KR102157024B1 - Actuator module using the BLDC motor - Google Patents

Abstract

According to an embodiment of the present invention, provided is a driving module using a BLDC motor capable of improving production efficiency. According to an aspect of the present invention, the driving module comprises: a motor housing; a stator disposed in the motor housing; a rotor disposed in the stator; an input shaft disposed inside the rotor and rotating together with the rotor; a reduction gear housing coupled to an upper side of the motor housing; a first disk disposed in the reduction gear housing, coupled to an input shaft, rotating eccentrically with respect to the input shaft, and having a first gear disposed on an outer circumferential surface thereof; a gear member disposed on an outer side of the first disk among inner surfaces of the reduction gear housing, and having a second gear engaged with the first gear disposed on an inner circumferential surface thereof; and a second disk having one surface coupled to one surface of the first disk and having an output shaft protruding to the other surface of the other surface. A plurality of bosses protruding from one surface are provided on one surface of the first disk, a plurality of boss holes passing from one surface of the other surface is provided on the second disk so that the bosses are coupled, and the gear member and the reduction gear are integrally formed by insert injection.

Description

Drive module using the BLDC motor {Actuator module using the BLDC motor}

This embodiment relates to a driving module using a BLDC motor.

In general, BLDC motors do not require brushes and commutators in DC motors, and are motors equipped with electronic commutation mechanisms, and are motors that do not generate electrical noise as well as mechanical noise.

The BLDC motor includes a stator mounted on a housing or frame, a rotor that is rotatably inserted into the stator, and a rotation shaft that is inserted and fixed in the center of the rotor.

Meanwhile, the motor may be provided with a reducer. The reducer is a mechanical device that generates a large driving force by decelerating the rotation of the motor and transmits it to the output shaft. Most commonly, the reducer is configured by an arrangement of spur gears.

As prior art related to such a reduction gear, Registration No. 0325018'Cycloidal reducer using an involute gear', Patent Publication No. 2010-0038146'Rotary reducer', Patent Publication No. 2011-0068500'Multi-axis cycloidal reducer' Etc. are disclosed.

Specifically, the speed reducer may include an internal tooth, an external tooth meshed to the inside of the internal tooth, and an output shaft that rotates with a rotation ratio different from that of the external tooth.

The reduction gear according to the prior art has difficulty in arranging the above-described parts in consideration of a narrow space in the housing, and there is a problem in that production efficiency is deteriorated because a plurality of parts are required to be mutually assembled.

The present invention has been proposed to improve the above problems, and is to provide a driving module capable of improving production efficiency by improving a speed reducer structure.

The driving module according to the present embodiment includes a motor housing; A stator disposed in the motor housing; A rotor disposed in the stator; An input shaft disposed inside the rotor and rotating together with the rotor; A reduction gear housing coupled to an upper side of the motor housing; A first disk disposed in the reduction gear housing, coupled to the input shaft, rotating eccentrically with respect to the input shaft, and having a first gear disposed on an outer peripheral surface thereof; A gear member disposed on an outer side of the first disk among the inner surfaces of the reduction gear housing and having a second gear engaged with the first gear disposed on an inner circumferential surface; And a second disk having one surface coupled to one surface of the first disk and having an output shaft protruding to the other surface on the other surface, and a plurality of bosses protruding from one surface are provided on one surface of the first disk, and the first disk 2 The disc is provided with a plurality of boss holes penetrating from one side to the other so that the boss is coupled, and the gear member and the reducer housing are integrally formed by insert injection.

In this embodiment, since the speed reducer is integrally formed with the motor and generates a large driving force by decelerating the rotation of the motor, there is an advantage that the overall size of the module can be reduced.

Furthermore, according to the product miniaturization, the weight of the driving module can be reduced, and the manufacturing cost can be reduced.

In addition, there is an advantage in that it is possible to prevent arbitrary separation between parts when the speed reducer is driven.

