WO2018038341A1

WO2018038341A1 - High-load driving module having minimized weight

Info

Publication number: WO2018038341A1
Application number: PCT/KR2017/003114
Authority: WO
Inventors: 임현국; 손병규
Original assignee: 주식회사 한국미래기술
Priority date: 2016-08-22
Filing date: 2017-03-23
Publication date: 2018-03-01
Also published as: KR20180021463A; KR101881350B1

Abstract

Disclosed is a high-load driving module having minimized weight, comprising: a base link; a driving link having an input shaft to which rotational torque is applied, and connected to the base link so as to rotate around the base link; and a pair of speed reducers, which are respectively provided at both ends of the input shaft of the driving link so as to amplify the rotational torque applied through the input shaft, and of which each output end is connected to the driving link so as to transmit the amplified rotational torque to the driving link, thereby enabling the driving link to rotate around the base link.

Description

High load drive module with minimal weight

The present invention relates to a high weight drive module with a minimized weight to withstand high loads while minimizing weight in a large walking robot.

In the case of a large-sized pedestrian robot that requires heavy weight movement, it is very advantageous in terms of stability to carry out a low weight design. And such a heavy manipulator needs high torque to support and bear the load.

However, in the case of the speed reducer developed to date, it is necessary to increase the capacity of the speed reducer in order to realize high torque, and accordingly, it is inevitable to increase the size of the speed reducer, which leads to an increase in weight.

In the case of the reducer, as the allowable torque increases, the size of the reducer also increases, and thus, a new design of the drive module is required to allow a higher torque output than before without increasing the size of the reducer.

The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

The related art is KR 10-1208406 B1.

The present invention has been proposed to solve such a problem, and is to provide a high load driving module with a minimum weight that can withstand high loads while using the same speed reducer without increasing the allowable torque.

According to the present invention for minimizing the weight of the high load drive module, the base link; A drive link provided with an input shaft to which rotation torque is applied and connected to the base link to rotate based on the base link; And amplification of the rotational torque applied through the input shaft at both ends of the input link of the driving link, and each output terminal is connected to the driving link to transmit the amplified rotational torque to the driving link so that the driving link can rotate based on the base link. It includes; a pair of reducer.

The pair of reducers is a harmonic drive, with each wave generator connected to both ends of the input shaft and symmetrically arranged such that each flex spline and circular spline face each other outside the wave generator.

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

A drive motor is installed in the base link, and the drive motor can transmit rotational force to the input shaft of the drive link through the pulley unit.

The pulley unit is composed of a circulating belt connecting the drive motor and the input shaft and a tension reel to transfer the tension to the circulating belt, the tension reel may be installed on the base link in the outer side of the circulating belt to press the circulation belt.

The tension reel is composed of a mounting plate fixed to the base link through the bolt and a pressure roller installed on one side of the mounting plate to press the circulation belt, and the central axis of the pressure roller is spaced apart from the central axis of the bolt in the locking direction of the bolt. Can be.

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 reducers may be provided at the knee portion of the walking robot.

According to the high-load driving module with the minimized weight of the present invention, it is possible to provide a high-load driving module with a minimized weight that can withstand high loads while using the same reducer without increasing the allowable torque.

1 is an embodiment in which a high load driving module with a minimized weight according to an embodiment of the present invention is applied to a lower surface of a robot.

2 to 3 is a perspective view of a high load driving module minimized weight in accordance with one embodiment of the present invention.

4 is a cross-sectional view of a high load driving module minimized weight according to an embodiment of the present invention.

5 is a partially enlarged view of the cross-sectional view of FIG. 4.

6 is an embodiment in which a high load driving module with a minimized weight according to an embodiment of the present invention is applied to a lower surface of a robot.

1 is an embodiment in which a high weight driving module with a minimized weight according to an embodiment of the present invention is applied to a lower surface of a robot, and FIGS. 2 to 3 are high load driving modules with a minimized weight according to an embodiment of the present invention. 4 is a cross-sectional view of a high load driving module minimized weight according to an embodiment of the present invention, Figure 5 is a partially enlarged view of the cross-sectional view of Figure 4, Figure 6 is an embodiment of the present invention The high load driving module with the minimized weight is applied to the lower surface of the robot.

