KR20150090604A - Servo actuator module and multi-shaft servo actuator using the same - Google Patents

Abstract

The present invention provides at least two servo actuator modules assembled with each other with a puzzle-shape to minimize the installation space and a multi-shaft servo actuator using the servo actuator module as a single product, which achieves multi-degrees-of-freedom. Each servo actuator module comprises: a case; at least one driving means; at least one output shaft; and at least one power transmitting unit. The case includes an opening part. When at least two servo actuator modules are arranged in a three-dimensional space in such a manner where each of at least two of X, Y, and Z axes is matched to a rotating axis of the output shaft, the opening part of the case can prevent interference between the actuator modules and form a space part. The driving means is arranged on the interior of the case. The output shaft is arranged in such a manner where a part of the output shaft protrudes to the outside of the case. The power transmitting unit transfers the rotational force of the driving means to the output shaft to rotate the output shaft. The multi-servo actuator may comprise a housing and at least one servo actuator module. When at least two servo actuator modules are arranged in the three-dimensional space of an interior of the housing in such a manner where each of at least two of X, Y, and Z axes having an origin point formed at the center of the housing is matched to the rotating axis of the output shaft, there is no interface between the servo actuator modules, and a separate space part can be formed inside of the housing by opening parts.

Description

[0001] DESCRIPTION [0002] SERVO ACTUATOR MODULE AND MULTI-SHAFT SERVO ACTUATOR USING THE SAME [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo actuator module and a multi-axis servo actuator using the same, and more particularly, to a servo actuator module that can be used in an intelligent robot, an RC, .

In general, servo actuators are mainly used for position control, and fast and precise movements are required for faithful operation. Such servo actuators are generally used in intelligent robots, RCs, industrial devices, and medical fields that require precise position control.

The servo actuator includes a motor disposed inside the housing, a gear box for transmitting and decelerating the rotational force of the motor, and an output shaft rotated by receiving the rotational force of the motor, .

However, since the conventional servo actuator as described above has only one output shaft in one product, it is necessary to implement it when it is applied to a robot that needs to implement multi-degrees of freedom, an arm used for industrial equipment or medical equipment, The number of servo actuators corresponding to the number of degrees of freedom to be installed.

Therefore, not only is there a limitation in the installation space in the manufacture of various facilities for implementing the multi-degrees of freedom, but also a major cause of increasing the size and weight of the various facilities and raising production costs.

In recent years, a servo actuator including two output shafts in a single product has been developed and used. However, recently, since the arm, which is used for a robot, an industrial equipment facility, or a medical facility, It is required to develop servo actuators capable of realizing many degrees of freedom.

Korean Registered Patent No. 1080826 (2011.11.01.)

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a multi-axis servo actuator using at least one servo actuator module to realize multi-degrees of freedom as a single product by assembling at least two puzzles to minimize installation space will be.

Other objects and advantages of the present invention will become apparent to those skilled in the art from the following detailed description.

In the servo actuator module according to the exemplary embodiment of the present invention, when at least two of the X, Y, and Z axes are disposed on the three-dimensional space so that the rotation axes of the output shaft and the axes of the X, At least one output shaft disposed so as to protrude partially out of the case, and at least one output shaft disposed outside the case, And at least one power transmitting unit for transmitting the rotational force of the driving means to the output shaft to rotate the output shaft.

For example, the case may include a body portion in which the driving means is disposed, and a pair of the body portion extending from the body portion so as to communicate with the body portion and forming the opening portion therebetween, And an extension to which the delivery unit is disposed.

The case may further include a first tapered portion formed on the extended portion.

In addition, the case may further include a second tapered portion formed on the body portion.

For example, the driving means may be a two-axis motor disposed inside the case to be connected to the power transmission unit.

As another example, the driving means may be a single-axis motor disposed inside the case to be connected to the power transmission unit.

For example, the power transmitting unit may be a gear box disposed inside the case and transmitting the torque to the output shaft by decelerating or accelerating the rotational force of the driving unit at a predetermined ratio.

The servo actuator module may further include a motor controller connected to the driving unit to control the forward / reverse rotation of the driving unit.

For example, the driving means may be combined with the power transmitting unit and the key in the form of a key groove for precise setting of the rotation start position of the power transmitting unit.

