WO2012169680A1 - Structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et module d'actionneur comprenant cette structure - Google Patents

Structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et module d'actionneur comprenant cette structure Download PDF

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Publication number
WO2012169680A1
WO2012169680A1 PCT/KR2011/004265 KR2011004265W WO2012169680A1 WO 2012169680 A1 WO2012169680 A1 WO 2012169680A1 KR 2011004265 W KR2011004265 W KR 2011004265W WO 2012169680 A1 WO2012169680 A1 WO 2012169680A1
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WO
WIPO (PCT)
Prior art keywords
gear
spur
reduction
spur gear
gears
Prior art date
Application number
PCT/KR2011/004265
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English (en)
Korean (ko)
Inventor
김병수
이정호
Original Assignee
(주)로보티즈
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by (주)로보티즈 filed Critical (주)로보티즈
Priority to PCT/KR2011/004265 priority Critical patent/WO2012169680A1/fr
Priority to KR1020147003023A priority patent/KR101569064B1/ko
Publication of WO2012169680A1 publication Critical patent/WO2012169680A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts

Definitions

  • the present invention relates to a reducer structure and an actuator module for transmitting power to a robot for industrial, home, or entertainment.
  • the present invention relates to a plurality of gears that deliver a high torque to an output gear while stably reducing a high load rotational speed transmitted through a drive shaft of a motor. It relates to a reducer structure using a two-stage spur gear and an actuator module including the same.
  • an industrial, home or entertainment robot is completed by mechanically and electrically connecting an actuator module formed of a mechanical part including a motor and a circuit part including a control module for controlling the motor.
  • a speed reducer for reducing the high speed rotation of the motor is used.
  • Conventional reduction gears include harmonic drive type reduction gears and cycloid reduction gears that perform deceleration using elastic force, and reduction gears using planetary gears with high bit rate.
  • the reduction gear using a conventional planetary gear uses a reduction gear body in which a planetary gear is inserted and a tooth surface meshed with the planetary gear is processed.
  • a reduction gear body in which a planetary gear is inserted and a tooth surface meshed with the planetary gear is processed.
  • commercial speed reducers such as harmonic drive type reducers and cycloid reducers are also expensive and have low design freedom.
  • the present invention has been proposed to solve the above problems, and an object of the present invention is to use a plurality of two-stage spur gears that transmit a high torque to the output gear while stably reducing the high load rotational speed transmitted through the drive shaft of the motor. It is to provide a reducer structure and an actuator module including the same.
  • a reducer structure using a plurality of two-stage spur gears for transmitting torque to an output gear having a tooth surface formed on the outer circumferential surface by decelerating the high speed rotation of the rotary motor at a low speed,
  • a first reduction gear including an upper spur gear and a lower spur gear integrally formed at a lower portion of the upper spur gear, and including a two-speed spur gear for primary reduction that is rotatably coupled to the output gear;
  • an actuator module may include a rotary motor for rotating a drive shaft having a pinion gear in response to a power supply, and decelerating a high speed rotation of a pinion gear formed at a drive shaft of the rotary motor at a low speed to provide an upper spur gear and the upper portion.
  • a primary deceleration part including a two-stage spur gear for primary deceleration formed on a lower spur gear integrally formed under the spur gear;
  • An output gear which is rotatably coupled to the second gear of the first reduction gear and having a tooth surface formed on an outer circumferential surface thereof; And an upper spur gear that is formed between the output gear and the second spur gear of the primary deceleration part and meshes with the teeth of the output gear and the upper spur gear that meshes with the lower spur gear of the second spur gear of the primary deceleration part.
  • At least two or more secondary gears for secondary reduction formed in the spur gear includes a secondary deceleration portion formed symmetrically with each other.
  • the reducer structure using the plurality of two-stage spur gear of the present invention and the actuator module including the same are installed so that the two-stage spur gears of the secondary reduction gear engaging with the output gear face each other, thereby compensating for the distortion of the output gear. That has a useful effect.
  • FIG 1 shows an appearance of an actuator module according to an embodiment of the present invention.
  • FIG. 2 shows an exterior view of the actuator module according to FIG. 2 rotated 90 degrees clockwise.
  • FIG. 3 shows the interior of the actuator module according to FIG. 1.
  • FIG. 4 shows the interior of the actuator module according to FIG. 3.
  • FIG. 5 is an exemplary view for explaining a reducer structure using a plurality of two-stage spur gears according to the present invention.
  • Figure 6 is an example showing the primary deceleration unit of the reducer structure according to the present invention.
  • FIG. 7 is an example illustrating a secondary deceleration part of a reducer structure according to the present invention.
  • FIG. 8 illustrates a state in which the secondary reduction unit and the output gear of FIG. 7 are coupled to each other.
  • the actuator module 400 includes a housing 410, a circuit part 420 and a mechanism part 430 accommodated in the housing 410.
  • the circuit unit 420 may include, for example, a printed circuit board 421 and a network interface 422 in which a microprocessor is integrated.
  • the mechanism unit 430 may include a motor 431, an output gear 436, and an output gear. (436)
  • the reducer structure 435 is formed of a lower spur gear that is integrally formed under the upper spur gear and the upper spur gear, and has two primary spur gears 4331, 4352 and 4353 for secondary reduction and two spur gears for secondary reduction. (4354, 4355, 4356, 4357).