1 is a perspective view of a driving module according to an embodiment of the present invention.
2 is an exploded perspective view of a driving module according to an embodiment of the present invention.
3 is an exploded perspective view of a motor according to an embodiment of the present invention.
4 is a perspective view of a motor according to an embodiment of the present invention.
5 is a side cross-sectional view of a motor according to an embodiment of the present invention.
6 is a cross-sectional view showing a top surface of a motor according to an embodiment of the present invention.
7 is a perspective view of a rotor according to an embodiment of the present invention.
8 is a perspective view showing an inner space of a motor housing according to an embodiment of the present invention.
9 is an exploded perspective view of a speed reducer according to an embodiment of the present invention.
10 is a plan view showing a state in which a first disk and a second disk are combined according to an embodiment of the present invention.
11 is a perspective view showing a state in which a gear member is coupled in a reduction gear housing according to an embodiment of the present invention.
12 is a perspective view of a gear member according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described through exemplary drawings. In the description of reference numerals for elements in each drawing, the same elements are denoted by the same numerals as possible even if they are indicated on different drawings.

In addition, terms such as first, second, A, B, (a), and (b) may be used in describing the constituent elements of the embodiment of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being'connected','coupled' or'connected' to another component, the component may be directly connected, coupled or connected to the other component, but that component and its other components It will be understood that another component may be'connected','coupled' or'connected' between elements.

1 is a perspective view of a driving module according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of a driving module according to an embodiment of the present invention.

1 and 2, the driving module 10 according to an embodiment of the present invention may include a motor 100 and a reducer 200. The reducer 200 and the motor 100 may be coupled through an input shaft 230 (see FIG. 7 ). Therefore, the power of the motor 100 input through the input shaft 230 is transmitted to the reducer 200 to induce a deceleration, and the reduced power is transmitted to the outside through an output shaft 290 (refer to FIG. 7) to be described later. Can be.

The external shape of the driving module 10 may be formed as a coupling structure between a plurality of housings. The plurality of housings may be divided into a motor housing 101 in which the motor 100 is disposed, and a reducer housing 201 in which the reducer 200 is disposed inside. The motor housing 101 and the reducer housing 201 may be coupled to each other through a coupling bolt (not shown). A coupling hole 30 into which the coupling bolt is fitted may be formed in a region of the motor housing 101 and the reducer housing 201 facing each other.

A connector 20 for applying a control signal to the motor 100 or coupling a terminal capable of providing power to the motor 100 may be disposed on the side and upper surfaces of the motor housing 101. .

In addition, an output hole 205 for exposing an end of the output shaft 290 to the outside may be formed on an outer surface of the reducer housing 201. The output shaft 290 may be disposed inside the output hole 205. An external configuration is coupled to the output hole 205 to receive the reduced power from the output shaft 290. A mounting groove 292 to which the external component is coupled may be formed on an end surface of the output shaft 290. When the reducer 200 is coupled to the upper portion of the motor 100, the output hole 205 may be formed on the upper surface of the reducer housing 201. An external configuration is coupled to the mounting groove 292, and a reduced power may be transmitted from the output shaft 290.

Figure 3 is an exploded perspective view of a motor according to an embodiment of the present invention, Figure 4 is a perspective view of the motor according to the embodiment of the present invention, Figure 5 is a side cross-sectional view of the motor according to the embodiment of the present invention, Figure 6 is It is a cross-sectional view showing the top surface of the motor according to the embodiment of the present invention, Figure 7 is a perspective view of the rotor according to the embodiment of the present invention, Figure 8 is a perspective view showing the inner space of the motor housing according to the embodiment of the present invention .

3 to 8, the motor 100 may include a motor housing 101, a stator housing 120, a stator 140, a rotor 150, and a shaft (not shown). The shaft may be the input shaft 230 described above. Alternatively, the shaft may be implemented as a separate configuration coupled to the input shaft 230 by being coupled to the inside of the rotor 150.

The motor housing 101 may be formed in a cylindrical shape in which the inner space 105 is formed. A printed circuit board 199 may be disposed in the inner space 105 of the motor housing 101. The printed circuit board 199 may be electrically connected to the coil 142 and the terminal assembly 180 of the stator 140.

The stator housing 120 may be disposed inside the motor housing 101. The stator housing 120 may be formed of a metal material. The stator 140 may be disposed inside the stator housing 120. The stator 140 may be hot pressed into the stator housing 120 and disposed.