A multi-axis servo actuator according to an exemplary embodiment of the present invention includes a housing and at least one of an X, Y, and Z axis having an origin at a central portion of the housing, And at least one servo actuator module that does not cause interference between at least two of the three-dimensional space and can form a separate space inside the housing by the openings.

The multi-axis servo actuator may further include a main controller disposed in a space inside the housing formed by the openings and connected to the servo actuator module to control the servo actuator module.

For example, the housing may be formed in any one of a polyhedron, a sphere, and an ellipsoid.

For example, in the servo actuator module, when at least two of the X, Y, and Z axes are disposed on the three-dimensional space so that the rotation axes of the output shaft can coincide with each other, no interference occurs between the two axes At least one output shaft disposed so as to partially protrude outside the case, and at least one output shaft disposed outside the case, wherein at least one of the output shaft and the output shaft And at least one power transmission unit transmitting the output shaft to the output shaft and rotating the output shaft.

The case includes a body portion in which the driving means is disposed and a pair of the body portion extending from the body portion so as to communicate with the body portion and between the body portion and the power transmitting unit, May be included.

The case may further include a first tapered portion formed on the extended portion.

In addition, the case may further include a second tapered portion formed on the body portion.

For example, the driving means may be a two-axis motor disposed inside the case to be connected to the power transmission unit.

As another example, the driving means may be a single-axis motor disposed inside the case to be connected to the power transmission unit.

Meanwhile, the power transmitting unit may be a gear box disposed inside the case and transmitting the torque to the output shaft by decelerating or accelerating the rotational force of the driving unit at a predetermined ratio.

The servo actuator module may further include a motor controller connected to the driving unit and the main controller to control the forward / reverse rotation of the driving unit.

For example, the driving means may be combined with the power transmitting unit and the key in the form of a key groove for precise setting of the rotation start position of the power transmitting unit.

The servo actuator module according to an embodiment of the present invention as described above can be assembled by arranging a plurality of puzzles in a three-dimensional space inside a housing of a multi-axis servo actuator without interference between them, The servo actuator can be reduced in size and weight.

In the servo actuator module, at least two of the servo actuator modules are disposed inside the housing of the multi-axis servomotor and are assembled to form a space surrounded by the servo actuator modules in the housing by the openings, Since the main controller can be disposed, it is possible to further reduce the size and weight of the multi-axis servo actuator.

Meanwhile, the multi-axis servo actuator can include at least one to six output shafts in a single product, so that only a single product can be mounted on the joints of the arm or the like used in various robots, Since the number of components such as various robots, industrial facilities, or medical facilities can be greatly reduced because the degree of freedom can be realized by applying the robot, industrial robots, medical equipment, and the like can be reduced in size and weight, It is effective.

The effects of the present invention will be clearly understood and understood by those skilled in the art, either through the specific details described below, or during the course of practicing the present invention.

1 is a perspective view for explaining a servo actuator module according to a first embodiment of the present invention;
2 is a sectional view for explaining the servo actuator module according to the first embodiment of the present invention
3 is a plan view for explaining the rotation angle detecting unit according to the first embodiment of the present invention.
4 is a front view for explaining a rotation angle detecting unit according to a second embodiment of the present invention;
5 is a perspective view illustrating a servo actuator module according to a second embodiment of the present invention.
6 is a sectional view for explaining the servo actuator module according to the second embodiment of the present invention
7 is a plan view for explaining the rotation angle detecting unit according to the second embodiment of the present invention.
8 is a front view for explaining a rotation angle detecting unit according to a second embodiment of the present invention.
9 is a perspective view of a multi-axis servo actuator according to a third embodiment of the present invention.
10 is an exploded perspective view of the multi-axis servo actuator according to the third embodiment of the present invention.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

≪ Example 1 >

FIG. 1 is a perspective view for explaining a servo actuator module according to a first embodiment of the present invention, FIG. 2 is a sectional view for explaining a servo actuator module according to a first embodiment of the present invention, and FIG. FIG. 4 is a front view for explaining a rotation angle detecting unit according to a second embodiment of the present invention. FIG. 4 is a plan view for explaining the rotation angle detecting unit according to the first embodiment.

1 to 4, the servo actuator module 100 according to the present embodiment includes a case 110, a drive unit 120, a first output shaft 130, and a first power transmission unit 140 .

