WO2018131758A1 - Power transmission apparatus - Google Patents
Power transmission apparatus Download PDFInfo
- Publication number
- WO2018131758A1 WO2018131758A1 PCT/KR2017/005733 KR2017005733W WO2018131758A1 WO 2018131758 A1 WO2018131758 A1 WO 2018131758A1 KR 2017005733 W KR2017005733 W KR 2017005733W WO 2018131758 A1 WO2018131758 A1 WO 2018131758A1
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- WIPO (PCT)
- Prior art keywords
- rotation
- rotating
- rotating shaft
- shaft
- locking member
- Prior art date
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Classifications
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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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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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
Definitions
- the present invention relates to a device, and more particularly to a power transmission device.
- the power transmission device may be used in joints, drivers, and turntables in the semiconductor field.
- the power transmission device is used for power cables, signal cables, etc. to drive a variety of devices.
- a cable or the like may be disposed outside or inside the power train.
- the power transmission device may generate a rotating object in accordance with the operation of the internal components. Due to such an object, the cable or the like is twisted, and if such an operation is repeated, the cable or the like may be broken.
- Various structures can be used in the power transmission device to solve the above problems. For example, by attaching a sensor to determine the relative position between the components of the power transmission device or by installing a separate structure, such as a power transmission device can limit the rotation angle.
- the power transmission device as described above is specifically disclosed in Korean Patent Publication No. 2015-011253 (name of the invention: brake device for robot joint module, Applicant: Auto Power Co., Ltd.).
- Embodiments of the present invention seek to provide a power transmission device.
- a first rotating shaft a driving unit installed on the first rotating shaft to rotate the first rotating shaft, and disposed inside the first rotating shaft, connected to the first rotating shaft to operate the driving unit.
- a second rotating shaft rotating at a time, a first rotating body installed on the second rotating shaft and rotating together with the second rotating shaft, a first rotation detecting unit sensing a rotation of the first rotating body, and the first rotation
- the power transmission device may include a stopper part disposed between one or all of the second rotation shafts and the first rotation sensing unit to limit a rotation radius of the second rotation shaft.
- Embodiments of the present invention can effectively prevent the twisting of the inner cable or the like by effectively limiting the rotation range. Embodiments of the present invention can prevent damage or damage due to excessive rotation by no longer rotating after a certain number of rotations.
- FIG. 1 is a cross-sectional perspective view showing a part of a power transmission device according to an embodiment of the present invention.
- FIG. 2 is a cross-sectional view showing the power transmission device shown in FIG.
- FIG. 3 is a partial perspective view showing an embodiment of the stopper portion of the power transmission device shown in FIG.
- FIG. 4 is a partial perspective view showing a power transmission device according to another embodiment.
- a first rotating shaft a driving unit installed on the first rotating shaft to rotate the first rotating shaft, and disposed inside the first rotating shaft, connected to the first rotating shaft to operate the driving unit.
- a second rotating shaft rotating at a time, a first rotating body installed on the second rotating shaft and rotating together with the second rotating shaft, a first rotation detecting unit sensing a rotation of the first rotating body, and the first rotation
- the power transmission device may include a stopper part disposed between one or all of the second rotation shafts and the first rotation sensing unit to limit a rotation radius of the second rotation shaft.
- the stopper may include a rotating member installed on one of the first rotating body and the second rotating shaft, a locking member having a variable position depending on the rotation of the rotating member, and a locking member installed on the rotation detecting unit. It may include a guide for guiding the rotation and linear motion of the.
- the locking member may include a first body part installed to rotate and linearly move the guide part, and a locking protrusion protruding from the first body part.
- the locking protrusions may be provided in plural, and the plurality of locking protrusions may be arranged to be spaced apart from each other by a predetermined interval on the outer surface of the first body part.
- a groove or a hole may be formed in the rotating member so that the locking protrusion is inserted.
- a plurality of grooves or holes may be formed in the rotating member so as to be spaced apart from each other.
- the locking member may include a first body part installed to rotate and linearly move the guide part, and a first gear tooth formed to protrude from an outer surface of the first body part.
- the rotating member may include the second body portion and a second gear protruding from the second body portion toward the locking member.
- At least two or more second gear teeth may form one second gear teeth group, and a plurality of second gear teeth groups may be provided, and the plurality of second gear teeth groups may be arranged to be spaced apart from each other.
- the guide unit may further include an elastic unit disposed between the locking member and the rotation sensing unit.
- FIG. 1 is a cross-sectional perspective view showing a part of a power transmission device according to an embodiment of the present invention.
- 2 is a cross-sectional view showing the power transmission device shown in FIG. 3 is a partial perspective view showing an embodiment of the stopper portion of the power transmission device shown in FIG.
- the power transmission device 100 includes a housing 111, a first rotating shaft 112, a driving unit 120, a reduction gear 131, a second rotating shaft 132, a brake 133,
- the first encoder 140, the driver 151, the second encoder 160, the stopper unit 170, the sensor unit 181, the alarm unit 182, and the cover 183 may be included.
- the housing 111 may form an appearance. In this case, a space may be formed in the housing 111, and various parts or components may be disposed in the housing 111.
- the first rotation shaft 112 may be disposed inside the housing 111. In this case, a hollow may be formed in the first rotation shaft 112 and a second rotation shaft 132 may be inserted.
- the first rotation shaft 112 may be formed in the form of a shaft.
- the driving unit 120 may be disposed between the first rotation shaft 112 and the housing 111.
- the driving unit 120 may be in the form of a motor.
- the driving unit 120 may include a rotor 121 disposed on the first rotation shaft 112 and a stator 122 disposed to surround the outer surface of the rotor 121.
- the rotor 121 may be formed in the form of a permanent magnet
- the stator 122 may be in the form of an electromagnet.
- the stator 122 may be disposed to be spaced apart from the outer surface of the rotor 121 and may be fixed to the housing 111.
- the reducer 131 may be connected to the first rotation shaft 112. In this case, the first rotating shaft 112 may be penetrated inside the reducer 131.
- the reducer 131 may reduce the torque of the first rotating shaft 112 that rotates according to the driving of the driving unit 120 and transmit the decelerated torque to the second rotating shaft 132.
- the reducer 131 as described above may be formed in various forms.
- the reducer 131 may be a reducer in the form of a harmonic drive.
- the reduction gear 131 may be a reduction gear including a planetary gear.
- the reducer 131 is not limited to the above, and may include all shapes and structures connected to the first rotating shaft 112 to reduce the torque and then transfer the reduced speed to the second rotating shaft 132.
- the speed reducer 131 will be described in detail with reference to a case including a harmonic drive reducer for convenience of description.
- the harmonic drive reducer is the same as a general harmonic drive reducer, and thus a detailed description thereof will be omitted.
- the second rotation shaft 132 may be disposed inside the first rotation shaft 112. At this time, the second rotation shaft 132 may be hollow formed therein. Cables such as a power cable and a signal cable may pass through the second rotation shaft 132.
- An external device may be connected to one end of the second rotation shaft 132.
- the external device may be an object such as a robot arm, a part of the robot, a rotating stage, or the like.
- the second rotation shaft 132 may transmit the rotational force to the external device.
- the brake 133 may be disposed on the first rotation shaft 112. In this case, the first rotation shaft 112 may be disposed to penetrate the brake 133.
- the brake 133 may receive a signal from the outside to slow down the rotation of the first rotating shaft 112 or stop the first rotating shaft 112. In this case, the brake 133 may adjust the rotation of the first rotation shaft 112 by contacting the first rotation shaft 112.
- the first encoder 140 may be connected to the second rotation shaft 132 to measure the rotation speed of the second rotation shaft 132.
- the first encoder 140 may include a first rotating body 141 and a first rotation detecting unit 142.
- the first rotating body 141 may be connected to the second rotating shaft 132 and rotate together when the second rotating shaft 132 rotates.
- the first rotation sensing unit 142 may be connected to and fixed to at least one of a part of the second encoder 160, the brake 133, the housing 111, and the cover 183.
- the first rotating body 141 as described above may be formed in various forms.
- the first rotating body 141 may include a magnet.
- the first rotation detecting unit 142 may detect the rotation of the first rotating body 141.
- the first rotation detecting unit 142 detects a change in a magnetic field that is variable when the first rotating body 141 rotates to rotate the first rotating body 141.
- the degree can be measured.
- the first encoder 140 as described above is not limited to the above, and may include all devices and structures connected to the second rotation shaft 132 to sense the rotation speed of the second rotation shaft 132.
- the first rotating body 141 will be described in detail with reference to the case of the magnet for convenience of description.
- the driver 151 may be connected to the driver 120 to control the driver 120.
- the driver 151 may be installed to be fixed to the housing 111.
- the second encoder 160 may be connected to the first rotation shaft 112 to measure the rotation speed of the first rotation shaft 112.
- the second encoder 160 may include a second rotating body 161 and a second rotation detecting unit 162.
- the second rotating body 161 may be connected to the first rotating shaft 112 to rotate together with the first rotating shaft 112 when the first rotating shaft 112 rotates.
- the second rotation detecting unit 162 detects the rotation angle (or rotation speed) of the second rotation body 161 when the second rotation body 161 rotates (or the rotation angle of the first rotation shaft 112). Number of revolutions) can be detected.
- the second rotation body 161 and the second rotation detection unit 162 are the same as or similar to the first rotation body 141 and the first rotation detection unit 142 described above, a detailed description thereof will be omitted. .
- the stopper unit 170 may be disposed on either the first encoder 140 or the second rotation shaft 132. In this case, the stopper unit 170 may limit the rotation angle of the second rotation shaft 132.
- the stopper part 170 may include a rotating member 171, a locking member 172, a guide part 173, and an elastic part 174.
- the rotating member 171 may be installed on one of the second rotating shaft 132 or the first rotating body 141 to rotate together when one of the second rotating shaft 132 or the first rotating body 141 is rotated.
- the first rotating member 171 may be integrally formed with one of the second rotating shaft 132 or the first rotating member 141.
- the first rotating member 171 is formed separately from one of the second rotating shaft 132 or the first rotating member 141 to be coupled to one of the second rotating shaft 132 or the first rotating member 141. It is also possible.
- a groove (not shown) or a hole 171a may be formed in the first rotating member 171 so that a part of the locking member 172 is inserted into and in contact with the first rotating member 171.
- the rotating member 171 is installed on the first rotating body 141, the rotating member 171 is formed separately from the first rotating body 141, and a hole 171a is formed therein. The case will be described in detail.
- a plurality of holes 171a may be formed in the rotating member 171 as described above.
- the plurality of holes 171a may be disposed to be spaced apart from each other by a predetermined interval.
- a rib 171b is formed between the adjacent holes 171a to be in contact with a part of the locking member 172.
- the locking member 172 may rotate and linearly move in the guide unit 173 by selectively contacting the rotating member 171 of the first rotating body 141 during rotation.
