KR20140043472A - Decelerator structure using plurality of two-speed spur gears, and actuator module including same - Google Patents

Decelerator structure using plurality of two-speed spur gears, and actuator module including same Download PDF

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Publication number
KR20140043472A
KR20140043472A KR1020147003023A KR20147003023A KR20140043472A KR 20140043472 A KR20140043472 A KR 20140043472A KR 1020147003023 A KR1020147003023 A KR 1020147003023A KR 20147003023 A KR20147003023 A KR 20147003023A KR 20140043472 A KR20140043472 A KR 20140043472A
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KR
South Korea
Prior art keywords
gear
spur
reduction
gears
stage
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KR1020147003023A
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Korean (ko)
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KR101569064B1 (en
Inventor
김병수
이정호
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(주)로보티즈
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts

Abstract

The present invention relates to a reducer structure using a plurality of two-stage spur gears and an actuator module including the same. A plurality of two-stage spurs for transmitting torque to an output gear having a tooth surface formed on an outer circumferential surface by slowing down the high speed rotation of a rotating motor at a low speed The reduction gear structure using a gear is formed of a lower spur gear that is integrally formed on an upper spur gear and a lower spur gear, and includes a first spur gear that is rotatably coupled to the output gear. It is formed between the last two-stage spur gears of the secondary and primary reduction gears and the output gear, and the lower spur gears interlocked with the teeth of the output gears and the upper spur gears meshing with the lower spur gears of the last two-stage spur gears of the first reduction gear. A secondary reduction gear including at least two secondary reduction gears for secondary reduction, and at least two secondary reduction gears for symmetry with each other; .

Description

A reducer structure using a plurality of two-stage spur gears and an actuator module including the same. {DECELERATOR STRUCTURE USING PLURALITY OF TWO-SPEED SPUR GEARS, AND ACTUATOR MODULE INCLUDING SAME}

The present invention relates to a reducer structure and an actuator module for transmitting power to a robot for industrial, home, or entertainment. In particular, the present invention relates to a plurality of gears that deliver a high torque to an output gear while stably reducing a high load rotation speed transmitted through a drive shaft of a motor. It relates to a reducer structure using a two-stage spur gear and an actuator module including the same.

In general, an industrial, home or entertainment robot is completed by mechanically and electrically connecting an actuator module formed of a mechanical part including a motor and a circuit part including a control module for controlling the motor.

In order to precisely control the motor used in such a robot, a speed reducer for reducing the high speed rotation of the motor is used. Conventional reduction gears include harmonic drive type reduction gears and cycloid reduction gears that perform deceleration using elastic force, and reduction gears using planetary gears with high bit rate.

However, the reduction gear using a conventional planetary gear uses a reduction gear body in which a planetary gear is inserted and a tooth surface meshed with the planetary gear is processed. By the way, it is difficult to process a small tooth surface inside the reducer body. Therefore, at present, since the reducer body processed with tooth surface is imported and used in foreign countries, the reducer using planetary gears has a high cost, there is a limit in obtaining a high reduction ratio, and backlash is large. On the other hand, commercial speed reducers such as harmonic drive type reducers and cycloid reducers are also expensive and have low design freedom.

The present invention has been proposed to solve the above problems, and an object of the present invention is to use a plurality of two-stage spur gears that transmit a high torque to the output gear while stably reducing the high load rotational speed transmitted through the drive shaft of the motor. It is to provide a reducer structure and an actuator module including the same.

In order to achieve the above object, a reducer structure using a plurality of two-stage spur gears for transmitting torque to an output gear having a tooth surface formed on the outer circumferential surface by decelerating the high speed rotation of the rotary motor at a low speed, A first reduction gear including an upper spur gear and a lower spur gear integrally formed at a lower portion of the upper spur gear, and including a two-speed spur gear for primary reduction that is rotatably coupled to the output gear;

It is formed between the two-stage spur gear of the first reduction gear and the output gear, and the upper spur gear meshing with the lower spur gear of the two-stage spur gear of the primary reduction gear and the lower spur gear meshed with the teeth of the output gear. And at least two or more secondary reduction gears for secondary reduction may be formed symmetrically with each other.