The case 110 includes at least two axes of an imaginary X, Y, and Z axes formed at the center of the housing 210 (see FIG. 9) of the multi-axis servo actuator 200 according to the third embodiment of the present invention, When at least two are disposed on the three-dimensional space in the housing 210 so that the rotational axes of the first output shaft 130 may coincide with each other, no interference occurs between the adjacent cases 110, An opening 114 capable of forming a separate space S (see FIG. 9) may be provided in the housing.

For example, the case 110 may include a body portion 111, first and second extension portions 112 and 113, and an opening portion 114.

The driving unit 120 is disposed inside the body part 111.

The first and second extension portions 112 and 113 may extend from the body portion 111 to communicate with the body portion 111. [ For example, the first extension portion 112 may extend from the upper portion of one side of the body portion 111 to communicate with the body portion 111. The second extension portion 113 may extend from a lower portion of one side of the body portion 111 to communicate with the body portion 111.

Here, the first power transmission unit 120 may be disposed in any one of the first and second extension units 112 and 113.

The first and second extension portions 112 and 113 of the opening portion 114 extend from the lower and the upper ends of the body portion 111, As shown in FIG. Such an opening 114 is formed by connecting at least two cases 110 to virtual X, Y (see FIG. 9) in which the origin is formed at the central portion of the housing 210 (see FIG. 9) of the multi-axis servo actuator 200 according to the third embodiment of the present invention. At least two of the Z-axis and at least two of the Z-axis and the first output shaft 130 are arranged in a three-dimensional space in the housing 210, The space S can be formed between the adjacent cases 110 without interference between the first and second extended portions 112 and 113 of the first housing 110. [ That is, the space S may be surrounded by the openings 114 of the at least two cases 110.

The case 110 may further include a first tapered portion 116 formed at an end of the first and second extension portions 112 and 113. For example, the first tapered portions 116 may be formed on both sides of the first and second extension portions 112 and 113, respectively. Here, the first tapered portions 116 formed on both sides of the first and second extension portions 112 and 113 may be formed at the same angle. Here, the first tapered portion 116 may be angled as shown in FIG. Alternatively, the first taper portion 116 may be formed so that the corner portion is rounded although not shown in the figure.

When the at least two cases 110 are disposed inside the housing 210 of the multi-axis servo actuator (see FIG. 9) 200 according to the third embodiment of the present invention, It is possible to prevent the occurrence of interference between the first and second extension portions 112 and 113 of the first antenna 110.

The case 110 may further include a second tapered portion 117 formed on the body portion 111. For example, the pair of second tapered portions 117 may be formed on both sides of the body portion 111. Here, the second tapered portions 117 formed on both sides of the body portion 111 may be formed at the same angle. Here, the second tapered portion 117 may be formed to be angled as shown in FIG. Alternatively, the second tapered portion 117 may be formed to have rounded corners.

The second tapered portion 117 allows the case 110 to be more firmly disposed inside the housing 210 of the multi-axis servo actuator 200 according to the third embodiment of the present invention. For example, when the housing 210 is formed in a hexahedron shape as shown in FIG. 9, the second tapered portion 117 is inserted into the corner of the housing 210 formed in the hexahedron shape, And is disposed inside the housing 210 so that the case 110 can be more firmly disposed and fixed within the housing 210.

The driving means 120 may be disposed inside the case 110. In more detail, the driving unit 120 may be disposed inside the body part 111 of the case 110.

For example, the driving means 120 may be a pair of single-shaft motors disposed inside the body portion 111 of the case 110 to be connected to the first power transmission unit 140.

The first output shaft 130 may be disposed inside the case 110 such that the first output shaft 130 partially protrudes outside the case 110. For example, the first output shaft 130 is disposed inside any one of the first and second extension portions 112 and 113 of the case 110 such that the first output shaft 130 partially protrudes outside the case 110 .

The first power transmission unit 140 is disposed inside the case 110 and transmits the rotational force of the driving unit 120 to the first output shaft 130 to transmit the rotation of the first output shaft 130 . More specifically, the first power transmission unit 140 is disposed in any one of the first and second extension portions 112 and 113 of the case 110 to sense the rotational force of the driving means 120, To the first output shaft (130) and rotate the first output shaft (130).