- the locking member 172 may include a first body portion 172a and a locking protrusion 172b.
- the guide part 173 may be inserted into the first body part 172a.
- the locking protrusion 172b may protrude from an outer surface of the first body portion 172a and may be provided in plural.
- the plurality of locking protrusions 172b may be arranged to be spaced apart from each other along the outer surface of the first body portion 172a.
- the plurality of locking projections 172b may be disposed on the outer surface of the first body portion 172a to be spaced apart from each other by a predetermined interval.
- the plurality of locking protrusions 172b as described above may be disposed in the first body 172a to be sequentially inserted into the holes 171a of the rotating member 171 when the rotating member 171 rotates. That is, each locking protrusion 172b may be inserted into each hole 171a of the rotating member 171 when the rotating member 171 rotates.
- the guide part 173 may be disposed in the first rotation detecting part 142.
- the guide unit 173 may be arranged to face outward from the center of the first rotation detecting unit 142.
- Threads may be formed on the outer surface of the guide part 173 so that the first body part 172a rotates and linearly moves.
- a screw thread may be formed on the inner surface of the first body portion 172a.
- the elastic part 174 may provide a restoring force to the locking member 172 when the locking member 172 linearly moves the guide 173.
- the elastic unit 174 may be disposed between the locking member 172 and the first rotation detecting unit 142.
- the elastic portion 174 may be in the form of a coil spring in which the guide portion 173 is disposed.
- the elastic part 174 is formed of an elastic material, and may include a cylindrical member in which the guide part 173 is inserted therein.
- the elastic unit 174 will be described in detail with reference to a case including the coil spring for convenience of description.
- the elastic portion 174 may be provided in plurality.
- the elastic portion 174 may include a first elastic portion 174a and a second elastic portion 174b which are disposed to face each other with respect to the locking member 172.
- the first elastic part 174a may provide a restoring force to the locking member 172 when the locking member 172 moves in the first direction.
- the second elastic part 174b may provide a restoring force to the locking member 172 when the locking member 172 moves in the second direction opposite to the first direction.
- the elastic part 174 may prevent the locking member 172 from moving due to vibration or the like by applying a preload to the locking member 172 during or after the movement of the locking member 172.
- the sensor unit 181 may grasp the position of the locking member 172. In this case, the sensor unit 181 may measure the position of the locking member 172 in real time, and when the locking member 172 linearly moves the guide unit 173, the locking member 172 may move. It may be detected whether the locking member 172 has reached the end of the displacement. For example, the sensor unit 181 may detect whether the locking member 172 has reached a position where it can no longer linearly move. In this case, the sensor unit 181 may have various forms.
- the sensor unit 181 may include various types of sensors capable of detecting the position of the locking member 172 such as a contact sensor, an ultrasonic sensor, a laser sensor, an optical sensor, a linear scale, and the like.
- the alarm unit 182 may warn an external user through light, sound, or the like based on the result detected by the sensor unit 181.
- the cover 183 may be coupled to the housing 111.
- the cover 183 may be disposed at the side of the first encoder 140 to be coupled to the housing 111 to shield the first encoder 140 from the outside.
- the cover 183 may be provided with a transparent window (not shown) to check the position of the stopper 170.
- the transparent window may be formed of a material that can transmit light.
- the driver 151 may operate the driving unit 120.
- current is applied to the stator 122 so that the rotor 121 may rotate.
- the first rotation shaft 112 may rotate in accordance with the rotation of the rotor 121.
- Rotation of the first rotary shaft 112 may be transmitted to the second rotary shaft 132 through the reducer 131 to rotate the second rotary shaft 132.
- the rotation of the first rotating shaft 112 may rotate the second rotating body 161
- the second rotation detecting unit 162 may detect the rotation of the second rotating body (161).
- the first rotating body 141 may be rotated according to the rotation of the second rotating shaft 132.
- the first rotation detecting unit 142 may be in a stopped state.
- the rotating member 171 When the first rotating body 141 rotates, the rotating member 171 may rotate together with the first rotating body 141. In this case, the rotating member 171 may apply a force to the locking protrusion 172b by contacting the locking protrusion 172b. In detail, when the rotating member 171 rotates, the locking protrusion 172b may be inserted into the hole 171a to collide with the rib 171b. In addition, when the rib 171b passes through the lower surface of the locking member 172, the first body portion 172a without the locking protrusion 172b passes, so that the locking member 172 and the rotating member 171 interfere with each other. You can't.
- the first body 172a may linearly move while rotating the guide 173.
- the first body part 172a may linearly move in the right direction of FIG. 3 along the guide part 173.
- the rotating member 171 rotates in the counterclockwise direction in FIG. 3
- the first body part 172a may linearly move in the left direction of FIG. 3 along the guide part 173.
- the elastic portion 174 in the linear movement direction may be compressed.
- the first elastic portion 174a may be compressed.
- the second elastic portion 174b in which the first body portion 172a moves to the left side of FIG. 3 may be compressed.
- the opposite elastic portion 174 may be stretched.
- the elastic portion 174 that is tensioned or compressed as described above may provide a restoring force to the first body portion 172a during linear movement of the first body portion 172a.
- the stopper portion 170 that operates as described above may not be a problem in normal cases. Specifically, when the power transmission device 100 moves in the designed range (for example, the set angle range, etc.), the stopper unit 170 may have little influence on the operation of the power transmission device 100.
- the stopper unit 170 may stop the rotation of the second rotation shaft 132.
- the locking member 172 moves along the guide portion 173 as the second rotation shaft 132 rotates.
- the locking member 172 may reach the end of the guide portion 173.
- the elastic part 174 is no longer compressed or the locking member 172 contacts the first rotation sensing unit 142, the locking member 172 linearly guides the guide unit 173 without further rotating. You may not be able to exercise.
- the locking protrusion 172b may be inserted into the hole 171a to be in contact with the rib 171b.
- the first rotating body 141 may not be able to rotate any more, and the second rotating shaft 132 may no longer rotate.
- the external device connected to the second rotating shaft 132 may not rotate anymore.
- the driver 151 may recognize that the load applied to the driver 120 increases and may stop the driver 120.
- the brake 133 may be operated to stop the rotation of the first rotation shaft 112.
- the sensor unit 181 may stop the operation of the driving unit 120 and operate the brake 133.
- the sensor unit 181 may detect the position of the locking member 172 when the locking member 172 reaches the position as described above. At this time, the alarm unit 182 may inform the external user that the power transmission device 100 has reached the boundary of the set range through light, sound, etc. based on the result detected by the sensor unit 181. have.
- the cable as described above may be inserted into the second rotation shaft 132, and may be connected to each component such as the driving unit 120 through the cover 183.
- the cable inserted into the second rotary shaft 132 continuously rotates according to the rotation of the second rotary shaft 132. May occur.
- a plurality of cables may be entangled with each other or excessive twist may be applied to the ends of the cables, as the second rotation shaft 132 is rotated. In this case, the cable may be broken or broken, thereby causing a short circuit.
- the first rotating shaft 112 and the second rotating shaft 132 rotate beyond the designed range. You can't. In this case, the cable inside the second rotary shaft 132 may not rotate any more.
- the transmission window may be in a state in which a scale or the like is recorded so as to check the rotation amount and the rotation direction of the second rotation shaft 132 according to the position of the locking member 172.
- a scale or the like may be recorded in the first rotating body 141 and the first guide part 173 so as to check the rotation amount and the rotation direction of the second rotating shaft 132. In this case, by reading the scale overlapping with the locking member 172, the user can check the degree of rotation of the second rotary shaft 132.
- the power transmission device 100 can limit the operating range through a simple configuration and structure.
- the power transmission device 100 may physically limit the rotation of 360 degrees or more to prevent the cable inside the power transmission device 100 from being twisted.
- FIG. 4 is a partial perspective view showing a power transmission device according to another embodiment.
- the power transmission device includes a housing (not shown), a first rotating shaft (not shown), a driver (not shown), a reducer (not shown), a second rotating shaft 232, and a brake (not shown). H), a first encoder 240, a driver (not shown), a second encoder (not shown), a stopper portion 270, a sensor portion 281, an alarm unit (not shown) and a cover (not shown) can do.
- the housing, the first rotary shaft, the drive unit, the reducer, the second rotary shaft 232, the brake, the first encoder 240, the driver, the second encoder, the sensor unit 281, the alarm unit since the cover is the same as or similar to that described above, a detailed description thereof will be omitted.
- the stopper part 270 may include a rotating member 271, a locking member 272, a guide part 273, and an elastic part 274.
- the rotating member 271 may include a second body portion 271a and a second gear tooth 271b.
- the second body portion 271a is formed integrally with one of the second rotating shaft 232 or the first rotating body 241 or is formed separately to be coupled to one of the second rotating shaft 232 or the first rotating body 241. can do.
- the second gear teeth 271b may protrude from the second body portion 271a toward the locking member 272.
- the second gear 271b may be formed along the outer surface of the second body portion 271a.
- at least two or more second gear teeth 271b may form one second gear teeth group.
- a plurality of second gear teeth groups may be provided, and the plurality of second gear teeth groups may be arranged on the second body part 271a to be spaced apart from each other.
- the second gear 271b will be described in detail with reference to a case in which the second gear group is formed.
- the locking member 272 may be installed at the guide part 273 to rotate and linearly move.
- the locking member 272 may include a first body portion 272a and a first gear tooth 272b.
- the first body portion 272a may be installed to be rotatable in the guide portion 273.
- the first gear 272b may be formed on a portion or the front surface of the first body portion 272a.
- the first gear 272b will be described in detail with reference to a case where the first gear 272b is formed on the entire outer surface of the first body portion 272a.
- the guide part 273 may be disposed in the first rotation detecting part 242. In this case, a hole may be formed in the first rotation detecting unit 242 so that the guide part 273 is installed.
- the elastic part 274 may be disposed in the guide part 273 to maintain the position of the locking member 272 during the movement of the locking member 272. At this time, since the elastic portion 274 is the same as or similar to that described above, a detailed description thereof will be omitted.
- the drive unit may be sequentially transmitted to the first rotary shaft, the reducer and the second rotary shaft 232.
- the first rotating body 241 may rotate according to the rotation of the second rotating shaft 232, and the rotating member 271 may rotate together with the first rotating body 241.
- the second gear teeth group may sequentially contact the first gear teeth 272b.
- the second gear teeth 271b of each second gear teeth group may contact the first gear teeth 272b while rotating.
- a force is applied to the first gear 272b and the first body 272a may rotate.
- the first body portion 272a may linearly move in the same or similar manner as described above while rotating in the guide portion 273. In this case, when the first body part 272a reaches both ends of the guide part 273 or the elastic part 274 is completely compressed, the first body part 272a may not rotate any more and may not linearly move.
- first gear 272b and at least a portion of the second gear 271b may be arranged to overlap each other.