According to the present invention, the high-load driving module minimized in weight includes: a base link (100); An input shaft H10 to which rotation torque is applied is provided, the drive link 300 connected to the base link 100 to rotate based on the base link 100; And amplified rotation torques provided at both ends of the input shaft H10 of the driving link 300 through the input shaft H10, and each output terminal is connected to the driving link 300 to convert the amplified rotation torque into the driving link 300. And a pair of reducers (H, H ') which allow the drive link (300) to rotate relative to the base link (100).

1 and 6 is an embodiment in which the high-weight driving module minimized weight according to an embodiment of the present invention is applied to the lower surface of the robot, the present invention can be applied to a walking-type walking robot that a passenger boards. These walking robots are heavy and require very large allowable torques. However, when the allowable torque is doubled, the reducer theoretically needs a reducer with twice the diameter, four times the area, and eight times the volume and weight, which in turn leads to an increase in the weight and size, which is not a realistic solution.

In the case of the present invention, the driving motor is one, but since the reduction gears H and H 'are connected to both sides in parallel, the allowable torque of the driving module itself is doubled. This is different from simply connecting the reducer in series as in the prior art. When the reducer is connected in series, the output torque can be increased, but the allowable torque of the drive module itself is not changed, and the reducer is connected in parallel as in the present invention. In this case, the output torque does not change, but the allowable torque of the drive module is increased.

Specifically, FIGS. 2 to 3 are perspective views of a high load driving module with a minimum weight according to an embodiment of the present invention, and FIG. 4 is a cross-sectional view of a high load driving module with a minimum weight according to an embodiment of the present invention. .

First, the base link 100 is provided. An input shaft H10 to which rotation torque is applied is provided, and a driving link 300 connected to the base link 100 and rotating based on the base link 100 is provided. A reducer is disposed between the base link 100 and the drive link 300 to allow the drive link 300 to rotate relative to the base link 100. In the case of the reducer, each pair is provided at both ends of the input shaft H10 of the driving link 300 to amplify the rotation torque applied through the input shaft H10. In addition, the pair of reduction gears H and H 'each output end is connected to the drive link 300 to transmit the amplified rotation torque to the drive link so that the drive link 300 can rotate based on the base link 100. In the end, one input is branched into two reduction gears H and H 'and then merged into the drive link 300 at the same time so that the reduction gears H and H' are connected in parallel. And through this, the allowable torque of the drive module itself is doubled.

Specifically, as shown in FIG. 4, the pair of reducers are harmonic drives, and each wave generator H20 is connected to both ends of the input shaft H10, and each flex spline H30 outward of the wave generator H20. And the circular spline H40 may be symmetrically disposed to face each other.

The output link of each flex spline H30 of the pair of reducers H and H 'is connected to the drive link 300, and the drive link 300 simultaneously inputs the rotation torque from the pair of flex splines H30. I can receive it. Therefore, each reducer (H, H ') is arranged on both sides based on the input shaft (H10) to receive the same input and the drive link 300 is connected to the output terminal of the flex spline (H30) together to transfer power. This is to deliver the drive in parallel. For this purpose, a pair of reduction gears H and H 'should be arranged to face symmetrically on both sides. And each circular spline (H40) for this purpose is fixed to the base link (100).

As the reduction gears are arranged to be symmetrical, the thrust generated in the wave generator H20 can be canceled with each other. That is, the acceleration and deceleration of the reducer is generated in the wave generator (H20) to the outside or inward, the reducer (H, H ') is disposed so as to be symmetrical to both sides of the input shaft (H10) by the direction of the thrust facing each other or away from each other Thrust applied to the input shaft (H10) by acting as can be canceled.

FIG. 5 is a partially enlarged view of the cross-sectional view of FIG. 4, and as shown in the drawing, the thrust generated in the wave generator H20 is transmitted to the bearing H14 through the bush H12 of the input shaft H10. And the thrust acting on the bearing (H14) is to act on the drive link 300 through the bush (H12). The reason why the thrust can be handled by a very small bush is because the thrusts of the gearheads cancel each other as described above. In addition, the concentricity of both gearheads can be easily realized through the bush (H13) and the bearing (H14). There is also. The bush (H13) is a structure that supports the bearing (H14) and the input shaft (H10), the drive link 300 and the flex spline (H30) together, so that the concentricity of both reducers are well matched, and the rotation is smooth without any misalignment during driving. will be.