For example, the first power transmission unit 140 may be disposed inside any one of the first and second extension portions 112 and 113 of the case 110 to transmit the rotational force of the driving means 120 to the predetermined Or may be a gear box that accelerates at a predetermined ratio and transmits the acceleration to the first output shaft 130, respectively.

Here, the gear box is disposed so that a plurality of gears can be connected to each other so as to be able to transmit / decelerate the power, and is widely used as a power transmitting means in a general mechanical device. do.

As the first power transmitting unit 140, a pulley, a belt, a sprocket and a chain may be used instead of the gear box.

Meanwhile, the driving unit 120 may be coupled to the first power transmission unit 140 in a key-shaped groove shape (not shown). The first power transmission unit 140 connected to the shaft 121 of the driving unit 120 may be connected to the shaft 121 of the driving unit 120. [ A key groove (not shown) may be formed in the inner ring of the gear 140a of the first driving unit 120 so that the driving unit 120 and the first power transmitting unit 140 may be coupled to each other in a key-like groove shape. A key groove is formed in the shaft 121 of the driving means 120 and a key is protrudingly formed on the inner ring of the gear 140a of the first power transmission unit 140 so that the driving means 120, 1 power transmission unit 140 can be coupled with the key in the form of a key groove.

The first power transmission unit 140 and the first power transmission unit 140 are coupled to each other in the form of a key and a key groove so that the rotation start position of the first power transmission unit 140 (141) Can be set correctly.

The servo actuator module 100 according to the present embodiment may further include a motor controller 150 connected to the driving unit 120 to remove the forward / reverse rotation of the driving unit 120. For example, the motor controller 150 may be disposed inside the body part 111 of the case 110 and connected to the driving unit 120.

In addition, the servo actuator module 100 according to the present embodiment may further include a rotation angle sensing unit 160 that can detect and control the rotation angle of the first output shaft 130.

In addition to the potentiometer and the magnetic sensor, sensing means for sensing the angle of rotation may be a rotation angle sensing unit 160, Can be used.

For example, the rotation angle sensing unit 160 may include a magnetic rotation plate 161 and at least one sensor unit 162 as shown in FIG. 3 and FIG.

The magnetic rotating plate 161 may be formed on the first output shaft 130 so as to rotate with the first output shaft 130 in a manner that a plurality of N poles and S poles are alternated.

The sensor unit 162 is disposed around the magnetic rotation plate 161 to detect the rotation angle of the first output shaft 130 by sensing the positions of the N and S poles formed on the magnetic rotation plate 161 .

The sensor unit 162 transmits the detected rotation angle of the first output shaft 130 to the main controller 250 according to the third embodiment of the present invention, So that the rotation angle of the output shaft 130 can be controlled.

≪ Example 2 >

FIG. 5 is a perspective view for explaining a servo actuator module according to a second embodiment of the present invention, FIG. 6 is a sectional view for explaining a servo actuator module according to a second embodiment of the present invention, and FIG. 8 is a front view for explaining a rotation angle detecting unit according to a second embodiment of the present invention.

5 to 8, the servo actuator module 100 according to the present embodiment includes a case 110, a driving means 120, first and second output shafts 130 and 131, And a power transmission unit 140 (141).

The case 110 includes at least two axes of an imaginary X, Y, and Z axes formed at the center of the housing 210 (see FIG. 9) of the multi-axis servo actuator 200 according to the third embodiment of the present invention, When at least two of the first and second output shafts 130 and 131 are disposed on the three-dimensional space in the housing 210 so that the rotation axes of the first and second output shafts 130 and 131 can coincide with each other, And an opening 114 in which a separate space S (see FIG. 9) can be formed in the housing may be provided.

For example, the case 110 may include a body portion 111, first and second extension portions 112 and 113, and an opening portion 114.

The driving unit 120 is disposed inside the body part 111.

The first and second extension portions 112 and 113 may extend from the body portion 111 to communicate with the body portion 111. [ For example, the first extension portion 112 may extend from the upper portion of one side of the body portion 111 to communicate with the body portion 111. The second extension portion 113 may extend from a lower portion of one side of the body portion 111 to communicate with the body portion 111.

Here, the first and second power transmission units 120 and 121 may be disposed in the first and second extension units 112 and 113, respectively.