- at least a portion of the first gear 272b and the second gear 271b may overlap each other within the moving range of the locking member 272. Accordingly, the first gear 272b and the second gear 271b may be in contact with each other.
- the second rotation shaft 232 may stop without further rotation.
- at least one of the driver and the brake may stop the operation of the driving unit or stop the rotation of the first rotation shaft.
- the sensor unit 281 may detect the locking member 272, and the alarm unit may emit an alarm to the outside.
- the drive unit may stop.
- the user may check at least one of the rotation direction and the rotation amount of the second rotation shaft 232 through the transmission window of the cover.
- the method of checking at least one of the rotation direction and the rotation amount of the second rotation shaft 232 is the same or similar to that described above, and thus the detailed description thereof will be omitted.
- the power transmission device can limit the operating range through a simple configuration and structure.
- the power train may physically limit the rotation of 360 degrees or more to prevent the cable inside the power train from being twisted.
- Embodiments of the present invention can be applied to a robot field such as a humanoid.
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Abstract
Disclosed is a power transmission apparatus. The present invention comprises: a first rotating shaft; a drive part that is installed on the first rotating shaft and rotates the first rotating shaft; a second rotating shaft that is disposed inside the first rotating shaft, and is connected to the first rotating shaft and thus rotates when the drive part is operated; a first rotating body that is installed on the second rotating shaft and rotates together with the second rotating shaft; a first rotation detecting part that detects the rotation of the first rotating body; and a stopper part that is disposed between the first rotation detecting part and either the first rotating body or the second rotating shaft to limit the radius of rotation of the second rotating shaft.
Description
본 발명은 장치에 관한 것으로서, 보다 상세하게는 동력전달장치에 관한 것이다.The present invention relates to a device, and more particularly to a power transmission device.
일반적으로 동력전달장치는 다양한 산업분야에 사용된다. 예를 들면, 동력전달장치는 로봇 분야의 관절, 구동부, 반도체 분야의 턴테이블 등에 사용될 수 있다. 이러한 동력전달장치는 다양한 장치를 구동하기 위한 전원케이블, 신호케이블 등이 사용된다. 이러한 케이블 등은 동력전달장치의 외부 또는 내부에 배치될 수 있다. 이때, 동력전달장치는 내부의 구성요소의 작동에 따라서 회전하는 물체가 발생할 수 있다. 이러한 물체로 인하여 케이블 등이 꼬이게 되고, 이러한 작동이 반복되는 경우 케이블 등이 파손될 수 있다.In general, power trains are used in a variety of industries. For example, the power transmission device may be used in joints, drivers, and turntables in the semiconductor field. The power transmission device is used for power cables, signal cables, etc. to drive a variety of devices. Such a cable or the like may be disposed outside or inside the power train. At this time, the power transmission device may generate a rotating object in accordance with the operation of the internal components. Due to such an object, the cable or the like is twisted, and if such an operation is repeated, the cable or the like may be broken.
상기와 같은 문제를 해결하기 위하여 다양한 구조가 동력전달장치에 사용될 수 있다. 예를 들면, 센서를 부착하여 동력전달장치의 구성요소 사이의 상대 위치를 파악하거나 동력전달장치에 별도의 구조물 등을 설치하여 회전 각도를 제한할 수 있다. Various structures can be used in the power transmission device to solve the above problems. For example, by attaching a sensor to determine the relative position between the components of the power transmission device or by installing a separate structure, such as a power transmission device can limit the rotation angle.
상기와 같은 동력전달장치는 한국공개특허공보 제2015-011253호(발명의 명칭: 로봇 관절 모듈용 브레이크 장치, 출원인 : 주식회사 오토파워)에 구체적으로 개시되어 있다.The power transmission device as described above is specifically disclosed in Korean Patent Publication No. 2015-011253 (name of the invention: brake device for robot joint module, Applicant: Auto Power Co., Ltd.).
본 발명의 실시예들은 동력전달장치를 제공하고자 한다.Embodiments of the present invention seek to provide a power transmission device.
본 발명의 일 측면은, 제1 회전축과, 상기 제1 회전축에 설치되어 상기 제1 회전축을 회전시키는 구동부와, 상기 제1 회전축의 내부에 배치되며, 상기 제1 회전축과 연결되어 상기 구동부의 작동시 회전하는 제2 회전축과, 상기 제2 회전축에 설치되어 상기 제2 회전축과 함께 회전하는 제1 회전체와, 상기 제1 회전체의 회전을 감지하는 제1 회전감지부와, 상기 제1 회전체 또는 상기 제2 회전축 중 하나와 상기 제1 회전감지부 사이에 배치되어 상기 제2 회전축의 회전 반경을 제한하는 스토퍼부를 포함하는 동력전달장치를 제공할 수 있다.According to an aspect of the present invention, a first rotating shaft, a driving unit installed on the first rotating shaft to rotate the first rotating shaft, and disposed inside the first rotating shaft, connected to the first rotating shaft to operate the driving unit. A second rotating shaft rotating at a time, a first rotating body installed on the second rotating shaft and rotating together with the second rotating shaft, a first rotation detecting unit sensing a rotation of the first rotating body, and the first rotation The power transmission device may include a stopper part disposed between one or all of the second rotation shafts and the first rotation sensing unit to limit a rotation radius of the second rotation shaft.
본 발명의 실시예들은 회전 범위를 효과적으로 한정함으로써 내부 케이블 등이 꼬이는 것을 방지할 수 있다. 본 발명의 실시예들은 일정 횟수 회전 후 더 이상 회전하지 않음으로써 과도한 회전으로 인하여 파손되거나 손상되는 것을 방지할 수 있다.Embodiments of the present invention can effectively prevent the twisting of the inner cable or the like by effectively limiting the rotation range. Embodiments of the present invention can prevent damage or damage due to excessive rotation by no longer rotating after a certain number of rotations.
도 1은 본 발명의 일 실시예에 따른 동력전달장치의 일부를 보여주는 단면사시도이다.1 is a cross-sectional perspective view showing a part of a power transmission device according to an embodiment of the present invention.
도 2는 도 1에 도시된 동력전달장치를 보여주는 단면도이다. 2 is a cross-sectional view showing the power transmission device shown in FIG.
도 3은 도 1에 도시된 동력전달장치의 스토퍼부의 일 실시예를 보여주는 부분사시도이다. 3 is a partial perspective view showing an embodiment of the stopper portion of the power transmission device shown in FIG.
도 4는 다른 실시예에 따른 동력전달장치를 보여주는 부분사시도이다.4 is a partial perspective view showing a power transmission device according to another embodiment.
본 발명의 일 측면은, 제1 회전축과, 상기 제1 회전축에 설치되어 상기 제1 회전축을 회전시키는 구동부와, 상기 제1 회전축의 내부에 배치되며, 상기 제1 회전축과 연결되어 상기 구동부의 작동시 회전하는 제2 회전축과, 상기 제2 회전축에 설치되어 상기 제2 회전축과 함께 회전하는 제1 회전체와, 상기 제1 회전체의 회전을 감지하는 제1 회전감지부와, 상기 제1 회전체 또는 상기 제2 회전축 중 하나와 상기 제1 회전감지부 사이에 배치되어 상기 제2 회전축의 회전 반경을 제한하는 스토퍼부를 포함하는 동력전달장치를 제공할 수 있다. According to an aspect of the present invention, a first rotating shaft, a driving unit installed on the first rotating shaft to rotate the first rotating shaft, and disposed inside the first rotating shaft, connected to the first rotating shaft to operate the driving unit. A second rotating shaft rotating at a time, a first rotating body installed on the second rotating shaft and rotating together with the second rotating shaft, a first rotation detecting unit sensing a rotation of the first rotating body, and the first rotation The power transmission device may include a stopper part disposed between one or all of the second rotation shafts and the first rotation sensing unit to limit a rotation radius of the second rotation shaft.
또한, 상기 스토퍼부는, 상기 제1 회전체 또는 상기 제2 회전축 중 하나에 설치되는 회전부재와, 상기 회전부재의 회전에 따라 위치가 가변하는 걸림부재와, 상기 회전감지부에 설치되어 상기 걸림부재의 회전 및 선형 운동을 가이드하는 가이드부를 포함할 수 있다. The stopper may include a rotating member installed on one of the first rotating body and the second rotating shaft, a locking member having a variable position depending on the rotation of the rotating member, and a locking member installed on the rotation detecting unit. It may include a guide for guiding the rotation and linear motion of the.
또한, 상기 걸림부재는, 상기 가이드부에 회전 및 선형 운동 가능하도록 설치되는 제1 바디부와, 상기 제1 바디부로부터 돌출되도록 형성되는 걸림돌기를 포함할 수 있다. The locking member may include a first body part installed to rotate and linearly move the guide part, and a locking protrusion protruding from the first body part.
또한, 상기 걸림돌기는 복수개 구비되고, 상기 복수개의 걸림돌기는 상기 제1 바디부의 외면에 서로 일정 간격 이격되도록 배열될 수 있다. In addition, the locking protrusions may be provided in plural, and the plurality of locking protrusions may be arranged to be spaced apart from each other by a predetermined interval on the outer surface of the first body part.
또한, 상기 회전부재에는 상기 걸림돌기가 삽입되도록 홈 또는 홀이 형성될 수 있다. In addition, a groove or a hole may be formed in the rotating member so that the locking protrusion is inserted.
또한, 상기 홈 또는 홀은 서로 이격되도록 상기 회전부재에 복수개가 형성될 수 있다. In addition, a plurality of grooves or holes may be formed in the rotating member so as to be spaced apart from each other.
또한, 상기 걸림부재는, 상기 가이드부에 회전 및 선형 운동 가능하도록 설치되는 제1 바디부와, 상기 제1 바디부의 외면으로부터 돌출되도록 형성되는 제1 기어이를 포함할 수 있다. The locking member may include a first body part installed to rotate and linearly move the guide part, and a first gear tooth formed to protrude from an outer surface of the first body part.
또한, 상기 회전부재는, 상기 제2 바디부와, 상기 제2 바디부로부터 상기 걸림부재 측으로 돌출되는 제2 기어이를 포함할 수 있다. In addition, the rotating member may include the second body portion and a second gear protruding from the second body portion toward the locking member.
또한, 상기 제2 기어이는 적어도 2개 이상이 하나의 제2 기어이그룹을 형성하고, 상기 제2 기어이그룹은 복수개 구비되며, 상기 복수개의 제2 기어이그룹은 서로 이격되도록 배열될 수 있다. In addition, at least two or more second gear teeth may form one second gear teeth group, and a plurality of second gear teeth groups may be provided, and the plurality of second gear teeth groups may be arranged to be spaced apart from each other.
또한, 상기 가이드부에 설치되며, 상기 걸림부재와 상기 회전감지부 사이에 배치되는 탄성부를 더 포함할 수 있다. In addition, the guide unit may further include an elastic unit disposed between the locking member and the rotation sensing unit.
