WO2013062155A1 - Ralentisseur cycloïdal intégré - Google Patents

Ralentisseur cycloïdal intégré Download PDF

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Publication number
WO2013062155A1
WO2013062155A1 PCT/KR2011/008073 KR2011008073W WO2013062155A1 WO 2013062155 A1 WO2013062155 A1 WO 2013062155A1 KR 2011008073 W KR2011008073 W KR 2011008073W WO 2013062155 A1 WO2013062155 A1 WO 2013062155A1
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WO
WIPO (PCT)
Prior art keywords
gear
case
unit
pin
input
Prior art date
Application number
PCT/KR2011/008073
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English (en)
Korean (ko)
Inventor
김병수
이정호
Original Assignee
(주)로보티즈
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Filing date
Publication date
Application filed by (주)로보티즈 filed Critical (주)로보티즈
Publication of WO2013062155A1 publication Critical patent/WO2013062155A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention relates to an integrated cycloid reducer, and more particularly, the case, the pin gear and the bearing are integrated so as to be applied to the joint of the robot to not only smoothly induce movement but also to realize a high-speed high-accuracy characteristic while structurally simplified.
  • An integrated cycloid reducer is an integrated cycloid reducer.
  • robots used in various fields from industrial robots to humanoid robots use actuators having a deceleration function for flexible movement of joints.
  • reduction gears used in such actuators, such as gear type reduction gears, electric ball type reduction gears, harmonic drive reduction gears, cycloid reduction gears, and the like.
  • the gear type reducer is the most common type of reducer and it uses the Involute Tooth Form.
  • the gear type reducer is the epicycloid curve and the hypocycloid curve.
  • the speed reducer is a gear that allows the ball to be rotated to execute the deceleration rotation in the opposing guide groove.
  • the harmonic drive reducer is an elliptical motion part that is rotated by an oval when the wave generator bundle is rotated. It is delivered to the flexplane and the flexplane is a speed reducer that rotates by slowly skipping the outer ring gear one space to induce deceleration. Cycloid gear reducers are usually fixed pins and are planetary gears.
  • To execute only the rotation of the trochoid gear refers to a speed reducer to achieve the reduced rotation, through the control pin holes and pins, and there is the speed reducer mutually combining them with modified base.
  • the cycloidal decelerator is widely used in a field requiring precise control because it can implement various reduction ratios and is advantageous for high precision and high reduction.
  • Prior arts related to such a reducer include: Registered Room No. 0325018 'Cycloid Reducer Using Involute Gear', Publication No. 2010-0038146 'Rotary Reducer', Publication No. 2011-0068500 'Multi-Axis Cycloid Reducer' And the like are disclosed.
  • Figure 1 shows an example of a typical conventional cycloidal speed reducer, as illustrated, after installing a plurality of pin gears 12 at regular intervals along the inner circumferential surface of the separately manufactured case 10, the pin A pair of eccentric plate gears 14 are installed to induce deceleration through internal friction with the gear 12 and vibration friction, and a separate cross roller bearing 16 is reassembled at the input end. Because of this, it was not free from the above-mentioned problems, and it also became a factor to hinder the miniaturization.
  • the present invention has been made in view of the above-mentioned problems in the prior art, and has been created to simplify the structure of the cycloid reducer and realize the integration between parts to reduce the volume of the entire reducer, which is advantageous for miniaturization and processing errors. Its main purpose is to provide an integrated cycloid reducer that can achieve high precision and high speed reduction by eliminating assembly errors and can be manufactured at low cost.
  • the present invention is a means for achieving the above object, an input unit for receiving power, a reduction unit for reducing the input power by the reduction ratio, an output unit for outputting the reduced power, the input unit and the reduction unit and a case in which the output unit is built
  • the cycloid reducer comprising;
  • a pin gear which is in contact with the plate gear constituting the deceleration portion and decelerates by a dimension difference is integrally formed on the inner circumferential surface of the case;
  • a bearing groove integrally formed in the inner circumferential surface of the case at a distance in the output direction from the pin gear; A part is inserted into the bearing groove, the other part is inserted into the outer circumferential surface of the output portion to provide an integrated cycloid reducer, characterized in that it comprises a;
  • the reduction unit is formed to be in contact with the pin gear and the plate gear, the pin gear and the plate gear of the epitroid tooth-type contact or the pin gear is an internal gear of the involute tooth type and the plate gear is in ball It is also characterized by the form of a root tooth external gear.
  • the input unit is directly coupled to the motor shaft to receive the driving force in the axial form, or is coupled to the drive gear fixed to the motor shaft in the form of a spur gear to receive the driving force or bevel gear is coupled to receive the driving force. It also has its features.
  • the pin gear and the bearing by integrating the case, the pin gear and the bearing, processing errors and assembly errors can be eliminated, thereby ensuring high precision and high deceleration characteristics, reducing manufacturing costs, and reducing the overall volume of the reducer.
