KR102604157B1 - A Robot Power Transmittion System - Google Patents

Abstract

The present invention relates to a robot power transmission system, which consists of a casing part constituting a body, an input shaft casing part rotatable with respect to the casing part, and an input shaft casing part that is provided inside the input shaft casing part and rotates in a pipe shape to transmit power. A first input shaft portion that transmits power, a second input shaft portion that is inserted into the inside of the first input shaft portion and rotatable in parallel to transmit power, and a second input shaft portion that is provided inside the casing portion and rotates in the same direction as the second input shaft portion. A second output shaft portion that is located and rotates to transmit power, a first output shaft portion that is provided inside the casing portion and is positioned in a direction perpendicular to the first input shaft portion and rotates to transmit power, and a first output shaft portion that is positioned inside the casing portion and transmits power by rotating. A first connection shaft portion provided in a direction perpendicular to the second input shaft portion and rotating to transmit power, and a second connection provided inside the casing portion and located parallel to the first connection shaft portion and rotating to transmit power. A shaft portion, a first bevel gear formed at the tip of the first input shaft portion, a second bevel gear formed at the tip of the second input shaft portion, and a first bevel gear formed at the tip of the first output shaft portion, the first bevel gear A third bevel gear meshed with, a fourth bevel gear formed at the tip of the first connecting shaft portion and meshed with the second bevel gear, and a fifth bevel gear formed at the tip of the second connecting shaft portion, A sixth bevel gear formed at the tip of the second output shaft and engaged with the fifth bevel gear, a first connection gear formed at the rear end of the first connection shaft section, and a rear end of the second connection shaft section , a second connecting gear engaged with the first connecting gear, a first bearing portion provided between the first connecting shaft portion and the second connecting shaft portion, and fixing the second input shaft portion to the first input shaft portion. It is characterized in that it includes a first bearing cover part.

Description

A Robot Power Transmission System

The present invention relates to a robot power transmission system, and more specifically, to a robot power transmission system that can safely and accurately control the power transmission process of the 5th and 6th axes that control the power of the wrist part in a robot used precisely. .

Multi-joints are suitable for manufacturing sites where robots are needed, as they require control of heavy objects or precision parts. Depending on space constraints and movement radius, at least three or more joints are required, and the more joints, the higher the degree of freedom.

Each joint is made up of various gear parts to implement rotation and maneuvering torque appropriate to the robot size. In industrial sites, demand for robots that require more precision and faster work speed is expected to increase, and robots with power transmission systems with appropriate performance are needed.

In a robot, the 1st to 4th axis parts are easy to control by assembling structures such as motors, reducers, and spur gears, but the 5th and 6th axis parts, which implement the motion of the wrist part of the robot, have a high motor, RV reducer, and bevel gear structure. A level of skill is required.

In particular, it is difficult to implement technology to control noise and vibration in the power transmission area, and there is a problem in that the range of noise and vibration changes is large depending on the operator's assembly tendency due to the insertion of multiple bevel gears.

Registered Patent 10-1012053

In order to solve the above-mentioned problems, the purpose of the present inventor is to provide a robot power transmission system that can be controlled to minimize vibration or noise when transmitting power in the 5th and 6th axes of the wrist portion of the robot.

In order to achieve the above-described object, the robot power transmission system of the present invention includes a casing part constituting the body, an input shaft casing part rotatable with respect to the casing part, and an input shaft casing part, which is provided inside the input shaft casing part and rotates in a pipe shape. A first input shaft portion that transmits power, a second input shaft portion that is inserted inside the first input shaft portion and rotatable in parallel to transmit power, and a second input shaft portion that is provided inside the casing portion, and A second output shaft portion located in the same direction and rotating to transmit power, a first output shaft portion provided inside the casing portion and positioned in a direction perpendicular to the first input shaft portion and rotating to transmit power, and the casing A first connection shaft portion provided inside the unit and positioned in a direction perpendicular to the second input shaft portion and rotating to transmit power, and a first connection shaft portion provided inside the casing portion and located parallel to the first connection shaft portion and rotating to transmit power. A second connection shaft portion, a first bevel gear formed at the tip of the first input shaft portion, a second bevel gear formed at the tip of the second input shaft portion, and a tip of the first output shaft portion, the first bevel gear formed at the tip of the first output shaft portion, A third bevel gear meshed with the first bevel gear, a fourth bevel gear formed at the tip of the first connecting shaft portion and meshed with the second bevel gear, and a fifth bevel formed at the tip of the second connecting shaft portion. A gear, a sixth bevel gear formed at the tip of the second output shaft and engaged with the fifth bevel gear, a first connection gear formed at the rear end of the first connection shaft section, and a rear end of the second connection shaft section It is formed in, a second connection gear engaged with the first connection gear, a first bearing portion provided between the first connection shaft portion and the second connection shaft portion, and a second input shaft portion on the first input shaft portion. It is characterized in that it includes a first bearing cover portion that secures the.