본 발명은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 및/또는 "포함하는(comprising)"은 언급된 구성요소, 단계, 동작 및/또는 소자는 하나 이상의 다른 구성요소, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다. 제1, 제2 등의 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 구성요소들은 용어들에 의해 한정되어서는 안 된다. 용어들은 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용된다.The invention will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from another.
도 1은 본 발명의 일 실시예에 따른 동력전달장치의 일부를 보여주는 단면사시도이다. 도 2는 도 1에 도시된 동력전달장치를 보여주는 단면도이다. 도 3은 도 1에 도시된 동력전달장치의 스토퍼부의 일 실시예를 보여주는 부분사시도이다. 1 is a cross-sectional perspective view showing a part of a power transmission device according to an embodiment of the present invention. 2 is a cross-sectional view showing the power transmission device shown in FIG. 3 is a partial perspective view showing an embodiment of the stopper portion of the power transmission device shown in FIG.
도 1 내지 도 3을 참고하면, 동력전달장치(100)는 하우징(111), 제1 회전축(112), 구동부(120), 감속기(131), 제2 회전축(132), 브레이크(133), 제1 엔코더(140), 드라이버(151), 제2 엔코더(160), 스토퍼부(170), 센서부(181), 알람부(182) 및 커버(183)를 포함할 수 있다. 1 to 3, the power transmission device 100 includes a housing 111, a first rotating shaft 112, a driving unit 120, a reduction gear 131, a second rotating shaft 132, a brake 133, The first encoder 140, the driver 151, the second encoder 160, the stopper unit 170, the sensor unit 181, the alarm unit 182, and the cover 183 may be included.
하우징(111)은 외관을 형성할 수 있다. 이때, 하우징(111) 내부에는 공간이 형성될 수 있으며, 하우징(111) 내부에는 다양한 부품 또는 구성요소가 배치될 수 있다. The housing 111 may form an appearance. In this case, a space may be formed in the housing 111, and various parts or components may be disposed in the housing 111.
제1 회전축(112)은 하우징(111) 내부에 배치될 수 있다. 이때, 제1 회전축(112) 내부에는 중공이 형성될 수 있으며 제2 회전축(132)이 삽입될 수 있다. 제1 회전축(112)은 샤프트 형태로 형성될 수 있다.The first rotation shaft 112 may be disposed inside the housing 111. In this case, a hollow may be formed in the first rotation shaft 112 and a second rotation shaft 132 may be inserted. The first rotation shaft 112 may be formed in the form of a shaft.
구동부(120)는 제1 회전축(112)과 하우징(111) 사이에 배치될 수 있다. 이때, 구동부(120)는 모터 형태일 수 있다. 예를 들면, 구동부(120)는 제1 회전축(112)에 배치되는 로터(121)와, 로터(121)의 외면을 감싸도록 배치되는 스테이터(122)를 포함할 수 있다. 이때, 로터(121)는 영구자석 형태로 형성될 수 있으며, 스테이터(122)는 전자석 형태일 수 있다. 상기와 같은 스테이터(122)는 로터(121)의 외면으로부터 이격되도록 배치될 수 있으며, 하우징(111)에 고정될 수 있다. The driving unit 120 may be disposed between the first rotation shaft 112 and the housing 111. In this case, the driving unit 120 may be in the form of a motor. For example, the driving unit 120 may include a rotor 121 disposed on the first rotation shaft 112 and a stator 122 disposed to surround the outer surface of the rotor 121. At this time, the rotor 121 may be formed in the form of a permanent magnet, the stator 122 may be in the form of an electromagnet. The stator 122 may be disposed to be spaced apart from the outer surface of the rotor 121 and may be fixed to the housing 111.
감속기(131)는 제1 회전축(112)와 연결될 수 있다. 이때, 감속기(131) 내부에는 제1 회전축(112)이 관통하도록 배치될 수 있다. 감속기(131)는 구동부(120)의 구동에 따라 회전하는 제1 회전축(112)의 토크를 감속하여 제2 회전축(132)으로 전달할 수 있다. 상기와 같은 감속기(131)는 다양한 형태로 형성될 수 있다. 예를 들면, 감속기(131)는 하모닉 드라이브 형태의 감속기일 수 있다. 다른 실시예로써 감속기(131)는 유성기어를 포함하는 감속기일 수 있다. 이때, 감속기(131)는 상기에 한정되는 것은 아니며 제1 회전축(112)와 연결되어 토크를 감속한 후 제2 회전축(132)으로 전달시키는 모든 형태 및 구조를 포함할 수 있다. 다만, 이하에서는 설명의 편의를 위하여 감속기(131)는 하모닉 드라이브 감속기를 포함하는 경우를 중심으로 상세히 설명하기로 한다. 이때, 도 2 및 도 3에서는 감속기(131)에 대해서 상세히 도시하지 않았으나 상기 하모닉 드라이브 감속기는 일반적인 하모닉 드라이브 감속기와 동일하므로 상세한설명은 생략하기로 한다. The reducer 131 may be connected to the first rotation shaft 112. In this case, the first rotating shaft 112 may be penetrated inside the reducer 131. The reducer 131 may reduce the torque of the first rotating shaft 112 that rotates according to the driving of the driving unit 120 and transmit the decelerated torque to the second rotating shaft 132. The reducer 131 as described above may be formed in various forms. For example, the reducer 131 may be a reducer in the form of a harmonic drive. In another embodiment, the reduction gear 131 may be a reduction gear including a planetary gear. In this case, the reducer 131 is not limited to the above, and may include all shapes and structures connected to the first rotating shaft 112 to reduce the torque and then transfer the reduced speed to the second rotating shaft 132. However, hereinafter, the speed reducer 131 will be described in detail with reference to a case including a harmonic drive reducer for convenience of description. In this case, although not shown in detail with respect to the reducer 131 in FIGS. 2 and 3, the harmonic drive reducer is the same as a general harmonic drive reducer, and thus a detailed description thereof will be omitted.
제2 회전축(132)은 제1 회전축(112)의 내부에 배치될 수 있다. 이때, 제2 회전축(132)은 내부에 중공이 형성될 수 있다. 제2 회전축(132) 내부를 통하여는 전원 케이블, 신호케이블 등과 같은 케이블이 통과할 수 있다. The second rotation shaft 132 may be disposed inside the first rotation shaft 112. At this time, the second rotation shaft 132 may be hollow formed therein. Cables such as a power cable and a signal cable may pass through the second rotation shaft 132.
제2 회전축(132)의 일단에는 외부 장치가 연결될 수 있다. 이때, 외부장치는 로봇암, 로봇의 일부, 회전하는 스테이지 등과 같은 물체일 수 있다. 이러한 경우 제2 회전축(132)는 외부장치에 회전력을 전달할 수 있다. An external device may be connected to one end of the second rotation shaft 132. In this case, the external device may be an object such as a robot arm, a part of the robot, a rotating stage, or the like. In this case, the second rotation shaft 132 may transmit the rotational force to the external device.
브레이크(133)는 제1 회전축(112)에 배치될 수 있다. 이때, 제1 회전축(112)은 브레이크(133)를 관통하도록 배치될 수 있다. 브레이크(133)는 외부로부터 신호를 전달 받아 제1 회전축(112)의 회전을 감속시키거나 제1 회전축(112)을 중지시킬 수 있다. 이러한 경우 브레이크(133)는 제1 회전축(112)과 접촉함으로써 제1 회전축(112)의 회전을 조절할 수 있다. The brake 133 may be disposed on the first rotation shaft 112. In this case, the first rotation shaft 112 may be disposed to penetrate the brake 133. The brake 133 may receive a signal from the outside to slow down the rotation of the first rotating shaft 112 or stop the first rotating shaft 112. In this case, the brake 133 may adjust the rotation of the first rotation shaft 112 by contacting the first rotation shaft 112.
제1 엔코더(140)는 제2 회전축(132)와 연결되어 제2 회전축(132)의 회전수를 측정할 수 있다. 구체적으로 제1 엔코더(140)는 제1 회전체(141) 및 제1 회전감지부(142)를 포함할 수 있다. 제1 회전체(141)는 제2 회전축(132)와 연결되어 제2 회전축(132)의 회전시 함께 회전할 수 있다. 제1 회전감지부(142)는 제2 엔코더(160)의 일부, 브레이크(133), 하우징(111) 및 커버(183) 중 적어도 하나와 연결되어 고정될 수 있다. 상기와 같은 제1 회전체(141)는 다양한 형태로 형성될 수 있다. 예를 들면, 제1 회전체(141)는 마그넷을 포함할 수 있다. 제1 회전감지부(142)는 제1 회전체(141)의 회전을 감지할 수 있다. 특히 제1 회전체(141)가 마그넷을 포함하는 경우 제1 회전감지부(142)는 제1 회전체(141)의 회전 시 가변하는 자기장의 변화를 감지하여 제1 회전체(141)의 회전 정도를 측정할 수 있다. 상기와 같은 제1 엔코더(140)는 상기에 한정되는 것은 아니며 제2 회전축(132)과 연결되어 제2 회전축(132)의 회전수를 감지하는 모든 장치 및 구조를 포함할 수 있다. 다만, 이하에서는 설명의 편의를 위하여 제1 회전체(141)가 마그넷을 포함하는 경우를 중심으로 상세히 설명하기로 한다. The first encoder 140 may be connected to the second rotation shaft 132 to measure the rotation speed of the second rotation shaft 132. In detail, the first encoder 140 may include a first rotating body 141 and a first rotation detecting unit 142. The first rotating body 141 may be connected to the second rotating shaft 132 and rotate together when the second rotating shaft 132 rotates. The first rotation sensing unit 142 may be connected to and fixed to at least one of a part of the second encoder 160, the brake 133, the housing 111, and the cover 183. The first rotating body 141 as described above may be formed in various forms. For example, the first rotating body 141 may include a magnet. The first rotation detecting unit 142 may detect the rotation of the first rotating body 141. In particular, when the first rotating body 141 includes a magnet, the first rotation detecting unit 142 detects a change in a magnetic field that is variable when the first rotating body 141 rotates to rotate the first rotating body 141. The degree can be measured. The first encoder 140 as described above is not limited to the above, and may include all devices and structures connected to the second rotation shaft 132 to sense the rotation speed of the second rotation shaft 132. However, hereinafter, the first rotating body 141 will be described in detail with reference to the case of the magnet for convenience of description.
드라이버(151)는 구동부(120)와 연결되어 구동부(120)를 제어할 수 있다. 이때, 드라이버(151)는 하우징(111)에 고정되도록 설치될 수 있다. The driver 151 may be connected to the driver 120 to control the driver 120. In this case, the driver 151 may be installed to be fixed to the housing 111.