According to another aspect of the present invention, an actuator module may include a rotary motor configured to rotate a drive shaft having pinion gears supplied with power, and decelerate a high speed rotation of a pinion gear formed on a drive shaft of the rotary motor at a low speed to provide an upper spur gear and the upper portion. A primary deceleration part including a two-stage spur gear for primary deceleration formed on a lower spur gear integrally formed under the spur gear;

An output gear which is rotatably coupled to the second gear of the first reduction gear and having a tooth surface formed on an outer circumferential surface thereof; And an upper spur gear that is formed between the output gear and the second spur gear of the primary deceleration part and meshes with the teeth of the output gear and the upper spur gear that meshes with the lower spur gear of the second spur gear of the primary deceleration part. At least two or more secondary gears for secondary reduction formed in the spur gear includes a secondary deceleration portion formed symmetrically with each other.

According to the configuration as described above, the reducer structure using a plurality of two-stage spur gear of the present invention and the actuator module including the first reduction gear for reducing the high speed rotation of the motor at low speed, and the rotation of the primary reduction gear at low speed While decelerating, the bit rate with the output gear increases, which has a useful effect of transmitting high torque to the output gear.

In addition, the reducer structure using the plurality of two-stage spur gear of the present invention and the actuator module including the same are installed so that the two-stage spur gears of the secondary reduction gear engaging with the output gear face each other, thereby compensating for the distortion of the output gear. That has a useful effect.

1 shows an appearance of an actuator module according to an embodiment of the present invention.
FIG. 2 shows an exterior view of the actuator module according to FIG. 2 rotated 90 degrees clockwise. FIG.
3 shows the interior of the actuator module according to FIG. 1.
4 shows the interior of the actuator module according to FIG. 3.
5 is an exemplary view for explaining a reducer structure using a plurality of two-stage spur gears according to the present invention.
Figure 6 is an example showing the primary deceleration unit of the reducer structure according to the present invention.
7 is an example illustrating a secondary deceleration part of a reducer structure according to the present invention.
FIG. 8 illustrates a state in which the secondary reduction unit and the output gear of FIG. 7 are coupled to each other.
<Explanation of symbols on main parts of the drawings>
400: actuator module
410: housing
420: circuit part
421: printed circuit board 422: network interface
430: mechanical part
431 motor 431a pinion gear
432: bearing 433: torque compensation spring
434: slip ring
435: reducer structure
4351, 4352, 4353: 2 speed spur gears
4354, 4355, 4356, 4357: 2 speed spur gears
436: output gear
600: reducer structure
610: primary reduction unit
611: first second spur gear
611a: upper spur gear 611b: lower spur gear
612: second 2nd gear
612a: Upper spur gear 612b: Lower spur gear
613: third second gear
613a: Upper spur gear 613b: Lower spur gear
613c: coupling
620: secondary reduction unit
621: first second spur gear
621a: Upper spur gear 621b: Lower spur gear
622: second two-stage spur gear
622a: upper spur gear 622b: lower spur gear
623: second gear
623a: upper spur gear 623b: lower spur gear
624: fourth gear
624a: upper spur gear 624b: lower spur gear

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

As shown in FIGS. 1 to 4, the actuator module 400 according to the present invention includes a housing 410, a circuit part 420 and a mechanism part 430 accommodated in the housing 410. The circuit unit 420 may include, for example, a printed circuit board 421 and a network interface 422 in which a microprocessor is integrated. The mechanism unit 430 may include a motor 431, an output gear 436, and an output gear. (436) The high speed rotation of the bearing 432, the torque compensating spring 433 and the slip ring 434, and the pinion gear 431a formed on the drive shaft of the motor 431 on the outer circumferential surface is reduced to It includes a reducer structure 435 for transmitting torque to the output gear 436.