The first and second extension portions 112 and 113 of the opening portion 114 extend from the lower and the upper ends of the body portion 111, As shown in FIG. Such an opening 114 is formed by connecting at least two cases 110 to virtual X, Y (see FIG. 9) in which the origin is formed at the central portion of the housing 210 (see FIG. 9) of the multi-axis servo actuator 200 according to the third embodiment of the present invention. Dimensional space within the housing 210 so that at least two of the Z-axis and the rotation axes of the first and second output shafts 130 and 131 can coincide with each other, So that the space S can be formed between the adjacent cases 110 without interference between the first and second extensions 112 and 113 of the at least two cases 110 do. That is, the space S may be surrounded by the openings 114 of the at least two cases 110.

The case 110 may further include a first tapered portion 116 formed at an end of the first and second extension portions 112 and 113. For example, the first tapered portions 116 may be formed on both sides of the first and second extension portions 112 and 113, respectively. Here, the first tapered portions 116 formed on both sides of the first and second extension portions 112 and 113 may be formed at the same angle. Here, the first tapered portion 116 may be formed to be angled as shown in FIG. Alternatively, the first taper portion 116 may be formed so that the corner portion is rounded although not shown in the figure.

When the at least two cases 110 are disposed inside the housing 210 of the multi-axis servo actuator (see FIG. 9) 200 according to the third embodiment of the present invention, It is possible to prevent the occurrence of interference between the first and second extension portions 112 and 113 of the first antenna 110.

The case 110 may further include a second tapered portion 117 formed on the body portion 111. For example, the pair of second tapered portions 117 may be formed on both sides of the body portion 111. Here, the second tapered portions 117 formed on both sides of the body portion 111 may be formed at the same angle. Here, the second tapered portion 117 may be formed to be angled as shown in FIG. Alternatively, the second tapered portion 117 may be formed to have rounded corners.

The second tapered portion 117 allows the case 110 to be more firmly disposed inside the housing 210 of the multi-axis servo actuator 200 according to the third embodiment of the present invention. For example, when the housing 210 is formed in a hexahedron shape as shown in FIG. 9, the second tapered portion 117 is inserted into the corner of the housing 210 formed in the hexahedron shape, And is disposed inside the housing 210 so that the case 110 can be more firmly disposed and fixed within the housing 210.

The driving means 120 may be disposed inside the case 110. In more detail, the driving unit 120 may be disposed inside the body part 111 of the case 110.

For example, the driving means 120 may be a two-axis motor disposed inside the body portion 111 of the case 110 so as to be connected to the first and second power transmission units 140 and 141. That is, when the first and second output shafts 130 and 131 are rotated in the same direction, it is preferable to use a two-axis motor as the driving unit 120.

The driving means 120 may include a pair of single shaft motors disposed inside the body portion 111 of the case 110 so as to be connected to the first and second power transmission units 140 and 141, Lt; / RTI > Here, the pair of single-shaft motors may be disposed inside the body part 111 such that the respective shafts are positioned on the same axis. That is, when the first and second output shafts 130 and 131 are rotated individually or in different directions, the first and second output shafts 130 and 131 ) And a single-shaft motor that is individually connected to each other.

The first and second output shafts 130 and 131 may be disposed inside the case 110 such that the first and second output shafts 130 and 131 partially protrude outside the case 110. For example, the first and second output shafts 130 and 131 may be formed in the first and second extended portions 112 and 113 of the case 110 so as to partially protrude outside the case 110, As shown in FIG.

The first and second power transmission units 140 and 141 are disposed inside the case 110 to transmit the rotational force of the driving unit 120 to the first and second output shafts 130 and 131, So that the first and second output shafts 130 and 131 can be rotated. More specifically, the first and second power transmission units 140 and 141 are disposed on the first and second extension parts 112 and 113 of the case 110, respectively, It is possible to rotate the pair of output shafts by transmitting rotational force to the first and second output shafts 130 and 131, respectively.

For example, the first and second power transmission units 140 and 141 are disposed inside the first and second extension portions 112 and 113 of the case 110, respectively, The first and second output shafts 130 and 131 may be a gear box that decelerates the first and second output shafts 130 and 131 at a predetermined ratio or accelerates the first and second output shafts 130 and 131 at a predetermined ratio.

Here, the gear box is disposed so that a plurality of gears can be connected to each other so as to be able to transmit / decelerate the power, and is widely used as a power transmitting means in a general mechanical device. do.