  • FIG. 1 is an exemplary view showing a partially cut cycloid reducer according to the prior art.
  • Figure 2 is an exemplary perspective view showing a cut off a part of the cycloid reducer according to the present invention.
  • 3 and 4 are exemplary exploded perspective views of a cycloid reducer according to the present invention.
  • FIG. 5 is an exemplary view showing an exploded main part of the cycloid reducer according to the present invention.
  • FIG. 6 is an exemplary view showing another example of a cycloid reducer according to the present invention.
  • FIG. 7 is an exemplary view showing another example of a cycloid reducer according to the present invention.
  • Cycloid reducer is a speed reducer using an internal gear of the epitrochoid teeth, the main feature is that the pin gear is integrally formed in the case for structural simplification .
  • the cycloid reducer according to the present invention includes a case (100).
  • an input part, a deceleration part, and an output part are built in the case 100, and the input part is a part for receiving power from the driving motor, and the deceleration part is coupled with the pin gear and the plate gear to induce the deceleration by the dimension difference.
  • the output unit is a portion for outputting the decelerated power through the reduction unit.
  • the input unit is not only a gear form as in the preferred embodiment described below, but also a shaft type in which the driving shaft of the driving motor is directly connected, and a bevel gear coupling type capable of inputting power in a 90 ° direction is possible.
  • the plate gear constituting the reduction unit is a disk-shaped gear with teeth formed on the outer circumferential surface, and a pair of the same size is arranged to be eccentrically contacted with each other. It is configured to be operated while the pair is rotated again, the tooth shape of the plate gear in contact with the pin gear for the deceleration function can be formed in the epitroid form, as described below may be formed in the involute tooth shape In the case of teeth, the pin gear should also have an involute shape, which will be described later with another embodiment of the present invention.
  • the reduction gear is made of a structure in which the pin gear 110 and the plate gear 300 is disposed in contact, the double plate gear 300 is based on the central axis 210 of the input unit first
  • the first eccentric shaft (S1) spaced by a certain amount in the direction
  • the second eccentric shaft (S2) spaced apart by the eccentricity spaced apart from the first direction in a direction opposite to the first direction with respect to the central axis (210)
  • the first plate gear 302 is rotatably fixed to the first eccentric shaft S1 and the second eccentric shaft S2 is fixed to the first eccentric shaft S1 so as to contact the pin gear 110 and cause a deceleration by a dimension difference.
  • It consists of a combination of the second plate gear 304, which is well known in the art, and thus, further description thereof will be omitted.
  • the output unit has a circular flange form as the output member 500 of the circular flange form having an output shaft 510 has a very free and easy connection for the output.
  • the rear end of the case 100 is connected to the input motor (not shown), the rotation axis of the motor is an input shaft, the drive gear (not shown) fixed to the input shaft is input To be coupled with the gear 200.
  • the drive gear and the input gear 200 are tooth-coupled to each other in the form of a spur gear so that the input direction and the output direction are parallel.
  • the plate gear 300 is connected to the central shaft 210 formed on the input gear 200, the front of the plate gear 300 is provided with a bearing, preferably a cross roller bearing 400, An output member 500 having an output shaft 510 is provided in front of the cross roller bearing 400.
  • the bearing is described as being limited to the cross roller bearing 400, but the bearing is not limited to the cross roller bearing 400, and any bearing structure having a rolling action may be used. Of course.
  • the pin gear 110 is integrally formed on the inner circumferential surface of the case 100. Unlike the conventional method, the pin gear 110 is formed to be integrally molded to the case 100 itself when the case 100 is molded.
  • the case 100 itself and the pin gear 110 corresponding to the plate gear 300 having the epitroid tooth shape in the case 100 is molded together in the manufacturing step to manufacture and integrate the processing error as well as assembly Eliminate errors and reduce manufacturing costs.
  • the pin gear 110 and the plate gear 300 is processed so that the tooth is different from each other, which is obviously known in the case of the cycloid reducer in the field of the reducer does not need to be described in detail.
  • the pin gear 110 and the plate gear 300 is processed so that the tooth is different from each other, which is obviously known in the case of the cycloid reducer in the field of the reducer does not need to be described in detail.
  • the eccentric rotation of the plate gear 300 is a reduction ratio of "1 / number of plate gear teeth" compared to the input rotation speed It will be decelerated.
  • the number of teeth of the plate gear 300 is 50
  • the number of pins of the pin gear 110 is maintained at 51, so that the reduction gear ratio of 1/50 can be obtained in the reducer having such a structure.