The stator 140 may include a stator core 146, a tooth 144, and a coil 142. A coil 142 is wound around the teeth 144 of the stator 140 and has a magnetic pole as the current flows. The stator 140 may include an insulator disposed at one end of the tooth 144, and the insulator is preferably made of a material that is electrically insulated, and for example, may be a plastic material.

The rotor 150 may be disposed inside the stator 140. The rotor 150 may include a rotor core 152, a conductor or magnet 154, and a magnet protective cover. The conductor or magnet 154 may be coupled to the outside of the rotor core 152, and the magnet protective cover may be disposed outside of the magnet 154. The rotor 150 is combined with a shaft to be integrated with the shaft. Can rotate.

The magnetic field formed by the coil 142 wound around the stator 140 rotates the rotor 150 and the shaft. A bearing may be provided outside the shaft, and the bearing may rotatably support the rotor 150 and the shaft.

Meanwhile, the motor 100 may include a sensor magnet and a Hall sensor. For example, a sensor magnet is disposed at an end of the shaft, and a Hall sensor is disposed in the motor housing 101 facing the sensor magnet to output the magnetic force sensed by the sensor magnet as an electrical signal, so that the rotor Can detect the location of.

In this embodiment, the rotor 150 has been described as an example of the SPM (Surface Permanet Magnet) type in which the magnet 154 is disposed outside the rotor core 150, but is not limited thereto. It should be understood that the embedded IPM (Interior Permanet Magnet) type rotor is also included in the rotor of the present invention.

Hereinafter, the reduction gear 200 will be described.

9 is an exploded perspective view of a speed reducer according to an embodiment of the present invention, FIG. 10 is a plan view showing a state in which a first disk and a second disk are combined according to an embodiment of the present invention, and FIG. 11 is an embodiment of the present invention. It is a perspective view showing a state in which a gear member is coupled in a reduction gear housing according to an example, and FIG. 12 is a perspective view of a gear member according to an embodiment of the present invention.

2 and 9 to 12, a speed reducer 200 according to an embodiment of the present invention includes a speed reducer housing 201, a first disk 220, a second disk 240, and a gear member 210. Can include. The first disk 220 may be named differently as a sun gear. The second disk 240 may be named differently as an output shaft. The gear member 210 may be named differently as a ring gear.

The first disk 220 may be formed in a disk shape, and a first hole 226 to which the input shaft 230 is coupled may be formed at a center. A first gear 224 may be formed on an outer peripheral surface of the first disk 220 along a circumferential direction. The first gear 224 may be engaged with the second gear 214 of the gear member 210 to be described later.

A plurality of bosses 222 protruding from one surface may be formed on one surface of the first disk 220. The boss 222 may be disposed radially with respect to the center. The plurality of bosses 222 may be disposed to be spaced apart from each other along the circumferential direction. The plurality of bosses 222 may be disposed outside the first hole 226. The plurality of bosses 222 may be coupled to the boss holes 244 of the second disk 240. That is, the plurality of bosses 222 may be formed on an outer surface of the first disk 220 that faces the second disk 240.

A first coupling portion 229 protruding outward from the center may be formed on one surface of the first disk 220.

The input shaft 230 may be coupled to a rotation shaft of the motor 100. Unlike this, the input shaft 230 may be a rotation shaft of the motor 100. The input shaft 230 may be coupled to the first hole 226 in the first disk 220 through bearings 310 and 330. The bearings 310 and 330 may include a 1-1 bearing 310 coupled to the first eccentric shaft 232a and a 1-2 bearing 330 coupled to the second eccentric shaft 232b. I can.

When the input shaft 230 rotates as the motor 100 is driven, the first disk 220 may rotate eccentrically with respect to the input shaft 230. In this case, the rotation of the first disk 220 may be performed by an operation in which the first gear 224 and the second gear 214 engage. That is, the rotation of the first disk 220 may be guided by the gear member 210.

An eccentric portion 232 may be formed on the input shaft 230. The eccentric part 232 has a first eccentric shaft 232a spaced apart from the center axis in a first direction by a certain amount, and a first eccentric shaft 232a spaced apart from the center axis in a direction opposite to the first direction. It may include a second eccentric shaft (232b) spaced apart by the amount of eccentricity.