As the first and second power transmission units 140 and 141, a pulley, a belt, a sprocket and a chain may be used instead of the gear box.

Meanwhile, the driving unit 120 may be coupled to the first and second power transmission units 140 and 141 in the form of a key-groove (not shown). For example, when a key (not shown) is protruded from the shaft 121 of the driving unit 120, the first and second power transmission units (not shown) connected to the shaft 121 of the driving unit 120 A key groove (not shown) is formed on the inner ring of the gears 140a and 141a of the first and second drive transmission units 140 and 141 so that the drive unit 120 and the first and second power transmission units 140 and 141 Can be combined in a groove shape. A key groove is formed in the shaft 121 of the driving means 120 and a key is protrudingly formed on the inner ring of the gears 140a and 141a of the first and second power transmission units 140 and 141 The driving means 120 and the first and second power transmission units 140 and 141 may be combined with each other in the form of a key and a key groove.

The first and second power transmission units 140 and 141, which are rotated by the driving unit 120 by coupling the driving unit 120 and the first and second power transmission units 140 and 141 in a key- It is possible to accurately set the rotation start position of the rotation shaft 141.

The servo actuator module 100 according to the present embodiment may further include a motor controller 150 connected to the driving unit 120 to remove the forward / reverse rotation of the driving unit 120. For example, the motor controller 150 may be disposed inside the body part 111 of the case 110 and connected to the driving unit 120.

The servo actuator module 100 according to the present embodiment may further include a rotation angle sensing unit 160 capable of detecting and controlling the rotation angle of the first and second output shafts 130 and 131 .

In addition to the potentiometer and the magnetic sensor, sensing means for sensing the angle of rotation may be a rotation angle sensing unit 160, Can be used.

For example, the rotation angle sensing unit 160 may include a magnetic rotation plate 161 and at least one sensor unit 162 as shown in FIGS.

The magnetic rotating plate 161 is formed so that a plurality of N poles and S poles are alternated and connected to the first and second output shafts 130 and 131 for rotation with the first and second output shafts 130 and 131 ).

The sensor unit 162 is disposed around the magnetic rotating plate 161 and detects the positions of N and S poles formed on the magnetic rotating plate 161 to detect the position of the first and second output shafts 130 and 131 The rotation angle can be detected.

The sensor unit 162 transmits the detected rotation angles of the first and second output shafts 130 to the main controller 250 according to the third embodiment of the present invention, So that the rotation angles of the first and second output shafts 130 and 131 can be controlled.

≪ Example 3 >

A multi-axis servo actuator according to a third embodiment of the present invention will be described with reference to Figs. 9 and 10. Fig.

Fig. 9 is a perspective view of a multi-axis servo actuator according to a third embodiment of the present invention, and Fig. 10 is an exploded perspective view of a multi-axis servo actuator according to a third embodiment of the present invention.

The servo actuator modules 220, 230 and 240 applied to the multi-axis servo actuator 200 according to the present embodiment are substantially the same as those of the servo actuator module 100 according to the first and second embodiments of the present invention, A detailed description thereof will be omitted.

In the present embodiment, the multi-axis servo actuator 200 to which the servo actuator module 100 according to the second embodiment of the present invention is applied is described as an example only for the sake of convenience of description. However, in the multi-axis servo actuator 200 according to the present embodiment, The servo actuator module 100 according to the first embodiment of the present invention can be applied not only to the servo actuator module 100 according to the first and second embodiments of the present invention but also to the servo actuator module 100 according to the first and second embodiments of the present invention. Also, in the multi-axis servo actuator 200 according to the present embodiment, only one of the servo actuator modules 100 according to the first and second embodiments of the present invention can be applied solely.

9 and 10, a multi-axis servo actuator 200 according to a third embodiment of the present invention includes a housing 210, first to third servo actuator modules 220, 230, and 240, .

Although the housing 210 is shown in FIGS. 9 and 10 as a hexahedron, the shape of the housing is not limited thereto, and various shapes such as a polyhedron, a sphere, and an ellipsoid may be used. That is, the housing 210 may be formed in any shape of a hollow polyhedron, sphere, or ellipsoid.

