KR20180021463A

KR20180021463A - Weight minimized driving module for high loading

Info

Publication number: KR20180021463A
Application number: KR1020160106036A
Authority: KR
Inventors: 임현국; 손병규
Original assignee: (주)한국미래기술
Priority date: 2016-08-22
Filing date: 2016-08-22
Publication date: 2018-03-05
Also published as: WO2018038341A1; KR101881350B1

Abstract

Provided is a weight minimized driving module for a high load, which comprises: a base link; a driving link provided with an input shaft to which rotating torque is applied, and connected to the base link to rotate based on the base link; and a pair of reducers individually provided on both ends of the input shaft of the driving link to amplify the rotating torque applied through the input shaft, and transmitting the rotating torque amplified when each output terminal is connected to the driving link to the driving link to enable the driving link to rotate based on the base link.

Description

[0001] The present invention relates to a high-load driving module having a minimum weight,

The present invention relates to a high-load driving module in which a weight is minimized so that a heavy walking robot can withstand a high load while minimizing its weight.

In the case of a large-sized boarding robot requiring heavy weight movement, it is very advantageous in terms of stability to carry out low-weight design. And these heavyweight manipulators require high torque to support and support the load.

However, in the case of the decelerator developed to date, it is necessary to increase the capacity of the decelerator in order to implement high torque, and accordingly, the size of the decelerator must be increased, which leads to an increase in weight.

In the case of a reduction gear, the larger the allowable torque, the larger the size of the reduction gear. Therefore, a new design of the drive module is required to allow a higher torque output than the conventional one without increasing the size of the reduction gear.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

KR 10-1208406 B1

SUMMARY OF THE INVENTION It is an object of the present invention to provide a high-load driving module in which the weight is minimized so as to withstand a high load while using the same reducer in which the allowable torque is not increased.

According to an aspect of the present invention, there is provided a high-load driving module including: a base link; A driving link which is provided with an input shaft to which a rotational torque is applied, and which is connected to the base link and rotates with respect to the base link; And amplifying the rotational torque applied through the input shaft, the output ends being connected to the driving link, and transmitting the amplified rotational torque to the driving link so that the driving link can rotate based on the base link And a pair of speed reducers.

The pair of decelerators is a harmonic drive, and each of the wave generators is connected to both ends of the input shaft, and each of the flex spline and the circular spline can be arranged symmetrically with respect to the outside of the wave generator.

The output link of each flex spline of the pair of decelerators is connected to the drive link, and the drive link can simultaneously receive the rotary torque from the pair of flex splines.

The base link is provided with a drive motor, and the drive motor can transmit the rotational force to the input shaft of the drive link via the pulley unit.

The pulley unit is constituted by a circulation belt connecting the drive motor and the input shaft and a tension reel transmitting tension to the circulation belt, and the tension reel can be installed on the base link from the outside of the circulation belt to press the circulation belt.

The tension reel comprises a mounting plate fixed to the base link through a bolt and a pressing roller which is installed on one side of the mounting plate and presses the circulating belt. The central axis of the pressure roller is spaced apart from the central axis of the bolt in the locking direction of the bolt .

The base link is a thigh link of the walking robot, the driving link is a calf link of the walking robot, and the input shaft and the pair of decelerators may be provided at the knee portion of the walking robot.

According to the high-load driving module in which the weight of the present invention is minimized, a high-load driving module in which the weight is minimized to withstand high loads while using the same reducer without increased tolerance torque can be provided.

FIG. 1 is a block diagram of a high-load driving module according to an embodiment of the present invention. FIG.
FIGS. 2 to 3 are perspective views of a heavy-duty drive module in which the weight is minimized according to an embodiment of the present invention;
4 is a cross-sectional view of a heavy-duty drive module with minimized weight according to an embodiment of the present invention.
Figure 5 is a partial enlarged view of the cross-sectional view of Figure 4;
FIG. 6 is a view illustrating an embodiment in which a high-load driving module having a minimum weight according to an embodiment of the present invention is applied to a base of a robot. FIG.

