KR102382158B1 - Power transmission rotator having micro surface texturing and teeth structure, and power transmission system including the same - Google Patents

Abstract

The present invention forms a micro-sized texture or micro-sized pattern on at least a part of the surface of a power transmission rotor, and at the same time forms a tooth structure on at least some surface of the power transmission rotation body to transmit power in the reverse direction in some cases A rotation body for power transmission configured to be blocked and a power transmission system including the same are provided. The rotating body for power transmission is a rotating shaft; a first rotating disk coupled to the rotating shaft; a second rotation disk disposed on one side of the first rotation disk and coupled to the rotation shaft; a toothed layer formed on an outer periphery of the first rotating disk; and a pattern layer disposed in an outer circumferential direction of the second rotating disk, wherein a micro pattern or texturing is formed.

Description

A rotating body for power transmission having a micro-surface texturing and tooth structure and a power transmission system including the same

The present invention relates to a power transmission rotating body having a micro-surface texturing and tooth structure, and a power transmission system including the same.

In detail, the present invention forms a micro-sized texture or micro-sized pattern on at least a portion of the surface of the rotation body for power transmission, and at the same time forms a tooth structure on at least a part of the surface of the rotation body for power transmission, in some cases in the reverse direction It relates to a power transmission rotating body configured to block power transmission and a power transmission system including the same.

The power transmission device refers to a device that transmits power generated from a power source such as a motor to the shaft of a machine to be operated. Examples of the power transmission device include a transmission, an accelerator, a speed reducer, and the like. Using a power transmission device, the magnitude, direction, or speed of the transmitted force can be changed. For example, when the reducer is connected to the rotation shaft of the motor, there is an advantage in that low-speed rotation that cannot be generally obtained from a motor can be realized or a large torque can be realized. It is very important to implement the power transmission device to operate as intended while minimizing the loss of transmitted power. To this end, the conventional power transmission device uses a precisely designed tooth gear.

A commonly used reducer may be a harmonic reducer, a planetary gear reducer, a cycloidal reducer, and the like. These reducers are based on the number of teeth between the drive gear and the driven gear, the size of the teeth and the diameter of the gear, the distance between the rotating shafts of the gears, the position of the rotating shaft, the shape and arrangement of teeth, etc. You can control the gear ratio.

In order to control the gear ratio, a more precise gear design is required, and the clearance between gears is very important. If the part where the gear and the gear shaft are coupled is not precisely machined as designed, play may occur, and if the play is large, backlash may occur. On the other hand, if there is no play, problems due to jamming may occur. If the backlash is large, precise control becomes difficult, and jamming may cause a decrease in power transmission efficiency. This phenomenon also increases the chances of damage to the gear and can cause problems with vibration and noise.

As such, the gear device has the effect of transmitting or modulating power through its precise design, while reducing the design flexibility of the power transmission device due to the required precision and limiting its use in various fields.

For example, Patent Document 1 discloses a multi-stage planetary rotating body device. Patent Document 1 includes a plurality of satellite gears, a sun gear, and a ring gear, but the satellite gear, that is, a satellite rotating body, has a structure composed of a plurality of parts having different diameters. . This teaches that a portion of the planetary body is engaged with the sun rotor and the other part of the planetary body is engaged with the ring body to control the gear ratio.

However, as in Patent Document 1, when the number of gears increases and the coupling between the gears becomes complicated, the limiting factors such as the number and size of teeth and backlash between the meshing gears rapidly increase, making the design very complicated. In addition, as the design becomes more complex, there is a limit to the actual implementation and commercialization of the planetary gear, and it is difficult to manufacture it with a size and a gear ratio having arbitrary free values. In addition, there may be a problem that the power transmission efficiency is lowered.

Therefore, it is required to develop a power transmission device capable of controlling the gear ratio as desired while having higher power transmission efficiency and further commercializing the power transmission device.

Korean Patent Laid-Open Patent No. 10-2010-0064701, June 15, 2010, multi-stage planetary gear device US Patent Publication No. 2003-0153427, August 14, 2003, CONTINUOUSLY VARIABLE AUTOMATIC TRANSMISSION Japanese Patent Laid-Open No. 1981-083642, July 8, 1981, double planetary rotor US Patent Publication No. 2011-0165990, July 7, 2011, EPICYCLIC REDUCTION GEAR DEVICE WITH BALANCED PLANET WHEELS US Patent No. 9976631, May 22, 2018, TRANSMISSION SYSTEM US Patent Publication No. 2008-0103016, May 1, 2008, MODULAR PLANETARY GEAR ASSEMBLY AND DRIVE

With the recent technological development, the robot industry is developing significantly. The robot device is expected to be applicable to various fields because it can repeatedly perform the same task and its accuracy does not deteriorate despite repetitive tasks. For example, the field of cooperative robots that perform tasks through collaboration between humans and robotic devices is growing remarkably.

The cooperative robot device may be defined as a robot device capable of performing a task together with a worker, unlike a conventional robot device. Although collaborative robot devices offer several advantages, their use has been limited due to several unresolved challenges.

First, in order to commercialize the collaborative robot device, it is essential that the robot device has a safety factor that can ensure the safety of workers. For example, in the case of a robot device including a power source such as a motor and a power transmission device such as a speed reducer, power transmission needs to be stopped in an emergency situation.

If a situation such as a worker's body collides with the robot device or gets caught in the robot device occurs in the process of exchanging objects between the worker and the cooperative robot device, or while the worker and the cooperative robot device work alternately, the robot The device needs to be configured to recognize this and stop the operation.

To this end, a method of stopping the operation when the robot device is equipped with various sensors and recognizing a dangerous situation can be exemplified, but it not only causes an increase in the cost of the robot device, but also controls the situation through a multi-stage mechanism after a dangerous situation occurs There is a problem in that it is not possible to solve the risk of the operator that has already occurred because it is only a post control or post-response implemented to solve the problem. In addition, a force opposite to the direction of power transmission may be applied to a power transmission device such as a gear of the robot device, thereby damaging the teeth of the gear.

Accordingly, the problem to be solved by the present invention is to provide a rotating body for power transmission capable of controlling a gear ratio as desired while having high power transmission efficiency, and further securing design flexibility to be commercialized.

At the same time, even when a force in the opposite direction to the power transmission direction is applied, the power transmission rotation body is not damaged and the operator's safety is provided.

In addition, to be more miniaturized, for example, to provide a rotating body for power transmission that can maintain precision even if the carrier is omitted.

Another object to be solved by the present invention is to provide a power transmission system capable of controlling a gear ratio as desired while having high power transmission efficiency, and further securing design flexibility to be commercialized.

The problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

A rotating body for power transmission according to an embodiment of the present invention for solving the above problems is a rotating shaft; a first rotating disk coupled to the rotating shaft and having a toothed layer on an outer circumferential surface; and a second rotation disk disposed on one side of the first rotation disk and coupled to the rotation shaft, the second rotation disk having a micro-pattern or texturing pattern layer disposed in an outer circumferential direction.

The toothing layer may be formed of a material having rigidity.