The first bearing cover part includes a disc-shaped first bearing cover and a first cover screw that penetrates and secures the fastening hole of the first bearing cover, and the first bearing cover is tightened to the degree of fastening of the first cover screw. It is characterized by controlling the degree of insertion.

A second bearing part is provided between the first connecting shaft part and the casing part, and further includes a second bearing cover for fixing the second bearing part to the casing part, and between the second bearing cover and the second bearing part. is characterized in that it is provided with a first preload core in the shape of a disk.

A third bearing part is provided between the second connecting shaft part and the casing part, and further includes a third bearing cover for fixing the third bearing part to the casing part, and between the third bearing cover and the third bearing part. It is characterized in that a second preload core in the shape of a disk is provided.

The rear end of the first connection shaft passes through the center of the first connection gear and is fastened, a first connection plate of a disk shape that is relatively wider than the first connection shaft section, and a first connection plate that passes through the first connection plate. It is characterized by including two first fastening screws for fixing to the shaft portion.

The rear end of the second connection shaft passes through the center of the second connection gear and is fastened, a second fastening plate of a disk shape that is relatively wider than the second connection shaft, and a second fastening plate that passes through the second fastening plate. It is characterized by including two second fastening screws fixed to the connecting shaft portion.

The robot power transmission system of the present invention has the following effects.

When fixing each shaft portion, sheet-shaped shims are selectively inserted between the shaft portion and the bearing to ensure appropriate preload and driving safety of the bearing, and to minimize backlash and assembly processing tolerances. There are benefits to this.

Figure 1 is a diagram showing the 5-axis and 6-axis operation of the wrist portion in the robot structure.
Figure 2 is a cross-sectional view showing a preferred embodiment of the robot power transmission system according to the present invention.
Figure 3 is a cross-sectional view showing a portion of a preferred embodiment of the robot power transmission system according to the present invention.
Figure 4 is a cross-sectional view showing a portion of a preferred embodiment of the robot power transmission system according to the present invention.

Hereinafter, a preferred embodiment of the robot power transmission system according to the present invention will be described in detail with reference to the attached drawings.

The present invention relates to a robot power transmission system, which, as shown in FIG. 2, includes a casing part 10 constituting the body, an input shaft casing part 20 rotatable with respect to the casing part 10, and , a first input shaft portion 30 that is provided inside the input shaft casing portion 20 and rotates in a pipe shape to transmit power, and is inserted into the interior of the first input shaft portion 30 and rotatable in parallel. A second input shaft portion 40 that transmits power, and a second output shaft portion 50 provided inside the casing portion 10 and positioned in the same direction as the second input shaft portion 40 and transmitting power while rotating. and a first output shaft portion 60 provided inside the casing portion 10, positioned in a direction perpendicular to the first input shaft portion 30 and transmitting power while rotating, and inside the casing portion 10. A first connection shaft portion 70 is provided in a direction perpendicular to the second input shaft portion 40 and transmits power while rotating, and is provided inside the casing portion 10 and is parallel to the first connection shaft portion 70. A second connecting shaft portion 80 that is positioned and rotates to transmit power, a first bevel gear 32 formed at the tip of the first input shaft portion 30, and the tip of the second input shaft portion 40 A second bevel gear 42 formed at the tip of the first output shaft portion 60 and a third bevel gear 62 engaged with the first bevel gear 32, and the first connection a fourth bevel gear 72 formed at the tip of the shaft portion 70 and engaged with the second bevel gear 42, and a fifth bevel gear 82 formed at the tip of the second connecting shaft portion 80; , a sixth bevel gear 52 formed at the tip of the second output shaft portion 50 and engaged with the fifth bevel gear 82, and a first shaft formed at the rear end of the first connecting shaft portion 70. A connection gear 74, a second connection gear 84 formed at the rear end of the second connection shaft portion 80 and engaged with the first connection gear 74, and a first input shaft portion 30. A first bearing portion 90 provided between the second input shaft portion 40 and a first bearing cover portion 92 that secures the first input shaft portion 30 and the second input shaft portion 40. It can be done including.