제2 엔코더(160)는 제1 회전축(112)과 연결되어 제1 회전축(112)의 회전수를 측정할 수 있다. 이때, 제2 엔코더(160)는 제2 회전체(161)와 제2 회전감지부(162)를 포함할 수 있다. 이러한 경우 제2 회전체(161)는 제1 회전축(112)과 연결되어 제1 회전축(112)의 회전 시 제1 회전축(112)과 함께 회전할 수 있다. 또한, 제2 회전감지부(162)는 제2 회전체(161)의 회전 시 제2 회전체(161)의 회전각도(또는 회전수)를 감지함으로써 제1 회전축(112)의 회전각도(또는 회전수)를 감지할 수 있다. 이때, 제2 회전체(161)와 제2 회전감지부(162)는 상기에서 설명한 제1 회전체(141) 및 제1 회전감지부(142)와 동일 또는 유사하므로 상세한 설명은 생략하기로 한다. The second encoder 160 may be connected to the first rotation shaft 112 to measure the rotation speed of the first rotation shaft 112. In this case, the second encoder 160 may include a second rotating body 161 and a second rotation detecting unit 162. In this case, the second rotating body 161 may be connected to the first rotating shaft 112 to rotate together with the first rotating shaft 112 when the first rotating shaft 112 rotates. In addition, the second rotation detecting unit 162 detects the rotation angle (or rotation speed) of the second rotation body 161 when the second rotation body 161 rotates (or the rotation angle of the first rotation shaft 112). Number of revolutions) can be detected. In this case, since the second rotation body 161 and the second rotation detection unit 162 are the same as or similar to the first rotation body 141 and the first rotation detection unit 142 described above, a detailed description thereof will be omitted. .
스토퍼부(170)는 제1 엔코더(140) 또는 제2 회전축(132) 중 하나에 배치될 수 있다. 이러한 경우 스토퍼부(170)는 제2 회전축(132)의 회전 각도를 제한할 수 있다. The stopper unit 170 may be disposed on either the first encoder 140 or the second rotation shaft 132. In this case, the stopper unit 170 may limit the rotation angle of the second rotation shaft 132.
구체적으로 스토퍼부(170)는 회전부재(171), 걸림부재(172), 가이드부(173) 및 탄성부(174)를 포함할 수 있다. In detail, the stopper part 170 may include a rotating member 171, a locking member 172, a guide part 173, and an elastic part 174.
회전부재(171)는 제2 회전축(132) 또는 제1 회전체(141) 중 하나에 설치되어 제2 회전축(132) 또는 제1 회전체(141) 중 하나의 회전 시 같이 회전할 수 있다. 이때, 일 실시예로써 제1 회전부재(171)는 제2 회전축(132) 또는 제1 회전체(141) 중 하나와 일체로 형성될 수 있다. 다른 실시예로써 제1 회전부재(171)는 제2 회전축(132) 또는 제1 회전체(141) 중 하나와 별도로 형성되어 제2 회전축(132) 또는 제1 회전체(141) 중 하나와 결합하는 것도 가능하다. 이때, 제1 회전부재(171)에는 걸림부재(172)의 일부가 삽입되어 접촉하도록 홈(미표기) 또는 홀(171a)이 형성될 수 있다. 이하에서는 설명의 편의를 위하여 회전부재(171)가 제1 회전체(141)에 설치되며, 회전부재(171)가 제1 회전체(141)와 별도로 형성되고, 내부에는 홀(171a)이 형성되는 경우를 중심으로 상세히 설명하기로 한다. The rotating member 171 may be installed on one of the second rotating shaft 132 or the first rotating body 141 to rotate together when one of the second rotating shaft 132 or the first rotating body 141 is rotated. At this time, as an embodiment, the first rotating member 171 may be integrally formed with one of the second rotating shaft 132 or the first rotating member 141. In another embodiment, the first rotating member 171 is formed separately from one of the second rotating shaft 132 or the first rotating member 141 to be coupled to one of the second rotating shaft 132 or the first rotating member 141. It is also possible. In this case, a groove (not shown) or a hole 171a may be formed in the first rotating member 171 so that a part of the locking member 172 is inserted into and in contact with the first rotating member 171. Hereinafter, for convenience of description, the rotating member 171 is installed on the first rotating body 141, the rotating member 171 is formed separately from the first rotating body 141, and a hole 171a is formed therein. The case will be described in detail.
상기와 같은 회전부재(171)에는 복수개의 홀(171a)이 형성될 수 있다. 이때, 복수개의 홀(171a)은 서로 일정 간격 이격되도록 배치될 수 있다. 특히 인접하는 홀(171a) 사이에는 리브(171b)가 형성되어 걸림부재(172)의 일부와 접촉할 수 있다. A plurality of holes 171a may be formed in the rotating member 171 as described above. In this case, the plurality of holes 171a may be disposed to be spaced apart from each other by a predetermined interval. In particular, a rib 171b is formed between the adjacent holes 171a to be in contact with a part of the locking member 172.
걸림부재(172)는 회전 시 제1 회전체(141)의 회전부재(171)에 선택적으로 접촉함으로써 가이드부(173)에서 회전 운동 및 선형 운동을 할 수 있다. 걸림부재(172)는 제1 바디부(172a)와 걸림돌기(172b)를 포함할 수 있다. 이때, 가이드부(173)는 제1 바디부(172a)의 내부에 삽입될 수 있다. 또한, 걸림돌기(172b)는 제1 바디부(172a)의 외면으로부터 돌출되며, 복수개 구비될 수 있다. 이러한 경우 복수개의 걸림돌기(172b)는 제1 바디부(172a)의 외면을 따라 서로 이격되도록 배열될 수 있다. 특히 복수개의 걸림돌기(172b)는 제1 바디부(172a)의 외면에 서로 일정 간격 이격되도록 배치될 수 있다. 상기와 같은 복수개의 걸림돌기(172b)는 회전부재(171)의 회전 시 회전부재(171)의 홀(171a)에 순차적으로 삽입되도록 제1 바디부(172a)에 배치될 수 있다. 즉, 각 걸림돌기(172b)는 회전부재(171)의 회전 시 회전부재(171)의 각 홀(171a)에 하나씩 삽입될 수 있다. The locking member 172 may rotate and linearly move in the guide unit 173 by selectively contacting the rotating member 171 of the first rotating body 141 during rotation. The locking member 172 may include a first body portion 172a and a locking protrusion 172b. In this case, the guide part 173 may be inserted into the first body part 172a. In addition, the locking protrusion 172b may protrude from an outer surface of the first body portion 172a and may be provided in plural. In this case, the plurality of locking protrusions 172b may be arranged to be spaced apart from each other along the outer surface of the first body portion 172a. In particular, the plurality of locking projections 172b may be disposed on the outer surface of the first body portion 172a to be spaced apart from each other by a predetermined interval. The plurality of locking protrusions 172b as described above may be disposed in the first body 172a to be sequentially inserted into the holes 171a of the rotating member 171 when the rotating member 171 rotates. That is, each locking protrusion 172b may be inserted into each hole 171a of the rotating member 171 when the rotating member 171 rotates.
가이드부(173)는 제1 회전감지부(142)에 배치될 수 있다. 이때, 가이드부(173)는 제1 회전감지부(142)의 중심으로부터 외부를 향하도록 배열될 수 있다. 가이드부(173)의 외면에는 제1 바디부(172a)가 회전 및 선형 운동하도록 나사산이 형성될 수 있다. 이러한 경우 제1 바디부(172a)의 내면에도 나사산이 형성될 수 있다. The guide part 173 may be disposed in the first rotation detecting part 142. In this case, the guide unit 173 may be arranged to face outward from the center of the first rotation detecting unit 142. Threads may be formed on the outer surface of the guide part 173 so that the first body part 172a rotates and linearly moves. In this case, a screw thread may be formed on the inner surface of the first body portion 172a.
탄성부(174)는 걸림부재(172)가 가이드부(173)를 선형 운동하는 경우 걸림부재(172)에 복원력을 제공할 수 있다. 이러한 경우 탄성부(174)는 걸림부재(172)와 제1 회전감지부(142) 사이에 배치될 수 있다. 특히 탄성부(174)는 내부에 가이드부(173)가 배치되는 코일스프링 형태일 수 있다. 다른 실시예로써 탄성부(174)는 탄성재질로 형성되며, 내부에 가이드부(173)가 삽입되는 원기둥 형태의 부재를 포함하는 것도 가능하다. 다만, 이하에서는 설명의 편의를 위하여 탄성부(174)는 코일스프링을 포함하는 경우를 중심으로 상세히 설명하기로 한다. The elastic part 174 may provide a restoring force to the locking member 172 when the locking member 172 linearly moves the guide 173. In this case, the elastic unit 174 may be disposed between the locking member 172 and the first rotation detecting unit 142. In particular, the elastic portion 174 may be in the form of a coil spring in which the guide portion 173 is disposed. In another embodiment, the elastic part 174 is formed of an elastic material, and may include a cylindrical member in which the guide part 173 is inserted therein. However, hereinafter, the elastic unit 174 will be described in detail with reference to a case including the coil spring for convenience of description.
탄성부(174)는 복수개 구비될 수 있다. 예를 들면, 탄성부(174)는 걸림부재(172)를 중심으로 서로 대향하도록 배치되는 제1 탄성부(174a)와 제2 탄성부(174b)를 포함할 수 있다. 이때, 제1 탄성부(174a)는 걸림부재(172)가 제1 방향으로 이동하는 경우 걸림부재(172)에 복원력을 제공할 수 있다. 제2 탄성부(174b)는 상기 제1 방향과 반대 방향인 제2 방향으로 걸림부재(172)가 이동하는 경우 걸림부재(172)에 복원력을 제공할 수 있다. 또한, 탄성부(174)는 걸림부재(172)의 이동 시나 이동 후 걸림부재(172)에 예압을 가함으로써 진동 등에 따라서 걸림부재(172)가 움직이는 것을 방지할 수 있다. The elastic portion 174 may be provided in plurality. For example, the elastic portion 174 may include a first elastic portion 174a and a second elastic portion 174b which are disposed to face each other with respect to the locking member 172. In this case, the first elastic part 174a may provide a restoring force to the locking member 172 when the locking member 172 moves in the first direction. The second elastic part 174b may provide a restoring force to the locking member 172 when the locking member 172 moves in the second direction opposite to the first direction. In addition, the elastic part 174 may prevent the locking member 172 from moving due to vibration or the like by applying a preload to the locking member 172 during or after the movement of the locking member 172.