In addition, the pattern layer may include a base layer and a protruding pattern protruding from the base layer in the outer circumferential direction, and the protruding pattern may be formed of a material having ductility that is deformable to increase a surface area by being inclined.

The pattern layer may have a larger area in a direction in which the rotation axis extends than the toothed layer.

The toothing layer may be formed of a plurality of protrusions spaced apart along the rotational direction of the first rotating disk.

In addition, the pattern layer includes a base layer and a protruding pattern protruding from the base layer in the outer circumferential direction, wherein the protruding pattern is formed to be spaced apart along the rotational direction of the second rotating disk, and the spacing between the protruding patterns is the The distance between the plurality of protrusions may be 0.1 times or less.

Diameters of the first rotation disk and the second rotation disk may be different from each other.

A power transmission system according to an embodiment of the present invention for solving the other problem is a first ring rotating body; a second ring rotating body disposed on one side of the first ring rotating body in the direction of the rotation axis; and a plurality of power transmission rotators disposed in contact with the first ring rotator and the second ring rotator, wherein each power transmission rotator has a tooth layer engaged with the first ring rotator and A pattern layer in contact with the second ring rotating body is included, and the pattern layer includes micro-patterning or texturing.

Each power transmission rotating body may include a first rotating disk having the toothed layer formed thereon, and a second rotating disk having the patterned layer configured to rotate together with the first rotating disk.

In addition, the pattern layer may be formed in a larger area in the direction of the rotation axis than the toothed layer.

In some embodiments, it further comprises a sun rotating body in circumscribed engagement with the first rotating disk, the sun rotating body may receive a torque from a power source.

A ring tooth layer corresponding to the tooth layer may be formed on the inner periphery of the first ring rotating body, and a groove extending along the rotational direction may be formed on the inner periphery of the second ring rotating body.

In addition, the first ring rotating body and the first rotating disk may be configured as spur gears in which an axial direction and a tooth extension direction are parallel to each other.

In addition, the first ring rotating body may include a shielding surface at least partially covering the rotating surface of the first rotating disk.

Here, grooves may be respectively formed on the shielding surface and a surface opposite to the shielding surface of the first rotation disk.

In some embodiments, the power transmission system may further include a ball inserted into the groove of the shielding surface and the groove of the first rotation disk.

The first ring rotating body may be located at the power output side, and the second ring rotating body may be located at the power input side.

A power transmission system according to another embodiment of the present invention for solving the other problem is a power transmission system for transmitting power from a power source, and in the power transmission path of the power transmission system, any two rotating bodies are engaged with teeth to provide power Engagement coupling portion to pass; and a friction coupling part that transmits power by friction of any two rotating bodies is disposed, a micro pattern or texturing is formed on the surface of any rotating body of the friction coupling part, any rotating body of the engaging coupling part and any of the friction coupling parts The rotating body shares an axis and has the same rotational speed.

Details of other embodiments are included in the detailed description.

According to embodiments of the present invention, it is possible to provide a rotating body for power transmission and a power transmission system including the same, which can control the gear ratio as desired while having high power transmission efficiency, and can further secure design flexibility to be commercialized. there is.

In addition, even when a force in the opposite direction to the power transmission direction is applied, the power transmission device is not damaged and a power transmission rotation body capable of securing the safety of an operator or wearer and a power transmission system including the same can be provided.

In addition, it is possible to provide a rotation body for power transmission and a power transmission system including the same, which can secure the safety while fixing the relative position without a separate carrier by having both the toothing layer and the pattern layer having the micro-surface texturing formed therein. there is.

Effects according to the embodiments of the present invention are not limited by the contents exemplified above, and more various effects are included in the present specification.

1 is a perspective view of a rotating body for power transmission according to an embodiment of the present invention.
Figure 2 is a perspective view for explaining the pattern layer of the rotation body for power transmission according to an embodiment of the present invention.
Figure 3 is a perspective view for explaining the pattern layer of the rotation body for power transmission according to another embodiment of the present invention.
Figure 4 is a cross-sectional view for explaining the pattern layer of the power transmission rotation body according to another embodiment of the present invention.
5 is a cross-sectional view for explaining the pattern layer of the power transmission rotation body according to another embodiment of the present invention.
6 is a perspective view for explaining a pattern layer of a power transmission rotating body according to another embodiment of the present invention.
7 is a perspective view of a power transmission system according to an embodiment of the present invention.
8 is an exploded perspective view of the power transmission system of FIG. 7 .
9 is a cross-sectional view of the power transmission system of FIG. 7 ;
FIG. 10 is a plan view in a rotational direction of rotating bodies of the power transmission system of FIG. 7 .
11 is an enlarged view of part B of FIG. 10 .
12 is a perspective view of a power transmission system according to another embodiment of the present invention.
13 is a perspective view for explaining an inner circumferential surface of the second ring rotating body of FIG. 12 .
14 is a perspective view of a power transmission system according to another embodiment of the present invention.
15 is a cross-sectional view of the power transmission system of FIG. 14 ;

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully inform the person of the scope of the invention, and the present invention is only defined by the scope of the claims. That is, various changes may be made to the embodiments presented by the present invention. It should be understood that the embodiments described below are not intended to limit the embodiments, and include all modifications, equivalents, and substitutes thereto.

The size, thickness, width, length, etc. of the components shown in the drawings may be exaggerated or reduced for convenience and clarity of description, so that the present invention is not limited to the illustrated form.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

Spatially relative terms 'above', 'upper', 'on', 'below', 'beneath', 'lower', etc. As illustrated, it may be used to easily describe a correlation between one element or components and another device or components. Spatially relative terms should be understood as terms including different orientations of the device when used in addition to the orientations shown in the drawings. For example, when an element shown in the drawing is turned over, an element described as 'below or beneath' of another element may be placed 'above' of the other element. Accordingly, the exemplary term 'down' may include both the direction of the bottom and the top.

In this specification, 'and/or' includes each and every combination of one or more of the recited items. The singular also includes the plural, unless the phrase specifically states otherwise. As used herein, 'comprises' and/or 'comprising' does not exclude the presence or addition of one or more other components in addition to the stated components. Numerical ranges indicated using 'to' indicate numerical ranges including the values stated before and after them as lower and upper limits, respectively. 'About' or 'approximately' means a value or numerical range within 20% of the value or numerical range recited thereafter.

In the present specification, the rotation direction RT, the thickness direction TD, and the outer circumferential direction RD may be defined based on a direction with respect to a certain rotating body, respectively. The rotation direction RT refers to a direction in which the rotating body rotates (rotating direction), and the thickness direction TD is a direction perpendicular to the rotating direction RT, and the thickness or width direction of the rotating body (thickness direction, width direction) ) can mean In addition, when the rotating body is circular, the outer circumferential direction RD means a radial direction with respect to the rotation axis of the rotating body.

In addition, in the present specification, 'micro size' or 'micro' refers to a size of 1 μm to several thousand μm or a structure having such a size.

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

1 is a perspective view of a rotating body 1 for transmitting power according to an embodiment of the present invention.