FIG. 1 is an embodiment in which a heavy-duty drive module with a minimum weight according to an embodiment of the present invention is applied to a base of a robot, and FIGS. 2 to 3 are views showing a structure of a high- 4 is a cross-sectional view of a heavy-duty drive module with minimized weight according to an embodiment of the present invention, FIG. 5 is a partially enlarged view of the cross-sectional view of FIG. 4, and FIG. 6 is a cross- And a high-load driving module in which the weight according to the present invention is minimized is applied to the base of the robot.

The heavy-duty drive module according to the present invention includes a base link (100); A driving link 300 provided with an input shaft H10 to which a rotational torque is applied and connected to the base link 100 and rotating with respect to the base link 100; And an input shaft H10 of the drive link 300 to amplify a rotational torque applied through the input shaft H10 and output ends thereof are connected to the drive link 300 to transmit the amplified rotational torque to the drive link 300 And a pair of speed reducers H and H 'for transmitting the driving link 300 to the base link 100 by rotating the driving link 300 with respect to the base link 100.

1 and 6 show an embodiment in which a high-load driving module with a minimum weight according to an embodiment of the present invention is applied to a base of a robot, and the present invention can be applied to a boarding-type robot on which a passenger is boarded. In the case of such a walking robot, the weight is heavy and a very large allowable torque is required. However, when the allowable torque is doubled, the reducer requires a reducer whose theoretical diameter is two times, the area is four times, and the volume and the weight are eight times, which leads to an increase in weight and size, which is not a real solution.

In the present invention, since the number of drive motors is one but the speed reducers H and H 'are connected in parallel on both sides, the allowable torque of the drive module itself is doubled. This is different from merely connecting the decelerators in series as in the prior art. When the decelerators are connected in series, the output torque can be increased. However, there is no change in the allowable torque of the drive module itself and the decelerators are connected in parallel There is no change in the output torque but the allowable torque of the drive module is increased.

2 to 3 are perspective views of a heavy-duty drive module in which weight is minimized according to an embodiment of the present invention, and FIG. 4 is a sectional view of a heavy-duty drive module in which weight is minimized according to an embodiment of the present invention .

First, the base link 100 is provided. An input shaft H10 to which a rotational torque is applied, and a driving link 300 connected to the base link 100 and rotating with respect to the base link 100 are provided. A decelerator is disposed between the base link 100 and the driving link 300 to allow the driving link 300 to rotate with respect to the base link 100. And are provided at both ends of the input shaft H10 of the drive link 300 to amplify the rotational torque applied through the input shaft H10 in the case of the reduction gear. Each output end of the pair of decelerators H and H 'is connected to the driving link 300 to transmit the amplified rotation torque to the driving link so that the driving link 300 rotates about the base link 100 So that one input is branched to the two decelerators H and H 'and then is merged into the driving link 300 at the same time so that the decelerators H and H' are connected in parallel. And the allowable torque of the drive module itself is doubled.

Specifically, as shown in FIG. 4, the pair of speed reducers is a harmonic drive. Each of the wave generators H20 is connected to both ends of the input shaft H10, and each of the flex splines H30 is connected to the outside of the wave generator H20. And the circular spline H40 may be symmetrically arranged to face each other.

The driving link 300 is connected to the output ends of the respective flex splines H30 of the pair of decelerators H and H 'and the driving link 300 simultaneously receives the rotary torque from the pair of the flex splines H30 Can receive. Accordingly, the decelerators H and H 'are disposed on both sides of the input shaft H10 to receive the same input, and the output ends of the flex splines H30 are connected to the drive link 300 to transmit power. Thereby transferring the driving in a parallel manner. To this end, a pair of decelerators (H, H ') should be arranged symmetrically on both sides. To this end, each circular spline H40 is fixed to the base link 100.

The thrust generated in the wave generator H20 can be offset from each other by arranging the decelerators symmetrically. Thrusters H and H 'are disposed so as to be symmetrical with respect to both sides of the input shaft H10 so that the directions of the thrusts are opposite to each other, So that the thrust applied to the input shaft H10 can be canceled.

5 is a partially enlarged view of the sectional view of FIG. 4. As shown in the drawing, the thrust generated in the wave generator H20 is transmitted to the bearing H14 by the bush H12 of the input shaft H10. The thrust acting on the bearing H14 acts on the drive link 300 through the bush H12. The reason why the thrust can be absorbed by only one very small bush is that the thrust of the reducer is canceled out as in the foregoing, and the concentricity of the two reduction gears can be easily realized through the bush H13 and the bearing H14 There is also. The bush H13 has a structure that supports the bearing H14 and the input shaft H10 together with the driving link 300 and the flex spline H30 so that the concentricity of the both speed reducers coincides with each other, will be.