  • a groove groove-shaped bearing groove 120 is machined on the output side inner circumferential surface of the case 100, that is, on the output side inner circumferential surface spaced from the pin gear 110 as shown in FIGS. 4 and 5.
  • the bearing housing (not shown) including the cross-roller bearing 400 on the output side of the case 100 was installed in a manner that is directly fixed separately.
  • the bearing housing that can install the cross roller bearing 400 that is, the outer ring of the bearing is formed integrally with the case 100, through which the cross roller bearing 400 can be implemented integrally. Assembly errors and machining errors can be further reduced.
  • bearing housing does not need to be fixed as before, thus eliminating the need for ancillary fixing bolts, thereby reducing costs, and eliminating the need for centering operations that must be managed sensitively and precisely during assembly.
  • Productivity is also improved, and the volume and mass can be reduced, resulting in a lighter weight and a thinner thickness.
  • the bearing groove 120 is recessed in the circumferential direction along the inner circumferential surface of the case 100, and a part of the cross roller bearing 400 is inserted into the bearing groove 120.
  • the remaining portion of the cross roller bearing 400 is inserted into a groove (not shown) formed along the bottom surface of the output member 500, although not shown in detail.
  • the output member 500 is supported to be smoothly rotated by the cross roller bearing 400.
  • the plate gear 300 constituting the deceleration portion is a well-known structure known in the art, and is formed in a form in which circular plates having a pair of epitrocoid teeth facing each other are fixed in contact with each other so as to be eccentrically fixed to each other,
  • the plate surface has a plurality of plate holes 310 are formed along the circumferential direction, so that the fixing pins 330 protruding from the fixing flange 320 are fitted to each other so as to be bound in an eccentric state and to transmit power. .
  • the plate gear 300 is formed in a pair to face each other, the reason for the eccentricity is to offset the vibration generated during deceleration, the bite is reinforced twice.
  • the output member 500 is decelerated by mutual coupling. The output can be delivered to the output member 500.
  • the present invention having such a configuration is the output shaft 510 through the output member 500 while the rotational speed input from the motor is decelerated at a reduction ratio by a predetermined dimension difference (generated by the plate gear and the pin gear) via the integrated cycloid reducer. Because it is output as), more precise deceleration control is possible.
  • the integrated cycloid reducer according to the present invention may be modified to a shape as shown in FIG. 6.
  • the example illustrated in FIG. 6 is configured to transmit an output by switching it in a 90 ° direction with respect to the input.
  • the input gear 200 is changed to the bevel gear type, and the drive gear G connected to the motor is also changed to the bevel gear type and is coupled to each other in a 90 ° direction, thereby decelerating the input while the input is decelerated. It can be switched in the 90 ° direction.
  • the teeth of the pin gear and the plate gear constituting the integrated cycloid reducer according to the present invention may be modified into an involute form as shown in FIG. 7.
  • the involute tooth shown as a deformable example belongs to a typical serrated internal planetary gear group, and thus there may be a problem of tooth interference.
  • the pin gear 110 is made of an involute toothed internal gear
  • the plate gear 300 is made of an involute toothed external gear so that the pin gear 110 can be in contact with each other, thereby realizing another form of reduction gear.
  • the interlocking depths, the inclination angles of the interlocking parts, and the like must be set accurately so as not to cause interference between the teeth.
  • binding pin 400 cross roller bearing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne un ralentisseur cycloïdal intégré et un ralentisseur cycloïdal comprenant une unité d'entrée permettant de recevoir une puissance d'entrée, une unité de ralentissement permettant de ralentir la puissance d'entrée selon un rapport de décélération, une unité de sortie permettant d'émettre la puissance ralentie et un boîtier contenant l'unité d'entrée, l'unité de ralentissement et l'unité de sortie, une tige dentée qui entre en contact avec une plaque dentée (composant l'unité de ralentissement) et ralentit celle-ci grâce à son nombre de dents étant formée d'un seul bloc sur la surface périphérique interne du boîtier. Le ralentisseur cycloïdal comprend également : une fente de support formée d'un seul bloc dans la surface périphérique interne du boîtier à une certaine distance de la tige dentée dans la direction d'arbre de sortie ; et un support dont une partie est insérée dans la fente de support et dont la partie restante est insérée dans la surface périphérique externe de l'unité de sortie pour le support en rotation de l'unité de sortie. Selon la présente invention, grâce à l'intégration du boîtier, de la tige dentée et du support, les erreurs de traitement et d'assemblage peuvent être éliminées en vue d'obtenir des propriétés de précision et de ralentissement élevées et les coûts de fabrication et le volume total du ralentisseur peuvent être réduits.
PCT/KR2011/008073 2011-10-26 2011-10-27 Ralentisseur cycloïdal intégré WO2013062155A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110110068A KR101308737B1 (ko) 2011-10-26 2011-10-26 일체형 싸이클로이드 감속기
KR10-2011-0110068 2011-10-26