Referring to FIG. 1 , the rotation body 1 for power transmission according to this embodiment includes a rotation shaft 10 and a first rotation disk 11 and a second rotation disk 12 coupled to the rotation shaft 10 . can The rotating shaft 10 may form a rotation center of the rotating body 1 for power transmission. The rotating shaft 10 extends in one direction, for example, the first "?*(X), which is referred to as an axial direction. It can be rotated clockwise or counterclockwise.

The first rotation disk 11 and the second rotation disk 12 may be a portion constituting the body of the rotation body 1 for power transmission. The first rotation disk 11 and the second rotation disk 12 may be made of a material having high strength and rigidity. The material of the first rotary disk 11 and the second rotary disk 12 is not particularly limited as long as there is little deformation of the shape even when the torque is transmitted in the rotation direction RT and can have excellent durability, but, for example, iron , copper, chromium, nickel, aluminum, or an alloy thereof. For another example, the first rotation disk 11 and the second rotation disk 12 may be made of plastic such as polycarbonate.

The diameters of the first rotation disk 11 and the second rotation disk 12 may be different. In addition, the first rotation disk 11 and the second rotation disk 12 may be disposed to be spaced apart from each other in the axial direction on the outer periphery of the rotation shaft 10 . That is, although the case where the rotation shaft 10 is exposed and visually recognized between the first rotation disk 11 and the second rotation disk 12 is exemplified, in another embodiment, the first rotation disk 11 and the second rotation The disk 12 may abut in the first direction X, or the first rotation disk 11 and the second rotation disk 12 may be integrally formed without a physical boundary. In this case, one rotating disk may form parts having different diameters, and one part may function as the first rotating disc 11 and the other part may function as the second rotating disc 12 .

The first rotation disk 11 and the second rotation disk 12 may rotate together about the rotation shaft 10 . The first rotation disk 11 and the second rotation disk 12 have the same rotation speed, but when the diameters of the first rotation disk 11 and the second rotation disk 12 are different from each other, the first rotation disk 11 The angular velocity of the outer peripheral surface of and the outer peripheral surface of the second rotation disk 12 may be different from each other.

The first rotating disk 11 may include a tooth-shape layer 110 , and the second rotating disk 12 may include a pattern layer 120 . The toothed layer 110 may be disposed on the outer circumferential surface of the first rotary disk 11 , and the pattern layer 120 may be disposed on the outer circumferential surface of the second rotary disk 12 . That is, different layers are formed on the outer periphery of the first rotating disk 11 and the second rotating disk 12 , and the first and second are merely named to distinguish them, and are not limited thereto.

The first rotating disk 11 on which the tooth layer 110 is formed may be understood as a general gear. That is, the tooth layer 110 may be understood as a gear-tooth. Accordingly, the toothing layer 110 may be formed of a material having rigidity, and in particular, may be formed integrally with the first rotating disk 11 . That is, the first rotating disk 11 and the tooth layer 110 may form a gear together.

Specifically, the toothing layer 110 may be formed of a plurality of protrusions spaced apart along the rotational direction of the first rotating disk 11 . 1 illustrates a case in which a plurality of protrusions forming the toothing layer 110 are 30, but the present invention is not limited thereto.

In addition, in FIG. 1 , the first rotating disk 11 is illustrated as a spur gear in which the protrusion of the tooth layer 110 extends in the same direction as the extension direction of the rotating shaft 10 . This is an example, and the toothing layer 110 may be provided in various forms, and the first rotating disk 11 may be provided as a helical gear or the like.

The pattern layer 120 may be understood as a layer on which a micro-pattern or texturing is formed. In particular, the pattern layer 120 may be formed of a material having ductility. Accordingly, the pattern layer 120 may be made of a material having lower strength and stiffness compared to the second rotating disk 12 (and the toothed layer 110 ).

In an exemplary embodiment, the pattern layer 120 may be made of a silicone-based resin, an acrylate-based resin, or a urethane-based resin. For example, the pattern layer 120 may include polyurethane acrylate, polydimethylsiloxane, polyethylene terephthalate, polyurethane, polyethylene naphthalate, or a combination thereof. In addition, the modulus of the pattern layer 120 may be about 100 MPa to 800 MPa, or about 200 MPa to 700 MPa, or about 300 MPa to 600 MPa, or about 400 MPa to 500 MPa. When the pattern layer 120 has a modulus within the above range, as will be described later, easily formed deformation occurs by an external force, and when the external force is removed, it can be restored to its original shape with a predetermined elasticity. In addition, it may have relatively excellent durability despite repeated rotation of the rotating body 1 for power transmission.

That is, the pattern layer 120 may be made of a material having a predetermined flexibility. Accordingly, the shape of the pattern layer 120 may be deformed by an abutting object, for example, another rotating body. Hereinafter, the object in contact with the pattern layer 120 is referred to as another rotating body. This is an exemplary name, and the pattern layer 120 may be disposed so as to be in contact with a non-rotating object.

Hereinafter, the pattern layer 120 of the rotation body 1 for power transmission according to this embodiment will be described in more detail with reference to FIGS. 2 to 6 . The pattern layer 120 may be provided in various shapes, and FIGS. 2 to 6 show different embodiments, respectively. However, this is exemplary and the shape of the pattern layer 120 is not limited thereto.

Figure 2 is a perspective view for explaining the pattern layer of the rotation body for power transmission according to an embodiment of the present invention. Referring to FIG. 2 , the pattern layer 120 may include a base layer 121 and a plurality of protruding patterns 123 . The base layer 121 and the protrusion pattern 123 may be formed integrally without a physical boundary with each other. The base layer 121 may completely cover the outer peripheral surface of the second rotation disk 12 in the rotation direction RT. Also, the base layer 121 may be a lower layer portion connecting the plurality of protrusion patterns 123 . The upper surface of the base layer 121 may be partially exposed between the protruding patterns 123 spaced apart from each other. The thickness of the base layer 121 in the outer circumferential direction RD may be appropriately selected according to required durability.

The protrusion pattern 123 may be a portion of the structure protruding from the base layer 121 in the outer circumferential direction RD. In another aspect, the pattern layer 120 may be understood as a structure in which a substantially lattice-shaped groove is formed so that the protruding pattern 123 and the base layer 121 remain. That is, the protrusion pattern 123 may form a pattern or texturing on the surface of the pattern layer 120 .

In this embodiment, the height H of the protrusion pattern 123 may be a very important factor in order to increase the traction with other rotating bodies. The protrusion pattern 123 is deformed to tilt or lie down by a contacting object, and accordingly, a portion approximately corresponding to the height H of the protrusion pattern 123 contributes to the improvement of the surface area. In this respect, the height H of the protrusion pattern 123 is about 1.0 μm to 3,000 μm, or about 1.0 μm to 2,000 μm, or about 1.0 μm to 1,000 μm, or about 2.0 μm to 900 μm, or about 3.0 μm to 800 μm, or about 4.0 μm to 700 μm, or about 5.0 μm to 600 μm, or about 6.0 μm to 500 μm, or about 7.0 μm to 400 μm, or about 8.0 μm to 300 μm, or about 9.0 μm to 200 μm , or about 10 μm to 100 μm, or about 10 μm to 90 μm, or about 10 μm to 80 μm, or about 10 μm to 70 μm, or about 10 μm to 60 μm, or about 10 μm to 50 μm there is. When the height H of the protrusion pattern 123 is less than 1.0 μm, it is difficult to deform the shape of the protrusion pattern 123 , and even if it occurs, it may be difficult to contribute to an increase in the surface area. On the other hand, when the height H of the protrusion pattern 123 is greater than 3,000 μm, frictional resistance may increase and power transmission efficiency may decrease.