센서부(181)는 걸림부재(172)의 위치를 파악할 수 있다. 이때, 센서부(181)는 걸림부재(172)의 위치를 실시간으로 측정하는 것도 가능하고, 걸림부재(172)가 가이드부(173)를 선형 운동할 때, 걸림부재(172)가 움직일 수 있는 변위의 끝단에 걸림부재(172)가 도달하였는지 감지할 수 있다. 예를 들면, 센서부(181)는 걸림부재(172)가 더 이상 선형 운동하지 못하는 위치에 도달하였는지 감지할 수 있다. 이때, 센서부(181)는 다양한 형태일 수 있다. 예를 들면, 센서부(181)는 접촉센서, 초음파 센서, 레이저센서, 광센서, 리니어 스케일 등과 같은 걸림부재(172)의 위치를 파악할 수 있는 다양한 형태의 센서를 포함할 수 있다. The sensor unit 181 may grasp the position of the locking member 172. In this case, the sensor unit 181 may measure the position of the locking member 172 in real time, and when the locking member 172 linearly moves the guide unit 173, the locking member 172 may move. It may be detected whether the locking member 172 has reached the end of the displacement. For example, the sensor unit 181 may detect whether the locking member 172 has reached a position where it can no longer linearly move. In this case, the sensor unit 181 may have various forms. For example, the sensor unit 181 may include various types of sensors capable of detecting the position of the locking member 172 such as a contact sensor, an ultrasonic sensor, a laser sensor, an optical sensor, a linear scale, and the like.
알람부(182)는 센서부(181)에서 감지된 결과를 근거로 외부의 사용자에게 빛, 소리 등을 통하여 경고할 수 있다.The alarm unit 182 may warn an external user through light, sound, or the like based on the result detected by the sensor unit 181.
커버(183)는 하우징(111)과 결합할 수 있다. 이때, 커버(183)는 제1 엔코더(140) 측에 배치되어 하우징(111)과 결합함으로써 제1 엔코더(140)를 외부로부터 차폐시킬 수 있다. 또한, 커버(183)에는 스토퍼부(170)의 위치를 확인 가능하도록 투명창(미도시)이 구비될 수 있다. 이때, 상기 투명창은 빛이 투과 가능한 재질로 형성될 수 있다. The cover 183 may be coupled to the housing 111. In this case, the cover 183 may be disposed at the side of the first encoder 140 to be coupled to the housing 111 to shield the first encoder 140 from the outside. In addition, the cover 183 may be provided with a transparent window (not shown) to check the position of the stopper 170. In this case, the transparent window may be formed of a material that can transmit light.
한편, 상기와 같은 동력전달장치(100)의 작동을 살펴보면, 우선 드라이버(151)에 신호가 인가되면 드라이버(151)는 구동부(120)를 작동시킬 수 있다. 이러한 경우 스테이터(122)에 전류가 인가되어 로터(121)가 회전할 수 있다. 또한, 로터(121)의 회전에 따라서 제1 회전축(112)이 회전할 수 있다. Meanwhile, referring to the operation of the power transmission device 100 as described above, when a signal is first applied to the driver 151, the driver 151 may operate the driving unit 120. In this case, current is applied to the stator 122 so that the rotor 121 may rotate. In addition, the first rotation shaft 112 may rotate in accordance with the rotation of the rotor 121.
제1 회전축(112)의 회전은 감속기(131)를 통하여 제2 회전축(132)으로 전달되어 제2 회전축(132)을 회전시킬 수 있다. 또한, 제1 회전축(112)의 회전은 제2 회전체(161)를 회전시킬 수 있으며, 제2 회전감지부(162)는 제2 회전체(161)의 회전을 감지할 수 있다. Rotation of the first rotary shaft 112 may be transmitted to the second rotary shaft 132 through the reducer 131 to rotate the second rotary shaft 132. In addition, the rotation of the first rotating shaft 112 may rotate the second rotating body 161, the second rotation detecting unit 162 may detect the rotation of the second rotating body (161).
상기와 같이 진행되는 동안 제2 회전축(132)의 회전에 따라서 제1 회전체(141)를 회전시킬 수 있다. 이때, 제1 회전감지부(142)는 정지된 상태일 수 있다. As described above, the first rotating body 141 may be rotated according to the rotation of the second rotating shaft 132. In this case, the first rotation detecting unit 142 may be in a stopped state.
제1 회전체(141)가 회전하는 경우 회전부재(171)는 제1 회전체(141)와 함께 회전부재(171)가 회전할 수 있다. 이러한 경우 회전부재(171)는 걸림돌기(172b)와 접촉함으로써 걸림돌기(172b)에 힘을 가할 수 있다. 구체적으로 회전부재(171)가 회전하는 경우 걸림돌기(172b)는 홀(171a)에 삽입되어 리브(171b)에 충돌할 수 있다. 또한, 리브(171b)가 걸림부재(172)의 하면을 통과하는 경우 걸림돌기(172b)가 없는 제1 바디부(172a) 부분이 통과함으로써 걸림부재(172)와 회전부재(171)는 서로 간섭하지 않을 수 있다. When the first rotating body 141 rotates, the rotating member 171 may rotate together with the first rotating body 141. In this case, the rotating member 171 may apply a force to the locking protrusion 172b by contacting the locking protrusion 172b. In detail, when the rotating member 171 rotates, the locking protrusion 172b may be inserted into the hole 171a to collide with the rib 171b. In addition, when the rib 171b passes through the lower surface of the locking member 172, the first body portion 172a without the locking protrusion 172b passes, so that the locking member 172 and the rotating member 171 interfere with each other. You can't.
이러한 경우 걸림돌기(172b)와 리브(171b)가 충돌하면 제1 바디부(172a)는 가이드부(173)를 회전하면서 선형 운동할 수 있다. 예를 들면, 도 3에서 회전부재(171)가 시계방향으로 회전하는 경우 제1 바디부(172a)는 가이드부(173)를 따라 도 3의 오른쪽 방향으로 선형 이동할 수 있다. 반면, 도 3에서 회전부재(171)가 반시계방향으로 회전하는 경우 제1 바디부(172a)는 가이드부(173)를 따라 도 3의 왼쪽 방향으로 선형 운동할 수 있다. 이때, 상기와 같은 운동은 이에 한정되는 것은 아니며 반대로 구현되는 것도 가능하다. In this case, when the protrusion 172b and the rib 171b collide with each other, the first body 172a may linearly move while rotating the guide 173. For example, when the rotating member 171 rotates in the clockwise direction in FIG. 3, the first body part 172a may linearly move in the right direction of FIG. 3 along the guide part 173. On the other hand, when the rotating member 171 rotates in the counterclockwise direction in FIG. 3, the first body part 172a may linearly move in the left direction of FIG. 3 along the guide part 173. At this time, the above-described exercise is not limited to this, but may be implemented in reverse.
상기와 같이 제1 바디부(172a)가 가이드부(173)를 선형 운동하는 경우 선형 운동하는 방향에 있는 탄성부(174)는 압축될 수 있다. 예를 들면, 제1 바디부(172a)가 도 3의 오른쪽으로 이동하는 경우 제1 탄성부(174a)가 압축될 수 있다. 또한, 제1 바디부(172a)가 도 3의 왼쪽으로 이동하는 제2 탄성부(174b)가 압축될 수 있다. 이러한 경우 반대편에 있는 탄성부(174)는 인장되는 것도 가능하다. 상기와 같이 인장되거나 압축된 탄성부(174)는 제1 바디부(172a)의 선형 운동 시 제1 바디부(172a)에 복원력을 제공할 수 있다. As described above, when the first body portion 172a linearly moves the guide portion 173, the elastic portion 174 in the linear movement direction may be compressed. For example, when the first body portion 172a moves to the right side of FIG. 3, the first elastic portion 174a may be compressed. Also, the second elastic portion 174b in which the first body portion 172a moves to the left side of FIG. 3 may be compressed. In this case, the opposite elastic portion 174 may be stretched. The elastic portion 174 that is tensioned or compressed as described above may provide a restoring force to the first body portion 172a during linear movement of the first body portion 172a.
한편, 상기와 같이 작동하는 스토퍼부(170)는 보통의 경우 문제되지 않을 수 있다. 구체적으로 동력전달장치(100)가 설계된 범위(예를 들면, 설정된 각도 범위 등)에서 움직이는 경우 스토퍼부(170)는 동력전달장치(100)의 작동에 거의 영향을 미치지 않을 수 있다. On the other hand, the stopper portion 170 that operates as described above may not be a problem in normal cases. Specifically, when the power transmission device 100 moves in the designed range (for example, the set angle range, etc.), the stopper unit 170 may have little influence on the operation of the power transmission device 100.
반면, 동력전달장치(100)가 설계된 범위를 벗어나는 경우 스토퍼부(170)는 제2 회전축(132)의 회전을 정지시킬 수 있다. 구체적으로 제2 회전축(132)의 회전에 따라 걸림부재(172)가 가이드부(173)를 따라 이동하가다 걸림부재(172)는 가이드부(173)의 끝단에 도달할 수 있다. 이러한 경우 탄성부(174)가 더 이상 압축되지 않거나 걸림부재(172)가 제1 회전감지부(142)에 접촉하는 경우 걸림부재(172)는 더 이상 회전하지 않으면서 가이드부(173)를 선형 운동 못할 수 있다. On the other hand, when the power transmission device 100 is out of the designed range, the stopper unit 170 may stop the rotation of the second rotation shaft 132. In detail, the locking member 172 moves along the guide portion 173 as the second rotation shaft 132 rotates. The locking member 172 may reach the end of the guide portion 173. In this case, when the elastic part 174 is no longer compressed or the locking member 172 contacts the first rotation sensing unit 142, the locking member 172 linearly guides the guide unit 173 without further rotating. You may not be able to exercise.
상기와 같은 경우 걸림돌기(172b)는 홀(171a)에 삽입되어 리브(171b)와 접촉된 상태일 수 있다. 이러한 경우 제1 회전체(141)는 더 이상 회전하지 못하는 상태일 수 있으며, 제2 회전축(132)도 더 이상 회전하지 못할 수 있다. 또한, 제2 회전축(132)에 연결된 외부 장치도 더 이상 회전하지 않을 수 있다. 이때, 드라이버(151)는 구동부(120)에 인가되는 부하가 증가하는 것을 인지하고 구동부(120)를 정지시킬 수 있다. 또는 브레이크(133)가 작동하여 제1 회전축(112)의 회전을 중지시키는 것도 가능하다. 다른 실시예로써 센서부(181)에서 걸림부재(172)가 상기와 같은 위치에 도달하는 경우 구동부(120)의 작동을 중지시키고 브레이크(133)를 작동시키는 것도 가능하다. In this case, the locking protrusion 172b may be inserted into the hole 171a to be in contact with the rib 171b. In this case, the first rotating body 141 may not be able to rotate any more, and the second rotating shaft 132 may no longer rotate. In addition, the external device connected to the second rotating shaft 132 may not rotate anymore. In this case, the driver 151 may recognize that the load applied to the driver 120 increases and may stop the driver 120. Alternatively, the brake 133 may be operated to stop the rotation of the first rotation shaft 112. In another embodiment, when the locking member 172 reaches the position as described above, the sensor unit 181 may stop the operation of the driving unit 120 and operate the brake 133.