The first through third servo actuator modules 220 230 and 240 are configured such that the openings 224 234 and 244 face each other and interfere with each other between the extensions 222 and 232 and 242 A space S can be formed inside the housing 210 by the openings 224, 234 and 244 and a part of the output shafts 223, 233 and 243 can be formed At least two protrusions may be disposed inside the housing 210 so as to protrude outside the housing 210.

Meanwhile, the multi-axis servo actuator 200 according to the present embodiment may further include a main controller 250. The main controller 250 is disposed in the space S in the housing 210 formed by the openings 224, 234 and 244 and is connected to the servo actuators 220 and 230 240 to control the servo actuator modules 220, 230, 240.

9 and 10, a description will be given of a state in which three servo actuator modules are arranged in a housing formed as a cube.

The first servo actuator module 220 is inserted into the housing 210 and the second tapered portion 227 of the first servo actuator module 220 is inserted into the first corner portion 220 of the housing 210. [ And the first servo actuator module 220 is fixed to the housing 210 by using a fixing member (not shown).

When the second tapered portion 227 of the first servo actuator module 220 is brought into close contact with the first corner portion C1 of the housing 210, the pair of output shafts of the first servo actuator module 220, The first and second faces F1 and F2 of the housing 210 are arranged at the center of the first and second faces F1 and F2 of the housing 210, Respectively.

The opening 224 of the first servo actuator module 220 faces the fourth corner C4 of the housing 210. [

After inserting the second servo actuator module 230 into the housing 210, the second tapered portion 237 of the second servo actuator module 230 is inserted into the second corner of the housing 210, And the second servo actuator module 230 is fixed to the housing 210 using a fixing member.

When the second tapered portion 237 of the second servo actuator module 230 is brought into close contact with the second corner portion C2 of the housing 210, the pair of output shafts 233 of the second servo actuator module 230 Are partially protruded to the outside of the third and fourth faces F3 and F4 of the housing 210 in a state where they are arranged at the center of the third and fourth faces F3 and F4 of the housing 210 .

The opening 234 of the second servo actuator module 230 faces the fifth corner C5 of the housing 210. [

After the third servo actuator module 240 is inserted into the housing 210, the second tapered portion 247 of the third servo actuator module 240 is inserted into the housing 210 3 corner portion C3, and then the third servo actuator module 240 is fixed to the housing 210 using a fixing member.

When the second tapered portion 247 of the third servo actuator module 240 is brought into close contact with the third corner portion C3 of the housing 210, the pair of output shafts 243 of the third servo actuator module 240 Are partially protruded to the outside of the fifth and sixth surfaces F5 and F6 of the housing 210 while being disposed at the center of the fifth and sixth surfaces F5 and F6 of the housing 210 .

The opening 244 of the third servo actuator module 240 faces the sixth corner C6 of the housing 210. [

Accordingly, the first to third servo actuator modules 220, 230 and 240 are disposed inside the housing 210 without interference between the adjacent servo actuator modules 220, 230 and 240 And the first to third servo actuator modules 220, 230 and 240 are fixed to the inside of the housing 210 by the openings 224, 234 and 244 of the first to third servo actuator modules 220, The main controller 250 can be disposed in the space S by forming a separate space S surrounded by the servo actuator modules 220, 230 and 240. Here, the main controller 250 may be connected to a motor controller (not shown) of the first through third servo actuator modules 220, 230 and 240.

Since the servo actuator module 100 according to the present invention can be assembled in a puzzle form without interfering with each other in a three-dimensional space inside the housing 210 of the multi-axis servo actuator 200, Space can be minimized and the multi-axis servo actuator 200 can be made compact and lightweight.

In the servo actuator module 100, at least two servo actuators 100 are installed in the housing 210 of the multi-axis servo actuator 200, and the servo actuators 100 are assembled into the housing 210 by the openings 114, Since the main controller 250 can be disposed in the space S by forming the space S surrounded by the modules 100, it is possible to further reduce the size and weight of the multi-axis servo actuator 200 have.

Meanwhile, the multi-axis servo actuator 200 can include at least one to six output axes in a single product, and can be used in a variety of robots, industrial machines, medical devices, , It is possible to reduce the number of components such as various robots, industrial equipments or medical equipments, so that various robots, industrial equipments or medical equipments can be reduced in size and weight, There is an advantage to be able to do.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, 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 spirit and scope of the invention as defined by the appended claims.