In an exemplary embodiment, the protrusion pattern 123 may have a substantially quadrangular truncated pyramid shape. That is, the side surface of the protrusion pattern 123 may be inclined in the rotation direction RT and the thickness direction TD. Accordingly, the width and/or thickness at the upper portion of the protrusion pattern 123 may be different from the width and/or thickness at the lower portion of the protrusion pattern 123 . By configuring the side surface of the protrusion pattern 123 to be inclined, the inclined deformation of the protrusion pattern 123 may be facilitated. In another embodiment, the protrusion pattern may have a substantially truncated cone shape, a triangular truncated pyramid shape, or a column shape such as a cylinder, triangular prism, or quadrangular prism, or may have a cone shape, such as a cone, triangular pyramid, or quadrangular pyramid. .

For example, the lower width Wmax of the protrusion pattern 123 in the rotation direction RT may form the maximum width Wmax of the protrusion pattern 123 in the rotation direction RT. Also, the lower width Wmax of the protrusion pattern 123 may be smaller than the height H. The lower width Wmax of the protrusion pattern 123 is about 300 μm or less, or about 200 μm or less, or about 100 μm or less, or about 50 μm or less, or about 40 μm or less, or about 30 μm or less, or about 20 It may be less than or equal to about 10 µm, or less than or equal to about 10 µm. If the lower width Wmax of the protrusion pattern 123 is too large, the protrusion pattern 123 may not be easily deformed by inclination in the rotation direction RT of the protrusion pattern 123, or damage to the protrusion pattern 123 may occur due to the inclination deformation. there is. The lower limit of the lower width W _max of the protrusion pattern 123 is not particularly limited, but for example, about 0.1 μm or more, or about 0.2 μm or more, or about 0.4 μm or more, or about 0.6 μm or more, or about 0.8 μm or more, or about 1.0 μm or more. If the lower width Wmax of the protrusion pattern 123 is too small, the durability of the protrusion pattern 123 may be deteriorated, and the protrusion pattern 123 may be damaged such as being detached from the base layer 121 according to repeated rotation. Therefore, the lower limit of the lower width Wmax of the protrusion pattern 123 may be appropriately selected in consideration of the material of the protrusion pattern 123 .

In addition, the upper width Wmin of the protrusion pattern 123 in the rotation direction RT may form the minimum width Wmin of the protrusion pattern 123 in the rotation direction RT. That is, the upper width Wmin may be smaller than the lower width Wmax. For example, the upper width Wmin of the protrusion pattern 123 is about 200 μm or less, or about 100 μm or less, or about 50 μm or less, or about 40 μm or less, or about 30 μm or less, or about 20 μm or less, Or it may be about 10 μm or less.

Meanwhile, the lower thickness Tmax of the protrusion pattern 123 in the thickness direction TD may form a maximum thickness of the protrusion pattern 123 in the thickness direction TD. In addition, the lower thickness Tmax of the protrusion pattern 123 may be smaller than the height H, but the present invention is not limited thereto. As a non-limiting example, the lower thickness Tmax of the protrusion pattern 123 may be about 300 μm or less, or about 200 μm or less, or about 100 μm or less, or about 50 μm or less, or about 40 μm or less, or about 30 μm or less, or about 20 μm or less, or about 10 μm or less. The lower limit of the lower thickness Tmax of the protrusion pattern 123 is not particularly limited, but for example, about 0.1 μm or more, or about 0.2 μm or more, or about 0.4 μm or more, or about 0.6 μm or more, or about 0.8 μm or more , or about 1.0 μm or more. The lower limit of the lower thickness Tmax of the protrusion pattern 123 may be appropriately selected in consideration of the material of the protrusion pattern 123 .

In addition, the upper thickness Tmin of the protrusion pattern 123 in the thickness direction TD may form a minimum thickness of the protrusion pattern 123 in the thickness direction TD. That is, the upper thickness Tmin may be smaller than the lower thickness Tmax. For example, the upper thickness Tmin of the protrusion pattern 123 may be about 200 μm or less, or about 100 μm or less, or about 50 μm or less, or about 40 μm or less, or about 30 μm or less, or about 20 μm or less. , or about 10 μm or less.

Also, in some embodiments, the plurality of protrusion patterns 123 are spaced apart from each other in the rotation direction RT and the thickness direction TD, and may have an approximately regular arrangement. 2 illustrates a state in which the plurality of protrusion patterns 123 are approximately arranged in a matrix or grid, of course, the present invention is not limited thereto.

The first separation distance L1 of the protrusion pattern 123 in the rotation direction RT may be about 40% or more, or about 50% or more of the lower width Wmax of the protrusion pattern 123 . When the first separation distance L1 is too small, it is difficult to deform the protrusion pattern 123 to incline in the rotation direction RT, and even if it is inclined, the efficiency of increasing the surface area may decrease. In addition, when the first separation distance L1 is too small, the protrusion pattern 123 and the base layer 121 may be damaged due to the inclination deformation. On the other hand, when the first separation distance L1 is excessively large, the overall number of the protruding patterns 123 may decrease, and the degree of increase in the surface area according to the deformation of the protruding patterns 123 may decrease. For example, the upper limit of the first separation distance L1 may be smaller than the height H of the protrusion pattern 123 . For example, the upper limit of the first separation distance L1 is about 2,500 μm, or about 2,000 μm, or about 1,500 μm, or about 1,000 μm, or about 900 μm, or about 900 μm, or about 700 μm, or about 600 μm, or about 500 μm, or about 400 μm, or about 300 μm, or about 200 μm, or about 100 μm.

In addition, the second separation distance L2 of the protrusion pattern 123 in the thickness direction TD is about 1.0 μm to 3,000 μm, or about 1.0 μm to 2,000 μm, or about 1.0 μm to 1,000 μm, or about 2.0 μm to 900 μm, or about 3.0 μm to 800 μm, or about 4.0 μm to 700 μm, or about 5.0 μm to 600 μm, or about 6.0 μm to 500 μm, or about 7.0 μm to 400 μm, or about 8.0 μm to 300 μm μm, or between about 9.0 μm and 200 μm, or between about 10 μm and 100 μm, or between about 10 μm and 90 μm, or between about 10 μm and 80 μm, or between about 10 μm and 70 μm, or between about 10 μm and 60 μm, or about 10 μm to 50 μm.

The protrusion pattern 123 according to the present embodiment may be a structure having a micro size. In addition, it can be designed to have a predetermined flexibility and to be easily deformed in a shape in the rotation direction RT by an external force, but to have excellent durability. Accordingly, the protrusion pattern 123 is inclined to increase the surface area in contact with the other rotating body, and the attractive force such as van der Waals force may increase due to the increased surface area. That is, since the side surface of the protruding pattern 123 of the pattern layer 120 has an increased attractive force with another rotating body, friction or traction is increased, and power can be transmitted while minimizing lost power. In addition, it can be ensured that the rotation ratio between the second rotation disk 12 and the other rotational body, that is, the gear ratio operates as initially intended. The power transmission efficiency of the second rotating disk 11 according to the present embodiment may be about 60% or more, or about 70% or more, or about 80% or more, or about 90% or more, or about 95% or more.