First, the robot power transmission system of the present invention is provided with a casing portion 10. The casing portion 10 serves to constitute the body of the robot power transmission system of the present invention. The casing portion 10 is formed in a box shape with a space inside, and various components to be described below are mounted therein.

The casing part 10 is further provided with an input shaft casing part 20. Like the casing part 10, the input shaft casing part 20 has a space therein and is rotatable with respect to the casing part 10.

A first input shaft portion 30 is provided in the input shaft casing portion 20. The first input shaft portion 30 is formed in a pipe shape and is provided inside the input shaft casing portion 20. The first input shaft part 30 has one end extending to the inside of the casing part 10 and the other end extending to the outside of the input shaft casing part 20, and rotates the power received from an external power source in the axial direction to generate power. It plays a role in conveying. A bearing is provided between the first input shaft portion 30 and the input shaft casing portion 20.

A second input shaft portion 40 is provided inside the first input shaft portion 30. The second input shaft portion 40 is formed as a cylindrical bar, is inserted into the first input shaft portion 30, and is positioned parallel to the first input shaft portion 30. rotates independently.

One end of the second input shaft portion 40 extends to the inside of the casing portion 10, and the other end extends to the outside of the input shaft casing portion 20 to rotate the power received from an external power source in the axial direction. It plays a role in conveying. One end and the other end of the second input shaft portion 40 are formed to be relatively longer and more exposed than the first input shaft portion 30.

A second output shaft portion 50 is provided inside the casing portion 10. The second output shaft portion 50 is formed in a cylindrical shape. It is located parallel to the second input shaft portion 40 and in the same direction. It serves to rotate and transmit the power transmitted to one end of the second output shaft portion 40 to the other end. The second output shaft portion 50 has one end spaced apart from one end of the second input shaft portion 40 and extends to the inside of the casing portion 10, and the other end extends to the outside of the casing portion 10. The power transmitted from one end of the second output shaft portion 50 serves to transmit the power to the other end of the second output shaft portion 50.

A first output shaft portion 60 is provided inside the casing portion 10. The first output shaft portion 60 is formed in a cylindrical shape, is positioned in a direction perpendicular to the first input shaft portion 30, and transmits power while rotating. The first output shaft portion 60 serves to rotate and transmit power transmitted to one end to the other end. The first output shaft portion 60 extends to the inside of the casing portion 10 so that one end is in contact with one end of the first input shaft portion 30, and the other end extends to the outside of the casing portion 10 to form the first input shaft portion 30. The power transmitted from one end of the output shaft portion 60 serves to transmit the power to the other end of the first output shaft portion 60.

A first connecting shaft portion 70 is provided in the casing portion 10. The first connection shaft portion 70 is provided inside the casing portion 10 and is positioned in a direction perpendicular to the second input shaft portion 40 to transmit power while rotating. The first connection shaft portion 70 is located at a position where one end is in contact with one end of the second input shaft portion 40.

A second connecting shaft portion 80 is provided in the casing portion 10. The second connecting shaft portion 80 is provided inside the casing portion 10, is positioned parallel to the first connecting shaft portion 70, and transmits power while rotating. The second connection shaft portion 80 is located at a position where one end is in contact with the second output shaft portion 50.

And, a first bevel gear 32 is provided at the tip of the first input shaft portion 30. A third bevel gear 62 is provided at the tip of the first output shaft portion 60. The first bevel gear 32 and the third bevel gear 62 are meshed with each other to transmit power.