(110): Case (111): Body
(112): first extension part (113): second extension part
(114) 224 (234) 244: opening 120: driving means
(130): first output shaft (131): second output shaft
(140): first power transmitting means (141): second power transmitting means
(150): motor controller (160): rotation angle sensing unit
(210): housing (220): first servo actuator module
(230): Second Servo Actuator Module (240): Third Servo Actuator Module
(222) (232) (242): extension part (250): main controller

Claims (21)

When at least two of the X, Y, and Z axes are disposed on the three-dimensional space so that the rotation axes of the output shaft can coincide with each other, no interference is generated between the two axes, and an opening portion Case;
At least one drive means disposed within the case;
At least one output shaft disposed so as to protrude partially outward of the case; And
And at least one power transmitting unit for transmitting the rotational force of the driving means to the output shaft to rotate the output shaft. The method according to claim 1,
In this case,
A body portion in which the driving means is disposed; And
And a pair of extended portions extending from the body portion to communicate with the body portion and having the opening portion formed therebetween, and an extension portion in which at least one of the power transmission units is disposed. 3. The method of claim 2,
In this case,
And a first tapered portion formed on the extension portion. 3. The method of claim 2,
In this case,
And a second tapered portion formed on the body portion. The method according to claim 1,
The driving means includes:
And a biaxial motor disposed inside the case to be connected to the power transmission unit. The method according to claim 1,
The driving means includes:
And a single-axis motor disposed inside the case to be connected to the power transmission unit. The method according to claim 1,
The power transmitting unit includes:
Wherein the gear box is a gear box disposed inside the case and configured to decelerate or accelerate the rotational force of the driving means at a predetermined ratio to transmit the decelerated or accelerated torque to the output shaft. The method according to claim 1,
And a motor controller connected to the driving unit to control the forward / reverse rotation of the driving unit. The method according to claim 1,
The driving means includes:
Wherein the power transmitting unit is coupled with the key in the form of a key groove for precise setting of the rotation start position of the power transmitting unit. housing; And
When at least two of the X, Y, and Z axes formed at the center of the housing are disposed on the three-dimensional space inside the housing so that the rotation axes of the output shaft and the axes of the X and Y axes coincide with each other, Axis servo actuator module, wherein the at least one servo actuator module is capable of forming a separate space inside the housing by openings. 11. The method of claim 10,
And a main controller disposed in a space inside the housing formed by the openings and connected to the servo actuator module to control the servo actuator module. 11. The method of claim 10,
The housing includes:
Wherein the multi-axis servo actuator is formed in any one of a polyhedron, a sphere, and an ellipsoid. 11. The method of claim 10,
The servo actuator module includes:
When at least two of the X, Y, and Z axes are disposed on the three-dimensional space so that the rotation axes of the output shaft can coincide with each other, no interference is generated between the two axes, and an opening portion Case;
At least one drive means disposed within the case;
At least one output shaft disposed so as to protrude partially outward of the case; And
And at least one power transmitting unit for transmitting the rotational force of the driving means to the output shaft to rotate the output shaft. 14. The method of claim 13,
In this case,
A body portion in which the driving means is disposed; And
And an extension portion extending from the body portion so as to communicate with the body portion and having the opening portion formed therebetween, the extension portion having the power transmission unit disposed in at least one of the body portion and the multi-axis servo actuator. 15. The method of claim 14,
In this case,
And a first tapered portion formed on the extension portion. 15. The method of claim 14,
In this case,
And a second tapered portion formed on the body portion. 14. The method of claim 13,
The driving means includes:
Axis motor disposed in the case so as to be connected to the power transmission unit. 14. The method of claim 13,
The driving means includes:
And a single shaft motor disposed inside the case to be connected to the power transmission unit. 14. The method of claim 13,
The power transmitting unit includes:
And a gear box which is disposed inside the case and decelerates or accelerates the rotational force of the driving means at a predetermined ratio and transmits the decelerated or accelerated torque to the output shaft. 14. The method of claim 13,
The servo actuator module includes:
Further comprising a motor controller connected to the driving means and the main controller to control the forward / reverse rotation of the driving means. 14. The method of claim 13,
The driving means includes:
Wherein the power transmission unit is coupled with the key in the form of a key groove for precise setting of the rotation start position of the power transmission unit.

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