Comparing the tooth layer 110 and the pattern layer 120, the tooth layer 110 is provided with a rigid material that does not deform, and the pattern layer 120, in particular, the protruding pattern 123 is made of a flexible material that can be deformed. provided In addition, the protrusion pattern 123 is provided with a very small size compared to the protrusion length (eg, the distance between the mountain and the valley) of the protrusion formed on the tooth layer 110 . In general, the protrusion may be formed in units of several tens of mm to several tens of cm, and the height H of the protrusion pattern 123 may be formed in units of up to several thousand μm or several mm. For example, the separation distance between the protrusion patterns 123 may be 0.1 times or less of the separation distance between the protrusions.

3 is a perspective view for explaining the pattern layer 130 of the rotating body for power transmission according to another embodiment of the present invention. For the same parts as those described above, they are cited and descriptions thereof are omitted. For convenience of understanding, reference numerals such as the pattern layer 130 shown in FIG. 3 are shown separately.

Referring to FIG. 3 , in the pattern layer 130 according to the present embodiment, a plurality of protrusion patterns 133 are repeatedly disposed spaced apart in the rotation direction RT, and which protrusion patterns 133 are disposed in the thickness direction TD. The extended shape is different from the pattern layer 120 according to the embodiment of FIG. 2 .

4 is a cross-sectional view for explaining the pattern layer 140 of the rotation body for power transmission according to another embodiment of the present invention, and is a cross-sectional view of the pattern layer 140 cut along the rotation direction (RT). For the same parts as those described above, they are cited and descriptions thereof are omitted. For convenience of understanding, reference numerals such as the pattern layer 140 shown in FIG. 4 are shown separately.

Referring to FIG. 4 , the pattern layer 140 according to the present embodiment is different from the pattern layers 120 and 130 according to the embodiment of FIGS. 2 or 3 in that the upper surface of the protruding pattern 143 has a slope. .

The protrusion pattern 143 may have a substantially quadrangular truncated pyramid shape in which both sides of the rotation direction RT and/or both sides in the thickness direction are inclined, and the upper surface thereof may also be inclined. In an exemplary embodiment, the upper surface of the protrusion pattern 143 may be inclined downward along the rotation direction RT. The upper surface of the protrusion pattern 143 may be a portion that first contacts the other rotating body. In this case, the upper surface of the protruding pattern 143 is configured to be inclined downward along the rotational direction RT, so that unnecessary interference between the protruding pattern 143 and other rotating bodies and rolling resistance induced therefrom can be minimized.

Meanwhile, in an exemplary embodiment, two side surfaces of the protrusion pattern 143 in the rotation direction RT may have different inclinations. For example, the protrusion pattern 143 may have a first side (right side based on FIG. 4 ) positioned in a forward direction (right direction based on FIG. 4 ) of the rotation direction RT and a direction opposite to the rotation direction RT (left direction based on FIG. 4 ). ) may have a second side (a left side in reference to FIG. 4 ) located in the .

In this case, the first inclination angle θ1 of the first side surface may be greater than the second inclination angle θ2 of the second side surface. Also, both the first inclination angle θ1 and the second inclination angle θ2 may be obtuse angles greater than 90 degrees. The sizes of the first inclination angle θ1 and the second inclination angle θ2 satisfy the above ranges and at the same time satisfy the height H, the lower width Wmax, and the upper width Wmin of the protruding pattern 143 described above. It can be formed in a range. In the present specification, the inclination angle of the side surface of the protrusion pattern refers to an angle formed between any side surface of the protrusion pattern and the upper surface of the base layer.

When the second rotating disk including the pattern layer 140 is configured to rotate in the right direction with reference to FIG. 4 , the protrusion pattern 143 may be inclined to the left. Therefore, by configuring the protrusion pattern 143 to have a shape that is easier to incline to the left side, that is, in the reverse direction of the rotation direction RT, the force lost in the process of deforming the shape of the protrusion pattern 143 by another rotating body. can be reduced, and furthermore, the power transmission efficiency can be improved.

Meanwhile, in some embodiments, the angle θ3 between the upper surface and the second side surface of the protrusion pattern 143 may be about 15 degrees or more, or about 20 degrees or more, or about 25 degrees or more, or about 30 degrees or more. there is. By forming an inclination to a level having the angle θ3 between the upper surface of the protruding pattern 143, the upper surface of the protruding pattern 143 may be in contact with the second rotating body (not shown) at approximately the same time. The upper limit of the angle θ3 is not particularly limited, but may be about 80 degrees or less, or about 70 degrees or less in terms of ease of forming the protrusion pattern 143 .

5 is a cross-sectional view illustrating a pattern layer of a rotation body for power transmission according to another embodiment of the present invention, in which the pattern layer 150 is cut along the rotation direction RT. For the same parts as those described above, they are cited and descriptions thereof are omitted. For convenience of understanding, reference numerals such as the pattern layer 150 shown in FIG. 5 are shown separately.

Referring to FIG. 5 , in the pattern layer 150 according to the present embodiment, in the initial state, that is, in a state in which no external force is applied, the protrusion pattern 153 is inclined in the opposite direction to the rotation direction RT. It is different from the pattern layer 140 according to the example.

In an exemplary embodiment, the protrusion pattern 153 includes a first side (right side in FIG. 5 ) positioned in the forward direction (right direction in FIG. 5 ) of the rotation direction RT and in the opposite direction (refer to FIG. 5 ) in the rotation direction RT. It may have a second side (a left side in reference to FIG. 5 ) located in the left direction.

In this case, the fourth inclination angle θ4 of the first side surface may form an obtuse angle greater than 90 degrees, and the fifth inclination angle θ5 of the second side surface may form an acute angle smaller than 90 degrees. When the first rotating body (not shown) including the pattern layer 150 is configured to rotate in the right direction with reference to FIG. 5 , the protruding pattern 153 may be inclined to the left. Accordingly, power transmission efficiency may be improved by configuring the protrusion pattern 153 to have a shape more easily inclined to the left side, that is, in a direction opposite to the rotation direction RT.

Furthermore, unlike the embodiment according to FIG. 4 , since the protrusion pattern 153 has an already inclined shape, the drive response of the rotating body for power transmission can be made faster.

The angle between the upper surface and the second side surface of the protruding pattern 153 is about 15 degrees or more, or about 20 degrees or more, but the upper surface of the protruding pattern 153 with respect to the base layer 151 has an inclination or no inclination. it may not be

6 is a perspective view for explaining the pattern layer 160 of the rotating body for power transmission according to another embodiment of the present invention. For the same parts as those described above, they are cited and descriptions thereof are omitted. For convenience of understanding, reference numerals such as the pattern layer 160 shown in FIG. 6 are shown separately.