  • the two-stage spur gears 4331, 4352, and 4353 for the primary deceleration may use the same number of teeth as the number of teeth or different ones.
  • the two-stage spur gears 4331, 4352, and 4353 for the first speed reduction are engaged with each other and the last two-stage spur gears 4353 are rotatably coupled with the output gear 436.
  • the second speed reduction spur gears 4254, 4355, 4356, and 4357 for the second speed reduction are formed to be spaced apart from each other and symmetrically between the last second speed control gear 4353 and the output gear 436 of the first speed reduction unit.
  • the second reduction gear 243, 4355, 4356, 4357 for the second reduction reduces the rotation of the last two-stage spur gear 4353 of the primary reduction gear at a low speed to transmit torque to the output gear 436.
  • the reducer structure 600 includes a primary deceleration part 610 for decelerating the high speed rotation of the pinion gear 431a formed on the drive shaft of the rotary motor at a low speed, and a final second spur gear of the primary deceleration part 610.
  • the second reduction gear 620 is formed between the two-stage spur gear 613 and the output gear 436. Where n is a natural number.
  • the primary deceleration part 610 is a lower part integrally formed under the upper spur gears 611a, 612a, and 613a and the upper spur gears 611a, 612a, and 613a. It may be implemented by including the first to third second stage spur gears 611, 612, and 613 formed of the spur gears 611b, 612b, and 613b.
  • the third two-stage spur gear 613 which is the last two-stage spur gear of the primary reduction gear 610, includes a coupling part 613c rotatably coupled to the output gear 436.
  • the first to third two-stage spur gears 611, 612, and 613 are adjacent to each other, and the lower spur gear 611b of the first two-stage spur gear 611 is the upper spur of the second two-stage spur gear 612. Meshes with the gear 612a, and the lower spur gear 612b of the second second spur gear 612 meshes with the upper spur gear 613a of the third second spur gear 613, whereby deceleration is achieved. .
  • the secondary deceleration part 620 includes the upper spur gears 621a, 622a, 623a, and 624a and the upper spur gears 621a, 622a, 623a, and 624a. It may be implemented by including the first to fourth second-stage spur gears 621, 622, 623, 624 integrally formed with the lower spur gears 621b, 622b, 623b, and 624b integrally formed therein.
  • Upper spur gears 621a, 622a, 623a, and 624a of the first to fourth second spur gears 621, 622, 623, and 624 are the third two-stage spur gears of the first reduction gear 610. It meshes with the lower spur gear 613b of the two-stage spur gear 613 and is spaced apart from each other and symmetrically formed.
  • the coupling part 613c of the third two-stage spur gear 613 is rotatably coupled to the output gear 436 as shown in FIG. 8, and the first to fourth two-stage spur gears 621 and 622.
  • the lower spur gears 621b, 622b, 623b, and 624b of 623 and 624 mesh with the tooth surface 432a formed on the outer circumferential surface of the output gear 436, whereby deceleration is achieved.
  • the torque transmitted to the output gear 436 increases with the number of second stage spur gears used in the secondary deceleration unit 620. For example, comparing the case where the number of two-stage spur gears used in the second reduction gear 620 is four and the case of four, the output is the case when four two-speed spur gears are used in the second reduction gear 620.
  • the bite rate between the second gears of the gear 436 and the second reduction gear 620 increases by four times, and the torque transmitted to the output gear 436 also increases by four times.
  • the number of two-stage spur gears used in the secondary speed reducer 620 is determined by the output gear 436.
  • the torque, size and durability of the delivered torque must be satisfied. Accordingly, preferably, the number of two-stage spur gears used in the secondary deceleration part 620 may be selected from two, three, or four.
  • a reducer structure and actuator module for transmitting power to an industrial, home or entertainment robot it provides a function to deliver a high torque to the output gear while stably reducing the high load rotational speed transmitted through the drive shaft of the motor. can do.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Gear Transmission (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne une structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et un module actionneur comprenant cette structure, et la structure de ralentisseur utilisant la pluralité de roues droits à deux vitesses pour ramener une rotation à grande vitesse d'un moteur rotatif à une basse vitesse de manière à transmettre un couple à un roue de sortie qui possède une surface dentée sur sa surface circonférentielle extérieure, la structure comprenant : une première partie de réduction de vitesse qui comprend un roue droit supérieur et un roue droit inférieur, lequel est formé en une seule pièce avec une partie inférieure du roue droit supérieur, et un roue droit à deux vitesses qui est accouplé en rotation au roue de sortie, pour réaliser une première réduction de vitesse ; et une deuxième partie de réduction de vitesse qui est formée entre un dernier roue droit à deux vitesses de la première partie de réduction de vitesse et le roue de sortie, et qui comprend au moins deux roues droits à deux vitesses pour réaliser une réduction de vitesse secondaire, comprenant en outre un roue droit supérieur, qui est en prise avec un roue droit inférieur du dernier roue droit à deux vitesses de la première partie de réduction de vitesse, et le roue droit inférieur qui est en prise et se déplace en liaison avec la surface dentée du roue de sortie, les au moins deux roues droits à deux vitesses utilisés pour la seconde réduction de vitesse étant formés symétriquement.
PCT/KR2011/004265 2011-06-10 2011-06-10 Structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et module d'actionneur comprenant cette structure WO2012169680A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/KR2011/004265 WO2012169680A1 (fr) 2011-06-10 2011-06-10 Structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et module d'actionneur comprenant cette structure
KR1020147003023A KR101569064B1 (ko) 2011-06-10 2011-06-10 복수의 2단 평기어를 이용한 감속기 구조체 및 그를 포함하는 액츄에이터 모듈