A second bevel gear 42 is provided at the tip of the second input shaft portion 40. A fourth bevel gear 72 is provided at the tip of the first connecting shaft portion 70. The second bevel gear 42 and the fourth bevel gear 72 are meshed with each other to transmit power.

And, a fifth bevel gear 82 is provided at the tip of the second connecting shaft portion 80. A sixth bevel gear 52 is provided at the tip of the second output shaft portion 50. The fifth bevel gear 82 and the sixth bevel gear 52 are meshed with each other to transmit power.

Additionally, a first connection gear 74 is provided at the rear end of the first connection shaft portion 70. A second connection gear 84 is provided at the rear end of the second connection shaft portion 80. The first connection gear 74 and the second connection gear 84 mesh with each other to transmit power.

That is, when the first input shaft unit 30 rotates, the first bevel gear 32 and the third bevel gear 62 engage and rotate to transmit power, and as the first output shaft unit 60 rotates, power is transmitted. It is delivered. In addition, when the second input shaft portion 40 rotates, the second bevel gear 42 and the fourth bevel gear 72 engage and rotate to transmit power, and the first connection shaft portion 70 and the second connection shaft portion Power is transmitted as the second output shaft portion 50 rotates through (80).

Additionally, a first bearing unit 90 is provided between the first input shaft unit 30 and the second input shaft unit 40. The first bearing portion 90 has one end between the first input shaft portion 30 and the second input shaft portion 40, and the other end of the first input shaft portion 30 and the second input shaft portion 40. Each is inserted and fixed.

That is, the first bearing part 90 at the front end is inserted into the inner wall of the first input shaft part 30, the second input shaft part 40 is inserted, and then the first bearing part 90 at the rear end is inserted and fixed. do.

At this time, a first bearing cover part 92 is provided so that the first bearing part 90 is safely fixed between the first input shaft part 30 and the second input shaft part 40.

The first bearing cover part 92 can be configured in various ways for the above-described functions, and in the present invention, it is configured as follows.

The first bearing cover part 92 includes a disc-shaped first bearing cover 94 and a first cover screw 96 that penetrates and secures the fastening hole 95 of the first bearing cover 94. Including, the degree of insertion of the first bearing cover 94 can be adjusted by the degree of fastening of the first cover screw 96.

That is, by adjusting the first cover screw 96, the position of the second input shaft part 40 is adjusted with respect to the first input shaft part 30, and the preload of the first bearing part 90 is adjusted. do.

And, a second bearing part 100 is provided between the first connecting shaft part 70 and the casing part 10. The second bearing part 100 is inserted into the inner wall of the casing part 10, then the second bearing part 100 is inserted, and the first connecting shaft part 70 is inserted and fixed.

At this time, the second bearing cover part 102 is provided so that the second bearing part 100 is safely fixed between the casing part 10 and the first connecting shaft part 70.

The second bearing cover part 102 can be configured in various ways for the above-described functions, and in the present invention, it is configured as follows.

The second bearing cover part 102 includes a disc-shaped second bearing cover 104, a second cover screw 106 that penetrates and secures the fastening hole 105 of the second bearing cover 104, and , It may include a disc-shaped first preload core 108 inserted between the second bearing cover 104 and the second bearing part 100.

That is, the preload of the second bearing unit 100 is adjusted by adjusting the number and thickness of the first preload cores 108.

A first connection shaft housing 109 may be further provided between the second bearing part 100 and the casing part 10. The first connection shaft housing 109 is formed in a cylindrical shape and is fixed to the casing portion 10. A first backlash shim 101 having a disk shape is provided between the first connection shaft housing 109 and the casing portion 10.

By adjusting the number and thickness of the first backlash shims 101, the degree of close contact of the first connecting shaft portion 70 to the casing portion 10 is adjusted to adjust the fourth bevel gear 72 and the second bevel gear 72. Backlash can be adjusted by adjusting the contact gap of the second bevel gear 42 of the input shaft portion 40.

Additionally, the second bearing cover 104 may be fixed to the first connection shaft housing 109 as shown in FIG. 4 .

And, a third bearing part 110 is provided between the second connecting shaft part 80 and the casing part 10. The third bearing part 110 is inserted into the inner wall of the casing part 10, and then the third bearing part 110 is inserted and the second connecting shaft part 80 is inserted and fixed.