Referring to FIG. 6 , the pattern layer 160 according to the present embodiment is different from the embodiment of FIG. 5 in that it includes a first protrusion pattern 163 and a second protrusion pattern 165 . The first protrusion pattern 163 may have substantially the same size and shape as the protrusion pattern 153 according to the embodiment of FIG. 5 . That is, the first protrusion pattern 163 may be inclined in a direction opposite to the rotation direction RT in an initial state. The first protrusion patterns 163 may be repeatedly arranged in the rotation direction RT and the thickness direction TD.

On the other hand, the second protrusion pattern 165 may be inclined in the forward direction of the rotation direction RT in the initial state. That is, the second protrusion pattern 165 has a first side surface located in the forward direction of the rotation direction RT and a second side surface located in the opposite direction to the rotation direction RT, and the first side has an acute angle of inclination, The second side may have an obtuse angle of inclination. The second protrusion pattern 165 may have substantially the same size and shape as the first protrusion pattern 163 , except for a different inclination direction from the first protrusion pattern 163 . The second protrusion patterns 165 are repeatedly arranged in the rotation direction RT and the thickness direction TD, and at least one second protrusion pattern ( 165) can be arranged.

By disposing the pattern layer 160 including the second protruding pattern 165 on the surface of the first rotating body, it is possible to improve the driving and power transmission efficiency in the reverse direction. However, in some embodiments, the number of the first protruding patterns 163 may be greater than the number of the second protruding patterns 165 in terms of power transmission efficiency and response speed in the forward direction. Also, an area occupied by the first protrusion pattern 163 may be larger than an area occupied by the second protrusion pattern 165 .

7 is a perspective view of a power transmission system according to an embodiment of the present invention. 8 is an exploded perspective view of the power transmission system of FIG. 7 . 9 is a cross-sectional view of the power transmission system of FIG. 7 , a cross-sectional view taken along line A-A' of FIG. 7 . FIG. 10 is a plan view in a rotational direction of rotating bodies of the power transmission system of FIG. 7 . 11 is an enlarged view of part B of FIG. 10 .

7 to 11 , the power transmission system 100 according to the present embodiment includes the power transmission rotation body 1 described above. In particular, the power transmission system 100 may include a plurality of rotation bodies 1 for power transmission, and three rotation bodies 1 for power transmission are illustrated in the drawing. This is exemplary and the rotation body 1 for power transmission may be provided in various numbers.

Each power transmission rotation body 1 is provided with the same configuration as described above, and may all be provided with the same size. For the description of each power transmission rotor 1, the above-described bar is cited and the description thereof is omitted. In particular, the description will be given with reference to the power transmission rotation body 1 shown in FIG. 2 .

The power transmission system 100 may include a pair of ring rotators 21 and 22 arranged side by side in the axial direction. At this time, the plurality of power transmission rotation body (1) may be disposed in contact with the pair of ring rotation body (21, 22). In detail, the three power transmission rotors 1 are circularly arranged at intervals of 120 degrees based on the shaft 30 to be described later, that is, the center of rotation of the power transmission system 100, and the three power transmission rotors ( 10) may be disposed to be inscribed with the pair of ring rotors 21 and 22, respectively.

At this time, the pair of ring rotating body may be divided into a first ring rotating body 21 which is inscribed with the first rotating disk 11 and a second ring rotating body 22 which is inscribed with the second rotating disk 12 . there is. In other words, the first ring rotating body 21 may be engaged with the toothed layer 110 , and the second ring rotating body 22 may be in contact with the patterned layer 120 .

The first ring rotating body 21 may include a ring tooth layer 110 . Specifically, the ring toothed layer 210 corresponding to the toothed layer 110 may be disposed on the inner periphery of the first ring rotating body 21 . That is, the toothed layer 110 and the ring toothed layer 210 may have opposing concavo-convex structures to engage with each other. The size, number, and spacing of the ring toothed layer 110 and the toothed layer 110 , and the number of the first rotating disk 11 may be appropriately designed in consideration of each other. This is a structure of a ring gear and a planetary gear of a general planetary gear structure, and a detailed description thereof will be omitted.

The inner peripheral surface of the second ring rotating body 22 may be formed to have a smooth surface. That is, the inner circumferential surface of the second ring rotating body 22 does not have a concave-convex structure unlike the inner circumferential surface of a general ring gear. 11, the inner circumferential surface of the second ring rotating body 22 can be in contact with the protrusion pattern 123 is naturally deformed. In another embodiment, the inner circumferential surface of the second ring rotating body 22 may have the same or similar protrusion pattern structure as the pattern layer 120 of the second rotating disk 12 . In this case, the pattern layer 120 of the second rotating disk 12 and the pattern layer of the second ring rotating body 22 may form a van der Waals attraction between each other.

The axial length RT1 of the first ring rotating body 21 may be shorter than the axial length RT2 of the second ring rotating body 22 . More specifically, the length in the axial direction (X) of the portion where the first ring rotating body 21 and the first rotating disk 11 are in inscribed contact is the second ring rotating body 22 and the second rotating disk 12 . ) may be smaller than the length in the axial direction (X) of the inscribed abutting portion. This is to form a larger contact area between the second ring body 22 and the pattern layer 120 than the contact area between the first ring body 21 and the toothed layer 110 . In other words, the pattern layer 120 may be formed to have a larger area in the axial direction than the toothed layer 110 .

By configuring the contact area between the second ring rotating body 22 and the pattern layer 120 to be relatively large, the frictional resistance between the second ring rotating body 22 and the pattern layer 120 can be increased and the traction can be increased. there is. On the other hand, since the first ring rotating body 21 and the toothed layer 110 transmit power through the concave-convex structure that engages with each other, it is relatively compared to the contact area between the second ring rotating body 22 and the pattern layer 120 . As a result, it may be ok to have a small contact area. That is, as the contact area between the second ring rotating body 22 and the pattern layer 120 is increased, the power transmission rate between the second ring rotating body 22 and the pattern layer 120 may be increased.

The circumferential length R1 of the first ring rotating body 21 may be formed to be longer than the circumferential length R2 of the second ring rotating body 22 . This is because the diameter of the first rotation disk 11 is greater than the diameter of the second rotation disk 12 .

However, this is an exemplary shape, and the shapes of the power transmission rotor 1 and the ring rotation bodies 21 and 22 are not limited thereto. Depending on the design, the sizes of the first rotating disk 11 , the second rotating disk 12 , the first ring rotating body 21 , and the second ring rotating body 22 may be different from each other.

In this way, the rotation body 1 for power transmission is engaged with the first ring rotation body 21 to be fixed in a relative position and rotated (engagement engagement). In addition, it may be in frictional contact with the second ring rotating body 22 to enable flexible design and flexible driving (frictional coupling).

Although the present invention is not limited thereto, the power transmission system 100 according to the present embodiment can be configured to be able to rotate in the reverse direction while maintaining precision even in the case of further miniaturization by omitting a carrier (not shown).

If both the first and second ring rotors 21 and 22 for power transmission are formed with only a toothed structure like the first rotational disk 11, the design is difficult due to the multi-stage structure. It is very limited, and when an unexpected external force is applied to the output side, one side may be damaged or the tooth structure of the power transmission system may be damaged due to the power applied from the input side (eg, the shaft 30) and the output side.