The base link 100 is provided with a driving motor and the driving motor can transmit the rotational force to the input shaft H10 of the driving link 300 through the pulley unit P. [ 3 shows a state in which only the pulley unit P is shown, not the motor. Although the motor is omitted from the drawings, the drive shaft of the motor drives the pulley unit P to impart rotational force to the input shaft H10.

The pulley unit P is constituted by a circulating belt P20 connecting the driving motor and the input shaft H10 and a tension reel transmitting tension to the circulating belt P20. (100) so as to press the circulation belt (P20).

1 and 3, the tension reel is installed on one side of the mounting plate T10 and the mounting plate T10 fixed to the base link 100 through bolts T20 and presses the circulation belt P20 And the central axis of the pressure roller T30 can be disposed apart from the central axis of the bolt T20 in the locking direction of the bolt T20. That is, the mounting plate T10 is fixed to the bracket 120 extending to one side of the base link 100 via the bolt T20. The bolt T20 is fixed to a side of the mounting plate T10, . A pressure roller T30 is provided on the other side of the bolt T30 and the pressure roller T30 may be disposed apart from the central axis of the bolt T20 in the locking direction of the bolt T20 when viewed from the installed position.

If the tension of the belt P20 is applied to the pressing roller T30 as shown in the drawing, the pressing roller T30 is rotated in the clockwise direction, T20 can be rotated clockwise, the relative positions of the pressure roller T30, the mounting plate T10, and the base link 100 are fixed. That is, even when the tension of the circulation belt P20 is applied, the mounting plate T10 or the pressure roller T30 is loosened so that a case where an abnormality occurs in the power transmission is fundamentally blocked.

In the case of the present invention, as shown in FIGS. 1 and 6, the present invention can be applied to a large-size on-board robot. In this case, the base link 100 is the thigh link of the walking robot, the driving link 300 is the calf link of the walking robot, and the input shaft H10 and the pair of decelerators H and H ' As shown in FIG.

According to the high-load driving module of the present invention, the weight of the high-load driving module can be minimized while allowing the same reducer not to increase the allowable torque to withstand high load.

While the invention has been shown and described with respect to the specific embodiments thereof, 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 following claims It will be apparent to those of ordinary skill in the art.

100: Base link 300: Drive link
H: Reducer P: Pulley unit

Claims

Base link;
A driving link which is provided with an input shaft to which a rotational torque is applied, and which is connected to the base link and rotates with respect to the base link; And
Each of the output ends is connected to the drive link and the amplified rotation torque is transmitted to the drive link so that the drive link can rotate based on the base link. And a pair of decelerators, each of which includes:

The method according to claim 1,
Wherein the pair of decelerators is a harmonic drive, each of the wave generators is connected to both ends of an input shaft, and each of the flex splines and the circular splines are symmetrically arranged to face each other outside the wave generator. High-load drive module.

The method of claim 2,
Wherein the drive link is connected to the output ends of the respective flex splines of the pair of decelerators, and the drive link receives rotational torque from the pair of flex splines at the same time.

The method according to claim 1,
Wherein the base link is provided with a driving motor and the driving motor transmits rotational force to the input shaft of the driving link through the pulley unit.

The method of claim 4,
Wherein the pulley unit is constituted by a circulating belt connecting the drive motor and the input shaft and a tensioning reel for transmitting tension to the circulating belt, and the tensioning reel is installed on the base link from the outside of the circulating belt to press the circulating belt. High-load drive module.

The method of claim 5,
The tension reel includes a mounting plate fixed to the base link through a bolt and a pressing roller which is installed on one side of the mounting plate and presses the circulating belt. The central axis of the pressure roller is spaced apart from the center axis of the bolt in the locking direction of the bolt The weight of which is minimized.

The method according to claim 1,
Wherein the base link is a thigh link of the walking robot, the driving link is a calf link of the walking robot, and the input shaft and the pair of decelerators are provided at a knee portion of the walking robot.

The method according to claim 1,

Which is characterized in that the weight is minimized.