The reducer structure 435 is formed of a lower spur gear that is integrally formed under the upper spur gear and the upper spur gear, and has two primary spur gears 4331, 4352 and 4353 for secondary reduction and two spur gears for secondary reduction. (4354, 4355, 4356, 4357). The two-stage spur gears 4331, 4352, and 4353 for the primary deceleration may use the same number of teeth as the number of teeth or different ones. The two-stage spur gears 4331, 4352, and 4353 for the first speed reduction are engaged with each other and the last two-stage spur gears 4353 are rotatably coupled with the output gear 436.

The second speed reduction spur gears 4254, 4355, 4356, and 4357 for the second speed reduction are formed to be spaced apart from each other and symmetrically between the last second speed control gear 4353 and the output gear 436 of the first speed reduction unit. The second reduction gear 243, 4355, 4356, 4357 for the second reduction reduces the rotation of the last two-stage spur gear 4353 of the primary reduction gear at a low speed to transmit torque to the output gear 436.

An ideal structure of the reducer structure using a plurality of two-stage spur gears according to the present invention is shown in FIG. The reducer structure 600 includes a primary deceleration part 610 for decelerating the high speed rotation of the pinion gear 431a formed on the drive shaft of the rotary motor at a low speed, and a final second spur gear of the primary deceleration part 610. n The second reduction gear 620 is formed between the two-stage spur gear 613 and the output gear 436. Where n is a natural number.

For example, as illustrated in FIG. 6, the primary deceleration part 610 is a lower part integrally formed under the upper spur gears 611a, 612a, and 613a and the upper spur gears 611a, 612a, and 613a. It may be implemented by including the first to third second stage spur gears 611, 612, and 613 formed of the spur gears 611b, 612b, and 613b. The third two-stage spur gear 613, which is the last two-stage spur gear of the primary reduction gear 610, includes a coupling part 613c rotatably coupled to the output gear 436.

The first to third two-stage spur gears 611, 612, and 613 are adjacent to each other, and the lower spur gear 611b of the first two-stage spur gear 611 is the upper spur of the second two-stage spur gear 612. Meshes with the gear 612a, and the lower spur gear 612b of the second second spur gear 612 meshes with the upper spur gear 613a of the third second spur gear 613, whereby deceleration is achieved. .

For example, as illustrated in FIGS. 7 and 8, the secondary deceleration part 620 includes the upper spur gears 621a, 622a, 623a, and 624a and the upper spur gears 621a, 622a, 623a, and 624a. It may be implemented by including the first to fourth second-stage spur gears 621, 622, 623, 624 integrally formed with the lower spur gears 621b, 622b, 623b, and 624b integrally formed therein.

Upper spur gears 621a, 622a, 623a, and 624a of the first to fourth second spur gears 621, 622, 623, and 624 are the third two-stage spur gears of the first reduction gear 610. It meshes with the lower spur gear 613b of the two-stage spur gear 613 and is spaced apart from each other and symmetrically formed. The coupling part 613c of the third two-stage spur gear 613 is rotatably coupled to the output gear 436 as shown in FIG. 8, and the first to fourth two-stage spur gears 621 and 622. The lower spur gears 621b, 622b, 623b, and 624b of 623 and 624 mesh with the tooth surface 432a formed on the outer circumferential surface of the output gear 436, whereby deceleration is achieved.

The torque transmitted to the output gear 436 increases with the number of second stage spur gears used in the secondary deceleration unit 620. For example, comparing the case where the number of two-stage spur gears used in the second reduction gear 620 is four and the case of four, the output is the case when four two-speed spur gears are used in the second reduction gear 620. The bite rate between the second gears of the gear 436 and the second reduction gear 620 increases by four times, and the torque transmitted to the output gear 436 also increases by four times.

Since the actuator module 400 including the speed reducer structure 435 of the present invention should be formed in a compact structure, the number of two-stage spur gears used in the secondary speed reducer 620 is determined by the output gear 436. The torque, size and durability of the delivered torque must be satisfied. Accordingly, preferably, the number of two-stage spur gears used in the secondary deceleration unit 620 may be selected from two, three, or four.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined only by the appended claims.

According to the present invention, in a reducer structure and actuator module for transmitting power to an industrial, home or entertainment robot, it provides a function to deliver a high torque to the output gear while stably reducing the high load rotational speed transmitted through the drive shaft of the motor. can do.