On the other hand, if the first ring rotating body 21 and the second rotating body for power transmission connecting the second ring rotating body 22 are formed only with a micro-pattern structure like the second rotating disk 12, if the carrier is omitted In this case, in the process of rotating at high speed or repeating rotation and stop, the three power transmission rotors do not fully maintain their positions, and the position may slightly deviate, or even adjacent rotational rotation bodies may come into contact. .

However, in the relationship with the first ring rotating body 21 when configured as in this embodiment, the first rotating disk 11 of the power transmitting rotating body 1 is engaged with the first ring rotating body 21 to each other While serving to maintain the position of the liver at an angle of 120 degrees, in relation to the second ring rotating body 22, the second rotating disk 12 of the rotating body 1 for power transmission is the second ring rotating body ( 22) and can be grounded by van der Waals attraction. In particular, when an unexpected external force is applied to the output side, etc., the second ring rotating body 22 and the second rotating disk 12 may spin with each other or even reverse rotation, which means that the unexpected external force applied to the output side is applied to the input side. transmission can be prevented.

As a more specific example, when a human applies a force to the hand joint of the robot device, that is, to the power output side, or a human body is pinched to apply a force in the opposite direction to the power transmission direction of the power transmission system in the cooperative robot device, power transmission If this is not stopped, there is a risk of serious injury to humans.

However, in the power transmission system 100 according to this embodiment, when some rotating bodies stop or a force in the opposite direction to the power transmission direction is applied, power transmission may be stopped. For example, when the rotation of the second ring rotating body 22 is stopped or a force is applied in the opposite direction to the normal state, between the second ring rotating body 22 and the first ring rotating body 21 . Power transmission, more specifically, power transmission between the second ring rotating body 22 and the second rotating disk 12 may be blocked. That is, even when the rotation of the second ring rotating body 22 is stopped, the first ring rotating body 21 side may continue to rotate normally.

In addition, even when the rotation of the first ring rotating body 21 is stopped or a force is applied in the opposite direction to the normal state, power transmission between the second ring rotating body 22 and the second rotating disk 12 is the same. This can be blocked. That is, even when the rotation of the first ring rotating body 21 is stopped, the second ring rotating body 22 side may continue to rotate normally.

In other words, the power transmission system 100 according to the present embodiment can increase the gripping force between the rotating bodies while minimizing rolling friction in the power transmission process, and despite the high gripping force in the rotational direction between the rotating bodies It has the effect of blocking power transmission under certain circumstances.

In addition, the power transmission system 100 according to the present embodiment may provide design flexibility. Considering the number of teeth of the power transmission system, the size of the teeth and the diameter of the gears, the number of gears, the distance between the rotation shafts of the gears, the position of the rotation shafts, the shape and arrangement of the teeth, etc. , it is very often designed to have a specific numerical size, material restrictions occur, or excessively costly in the processing process. However, since the power transmission system 100 according to the present embodiment does not use the meshing between the teeth in at least some sections, there is an advantage that a more free design is possible in terms of numerical values, materials, and costs.

Also, the power transmission system 100 may further include a sun rotator 31 . The shaft 30 may be connected to the sun rotating body 31 . The shaft 30 may be a power input shaft, but the present invention is not limited thereto.

The sun rotating body 31 may be disposed to circumscribe the plurality of power transmission rotating bodies 1 . 7 to 10 , the sun rotating body 31 is located inside the first ring rotating body 21 . As shown in FIG. 10 , a sun toothing layer 310 engaged with the toothing layer 110 may be formed on the outer periphery of the sun rotating body 31 . This is a structure of a general sun gear and a planetary gear, and a detailed description thereof will be omitted.

On the other hand, the sun rotating body 31 may be located inside the second ring rotating body (22). That is, the sun rotating body 31 may be disposed to contact the pattern layer 120 instead of the toothed layer 110 . In this case, the sun rotation body 31 may be formed to have a smooth surface while the sun toothing layer 310 is omitted.

Accordingly, the sun rotating body 31 and the second rotating disk 12 may be in frictional contact with each other. That is, as described above, power transmission between the sun rotating body 31 and the second rotating disk 12 may be blocked in an unexpected situation.

In the present embodiment, the portion that contributes to the power input of the power transmission rotation body 1, that is, the first rotary disk 11 has a toothed structure, and the portion that contributes to the power output, that is, the second rotary disk 12 A case where has a pattern structure is exemplified. In another embodiment, a portion contributing to power input of the power transmission rotation body 1 may have a pattern structure, and a portion contributing to power output may have a tooth structure. This can provide an advantage in terms of torque.

As such, the power transmission system 100 of the present invention may be provided with friction coupling in various forms. In addition, the more efficient and secure power transmission system 100 can be secured by appropriately dividing and using the meshing coupling and friction coupling as needed.

Figure 12 is a perspective view of a power transmission system according to another embodiment of the present invention, Figure 13 is a perspective view for explaining the inner peripheral surface of the second ring rotating body of Figure 12.

12 and 13, in the power transmission system 101 according to the present embodiment, the point in which the groove 230 is formed on the inner circumferential surface of the second ring rotating body 23 is the power transmission system according to the embodiment of FIG. It is different from (100). 13 is a view showing a portion of the inner circumferential surface of the second ring rotating body 23 unfolded for convenience of understanding.

In some embodiments, the inner circumferential surface of the second ring rotary body 23 has a substantially smooth shape, and the second ring rotary body 23 may have a groove 230 formed on the inner circumferential surface. That is, the second ring rotating body 23 may have a structure repeatedly arranged in the rotation direction RT, for example, a structure that does not have gear teeth and is repeatedly arranged in the thickness direction TD.

The groove 230 may have a shape extending along the rotation direction RT. The groove 230 is located on the inner circumferential surface of the second ring rotating body 230 , extends along the rotation direction RT, and may be repeatedly formed in the thickness direction TD. The protrusion pattern 123 of the second rotation disk 12 may be at least partially inserted into the groove 230 . Hereinafter, the shape of the protrusion pattern 123 described with reference to FIG. 2 will be described.

The maximum depth D of the groove 230 may be smaller than the maximum height H of the protrusion pattern 123 . If the depth D of the groove 230 is greater than the height H of the protrusion pattern 123 , the deformation may not be made so that the protrusion pattern 123 inserted into the groove 230 is inclined. Also, the maximum depth D of the groove 230 may be about 30% or more, or about 40% or more, or about 50% or more of the height H of the protrusion pattern 123 .

Further, in the exemplary embodiment in which the protrusion pattern 123 is arranged in the rotation direction RT and the thickness direction TD, the width T of the groove 230 in the thickness direction TD is the protrusion pattern 123 . may be greater than the maximum thickness Tmax in the thickness direction TD. Accordingly, a plurality of protrusion patterns 123 arranged in the thickness direction TD may be inserted into one groove 230 . For example, the width T of the groove 230 may be about 5 times or more, or about 10 times or more, or about 50 times or more of the maximum thickness Tmax of the protrusion pattern 123 .