At this time, a third bearing cover part 112 is provided so that the third bearing part 110 is safely fixed between the casing part 10 and the second connecting shaft part 80.

The third bearing cover part 112 can be configured in various ways for the above-described functions, and in the present invention, it is configured as follows.

The third bearing cover part 112 includes a disk-shaped third bearing cover 114, a third cover screw 116 that penetrates and secures the fastening hole 115 of the third bearing cover 114, and , It may include a disc-shaped second preload core 118 inserted between the third bearing cover 114 and the third bearing part 110.

That is, by adjusting the number and thickness of the second preload cores 118, the preload of the third bearing unit 110 can be adjusted.

A second connection shaft housing 119 may be further provided between the third bearing part 110 and the casing part 10. The second connection shaft housing 119 is formed in a cylindrical shape and is fixed to the casing portion 10. A second backlash shim 111 in the shape of a disk is provided between the second connection shaft housing 119 and the casing part 10.

By adjusting the number and thickness of the second backlash shims 111, the degree of close contact of the second connecting shaft portion 80 to the casing portion 10 is adjusted to adjust the fifth bevel gear 82 and the first Backlash can be adjusted by adjusting the contact gap of the sixth bevel gear 52 of the output shaft portion 50.

Additionally, the third bearing cover 114 may be fixed to the second connection shaft housing 119 as shown in FIG. 3 .

Additionally, a first fastening portion 75 is further provided between the first connecting shaft portion 70 and the first connecting gear 74. The first fastening portion 75 serves to support the first connection gear 74 to be positioned safely and horizontally despite vibration of the first connection shaft portion 70.

The first fastening portion 75 can be any means that can safely support the first connecting gear 74 on the other end of the first connecting shaft portion 70, and in the present invention, it is configured as follows. It can be.

The first fastening portion 75 is fastened with the rear end of the first connecting shaft portion 70 passing through the center of the first connecting gear 74, and has a disk shape that is relatively wider than the second connecting shaft portion 70. It may include a first fastening plate 76 and two first fastening screws 77 that penetrate the first fastening plate 76 and secure it to the first connecting shaft portion 74.

That is, the central portion of the first fastening plate 76 is in contact with the other end of the first connecting shaft portion 70, and the edge portion of the first fastening plate 76 is in contact with one end of the first connecting gear 74. It is possible to adjust the horizontality of the first connection gear 74 by adjusting the two first fastening screws 77 and whether the first fastening plate 76 is horizontal while in contact with the side surface.

In addition, a second fastening portion 85 is further provided between the second connecting shaft portion 80 and the second connecting gear 84. The second fastening portion 85 serves to support the second connection gear 84 to be positioned safely and horizontally despite vibration of the second connection shaft portion 80.

The second fastening portion 85 can be any means that can safely support the second connecting gear 84 on the other end of the second connecting shaft portion 80, and in the present invention, it is configured as follows. It can be.

The second fastening portion 85 is fastened with the rear end of the second connecting shaft portion 80 passing through the center of the second connecting gear 84, and has a disk shape that is relatively wider than the second connecting shaft portion 84. It may include a second fastening plate 86 and two second fastening screws 87 that penetrate the second fastening plate 86 and secure it to the second connecting shaft portion 80.

That is, the central portion of the second fastening plate 86 is in contact with the other end of the second connecting shaft portion 80, and the edge portion of the second fastening plate 86 is in contact with one end of the second connecting gear 84. It is possible to adjust the horizontality of the second connection gear 84 by adjusting the two second fastening screws 87 and whether the second fastening plate 86 is horizontal while in contact with the side surface.

As such, a person skilled in the art will understand that the technical configuration of the present invention described above can be implemented in other specific forms without changing the technical idea or essential features of the present invention.

Therefore, the embodiments described above should be understood in all respects as illustrative and not static, and the scope of the present invention is indicated by the claims described later rather than the detailed description above, and the meaning and scope of the claims and their Any changes or modifications derived from the equivalent concept should be construed as being included in the present invention.

