, and blocks the inside and the outside of the speed reducer 1. Specifically, the reduction gear case 1000 may include a housing 1100, a coupling gear 1200, and an internal groove 1300.

The housing 1100 directly surrounds the speed reducer 1 and has an insert gear module 2000 (hereinafter, "insert gear" is all corrected as "insert gear module"), an encoder 3000, etc. to be. 3 and 4 have a cylindrical shape, but are not necessarily limited thereto, and may be implemented in various shapes including a polygonal column, and materials may be variously selected according to a manufacturing method, and must be the entire reducer 1 Since it is not necessary to seal, a part may be implemented to be connected to the outside.

The coupling gear 1200 is integrally formed on the inner circumferential surface of the reduction gear case 1000 and has a structure capable of being coupled with the insert gear module 2000. The coupling gear 1200 is a structure having various types of couplingable teeth, such as an involute gear having an involute tooth or an epitrochoid gear having an epitrochoid tooth. Although it may be designed, it does not necessarily have to have a gear-coupled structure having a toothed shape, and may be implemented in various structures capable of being combined with the insert gear module 2000.

The built-in groove 1300 is a space in which the encoder 3000 is mounted. An object of the present invention is to implement the reducer 1 having a straight power transmission path while embedding the encoder 3000 through the built-in groove 1300. As shown in FIGS. 3 and 4, the encoder 3000 is provided on the right inside the reduction gear case 1000 in the drawing, but may be provided on the left side, and thus the built-in groove 1300 is located on the left or right inside the reduction gear case 1000. It may be provided in a variety of spaces, including.

The insert gear module 2000 is a device that decelerates and outputs the input power, has a form that can be inserted into or detached from the reducer case 1000, and may have a hollow, straight power transmission path. Specifically, the insert gear module 2000 may include an input unit 2100 and an output unit 2200 so that functions and actions of the input side and the output side are separated.

The input unit 2100 has a straight power transmission path 2110, is located at the center (center) of the insert gear module 2000 and performs a function of receiving external power and transmitting it to the output unit 2200.

Accordingly, the reducer 1 implements the straight power transmission path 2110 to prevent the structure of the reducer 1 from becoming complicated, and thereby reduce manufacturing cost and durability reduction.

The output unit 2200 receives the power received by the input unit 2100 and outputs the power after decelerating by a predetermined reduction ratio according to necessity or selection. In particular, the output unit 2200, which is important in the speed reducer 1, has a straight power transmission path 2110, which is one object of the present invention, while an encoder 3000, which is an output-side position feedback device, which will be described below, is mounted inside the speed reducer 1 For this purpose, the output shaft 2210 of the bearing-integrated both ends support structure (hereinafter “bearing” is corrected as “the output shaft of the bearing-integrated both ends support structure”) is provided. This will be described in detail below with reference to FIGS. 5 and 6.

5 is a diagram showing a schematic configuration of an insert gear module 2000 according to an embodiment of the present invention, and FIG. 6 is a detailed configuration of an output shaft 2210 that is one of the components of the insert gear module 2000 It is a drawing shown.

The output shaft 2110, which is a core component of the output unit 2200, has a bearing-integrated support structure at both ends, as described above. In addition, it is preferable that the output shaft 2110 has a cross roller bearing shape as shown in FIGS. 5 and 6, but is not necessarily limited thereto, and its shape may be variously modified and implemented.

Specifically, the output shaft 2210 may include an upper bearing module 2211, a lower bearing module 2213, a coupling groove 2215, and a coupling member 2217. In order to realize the bearing-integrated support structure at both ends, a plurality of upper and lower bearing modules (2213; 2215) were conceived, and a coupling groove (2215) was adopted in each bearing module (2213; 2215) to couple them, The upper bearing module 2213 and the lower bearing module 2215 may be mutually coupled through 2215 and the coupling member 2217. The coupling method may use a screw and a wrench, but is not necessarily limited thereto, and various modifications such as uneven coupling may be performed. In addition, the coupling hops 2215 and the coupling members 2217 may be singular or plural. In addition, since the insert gear module 2000 can perform the function of a reducer on its own without an external housing, it can be coupled to various types of housings and cases, and is easily replaced by replacing the housing 1100 or the reducer case 1000. Customization is possible.

It is preferable to implement the upper bearing module 2211 and the lower bearing module 2213 to have the same shape, but it is not necessary to have a perfectly the same shape, and it is a structure capable of supporting both ends and constitutes an insert gear module 2000 to form a reducer (1). ) It can be variously modified as long as it can be inserted or mounted inside. In addition, as shown in Figs. 5 and 6, the upper or lower end referred to herein is only a term for ease in describing the present invention and has no special meaning, and the term may change depending on the location. It is natural that the bottom can be changed to the top.

7 is a diagram showing a detailed configuration of an encoder 3000 according to an embodiment of the present invention, and the encoder 3000 will be described in detail with reference to FIGS. 4 and 7 above.

Since the encoder 3000 is an output-side position feedback device and must be directly connected to the output side, the encoder 3000 is mounted on the output shaft 2210 of the bearing-integrated both ends support structure of the output unit 2200. Among them, it is preferable to be mounted on the lower bearing module 2213 constituting the output shaft 2210 (as described above, the upper bearing module may be the lower bearing module).

Specifically, the encoder 3000 is in the form of a magnetic encoder, and may include a magnet 3100 and a PCB 3200 as sub-components, but does not necessarily have to be in the form of a magnetic encoder.