Accordingly, the first disk 220 may rotate eccentrically with respect to the input shaft 230.

The second disk 240 is formed in a disk shape, and a first coupling groove 248 to which the first coupling portion 229 is coupled may be disposed on a surface to which the first disk 220 is coupled. The first coupling groove 248 may be disposed in a central area of the first disk 220.

A plurality of boss holes 244 penetrating from one surface to the other surface may be formed in the second disk 240. The plurality of boss holes 244 may be formed in a region facing the plurality of bosses 222 when the first disk 220 and the second disk 240 are coupled. The plurality of boss holes 244 may be arranged radially with respect to the center. The plurality of boss holes 244 may be disposed to be spaced apart from each other in the circumferential direction. The plurality of boss holes 244 may be disposed outside the first coupling groove 248.

The cross-sectional area of the boss hole 244 may be larger than the cross-sectional area of the boss 222. Accordingly, when the first disk 220 is rotated, the boss 222 may rotate along the inner circumferential surface of the boss hole 244. Accordingly, the first disk 220 and the second disk 240 may rotate eccentrically with each other.

The output shaft 290 may be disposed on the other surface of the second disk 240. The output shaft 290 may be formed to protrude from the other surface of the second disk 240 to the other side. The output shaft 290 may protrude to the outside of the reducer housing 201 through the output hole 205. As described above, the output shaft 290 may transmit a reduced power by combining an external configuration. The output shaft 290 and the second disk 240 may be formed as one body. A configuration formed integrally with the output shaft 290 and the second disk 240 may be referred to as an output member.

The output shaft 290 may be rotatably coupled within the output hole 205 through a second bearing 305.

The gear member 210 may be disposed in the reducer housing 201. A space portion 202 accommodating the first disk 220, the second disk 240, and the gear member 210 may be formed inside the reduction gear housing 201. The gear member 210 may be disposed on the inner surface of the space part 202.

The gear member 210 may be formed in a ring shape. A second hole 212 penetrating from one surface to the other surface may be formed in the center of the gear member 210. The first disk 220 may be disposed inside the second hole 212. The cross-sectional area of the second hole 212 may be larger than the cross-sectional area of the first disk 220.

A second gear 214 may be formed on an inner peripheral surface of the second hole 212. The second gear 214 may be engaged with the first gear 224. Accordingly, the first disk 220 may be rotated by engaging the first gear 224 with the second gear 214. The first gear 224 may rotate along the inner circumferential surface of the second gear 214.

A plurality of first ribs 216 protruding outward may be formed on a side surface or an outer peripheral surface of the gear member 210. The first ribs 216 may be provided in plural and disposed to be spaced apart from each other along the circumferential direction of the gear member 210. Accordingly, a groove 218 may be formed between the adjacent first ribs 216. It can be understood that the groove 218 is formed inwardly from the outer surface of the gear member 210 inward than other regions.

In addition, a coupling rib 207 protruding inwardly and coupled to the groove 218 may be formed on an inner peripheral surface of the space 202. Accordingly, when the gear member 210 is coupled to the housing 201, the coupling rib 207 may be accommodated in the groove 218. Accordingly, when the speed reducer 200 is driven, it is possible to prevent the gear member 210 from rotating arbitrarily with respect to the speed reducer housing 201.

The material of the reducer housing 201 may be formed of at least one of resin, plastic and aluminum. Unlike this, the reducer housing 201 may be formed of metal, steel, or steel. In addition, the material of the gear member 210 may be formed of at least one of plastic, metal, sintered, and carbon steel.

The gear member 210 and the reducer housing 201 according to an embodiment of the present invention may be formed by insert injection. The gear member 210 and the reducer housing 201 may be formed as one body. The gear member 210 and the reducer housing 201 may be integrally formed.

According to the structure as described above, since the gear member 210 is integrally formed with the reducer housing 201, a process for combining parts of two modules may be omitted, thereby improving production efficiency. In addition, there is an advantage in that it is possible to prevent arbitrary separation between parts when the speed reducer 200 is driven.