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2011/004265 WO2012169680A1 (fr) 2011-06-10 2011-06-10 Structure de ralentisseur utilisant une pluralité de roues droits à deux vitesses et module d'actionneur comprenant cette structure

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WO2012169680A1 true WO2012169680A1 (fr) 2012-12-13

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WO (1) WO2012169680A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101492262B1 (ko) 2014-02-28 2015-02-13 (주)로보티즈 로봇 제어모듈의 5축회전 감속기
CN108458051A (zh) * 2018-03-13 2018-08-28 刘从彬 减速器及功率适配装置
CN108708939A (zh) * 2018-06-21 2018-10-26 广州启帆工业机器人有限公司 一种消隙齿轮箱
CN110230664A (zh) * 2018-03-06 2019-09-13 纳博特斯克有限公司 齿轮单元和减速机
US11571807B2 (en) 2016-10-05 2023-02-07 Robert Darby Drive unit for robotic manipulators

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101701236B1 (ko) 2015-07-03 2017-02-02 (주)로보티즈 액추에이터 모듈

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6377149U (fr) * 1986-11-08 1988-05-23
JPH1133970A (ja) * 1997-07-22 1999-02-09 Oki Electric Ind Co Ltd 自動ｍｄｆ用減速機構造
KR200329274Y1 (ko) * 2003-06-19 2003-10-08 주식회사유진로보틱스 감속기
KR200405001Y1 (ko) * 2005-08-05 2006-01-11 한국고벨주식회사 일체형 감속기
KR100692073B1 (ko) * 2005-11-18 2007-03-12 현대자동차주식회사 전기 자동차용 감속기의 에어브리더 장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002223614A (ja) * 2001-02-01 2002-08-13 Yanmar Agricult Equip Co Ltd 野菜移植機

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6377149U (fr) * 1986-11-08 1988-05-23
JPH1133970A (ja) * 1997-07-22 1999-02-09 Oki Electric Ind Co Ltd 自動ｍｄｆ用減速機構造
KR200329274Y1 (ko) * 2003-06-19 2003-10-08 주식회사유진로보틱스 감속기
KR200405001Y1 (ko) * 2005-08-05 2006-01-11 한국고벨주식회사 일체형 감속기
KR100692073B1 (ko) * 2005-11-18 2007-03-12 현대자동차주식회사 전기 자동차용 감속기의 에어브리더 장치

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101492262B1 (ko) 2014-02-28 2015-02-13 (주)로보티즈 로봇 제어모듈의 5축회전 감속기
US11571807B2 (en) 2016-10-05 2023-02-07 Robert Darby Drive unit for robotic manipulators
CN110230664A (zh) * 2018-03-06 2019-09-13 纳博特斯克有限公司 齿轮单元和减速机
CN108458051A (zh) * 2018-03-13 2018-08-28 刘从彬 减速器及功率适配装置
CN108708939A (zh) * 2018-06-21 2018-10-26 广州启帆工业机器人有限公司 一种消隙齿轮箱
CN108708939B (zh) * 2018-06-21 2024-05-31 广州启帆工业机器人有限公司 一种消隙齿轮箱

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KR101569064B1 (ko) 2015-11-13
KR20140043472A (ko) 2014-04-09

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