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WO2013062155A1 true WO2013062155A1 (fr) 2013-05-02

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103438156A (zh) * 2013-09-06 2013-12-11 上海鑫君传动科技有限公司 一种回避齿轮干涉的谐波减速机
CN103994184A (zh) * 2014-03-26 2014-08-20 重庆大学 封闭型摆线精密减速器
CN104534031A (zh) * 2015-01-05 2015-04-22 西北工业大学 一种用于机器人关节的传动装置
CN109356944A (zh) * 2018-10-23 2019-02-19 天津大学 一种可变形外锥鼓形无间隙花键结构

Families Citing this family (8)

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Publication number Priority date Publication date Assignee Title
CN106151390B (zh) * 2015-04-14 2018-11-02 台达电子工业股份有限公司 减速机
KR101714505B1 (ko) * 2015-11-13 2017-03-09 서강대학교산학협력단 구동장치 및 이를 포함하는 다관절 주행로봇
KR102151386B1 (ko) * 2017-05-08 2020-09-03 (주)로보티즈 위치 피드백 장치가 내장된 감속기
KR102057236B1 (ko) 2017-11-02 2019-12-18 조형진 탐지 모듈에 기초하는 액추에이터 일체형 로봇 구동 컨트롤러
KR102003485B1 (ko) 2017-11-02 2019-07-24 조형진 구동 출력 축 각 변환 모듈 일체 구조의 액추에이터 장치
KR102181426B1 (ko) * 2018-11-08 2020-11-24 문현덕 변속 및 역행방지 장치
KR102433732B1 (ko) * 2020-03-19 2022-08-19 주식회사 본시스템즈 박형 사이클로이드 감속기
WO2021187681A1 (fr) * 2020-03-19 2021-09-23 주식회사 본시스템즈 Réducteur cycloïdal mince et procédé de fabrication associé

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JP2003130146A (ja) * 2001-10-24 2003-05-08 Seiko Epson Corp 小型減速機およびこれを備えたギヤードモータ
KR100582446B1 (ko) * 2004-12-08 2006-05-23 강종철 고효율 하이퍼 사이클로이드 기어 감속기
KR20090055879A (ko) * 2007-11-29 2009-06-03 전자부품연구원 감속기 일체형 비엘디씨 모터
KR20110068500A (ko) * 2009-12-16 2011-06-22 김유학 다축 싸이클로이드 감속기

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003130146A (ja) * 2001-10-24 2003-05-08 Seiko Epson Corp 小型減速機およびこれを備えたギヤードモータ
KR100582446B1 (ko) * 2004-12-08 2006-05-23 강종철 고효율 하이퍼 사이클로이드 기어 감속기
KR20090055879A (ko) * 2007-11-29 2009-06-03 전자부품연구원 감속기 일체형 비엘디씨 모터
KR20110068500A (ko) * 2009-12-16 2011-06-22 김유학 다축 싸이클로이드 감속기

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103438156A (zh) * 2013-09-06 2013-12-11 上海鑫君传动科技有限公司 一种回避齿轮干涉的谐波减速机
CN103438156B (zh) * 2013-09-06 2015-10-28 上海鑫君传动科技有限公司 一种回避齿轮干涉的谐波减速机
CN103994184A (zh) * 2014-03-26 2014-08-20 重庆大学 封闭型摆线精密减速器
CN104534031A (zh) * 2015-01-05 2015-04-22 西北工业大学 一种用于机器人关节的传动装置
CN109356944A (zh) * 2018-10-23 2019-02-19 天津大学 一种可变形外锥鼓形无间隙花键结构

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KR20130045691A (ko) 2013-05-06

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