Position feedback of the output unit 2200 may be performed by analyzing and acquiring positional information of the output unit 2200 through the PCB 3200 that detects the magnetic flux change and strength of the magnet 3100. Through this, precise control of the reducer 1 is possible, thereby contributing to increasing the precision of the entire actuator including the reducer 1.

Preferably, in order to maximize the effect of the position feedback device on the output side, the encoder 3000 grasps the absolute position information of the output unit 2200 and uses an eccentric absolute encoder so that the absolute position does not change even when the power is turned on/off. Is implemented.

In addition, the encoder 3000 may be mounted on the output shaft 2210 in various ways, and the present invention proposes a gear-driven or belt-driven coupling as an example. This will be described with reference to FIGS. 8 to 10 below.

FIG. 8 is a diagram showing the outer shape of a gear-driven encoder 3010 according to an embodiment of the present invention, and FIG. 9 is a view showing the outer shape of a belt driven encoder 3020 according to another embodiment of the present invention. 10 is a view showing the outer shape of the encoder 3020 provided with a pollution prevention cover 3021 according to another embodiment of the present invention.

In order to rotate the encoder 3000 in the form of an eccentric absolute encoder, all general power transmission devices can be applied. Among them, representatively, a gear-driven encoder 3010 and a belt-driven encoder 3020 may be applied.

In the case of a general encoder as a position feedback device, since it transmits only the rotation on the output side, there is no load, so even if it is coupled to the output shaft 2210 by the belt driven encoder 3020, power transmission without slip occurs. However, for more precise and accurate power transmission, a gear-driven encoder 3010 may be applied and coupled to the output shaft 2210.

In addition, when the gear-driven encoder 010 and the belt-driven encoder 3020 are applied, a contamination-preventing cover 3021 may be further provided outside as shown in FIG. 10 in order to prevent contamination and to prevent durability reduction.

By implementing the power transmission path 2110 in a straight line (straight line) using the above-described reducer 1, accurate high torque power transmission is possible, and the hollow reducer 1 can be implemented. In addition, the encoder 3000 is directly mounted on the output unit 2200, but the encoder 3000 is systematically built into the reducer 1 by applying the output shaft 2210 of the bearing-integrated both ends support structure to the output unit 2200. I can. In addition, it is possible to improve the rigidity of the insert gear module 2000 that performs a deceleration function by adopting a bearing-integrated support structure at both ends, and to minimize deformation, thereby contributing to improvement of precision. In addition, by providing a position feedback device with an eccentric absolute encoder type encoder 3000 instead of an outer ring contact type absolute encoder, miniaturization is relatively easy and customization can be achieved at low cost.

1: Reducer with a built-in position feedback device according to an embodiment of the present invention
1000: reducer case 1100: housing
1200: coupling gear 1300: built-in groove
2000: insert gear module 2100: input
2110: power transmission path 2200: output
2210: Output shaft of bearing integrated support structure at both ends
2211: upper bearing module 2213: lower bearing module
2215: coupling groove 2217: coupling member
3000: encoder 3100: magnet
3200: PCB 3010: gear driven encoder
3020: belt-driven encoder 3021: contamination prevention cover

Claims (7)

In the reducer having a position feedback device,
A speed reducer case surrounding the outer peripheral surface of the speed reducer;
An insert gear module that has a hollow straight power transmission path and an output shaft of a bearing-integrated support structure at both ends, receives power, decelerates, and outputs; And
Including an encoder mounted on the insert gear module,
The insert gear module,
An input unit having a hollow straight power transmission path and being located at the center of the insert gear module to receive power; And
It includes an output unit having an output shaft of a bearing-integrated support structure for outputting after deceleration by receiving the power,
The encoder is directly connected to the output shaft of the output unit to grasp absolute position information of the output unit,
In addition, the encoder is provided at one side of the lower end of the output shaft of the bearing-integrated support structure at both ends, and is also provided in a built-in groove provided in the reducer case,
The output shaft of the bearing-integrated both ends support structure includes an upper bearing module and a lower bearing module,
The upper bearing module and the lower bearing module are mutually coupled and fixed through a coupling member,
The encoder is a speed reducer with a built-in position feedback device, characterized in that mounted on one side of the lower end of the lower bearing module.
The method of claim 1,
The speed reducer case,
A housing surrounding the reducer;
A coupling gear integrally formed on an inner circumferential surface of the reducer and coupled to the insert gear module; And
Including an internal groove in which the encoder is built,
The speed reducer case with a built-in position feedback device, characterized in that the insert gear module is customizable because the case is replaceable.
delete The method of claim 1,
The output shaft of the bearing integrated support structure at both ends is in the form of a cross roller bearing,
The upper bearing module and the lower bearing module have the same shape, each has a coupling groove, the speed reducer with a built-in position feedback device, characterized in that mutually coupled through the coupling member that can be coupled to the coupling groove.
The method of claim 4,
The encoder,
It is mounted on the insert gear module,
A magnet and a PCB are provided to analyze and acquire the position information of the output unit by a magnetic flux detection method,
A speed reducer with a built-in position feedback device, characterized in that it is an eccentric absolute encoder that performs position feedback based on the position information.
The method of claim 5,
The encoder is a speed reducer with a built-in position feedback device, characterized in that coupled to a gear-driven type or a belt-driven type when mounted on one side of the lower end of the lower bearing module.
The method of claim 6,
The encoder is coupled to a gear driven type or a belt driven type when mounted on one side of the lower end of the lower bearing module,
A speed reducer with a built-in position feedback device, characterized in that it further comprises a cover for preventing contamination provided on the outer peripheral surface of the encoder.

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