The base link 100 is provided with a drive motor, the drive motor may transmit a rotational force to the input shaft (H10) of the drive link 300 through the pulley unit (P). In FIG. 3, a state in which only the pulley unit P is shown without a motor is shown. Although the motor is omitted in the drawing, the drive shaft of the motor drives the pulley unit P to impart rotational force to the input shaft H10.

Pulley unit (P) is composed of a tensioning belt for transmitting the tension to the circulation belt (P20) and the circulation belt (P20) connecting the drive motor and the input shaft (H10), the tension reel is a base link at the outside of the circulation belt (P20) It is installed on the 100 can press the circulation belt (P20).

In particular, as shown in Figures 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 the bolt (T20) to press the circulation belt (P20) Composed of the pressure roller (T30), the central axis of the pressure roller (T30) may be spaced apart in the locking direction of the bolt (T20) from the central axis 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 through the bolting (T20), the bolt (T20) is a point biased toward one side rather than the center of the mounting plate (T10) Is placed on. And the other side of the pressure roller (T30) is installed, the pressure roller (T30) may be spaced apart in the locking direction of the bolt (T20) from the central axis of the bolt (T20) when viewed from the installed position.

If the bolt T20 is locked in the clockwise direction, since the pressing roller T30 is disposed to the left side as shown in the drawing, even if the tension of the belt P20 is applied to the pressing roller T30, the pressing roller T30 is the bolt ( If the T20 is locked as much as possible, it can no longer be rotated in the clockwise direction, and thus the relative positions of the pressure rollers T30, the mounting plate T10, and the base link 100 are fixed. That is, even if the tension of the circulation belt (P20) is applied to the mounting plate (T10) or pressure roller (T30) is released to block the case in which abnormality in power transmission occurs.

On the other hand, in the case of the present invention can be applied to a large riding robot as shown in Figures 1 and 6. In this case, the base link 100 is a thigh link of the walking robot, the driving link 300 is a calf link of the walking robot, and the input shaft H10 and the pair of reducers H and H 'are knee parts of the walking robot. Can be provided.

According to the high-load driving module with the minimized weight of the present invention, it is possible to provide a high-load driving module with a minimized weight that can withstand high loads while using the same speed reducer in which the allowable torque is not increased.

While shown and described in connection with specific embodiments of the present invention, it is within the skill of the art that various changes and modifications can be made therein without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.

[Description of the code]

100: base link 300: drive link

H: Reducer P: Pulley Unit

Claims

Baselink;

A drive link provided with an input shaft to which rotation torque is applied and connected to the base link to rotate based on the base link; And

It is provided at both ends of the input shaft of the drive link to amplify the rotation torque applied through the input shaft, and each output terminal is connected to the drive link to transmit the amplified rotation torque to the drive link so that the drive link can rotate based on the base link. A high load driving module is minimized in weight, including a pair of reducer.
The method according to claim 1,

The pair of reducers is a harmonic drive, each wave generator is connected to both ends of the input shaft, and the outer side of the wave generator is arranged symmetrically so that each of the flex spline and the circular spline face each other High load drive module.
The method according to claim 2,

The drive link is connected to the output terminal of each flex spline of the pair of reducers, the drive link is a weight-reduced high load drive module, characterized in that at the same time receives a rotation torque from the pair of flex splines.
The method according to claim 1,

The base link drive motor is installed, the drive motor is a high-load drive module minimized weight, characterized in that for transmitting the rotational force to the input shaft of the drive link through the pulley unit.
The method according to claim 4,

The pulley unit is composed of a circulating belt connecting the drive motor and the input shaft and a tension reel to transfer the tension to the circulating belt, the tension reel is installed on the base link in the outer side of the circulating belt to minimize the weight, characterized in that to press the circulation belt High load drive module.
The method according to claim 5,

The tension reel is composed of a mounting plate fixed to the base link through the bolt and a pressure roller installed on one side of the mounting plate to press the circulation belt, and the central axis of the pressure roller is spaced apart from the central axis of the bolt in the locking direction of the bolt. Minimized weight, high load drive module, characterized in that.
The method according to claim 1,

The base link is a thigh link of the walking robot, the driving link is a calf link of the walking robot, the input shaft and a pair of reducers are provided in the knee portion of the walking robot, the weight-minimized high-load driving module.