센서부(181)는 걸림부재(172)가 상기와 같은 위치에 도달하면 걸림부재(172)의 위치를 감지할 수 있다. 이때, 알람부(182)는 센서부(181)에서 감지된 결과를 근거로 외부로 빛, 소리 등을 통하여 외부의 사용자에게 동력전달장치(100)가 설정된 설정범위의 경계에 도달하였음을 알려줄 수 있다. The sensor unit 181 may detect the position of the locking member 172 when the locking member 172 reaches the position as described above. At this time, the alarm unit 182 may inform the external user that the power transmission device 100 has reached the boundary of the set range through light, sound, etc. based on the result detected by the sensor unit 181. have.
상기와 같은 같은 케이블 등은 제2 회전축(132) 내부에 삽입되며, 커버(183) 부분을 통과하여 구동부(120) 등과 같은 각 구성요소와 연결될 수 있다. 이러한 경우 제1 회전축(112) 및 제2 회전축(132)가 설계 범위를 벗어나 회전하는 경우 제2 회전축(132)에 삽입된 케이블 등이 제2 회전축(132)의 회전에 따라 지속적으로 회전하는 경우가 발생할 수 있다. 특히 케이블의 각 끝단이 고정됨으로써 제2 회전축(132)의 회전에 따라 복수개의 케이블 등이 서로 얽히거나 케이블 등의 끝단에 과도한 비틀림이 가해질 수 있다. 이러한 경우 케이블 등은 끊어지거나 파손됨으로써 단락이 발생하는 문제가 발생할 수 있다. 그러나 상기와 같이 구동부(120)의 작동이 중지되거나 제2 회전축(132)이 더 이상 회전하지 않고 설계 범위에서 회전하는 경우 제1 회전축(112) 및 제2 회전축(132)은 설계된 범위를 넘어 회전하지 않을 수 있다. 이러한 경우 제2 회전축(132) 내부의 케이블 등은 더 이상 회전하지 않을 수 있다. The cable as described above may be inserted into the second rotation shaft 132, and may be connected to each component such as the driving unit 120 through the cover 183. In this case, when the first rotary shaft 112 and the second rotary shaft 132 rotates out of the design range, the cable inserted into the second rotary shaft 132 continuously rotates according to the rotation of the second rotary shaft 132. May occur. In particular, as each end of the cable is fixed, a plurality of cables may be entangled with each other or excessive twist may be applied to the ends of the cables, as the second rotation shaft 132 is rotated. In this case, the cable may be broken or broken, thereby causing a short circuit. However, as described above, when the operation of the driving unit 120 is stopped or the second rotating shaft 132 is no longer rotated and rotates in the design range, the first rotating shaft 112 and the second rotating shaft 132 rotate beyond the designed range. You can't. In this case, the cable inside the second rotary shaft 132 may not rotate any more.
한편, 상기 투과창에는 걸림부재(172)의 위치에 따라 제2 회전축(132)의 회전량, 회전방향을 확인할 수 있도록 눈금 등이 기록된 상태일 수 있다. 또한, 상기의 경우 이외에도 제1 회전체(141), 제1 가이드부(173)에 제2 회전축(132)의 회전량, 회전방향을 확인할 수 있도록 눈금 등이 기록된 상태인 경우도 가능하다. 이러한 경우 걸림부재(172)와 겹치는 눈금을 읽음으로써 사용자는 제2 회전축(132)의 회전 정도를 확인하는 것이 가능하다. On the other hand, the transmission window may be in a state in which a scale or the like is recorded so as to check the rotation amount and the rotation direction of the second rotation shaft 132 according to the position of the locking member 172. In addition, in addition to the above case, a scale or the like may be recorded in the first rotating body 141 and the first guide part 173 so as to check the rotation amount and the rotation direction of the second rotating shaft 132. In this case, by reading the scale overlapping with the locking member 172, the user can check the degree of rotation of the second rotary shaft 132.
따라서 동력전달장치(100)는 간단한 구성 및 구조를 통하여 작동범위를 한정하는 것이 가능하다. 동력전달장치(100)는 360도 이상의 회전을 물리적으로 제한함으로써 동력전달장치(100) 내부의 케이블 등이 꼬이는 것을 방지할 수 있다. Therefore, the power transmission device 100 can limit the operating range through a simple configuration and structure. The power transmission device 100 may physically limit the rotation of 360 degrees or more to prevent the cable inside the power transmission device 100 from being twisted.
도 4는 다른 실시예에 따른 동력전달장치를 보여주는 부분사시도이다.4 is a partial perspective view showing a power transmission device according to another embodiment.
도 4를 참고하면, 동력전달장치(미도시)는 하우징(미도시), 제1 회전축(미도시), 구동부(미도시), 감속기(미도시), 제2 회전축(232), 브레이크(미도시), 제1 엔코더(240), 드라이버(미도시), 제2 엔코더(미도시), 스토퍼부(270), 센서부(281), 알람부(미도시) 및 커버(미도시)를 포함할 수 있다. 이때, 상기 하우징, 상기 제1 회전축, 상기 구동부, 상기 감속기, 제2 회전축(232), 상기 브레이크, 제1 엔코더(240), 상기 드라이버, 상기 제2 엔코더, 센서부(281), 상기 알람부 및 상기 커버는 상기에서 설명한 것과 동일 또는 유사하므로 상세한 설명은 생략하기로 한다. Referring to FIG. 4, the power transmission device (not shown) includes a housing (not shown), a first rotating shaft (not shown), a driver (not shown), a reducer (not shown), a second rotating shaft 232, and a brake (not shown). H), a first encoder 240, a driver (not shown), a second encoder (not shown), a stopper portion 270, a sensor portion 281, an alarm unit (not shown) and a cover (not shown) can do. In this case, the housing, the first rotary shaft, the drive unit, the reducer, the second rotary shaft 232, the brake, the first encoder 240, the driver, the second encoder, the sensor unit 281, the alarm unit And since the cover is the same as or similar to that described above, a detailed description thereof will be omitted.
스토퍼부(270)는 회전부재(271), 걸림부재(272), 가이드부(273) 및 탄성부(274)를 포함할 수 있다. The stopper part 270 may include a rotating member 271, a locking member 272, a guide part 273, and an elastic part 274.
회전부재(271)는 제2 바디부(271a) 및 제2 기어이(271b)를 포함할 수 있다. 제2 바디부(271a)는 제2 회전축(232) 또는 제1 회전체(241) 중 하나와 일체로 형성되거나 별도로 형성되어 제2 회전축(232) 또는 제1 회전체(241) 중 하나와 결합할 수 있다. 제2 기어이(271b)는 제2 바디부(271a)로부터 걸림부재(272) 측으로 돌출될 수 있다. 이때, 제2 기어이(271b)는 제2 바디부(271a)의 외면을 따라 일주하도록 형성될 수 있다. 다른 실시예로써 제2 기어이(271b)는 적어도 2개 이상이 하나의 제2 기어이그룹을 형성할 수 있다. 이러한 경우 상기 제2 기어이그룹은 복수개 구비될 수 있으며, 복수개의 상기 제2 기어이그룹은 서로 이격되도록 제2 바디부(271a)에 배열될 수 있다. 이하에서는 설명의 편의를 위하여 제2 기어이(271b)가 제2 기이어그룹을 형성하는 경우를 중심으로 상세히 설명하기로 한다. The rotating member 271 may include a second body portion 271a and a second gear tooth 271b. The second body portion 271a is formed integrally with one of the second rotating shaft 232 or the first rotating body 241 or is formed separately to be coupled to one of the second rotating shaft 232 or the first rotating body 241. can do. The second gear teeth 271b may protrude from the second body portion 271a toward the locking member 272. In this case, the second gear 271b may be formed along the outer surface of the second body portion 271a. In another embodiment, at least two or more second gear teeth 271b may form one second gear teeth group. In this case, a plurality of second gear teeth groups may be provided, and the plurality of second gear teeth groups may be arranged on the second body part 271a to be spaced apart from each other. Hereinafter, for convenience of description, the second gear 271b will be described in detail with reference to a case in which the second gear group is formed.
걸림부재(272)는 가이드부(273)에 설치되어 회전 및 선형 운동할 수 있다. 걸림부재(272)는 제1 바디부(272a)와 제1 기어이(272b)를 포함할 수 있다. 이때, 제1 바디부(272a)는 가이드부(273)에 회전 가능하도록 설치될 수 있다. 제1 기어이(272b)는 제1 바디부(272a)의 일부 또는 전면에 형성될 수 있다. 이하에서는 설명의 편의를 위하여 제1 기어이(272b)는 제1 바디부(272a)의 외면 전체에 형성되는 경우를 중심으로 상세히 설명하기로 한다. The locking member 272 may be installed at the guide part 273 to rotate and linearly move. The locking member 272 may include a first body portion 272a and a first gear tooth 272b. In this case, the first body portion 272a may be installed to be rotatable in the guide portion 273. The first gear 272b may be formed on a portion or the front surface of the first body portion 272a. Hereinafter, for convenience of description, the first gear 272b will be described in detail with reference to a case where the first gear 272b is formed on the entire outer surface of the first body portion 272a.
가이드부(273)는 제1 회전감지부(242)에 배치될 수 있다. 이때, 제1 회전감지부(242)에는 가이드부(273)가 설치되도록 홀이 형성된 상태일 수 있다. The guide part 273 may be disposed in the first rotation detecting part 242. In this case, a hole may be formed in the first rotation detecting unit 242 so that the guide part 273 is installed.
탄성부(274)는 가이드부(273)에 배치되어 걸림부재(272)의 운동 시 걸림부재(272)의 위치를 유지시킬 수 있다. 이때, 탄성부(274)는 상기에서 설명한 것과 동일 또는 유사하므로 상세한 설명은 생략하기로 한다. The elastic part 274 may be disposed in the guide part 273 to maintain the position of the locking member 272 during the movement of the locking member 272. At this time, since the elastic portion 274 is the same as or similar to that described above, a detailed description thereof will be omitted.
한편, 상기 동력전달장치의 작동을 살펴보면, 상기 구동부의 작동에 따라 상기 제1 회전축, 상기 감속기 및 제2 회전축(232)으로 순차적으로 전달될 수 있다. 이러한 경우 제2 회전축(232)의 회전에 따라 제1 회전체(241)가 회전하고, 제1 회전체(241)와 함께 회전부재(271)가 회전할 수 있다. On the other hand, looking at the operation of the power transmission device, according to the operation of the drive unit may be sequentially transmitted to the first rotary shaft, the reducer and the second rotary shaft 232. In this case, the first rotating body 241 may rotate according to the rotation of the second rotating shaft 232, and the rotating member 271 may rotate together with the first rotating body 241.