10: Casing part 20: Input shaft casing part
30: first input shaft 32; 1st bevel gear
40: Second input shaft 42: Second bevel gear
50: 2nd output shaft 52: 6th bevel gear
60: 1st output shaft 62: 3rd bevel gear
70: 1st connection shaft 72: 4th bevel gear
74: first connection gear 75: first connection part
76: first fastening plate 77: first fastening screw
80: 2nd connection shaft 82: 5th bevel gear
84: second connection gear 85: second fastener
86: second fastening plate 87: second fastening screw
90: first bearing part 92: first bearing cover part
94: First bearing cover 95: Fastening hole
96: first cover screw 100: second bearing part
101: 1st backlash seam 102: 2nd bearing cover part
104: Second bearing cover 105: Fastening hole
106: 2nd fastening screw 108: 1st preload core
109: first connection shaft housing 110: third bearing part
111: 2nd backlash seam 112: 3rd bearing cover part
114: Third bearing cover 115: Fastening hole
116: Third fastening screw 118: Second preload core
119: Second connecting shaft housing

Claims (6)

A casing part constituting the body;
an input shaft casing portion rotatable with respect to the casing portion;
a first input shaft portion provided inside the input shaft casing portion and rotating in a pipe shape to transmit power;
a second input shaft portion inserted into the first input shaft portion and rotatable in parallel to transmit power;
a second output shaft portion provided inside the casing portion, positioned in the same direction as the second input shaft portion and rotating to transmit power;
a first output shaft portion provided inside the casing portion, positioned in a direction perpendicular to the first input shaft portion and rotating to transmit power;
a first connection shaft portion provided inside the casing portion and positioned in a direction perpendicular to the second input shaft portion and rotating to transmit power;
a second connection shaft portion provided inside the casing portion, positioned parallel to the first connection shaft portion and rotating to transmit power;
a first bevel gear formed at the tip of the first input shaft portion;
A second bevel gear formed at the tip of the second input shaft portion
a third bevel gear formed at the tip of the first output shaft and engaged with the first bevel gear;
a fourth bevel gear formed at the tip of the first connecting shaft portion and engaged with the second bevel gear;
a fifth bevel gear formed at the tip of the second connecting shaft portion;
a sixth bevel gear formed at the tip of the second output shaft and engaged with the fifth bevel gear;
A first connection gear formed at the rear end of the first connection shaft portion;
a second connection gear formed at the rear end of the second connection shaft and engaged with the first connection gear;
a first bearing portion provided between the first input shaft portion and the second input shaft portion;
It includes a first bearing cover part that secures the first bearing part between the first input shaft part and the second input shaft part,
The first bearing cover part,
A first bearing cover in a disk shape;
a first cover screw that penetrates and secures the fastening hole of the first bearing cover;
Including,
Adjusting the degree of insertion of the first bearing cover by the degree of tightening of the first cover screw,
A second bearing part is provided between the first connecting shaft part and the casing part,
It further includes a second bearing cover that secures the second bearing part to the casing part,
A disc-shaped first preload shim is provided between the second bearing cover and the second bearing part,
A first connection shaft housing is provided in a cylindrical shape and fixed to the casing section between the second bearing section and the casing section, and a first backlash shim in a disk shape is provided between the first connection housing and the casing section,
A third bearing part is provided between the second connecting shaft part and the casing part,
It further includes a third bearing cover that secures the third bearing part to the casing part,
A disc-shaped second preload shim is provided between the third bearing cover and the third bearing part,
A second connection shaft housing is provided in a cylindrical shape and fixed to the casing section between the third bearing section and the casing section, and a second backlash shim in a disk shape is provided between the second connection housing and the casing section. Characterized by a robot power transmission system. delete delete delete According to clause 1,
The rear end of the first connection shaft penetrates the center of the first connection gear and is fastened,
a first fastening plate having a disk shape that is relatively wider than the first connecting shaft portion;
Two first fastening screws penetrating the first fastening plate and fastening them to the first connection shaft portion;
A robot power transmission system comprising: According to clause 1,
The rear end of the second connection shaft penetrates the center of the second connection gear and is fastened,
a second fastening plate having a disk shape that is relatively wider than the second connecting shaft portion;
two second fastening screws penetrating the second fastening plate and fastening them to the second connecting shaft portion;
A robot power transmission system comprising: