KR20160018243A - Robotic disc for coupling Precision reducer - Google Patents

Abstract

The present invention relates to a precise robot disk coupling decelerator capable of: enhancing efficiency and shock resistance by reducing the speed using an eccentric input shaft and extracting power through sliding coupling; and generating large delivery torque by reducing the size. The present invention includes: a deceleration unit which is combined to the output shaft of a motor and includes a housing, a case, a disk, a eccentric rotation shaft, and a first bearing to reduce the rotational speed of the motor to a certain rotational speed; a link unit which is combined to the deceleration unit and includes a coupling, a flange, a roller, and a second bearing to reduce the rotational speed of the deceleration unit; and an output rotation unit which is combined to the link unit and outputs a regular rotational speed. The present invention has high efficiency and excellent shock resistance by reducing the speed using the eccentric input shaft and extracting power through sliding coupling and generates large delivery torque by reducing the size. Since the vibration and interval generated as the rotational speed of the eccentric rotation shaft is reduced to a certain speed is converted to circular rotation by the coupling and the roller installed between the disk and the flange, the generated interval due to the eccentric rotation, as well as the vibration, can be adjusted by moving the coupling in the X-axis or Y-axis direction, so the durability of the decelerator can be enhanced.

Description

[0001] The present invention relates to a robot disk coupling precision reducer,

The present invention relates to a robot disk coupling precision speed reducer, in which deceleration is performed by a central eccentric input shaft and power is extracted by a sliding coupling, thereby achieving high efficiency and high impact resistance, To a robot disk coupling precision speed reducer.

The present invention relates generally to a speed reducer attached to an output end of a motor for generating a rotational power and increasing the rotational speed of the motor in proportion to the reduction ratio and lowering the rotational speed in inverse proportion to the reduction ratio. As such types of speed reducers, there are known a speed reducer by a multi-stage gear train, a planetary gear speed reduction mechanism, a harmonic drive speed reduction mechanism, an RV reducer, a cycloconveyor, and a ball reducer.

The most simple and classic method of reduction gears by multi-stage gear trains is to structure the spur gears adjacent to each other and realize the reduction ratio according to the number of teeth ratio (rotation ratio). If the number of teeth is continuously increased, There is a drawback that the input / output axis is disposed eccentrically.

The planetary gear type reduction mechanism can realize various reduction ratios by the combination of the sun gear, the planetary gear and the carrier (internal gear), and the input / output axis is concentric. However, , Noise is easily generated, and it is difficult to manufacture.

The harmonic drive deceleration mechanism is basically composed of three parts such as a spline for elastic deformation, a circumferential spline fixed to the body, a wave generator, etc. It is lightweight, compact and has advantages of obtaining a high deceleration ratio, but it is very difficult to manufacture, There is a disadvantage in that it is necessary to consider the influence of the elastic deformation and the price is high.

The RV reducer and the cycle reducer are reducers using special gears. The inner gear is a circular gear using a pin. The external gear is a ferrite cycloid tooth. The internal gear and the external gear always contact each other in all parts of the circumference. . Although the Ferris Cycloid tooth profile is advantageous against the impact load compared to the commonly used involute tooth profile, such a reducer is difficult to manufacture, has a large number of components, is heavy and expensive.

The bell reducer is an eccentric differential gear reducer developed in Japan and consists of an eccentric shaft, an Oldham plate, a ball, an eccentric plate, and an output plate. This reducer has almost no backlash, is easy to realize a high reduction ratio, has a small noise, but is extremely difficult to design and manufacture, lacks rigidity, has a large number of parts, and is expensive.

The harmonic drive speed reducer of Korean Patent Laid-Open Publication No. 2010-0084005 (published on Jul. 23, 2010) is connected to the rotary shaft of the drive motor to rotate the primary speed And a second deceleration unit connected to the first deceleration unit to decelerate the rotation speed of the first deceleration unit, wherein the first deceleration unit and the second deceleration unit are located on the same plane, The primary reduction unit includes a ring-shaped wave generator having an internal gear, a sun gear located at the center of the wave generator and connected to the rotation axis of the drive motor, at least three planetary gears meshing with the internal gear and the sun gear of the wave generator, Wherein the secondary reduction portion comprises a flexible plastic having elasticity and made of a cup-shaped plastic material having external gears formed thereon, and an outer folding portion And a ring-shaped circular spline in which an internal gear meshing with the gear is formed and fixed.

First, since the flex spline is engaged with the gear of the circular spline by the cam action, and the curvature of the cam is a key element for determining the gear engagement position at this time, backlash occurs even in a slight machining error, .

Second, as the backlash amount of the gear of the flex spline and the gear of the circular spline is determined according to the curvature machining error of the cam, the amount of backlash varies depending on the error range of the cam, and production of the uniform performance is extremely difficult.

Third, since the flex spline is maintained in the axial direction due to the structure characteristic of the drum shape, there is a limit to reduce the size of the harmonic drive and it is impossible to apply to the equipment having a narrow installation space.

Korean Patent Publication No. 2010-0084005 (published on July 23, 2010)

In order to solve the above-mentioned problems, the present invention is to provide a torque converter that is decelerated by a central eccentric cam and power is extracted by a sliding coupling, so that it has high efficiency and high impact resistance, And to provide a robot disk coupling precision reducer.

According to an aspect of the present invention, there is provided a robot disk coupling precision speed reducer including: a decelerator coupled to an output shaft of a motor and configured to decelerate the motor while receiving eccentric rotation of the motor; A link portion coupled to the deceleration portion and configured to adjust the eccentric rotation of the deceleration portion while rotating the eccentric rotation of the deceleration portion to the original rotation while moving the gap or clearance along the eccentric rotation while moving in the X and Y axes; And an output rotary part coupled to the link part and outputting rotation output from the link part.

The deceleration unit of the present invention includes a housing having an inner side formed in a multi-stage structure; A casing installed inside the housing and having an internal gear at an inner periphery thereof; A disk coupled to the inside of the case and having a circumscribed external gear so as to be meshed with the internal gear of the case; A pin installed between the internal gear of the case and the external gear of the disc; And an eccentric input shaft coupled to a driving shaft of the motor and coupled to the bearing so as to transmit the driving of the motor to the inside of the disk, the eccentric input shaft being installed inside the disk.

The case of the present invention is constituted by a flexible metal material so that the clearance can be adjusted by elasticity, and a robot including a mechanism for controlling a clearance or an interval by elasticity when rotating with a pin- A disk coupling precision speed reducer is provided.

The disk of the present invention has a through hole formed at the center thereof, an eccentric input shaft provided with a bearing is coupled, and a plurality of first coupling protrusions are formed at a portion where the link portion is coupled, Provide a reducer.

The eccentric input shaft of the present invention may include an eccentric piece formed at one side of the housing to be coupled with the first bearing so as to receive rotation of the motor and the other side of the eccentric input shaft may be coupled to the link portion to transmit eccentric rotation to the deceleration portion. And a plurality of gears are mounted on the robot disk.

The link portion of the present invention is a coupling coupled to a disk of a deceleration portion, having a hollow hole penetrating from one side to the other side and having a coupling groove formed on an outer periphery thereof; A flange coupled to the coupling and having a plurality of second coupling protrusions formed on one side thereof; A roller provided between the coupling and the flange and acting as a backlash so that the deceleration portion and the link portion rotate smoothly; And a bearing coupled to the eccentric input shaft of the deceleration portion and coupled to the flange.

In the present invention, the eccentric rotation of the eccentric input shaft is converted into the original rotation in the state where the coupling and the roller are coupled between the disk and the flange, and the occurrence of the clearance due to the eccentric rotation is transmitted to the movement of the coupling in the X- Wherein the gap or the clearance is automatically adjusted by the control means.

The robot disk coupling precision speed reducer according to the present invention is a coupling device for controlling eccentric rotation and clearance while moving the generation of eccentric rotation and clearance generated in a speed reducer which decelerates the driving force of the motor to a constant speed or less in the X- A ring, a roller, a disk, and a flange.

In the present invention, deceleration is performed by the center eccentric input shaft and the power is extracted by the sliding coupling, so that the efficiency is high, the impact resistance is strong, and the transmission torque is largely generated through miniaturization.

The present invention relates to an apparatus and a method for controlling the rotation of an eccentric rotary shaft by rotating a coupling and a roller provided between a disk and a flange to generate a vibration and a clearance generated by decelerating the rotation of the eccentric rotary shaft by a predetermined rotation, The vibration and the clearance can be automatically controlled by the movement of the coupling in the direction of the axis, thereby increasing the durability of the reducer.

1 is a view showing an embodiment of a robot disk coupling precision speed reducer according to the present invention.
FIG. 2 is a circumferential cutaway view showing the engagement state of the robot disk coupling precision speed reducer of FIG. 1; FIG.
3 is a cross-sectional view showing a cross-sectional configuration of a coupled state of the robot disk coupling precision speed reducer of FIG. 2;
FIG. 4A is a view showing the configuration of the case of FIG. 1; FIG.
FIG. 4B is a sectional view of the case of FIG. 4A. FIG.
Fig. 5 is a view showing a configuration of the flange of Fig. 1; Fig.
6 is a view showing another embodiment of a robot disk coupling precision speed reducer according to the present invention.
7 is a view showing a state of engagement of the robot disk coupling precision speed reducer of FIG. 6;

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing. The terms first, second, etc. may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, the term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

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 construed in an ideal or overly formal sense unless expressly defined in the present application Should not.

The specific terminology used in the following description is provided to aid understanding of the present invention, and the use of such specific terminology may be changed into other forms without departing from the technical idea of the present invention.

FIG. 1 is a view showing an embodiment of a robot disk coupling precision reducer according to the present invention, FIG. 2 is a view showing a state where the robot disk coupling precision reducer shown in FIG. 1 is engaged, FIG. 4A is a view showing the structure of the case of FIG. 1, FIG. 4B is a view showing a sectional configuration of the case of FIG. 4A, and FIG. 5 is a cross- Fig.

 1 to 5, a robot disk coupling precision speed reducer according to the present invention includes a deceleration unit 100, a link unit 200, and an output rotation unit 300. In the robot disk coupling precision speed reducer constructed as described above, a rotary shaft of a motor (not shown) is coupled to one side and a device using a reduced rotational speed can be configured on the other side. In the present invention, the configuration of the motor and the device installed on the output side are omitted.

The deceleration unit 100 includes a housing 110, a case 120, a disk 130, a pin 140, an eccentric input shaft 150, and a first bearing 160.

The housing 110 may be formed in a circular shape as shown in FIGS. 1 to 5 or a rectangular shape as shown in FIGS. 6 and 7, and may be formed in a circular or rectangular shape as shown in FIGS. But it can also be formed as a polygon. The inside of the housing 110 is formed in a multi-stage so that the case 120 is coupled to the inside. A housing hole 111 is formed at a central portion of the housing 110 so as to penetrate from one side to the other side so that wiring including electric wires and the like can be installed. A bolt hole (not shown) may be formed in the housing 110 so that the housing 110 can be fixed to the case.

The case 120 is formed in a circular shape, a quadrangular shape, or a polygonal shape like the shape of the housing 110, and a case hole 121 is formed in the center so as to penetrate from one side to the other, And an internal gear 122 is formed on the inner periphery. The outer shape of the case 120 is the same as the inner shape of the housing 110, and the case 120 can be inserted into the housing 110 to be installed therein.

The case 120 is made of a flexible metal so that the clearance can be adjusted by elasticity. The case 120 is made of a flexible material so that the clearance can be adjusted by the elasticity of the case 120 itself to control the distance between the pin 140 and the disc 130 engaged with the internal gear 122 .

The disc 130 is formed to be inserted into the case 120. A circumscribed gear 132 is formed on the outer circumference of the disk 130 so that the pin 140 can be engaged. In the center of the disk 130, a through hole 132 including a wire or the like is formed. A plurality of first coupling protrusions 133 may be formed at one side of the disc 130 so that a coupling 210 and a roller 230 described below may be coupled to each other. The configuration of the image forming apparatus 230 will be described in detail below.

The pin 140 is installed between the case 120 and the internal gear 122 formed on the disc 130 and the external gear 133. The pin 140 is formed in a cylindrical shape. When the disk 130 rotates by the rotation of the eccentric input shaft 150, the pin 140 rotates while engaging the internal gear 122 to decelerate the driving speed of the motor. Converts the rotation to the original rotation.

The eccentric input shaft 150 is coupled to the inner side of the disk 130 at one side and coupled to the driving shaft of the motor at the other side. . An input shaft hole 151 is formed in a central portion of the eccentric rotation shaft 150 so as to penetrate from one side to the other side and a keyhole 152 is formed in the input shaft hole 151 so as to be engaged with and fixed to a rotation shaft of a motor. When the rotation speed of the motor is applied to the outer peripheral side of the eccentric rotation shaft 150, the eccentric piece 153 is formed so as to rotate eccentrically.

The first bearing 160 is installed on one side of the eccentric input shaft 150 and installed in the housing hole 111 of the housing 110 to facilitate rotation of the eccentric input shaft 150 rotated by the rotation speed of the motor do.

The deceleration unit 100 configured as described above decelerates the rotation speed applied by the motor to a predetermined rotation or less so that the decelerated rotation speed is transmitted to the link unit 200, So that rotation between the case 120 and the disc 130 can be smoothly performed.

The link portion 200 includes a coupling 210, a flange 220, a roller 230, and a second bearing 240.

The coupling 210 has a rectangular shape, and a hollow hole 211 is formed at the center so as to penetrate from one side to the other side. A coupling groove 212 is formed on the outer circumference of the coupling 210 so that the roller 230 can be coupled.

The flange 220 is formed in a circular shape, and a flange hole 221 is formed at the center so as to penetrate from one side to the other side. A plurality of fastening holes 222 are formed on one surface of the flange 220 and a stud bolt stud 222 is formed on the fastening hole 222 to couple the rotor 310 of the output rotary part 300, a bolt (not shown) or the like may be used. The coupling member for coupling the flange 220 and the rotor 310 is not limited to a stud bolt but may be any member having a combination of the flange 220 and the rotor 310 Can be used.

A plurality of second engaging projections 223 are formed on one side of the flange 220 to correspond to the roller 230. The coupling 210 and the roller 230 are positioned between the plurality of second coupling protrusions 223 formed on one surface of the flange 220 in a state where the coupling 210 and the roller 230 are engaged.

The roller 230 is installed in the coupling groove 212 formed along the outer periphery of the coupling 210. As shown in the drawing, the rollers 230 are formed in at least a plurality of groups and are adjacent to each other to form a group, and the groups are formed in at least a plurality of groups according to the size of the coupling 210. The roller 230 shown in FIG. 1 is shown as an example. In the drawing, the four rollers 230 are formed as one group, and at least a plurality of groups are provided on one surface of the coupling 210 . When the rollers 230 are formed into a single group, at least a plurality of the rollers 230 are provided on one side of the coupling 210, and three or more groups may be provided according to the manufacturer.

The second bearing 240 is installed in a flange hole 221 formed at the center of the flange 220 and is coupled to one side of the eccentric rotation shaft 150 of the deceleration unit 100 to facilitate rotation of the eccentric rotation shaft 150 .

When the rotational speed transmitted by the motor is applied to the deceleration unit 100 and the rotational speed decelerated below a predetermined speed is applied to the output rotary unit 300, the link unit 200 having the above- So that the reduction gears 100 can be easily engaged with each other. Further, it is possible to prevent the friction from becoming large due to the engagement, prevent the clearance by the phenomenon that the engagement is not properly performed, or prevent the member from being deformed by the bending or thermal expansion action due to the load.

The output rotation part 300 includes a rotor 310, a first fixing member 320 and a second fixing member 330.

The rotor 310 is formed in a cylindrical shape, and a rotor hole 311 is formed in the central portion so as to pass from one side to the other side. A plurality of first coupling grooves 312 are formed on a surface of the rotor 310 at a position spaced apart from the rotor hole 311 by a predetermined distance. And a stud bolt provided on a fastening hole 222 formed on one side of the flange 220 on the other side of the rotor 310 where the first coupling groove 312 is formed. The second joining groove 313 is formed.

The first fixing member 320 is formed in the same shape as the case 120 and has a first center hole 321 at the center thereof and is installed at one side of the case 120 of the deceleration unit 100. The first center hole 321 may be formed in the same shape as the rotor 310 or may be formed in a shape not related to the first center hole 321. However, when the rotor 310 rotates, , And any shape can be formed. A second fastening hole 322 is formed in one surface of the first fixing member 320 so as to penetrate from one side to the other side.

The second fixing member 330 has substantially the same shape and configuration as the first fixing member 320 and is located at one side of the first fixing member 320 and is fastened using a normal bolt. The configuration of the second fixing member 330 is the same as that of the first fixing member 320, and a description thereof will be omitted.

Reference numeral 331 denotes a second center hole 331 formed at the center of the first fixing member 320 and 332 is formed to have the same size as the second coupling hole 322 formed in the first fixing member, And a third fastening hole 332 to which a conventional bolt is coupled to one side of the case 120 together with the first fastening member 320.

When the rotation speed is applied to the eccentric input shaft 150 by driving the motor, the eccentric input shaft 150 is eccentrically rotated by the rotation of the eccentric input shaft 150 according to the present invention. The rotation speed is applied to the disk 130 to which the eccentric input shaft 150 is coupled by the eccentric rotation and the rotational speed applied to the disk 130 is determined by a pin 140 coupled to the outer circumference, 140 are coupled to each other by the case 120. As shown in FIG.