Referring to the operation of the reducer 200 according to the embodiment of the present invention, first, the input shaft 230 is rotated according to the rotation of the motor 100. In addition, the first disk 220 may rotate with the input shaft 230 around the input shaft 230. In this case, the first disk 220 may be rotated eccentrically with respect to the rotation center of the input shaft 230 by the eccentric portion 232.

When the first disk 220 is rotated, the first gear 224 may move in engagement with the second gear 214 of the gear member 210. In addition, the boss 222 in the boss hole 244 may rotate along the inner circumferential surface of the boss hole 224 as the first disk 220 rotates. Therefore, due to the difference in reduction ratio between the first gear 224 and the second gear 214 and the orbital motion of the boss hole 224 and the boss 222, the rotational driving force of the input shaft 230 is It may be decelerated at 200 and transmitted to the output shaft 290.

Therefore, when the shaft or the input shaft 230 is rotated by the driving of the motor 100, the reducer 200 may reduce the rotational driving force, and the reduced driving force is externally transmitted through the output shaft 290. Can be delivered to.

Meanwhile, the driving module 10 may be assembled by a process of first forming the motor 100 and then coupling the reducer 200 to the motor 100.

In the above, even though all the components constituting the embodiments of the present invention are described as being combined into one or operating in combination, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the constituent elements may be selectively combined and operated in one or more. In addition, terms such as'include','consist of' or'have' described above mean that the corresponding component can be present unless otherwise stated, so other components are excluded. Rather, it should be interpreted as being able to further include other components. All terms, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art, unless otherwise defined. Terms generally used, such as terms defined in the dictionary, should be interpreted as being consistent with the meaning of the context of the related technology, and are not interpreted as ideal or excessively formal meanings unless explicitly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (10)

Motor housing;
A stator disposed in the motor housing;
A rotor disposed in the stator;
An input shaft disposed inside the rotor and rotating together with the rotor;
A reduction gear housing coupled to an upper side of the motor housing;
A first disk disposed in the reduction gear housing, coupled to the input shaft, rotating eccentrically with respect to the input shaft, and having a first gear disposed on an outer peripheral surface thereof;
A gear member disposed on an outer side of the first disk among the inner surfaces of the reduction gear housing and having a second gear engaged with the first gear disposed on an inner circumferential surface; And
And a second disk having one surface coupled to one surface of the first disk and having an output shaft protruding to the other surface on the other surface,
One surface of the first disk is provided with a plurality of bosses protruding from one surface,
The second disk is provided with a plurality of boss holes penetrating from one surface to the other so that the boss is coupled,
The gear member and the reducer housing are each integrally formed by insert injection,
The material of the gear member is at least one of plastic, metal, sintered metal, and steel,
The material of the reducer housing is at least one of metal, steel, resin, plastic, and aluminum,
The gear member is formed in a ring shape so that a hole in which the first disk is disposed is formed in the center,
The cross-sectional area of the hole is formed larger than the cross-sectional area of the first disk,
A rib protruding inward is formed on the inner surface of the reducer housing,
A groove is formed on the outer surface of the gear member, which is depressed inward than the other regions to which the ribs are coupled,
The rib and the groove are each provided in plurality, the driving module is arranged to be spaced apart from each other along the circumferential direction of the gear member.
delete delete The method of claim 1,
The plurality of bosses are disposed to be spaced apart from each other along a circumferential direction based on the center of the first disk,
The plurality of boss holes are disposed in an area of the second disk facing the plurality of bosses,
A driving module in which the cross-sectional area of the boss hole is larger than that of the boss.
delete delete The method of claim 1,
The input shaft includes a first eccentric shaft spaced apart by a predetermined amount in a first direction with respect to the central axis, and a second eccentric shaft spaced apart by an amount of eccentricity spaced apart from the first eccentric shaft in a direction opposite to the first direction with respect to the central axis. Including,
A hole to which the input shaft is coupled is formed in the center of the first disk,
A 1-1 bearing supporting rotation of the first eccentric shaft is disposed between the hole and the first eccentric shaft,
A driving module in which a 1-2 bearing supporting rotation of the second eccentric shaft is disposed between the hole and the second eccentric shaft.
delete delete delete

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