At least a portion of the protrusion pattern 123 may be inserted into the groove 230 , and at least a portion may not be inserted into the groove 230 . As described above, the protrusion pattern 123 is inclined in the rotation direction RT, and an effect of increasing the surface area may occur due to the side surface of the protrusion pattern 123 in the rotation direction RT. In addition, in the protrusion pattern 123 inserted into the groove 230 , the thickness direction (TD) side side of the protrusion pattern 123 faces or contacts the inner wall of the groove 230 , and the thickness direction (TD) side side surface is in contact with the inner wall of the groove 230 . It can be made to further contribute to the improvement of the surface area. Accordingly, if the width T of the groove 230 is too small, a reduction in power transmission efficiency may occur due to the protrusion pattern 123 that does not mesh with the groove 230 . On the other hand, when the width T of the groove 230 is too large, the effect of improving the traction by the groove 230 may be weak.

In addition, the third separation distance L3 in the thickness direction TD between the grooves 230 adjacent in the thickness direction TD is greater than the second separation distance L2 in the thickness direction TD of the protrusion pattern 123 . can be large Accordingly, at least some of the plurality of protruding patterns 123 arranged in the thickness direction TD may be in contact with the protruding surface of the second ring rotating body 23 without being inserted into the groove 230 . 13 illustrates a case in which the third separation distance L3 of the groove 230 is smaller than the width T, but the present invention is not limited thereto.

14 is a perspective view of a power transmission system according to another embodiment of the present invention. 15 is a cross-sectional view of the power transmission system of FIG. 14 , and is a cross-sectional view at a position corresponding to that of FIG. 9 .

14 and 15 , in the power transmission system 102 according to the present embodiment, one side of the first ring rotating body 24 is closed. The power transmission system 100 according to the embodiment of FIG. 7 and the like. is different from

In some embodiments, one side of the first ring rotating body 24 may be provided in a state blocked by the shielding surface 241 . In detail, the shielding surface 241 may be formed on one side in the axial direction that is not adjacent to the second ring rotating body 22 in a substantially circular plate shape. That is, the shielding surface 241 and the second rotation disk 12 may be spaced apart from each other in the axial direction (X) with the first rotation disk 11 interposed therebetween. Also, the shielding surface 241 may be spaced apart from the first rotating disk 11 by a predetermined distance. The shaft 30 and the sun rotating body 31 may transmit power through a hole formed in the shielding surface 241 .

The shielding surface 241 may overlap the first rotation disk 11 in the axial direction (X). 15 illustrates a case in which the shielding surface 241 completely covers the first rotational disk 11 , but in another embodiment, the shielding surface 241 may cover at least a portion of the first rotational disk 11 . there is.

A ball 245 may be disposed between the shielding surface 241 and the first rotation disk 11 . For example, the ball 245 is at least partially inserted into the inner surface opposite to the first rotation disk 11 of the shielding surface 241, and a ring-shaped first groove 242 in which the ball can move in the rotation direction. ) can be formed. In addition, a second groove 112 into which at least a portion of the ball 245 is inserted may be formed on a surface opposite to the shielding surface 241 of the first rotation disk 11 .

Specifically, the first groove 242 may have a substantially annular shape, and may be disposed to overlap the second groove 112 in the axial direction (X). The second groove 112 may be formed at a position corresponding to the rotation shaft 10 of the rotation body 1 for power transmission. Each of the balls 245 may be configured to move together with the respective power transmission rotating bodies 11 and 12 .

Although the present invention is not limited thereto, in order to omit a carrier (not shown) as in this embodiment and to provide design advantages, the first rotating disk 11 is not a helical gear, but a toothed layer having the same structure as a spur gear. In the case of having , a force applied in a direction away from each other may be applied to the first rotating disk 11 and the second rotating disk 12 , and the first ring rotating body 24 and the second ring rotating body 22 . . In the conventional case, in order to prevent this, the first rotating disk 11 and the second rotating disk 12 are each configured as toothed gears, but this was prevented by taking the form of helical gears, respectively. However, in the power transmission system 102 according to the present embodiment, the second rotation disk 12 is configured in the form of a ground gear rather than a toothed gear, and the first rotation disk 11 is also implemented in the form of a spur gear, and the carrier is omitted. In this case, it is necessary to adopt a new structure for preventing the problem of the first ring rotating body 24 and the second ring rotating body 22 being opened as above.

Accordingly, the garimmak 241 is arranged on one side of the first ring rotating body 24, and the garimmak 241 and the first rotating disk 11 are spaced apart to avoid interference with each other, but the garimmak 241 and The above problem can be solved by inserting the ball 245 between the first rotating disk 11 . That is, the ball 245 and the shield 241 may support the first rotation disk 11 in the axial direction (X). Accordingly, it is possible to prevent the rotational bodies 11 and 12 for power transmission from being stably rotated and deviated from their positions.

In the above, the embodiment of the present invention has been mainly described, but this is only an example and does not limit the present invention. It will be appreciated that various modifications and applications not exemplified above are possible.

Therefore, it should be understood that the scope of the present invention includes changes, equivalents or substitutes of the technical ideas exemplified above. For example, each component specifically shown in the embodiment of the present invention may be implemented by modification. And differences related to such modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

1: Rotating body for power transmission
10: axis of rotation
11: first rotating disk
12: second rotating disk
21: first ring rotating body
22: second ring rotating body
31: sun rotating body
100: power transmission system
110: tooth layer
120: pattern layer
121: base layer
123: protrusion pattern

Claims (13)

a first ring rotating body;
a second ring rotating body disposed on one side of the first ring rotating body in the direction of the rotation axis; and
and a plurality of power transmission rotating bodies disposed in contact with the first ring rotating body and the second ring rotating body,
In each power transmission rotating body,
A toothed layer engaged with the first ring rotating body and a pattern layer in contact with the second ring rotating body are included,
The pattern layer includes micro-patterning or texturing,
A power transmission system in which a ring tooth layer corresponding to the tooth layer is formed on the inner periphery of the first ring rotating body, and a groove extending along the rotational direction is formed on the inner periphery of the second ring rotating body. delete delete delete delete delete According to claim 1,
Each power transmission rotating body,
a first rotating disk on which the toothed layer is formed; and
and a second rotating disk on which the patterned layer configured to rotate together with the first rotating disk is disposed. 8. The method of claim 7,
The pattern layer is formed in a larger area in the direction of the rotation axis than the toothed layer. 8. The method of claim 7,
A power transmission system further comprising: a sun rotating body in circumscribed engagement with the first rotating disk, wherein the sun rotating body receives torque from a power source. delete 8. The method of claim 7,
The first ring rotating body and the first rotating disk are composed of spur gears in which the axial direction and the extension direction of the teeth are parallel to each other,
The first ring rotating body includes a shielding surface that at least partially covers the rotating surface of the first rotating disk,
Grooves are respectively formed on the shielding surface and the surface opposite to the shielding surface of the first rotating disk,
The power transmission system further includes a ball inserted into the groove of the shielding surface and the groove of the first rotation disk. According to claim 1,
The first ring rotating body is located on the power output side,
The second ring rotating body is located on the power input side of the power transmission system. delete

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