회전부재(271)가 회전하는 경우 상기 제2 기어이그룹은 순차적으로 제1 기어이(272b)에 접촉할 수 있다. 이러한 경우 상기 각 제2 기어이그룹의 제2 기어이(271b)는 회전하면서 제1 기어이(272b)에 접촉할 수 있다. 이때, 제1 기어이(272b)에 힘이 가해지고 제1 바디부(272a)가 회전할 수 있다. 제1 바디부(272a)는 가이드부(273)에서 회전하면서 상기에서 설명한 것과 동일 또는 유사하게 선형 운동할 수 있다. 이때, 제1 바디부(272a)는 가이드부(273)의 양단에 도달하거나 탄성부(274)가 완전히 압축된 상태인 경우 더 이상 회전하지 않고 선형 운동하지 않을 수 있다. When the rotating member 271 rotates, the second gear teeth group may sequentially contact the first gear teeth 272b. In this case, the second gear teeth 271b of each second gear teeth group may contact the first gear teeth 272b while rotating. In this case, a force is applied to the first gear 272b and the first body 272a may rotate. The first body portion 272a may linearly move in the same or similar manner as described above while rotating in the guide portion 273. In this case, when the first body part 272a reaches both ends of the guide part 273 or the elastic part 274 is completely compressed, the first body part 272a may not rotate any more and may not linearly move.
상기와 같은 경우 제1 기어이(272b)의 적어도 일부와 제2 기어이(271b)의 적어도 일부가 서로 겹치도록 배열될 수 있다. 특히 제1 기어이(272b)와 제2 기어이(271b)는 걸림부재(272)의 이동범위 내에서 적어도 일부분이 서로 겹칠 수 있다. 따라서 제1 기어이(272b)와 제2 기어이(271b)는 항상 접촉한 상태일 수 있다. In this case, at least a portion of the first gear 272b and at least a portion of the second gear 271b may be arranged to overlap each other. In particular, at least a portion of the first gear 272b and the second gear 271b may overlap each other within the moving range of the locking member 272. Accordingly, the first gear 272b and the second gear 271b may be in contact with each other.
상기와 같이 걸림부재(272)가 이동하다가 정지하는 경우 제2 회전축(232)은 더 이상 회전하지 않고 멈출 수 있다. 이러한 경우 상기 드라이버 및 상기 브레이크 중 적어도 하나는 상기 구동부의 작동을 정지시키거나 상기 제1 회전축의 회전을 정지시킬 수 있다. As described above, when the locking member 272 moves and stops, the second rotation shaft 232 may stop without further rotation. In this case, at least one of the driver and the brake may stop the operation of the driving unit or stop the rotation of the first rotation shaft.
또한, 상기와 같이 걸림부재(272)이 더 이상 움직이지 못하는 경우 센서부(281)는 걸림부재(272)를 감지할 수 있으며, 상기 알람부는 외부로 알람을 방출할 수 있다. 상기 구동부는 정지할 수 있다. In addition, as described above, when the locking member 272 is no longer moved, the sensor unit 281 may detect the locking member 272, and the alarm unit may emit an alarm to the outside. The drive unit may stop.
사용자는 상기 커버의 투과창을 통하여 제2 회전축(232)의 회전 방향 및 회전량 중 적어도 하나를 확인하는 것도 가능하다. 이때, 제2 회전축(232)의 회전 방향 및 회전량 중 적어도 하나를 확인하는 방법은 상기에서 설명한 것과 동일 또는 유사하므로 상세한 설명은 생략하기로 한다. The user may check at least one of the rotation direction and the rotation amount of the second rotation shaft 232 through the transmission window of the cover. In this case, the method of checking at least one of the rotation direction and the rotation amount of the second rotation shaft 232 is the same or similar to that described above, and thus the detailed description thereof will be omitted.
따라서 상기 동력전달장치는 간단한 구성 및 구조를 통하여 작동범위를 한정하는 것이 가능하다. 상기 동력전달장치는 360도 이상의 회전을 물리적으로 제한함으로써 상기 동력전달장치 내부의 케이블 등이 꼬이는 것을 방지할 수 있다.Therefore, the power transmission device can limit the operating range through a simple configuration and structure. The power train may physically limit the rotation of 360 degrees or more to prevent the cable inside the power train from being twisted.
비록 본 발명이 상기 언급된 바람직한 실시예와 관련하여 설명되었지만, 발명의 요지와 범위로부터 벗어남이 없이 다양한 수정이나 변형을 하는 것이 가능하다. 따라서 첨부된 특허청구의 범위에는 본 발명의 요지에 속하는 한 이러한 수정이나 변형을 포함할 것이다.Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications or variations without departing from the spirit and scope of the invention. Accordingly, the appended claims will include such modifications and variations as long as they fall within the spirit of the invention.
본 발명의 일 실시예에 의하면, 동작 각도를 제한할 수 있는 동력전달장치를 제공하여, 로봇 등에 설치되어 동력을 전달하는 관절구조체에 설치될 수 있으며, 관절구조체를 포함하는 산업용 로봇, 주행로봇, 휴머노이드 등과 같은 로봇분야에 본 발명의 실시예들을 적용할 수 있다.According to an embodiment of the present invention, by providing a power transmission device that can limit the operation angle, can be installed in a joint structure for transmitting power installed in a robot, etc., an industrial robot, a traveling robot, including the joint structure, Embodiments of the present invention can be applied to a robot field such as a humanoid.
Claims (11)
- 제1 회전축;A first rotating shaft;상기 제1 회전축에 설치되어 상기 제1 회전축을 회전시키는 구동부;A driving unit installed on the first rotation shaft to rotate the first rotation shaft;상기 제1 회전축의 내부에 배치되며, 상기 제1 회전축과 연결되어 상기 구동부의 작동시 회전하는 제2 회전축;A second rotation shaft disposed inside the first rotation shaft and connected to the first rotation shaft to rotate when the driving unit is operated;상기 제2 회전축에 설치되어 상기 제2 회전축과 함께 회전하는 제1 회전체;A first rotating body installed on the second rotating shaft and rotating together with the second rotating shaft;상기 제1 회전체의 회전을 감지하는 제1 회전감지부; 및A first rotation sensing unit sensing a rotation of the first rotating body; And상기 제1 회전체 또는 상기 제2 회전축 중 하나와 상기 제1 회전감지부 사이에 배치되어 상기 제2 회전축의 회전 반경을 제한하는 스토퍼부;를 포함하는 동력전달장치.And a stopper unit disposed between one of the first rotating body or the second rotating shaft and the first rotation detecting unit to limit a radius of rotation of the second rotating shaft.
- 제 1 항에 있어서, The method of claim 1,상기 스토퍼부는, The stopper portion,상기 제1 회전체 또는 상기 제2 회전축 중 하나에 설치되는 회전부재;A rotating member installed on one of the first rotating body or the second rotating shaft;상기 회전부재의 회전에 따라 위치가 가변하는 걸림부재; 및A catching member whose position varies according to the rotation of the rotating member; And상기 회전감지부에 설치되어 상기 걸림부재의 회전 및 선형 운동을 가이드하는 가이드부;를 포함하는 동력전달장치. And a guide part installed in the rotation detecting part to guide rotation and linear motion of the locking member.
- 제 2 항에 있어서, The method of claim 2,상기 걸림부재는, The locking member,상기 가이드부에 회전 및 선형 운동 가능하도록 설치되는 제1 바디부; 및A first body part installed to allow the guide part to rotate and linearly move; And상기 제1 바디부로부터 돌출되도록 형성되는 걸림돌기;를 포함하는 동력전달장치. And a locking protrusion formed to protrude from the first body portion.
- 제 3 항에 있어서,The method of claim 3, wherein상기 걸림돌기는 복수개 구비되고, The locking projection is provided with a plurality,상기 복수개의 걸림돌기는 상기 제1 바디부의 외면에 서로 일정 간격 이격되도록 배열되는 동력전달장치. The plurality of locking projections are arranged on the outer surface of the first body portion spaced apart from each other by a predetermined distance.
- 제 3 항에 있어서, The method of claim 3, wherein상기 회전부재에는 상기 걸림돌기가 삽입되도록 홈 또는 홀이 형성된 동력전달장치. The rotating member is a power transmission device formed with a groove or a hole so that the engaging projection.
- 제 5 항에 있어서, The method of claim 5, wherein상기 홈 또는 홀은 서로 이격되도록 상기 회전부재에 복수개가 형성된 동력전달장치. And a plurality of grooves or holes formed in the rotating member to be spaced apart from each other.
- 제 2 항에 있어서, The method of claim 2,상기 걸림부재는,The locking member,상기 가이드부에 회전 및 선형 운동 가능하도록 설치되는 제1 바디부; 및A first body part installed to allow the guide part to rotate and linearly move; And상기 제1 바디부의 외면으로부터 돌출되도록 형성되는 제1 기어이;를 포함하는 동력전달장치.And a first gear formed to protrude from an outer surface of the first body part.
- 제 7 항에 있어서, The method of claim 7, wherein상기 회전부재는,The rotating member,제2 바디부; 및Second body portion; And상기 제2 바디부로부터 상기 걸림부재 측으로 돌출되는 제2 기어이;를 포함하는 동력전달장치. And a second gear projecting from the second body portion toward the locking member.
- 제 8 항에 있어서,The method of claim 8,상기 제2 기어이는 적어도 2개 이상이 하나의 제2 기어이그룹을 형성하고, 상기 제2 기어이그룹은 복수개 구비되며,At least two or more second gear teeth form one second gear teeth group, and a plurality of second gear teeth groups are provided.상기 복수개의 제2 기어이그룹은 서로 이격되도록 배열되는 동력전달장치. The plurality of second gear group is arranged to be spaced apart from each other.
- 제 2 항에 있어서, The method of claim 2,상기 가이드부에 설치되며, 상기 걸림부재와 상기 회전감지부 사이에 배치되는 탄성부;를 더 포함하는 동력전달장치.And an elastic part disposed on the guide part and disposed between the locking member and the rotation sensing part.
- 제 10 항에 있어서,The method of claim 10,상기 탄성부는 복수개 구비되며, The elastic portion is provided with a plurality,상기 복수개의 탄성부는 상기 회전부재를 중심으로 서로 대향하도록 배치되는 동력전달장치.And the plurality of elastic parts are disposed to face each other with respect to the rotating member.
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KR1020170003667A KR20180082230A (en) | 2017-01-10 | 2017-01-10 | Power transmission apparatus |
KR10-2017-0003667 | 2017-01-10 |
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Cited By (1)
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WO2024073950A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市越疆科技有限公司 | Collaborative robotic arm and joint module thereof |
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- 2017-01-10 KR KR1020170003667A patent/KR20180082230A/en unknown
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JP2001116509A (en) * | 1999-10-18 | 2001-04-27 | Smc Corp | Operation position detecting apparatus for rotating body |
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