Claims (6)

A rotary motor which receives power and rotates a drive shaft having a pinion gear;
Decelerate the high speed rotation of the pinion gear formed on the drive shaft of the rotary motor at a low speed, and comprises a first gear reduction gear for the first reduction gear formed of the lower spur gear formed integrally with the upper spur gear and the lower spur gear. Primary deceleration unit;
An output gear which is rotatably coupled to the second gear of the first reduction gear and having a tooth surface formed on an outer circumferential surface thereof; And
It is formed between the output gear and the second gear of the first reduction gear,
The upper spur gear meshing with the lower spur gear of the second spur gear of the primary reduction gear and the lower spur gears meshed with the tooth surface of the output gear interlock with each other so that the second spur gears for the second reduction gear are symmetrically. A secondary deceleration unit formed;
Actuator module comprising a. The method according to claim 1,
The primary deceleration unit includes a plurality of primary reduction gears of the second stage,
The plurality of primary reduction gears in the second stage are adjacent to each other so that the lower spur gears of the n-stage second spur gear mesh with the upper spur gears of the n + 1 second-stage spur gear,
The n + 1 second stage spur gear is rotatably coupled to the output gear,
And n is a natural number. The method according to claim 1,
And the secondary deceleration unit includes two, three or four secondary reduction gears for secondary reduction. In a reducer structure using a plurality of two-stage spur gears that decelerate the high speed rotation of a rotary motor at a low speed and transmit torque to an output gear having a tooth surface formed on an outer circumferential surface thereof.
A first reduction gear including an upper spur gear and a lower spur gear integrally formed under the upper spur gear, and including a two-speed spur gear for primary reduction that is rotatably coupled to the output gear; And
It is formed between the two-stage spur gear of the first reduction gear and the output gear, and the upper spur gear meshing with the lower spur gear of the two-stage spur gear of the primary reduction gear and the lower spur gear meshed with the teeth of the output gear. A second reduction gear in which at least two secondary reduction gears for secondary reduction are formed symmetrically with each other;
Reducer structure using a plurality of two-stage spur gears, characterized in that it comprises a. 5. The method of claim 4,
The first reduction gear includes a plurality of first speed reduction spur gears
The plurality of primary reduction gears in the second stage are adjacent to each other so that the lower spur gears of the n-stage second spur gear mesh with the upper spur gears of the n + 1 second-stage spur gear,
The n + 1 second stage spur gear is rotatably coupled to the output gear,
Wherein n is a natural number reducer structure using a plurality of two-stage spur gears. 5. The method of claim 4,
Reducer structure using a plurality of two-stage spur gear characterized in that the secondary reduction unit includes two, three or four secondary gears for the second reduction.
KR1020147003023A 2011-06-10 2011-06-10 Decelerator structure using plurality of two-speed spur gears, and actuator module including same KR101569064B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2011/004265 WO2012169680A1 (en) 2011-06-10 2011-06-10 Decelerator structure using plurality of two-speed spur gears, and actuator module including same

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KR20140043472A true KR20140043472A (en) 2014-04-09
KR101569064B1 KR101569064B1 (en) 2015-11-13

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US11571807B2 (en) 2016-10-05 2023-02-07 Robert Darby Drive unit for robotic manipulators
JP2019158142A (en) * 2018-03-06 2019-09-19 ナブテスコ株式会社 Gear unit
CN108458051A (en) * 2018-03-13 2018-08-28 刘从彬 Retarder and power adaptation device
CN108708939A (en) * 2018-06-21 2018-10-26 广州启帆工业机器人有限公司 A kind of clearance elimination gear case

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WO2017007112A1 (en) * 2015-07-03 2017-01-12 주식회사 로보티즈 Actuator module
CN108028572A (en) * 2015-07-03 2018-05-11 株式会社乐博特思 Actuator module
US10411555B2 (en) 2015-07-03 2019-09-10 Robotis Co., Ltd. Actuator module
CN108028572B (en) * 2015-07-03 2020-02-28 株式会社乐博特思 Actuator module

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KR101569064B1 (en) 2015-11-13

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