Vibration and clearance are generated by decelerating the rotation of the eccentric rotary shaft 150 by a predetermined rotation and vibration and clearance are generated between the disc 130 and the flange 220 by the coupling 210 and the roller 230, And adjusts its vibration and clearance.

The eccentric rotation of the eccentric input shaft 150 is switched from the disk 130 to the original rotation and at the same time the coupling 210 and the roller 230 provided between the disk 130 and the flange 220 rotate The vibration and the clearance are automatically adjusted by the movement of the coupling 210 in the X-axis and Y-axis directions.

The rotation speed of the disk 130 and the flange 220 is applied to the rotor 310 disposed at one side of the flange 220 and coupled to one side of the rotor 310, There is an advantage that the rotational force is stably transmitted to other driven devices.

While the present invention has been described in connection with what is presently considered to be practical 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.

100: decelerator 110, 110a: housing
111, 111a: Housing hole 120: Case
121: Case hole 122: Internal gear
123: first fastening hole 130: disk
131: through hole 132: external gear
133: first engaging projection 140: pin
150: eccentric input shaft 151: input shaft hole
152: keyway 153: eccentric piece
160: first bearing 200:
210: coupling 211: hollow hole
212: coupling groove 220: flange
221: flange hole 222: fastening hole
223: second engaging projection 230: roller
240: second bearing 300: output rotation part
310: rotor 320: first fixing member
330: second fixing member

Claims (8)

In a robot disk coupling precision reducer,
A deceleration unit coupled to an output shaft of the motor and configured to decelerate the motor while receiving rotation of the motor and rotating eccentrically;
A link portion coupled to the deceleration portion and configured to adjust the eccentric rotation of the deceleration portion while rotating the eccentric rotation of the deceleration portion to the original rotation while moving the gap or clearance along the eccentric rotation while moving in the X and Y axes;
An output rotary part coupled to the link part and outputting rotation output from the link part;
And a plurality of gears for engaging with each other.
The method according to claim 1,
In the deceleration section,
A housing having one of a circular shape, a rectangular shape, and a polygonal shape and having an inner side formed in multiple stages;
A case installed inside the housing and having an internal gear at an inner periphery thereof;
A disk coupled to the inside of the case and having an external gear on its outer circumferential surface so as to be meshed with the internal gear of the case;
A pin installed between the internal gear of the case and the external gear of the disc;
An eccentric input shaft coupled to a drive shaft of the motor and coupled to the bearing so as to transmit the drive of the motor to the inner side of the disk,
Wherein the first and second gears are rotatably coupled to each other.
3. The method of claim 2,
In this case,
Wherein the case is constituted by a flexible metal material so that the clearance can be adjusted by elasticity, and the robot disk couple including a clearance or an interval between the pin and the disk, Ring precision reducer.
In the second aspect,
The disk comprises:
Wherein the eccentric input shaft having a through hole formed at its center and coupled to the eccentric input shaft having a bearing is formed and a plurality of first coupling protrusions are formed and coupled with the link portion.
3. The method of claim 2,
The eccentric-
And an eccentric piece provided on one side of the housing and coupled to the first bearing so as to receive the rotation of the motor, the eccentric piece being formed on one side of the housing so as to transmit eccentric rotation to the decelerator. Coupling Precision Reducer.
The method according to claim 1,
Wherein,
A coupling coupled to the disk of the decelerating portion and having a hollow hole penetrating from one side to the other side and having an engaging groove formed on an outer periphery thereof;
A flange coupled to the coupling and having a plurality of second coupling protrusions formed on one side thereof;
A roller which is provided between the coupling and the flange and adjusts the gap or clearance by movement in the X axis direction and the Y axis direction;
A bearing coupled to the eccentric input shaft of the reduction portion and coupled to the flange;
Wherein the first and second gears are rotatably coupled to each other.
The method according to claim 6,
The coupling and the roller,
The eccentric rotation of the eccentric input shaft is switched to the original rotation by the rotation of the coupling in the X and Y axis directions by the rotation of the eccentric rotation, A robot disk coupling precision speed reducer comprising:
In a robot disk coupling precision reducer,
A coupling, a roller, a disk, and a flange for controlling eccentric rotation and clearance while moving the generation of eccentric rotation and clearance generated in the speed reducer that reduces the driving force of the motor to a constant speed or less in the X and Y axis directions Features a robotic disk coupling precision reducer.

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