WO2019039647A1 - Unité d'actionneur et module d'actionneur - Google Patents

Unité d'actionneur et module d'actionneur Download PDF

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Publication number
WO2019039647A1
WO2019039647A1 PCT/KR2017/010885 KR2017010885W WO2019039647A1 WO 2019039647 A1 WO2019039647 A1 WO 2019039647A1 KR 2017010885 W KR2017010885 W KR 2017010885W WO 2019039647 A1 WO2019039647 A1 WO 2019039647A1
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WO
WIPO (PCT)
Prior art keywords
unit
panel
energizing
bracket
connecting means
Prior art date
Application number
PCT/KR2017/010885
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English (en)
Korean (ko)
Inventor
전동수
조창연
Original Assignee
주식회사 토룩
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 토룩 filed Critical 주식회사 토룩
Publication of WO2019039647A1 publication Critical patent/WO2019039647A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/70—Coupling devices

Definitions

  • the present invention relates to an actuator module including an actuator unit and an actuator unit, wherein an actuator unit and an actuator module, which do not require a wire for electrical connection between the units constituting the actuator unit, .
  • an actuator module capable of simultaneously achieving an electrical connection in addition to a mechanical connection, and capable of implementing joints that do not require electrical wiring.
  • Another object of the present invention is to provide an actuator module having a multi-joint structure by connecting the actuator units to each other by a bracket.
  • an actuator unit is an actuator unit including a first unit and a second unit that rotate relative to each other about a predetermined drive shaft, wherein the first unit includes: Wherein the second unit includes at least one energizing track having a torus shape having a predetermined diameter and disposed around the driving shaft, the energizing pin being disposed on the energizing track, So that the first unit and the second unit can be mechanically and electrically connected at the same time.
  • the plurality of energizing fins are arranged so as to be spaced apart from each other by a predetermined distance in the lateral direction with respect to the drive shaft, and a plurality of the energizing tracks are provided, wherein the energizing tracks have different diameters, And each of the energizing tracks and each of the energizing pins are in contact with each other and electrically connected to each other.
  • the energizing pin comprises a lower pin having a groove with a predetermined depth, a spring inserted into the groove of the lower pin, and a pogo pin including an upper pin disposed on the spring.
  • the first unit includes a first body, and the first body includes a plurality of exposure holes formed at a position facing the second unit, and the first body includes an electrically conductive pin And a lower end of the conductive pin is connected to the first PCB and protrudes through the exposure hole.
  • the second unit includes a second body that rotates with one side of the drive shaft being rotated, and a second PCB positioned between the second body and the first unit and fixed to the second body, And the energizing track is provided on the second PCB.
  • the drive shaft is configured to penetrate the first unit in both directions, the second unit is connected to one end of the drive shaft, and the first unit includes a rotation plate connected to the other end of the drive shaft do.
  • the second unit and the rotary plate have a shape symmetrical about the first unit.
  • An actuator module is an actuator module including an actuator unit, further comprising a bracket including a first bracket and a second bracket, wherein the first unit has a first connecting means, wherein the first bracket has a first panel and a second panel and the first panel and the second panel have third connecting means connectable to the second connecting means, Has a third panel and a fourth panel, the third panel has a fourth connecting means connectable to the second connecting means and the third connecting means, and the fourth panel is connectable to the first connecting means And a fifth connecting means.
  • the first bracket is configured such that the second panel extends on both sides of the first panel with an angle to the first panel, and the second bracket is provided on both sides of the third panel And the fourth panel has an angle with the third panel and is extended.
  • the actuator unit according to the present invention has an electrical connection structure through an energizing pin and an energizing track in addition to a mechanical connection through a drive shaft, so that mechanical connection and electrical connection are possible at the same time. Further, no wiring for electrical connection is required. Therefore, it is possible to prevent the twisting of the electric wire and the occurrence of the problem as compared with the joint structure having the wiring. Particularly, this effect is particularly advantageous in the case of a structure in which a plurality of joints are connected in series.
  • the bracket for connecting the actuator units since the bracket for connecting the actuator units is provided, the plurality of actuator units can be connected to have various connection structures, and therefore, the multi-joint structure can be variously implemented.
  • FIG 1 and 2 are views showing the structure of an actuator unit according to an embodiment of the present invention.
  • FIG. 3 is a view showing an internal structure of an actuator unit according to an embodiment of the present invention.
  • FIG. 4 is a view showing a structure of an energizing pin of an actuator unit according to an embodiment of the present invention.
  • FIG. 5 is a view illustrating a structure of a second PCB of an actuator unit according to an embodiment of the present invention.
  • FIG. 6 is a view showing a connection structure between a first unit and a second unit of an actuator unit according to an embodiment of the present invention.
  • FIG. 7 is a view showing the connection structure between the energizing pin of the first unit of the actuator unit and the energizing track of the second unit according to the embodiment of the present invention.
  • FIGS. 8A and 8B are views showing a first bracket and a second bracket of an actuator module according to an embodiment of the present invention, respectively.
  • FIG. 9 is a view showing a connection structure between an actuator unit and a bracket of an actuator module according to an embodiment of the present invention.
  • FIG. 10 is a view showing a connection structure between actuator units of an actuator module according to an embodiment of the present invention.
  • the present invention relates to an actuator module including an actuator unit and an actuator unit, wherein an actuator unit and an actuator module, which do not require a wire for electrical connection between the units constituting the actuator unit, .
  • FIG. 1 and 2 are views showing the structure of an actuator unit 1 according to an embodiment of the present invention in different directions
  • FIG. 3 is a view showing the internal structure of an actuator unit 1 according to an embodiment of the present invention
  • 4 is a view showing the structure of the energizing pin 144 of the actuator unit 1 according to the embodiment of the present invention.
  • the actuator unit 1 may be configured to include a first unit 100 and a second unit 200.
  • the first unit 100 includes a first body 110, a power unit 120 mounted in the first body 110, a drive shaft 130 connected to the power unit 120 and rotatable, And a rotating plate 150 connected to the driving shaft 130 and rotatable therewith.
  • the first unit 100 may include a drive shaft 130 and a predetermined power unit having the power unit 120 for rotating the drive shaft 130 mounted thereon.
  • the first body 110 is a box-shaped member made of a material such as synthetic resin such as plastic.
  • the first body 110 may have a generally rectangular parallelepiped shape.
  • the first body 110 has a space 112 in which the power unit 120 can be mounted and has a through hole 114 penetrating the space 112 in at least one direction.
  • the first body 110 may be formed with an exposure hole 116 through which the energizing pin 144 of the signal transmitter 140 described later may be exposed.
  • the exposure hole 116 may be formed on one side of the body, but may be formed so as to pass in a direction parallel to the direction in which the through hole 114 penetrates.
  • the exposure holes 116 may have a predetermined spacing from each other and may be formed in plurality. For example, as shown in FIG.
  • the first exposure hole 116a, the second exposure hole 116b, and the third exposure hole 116c may be sequentially formed in the order of adjacent to the through hole 114.
  • At least one side of the first body 110 may be provided with a first connecting means 118 to which a second bracket 320 described later can be connected.
  • the first connecting means 118 may be composed of, for example, a predetermined fitting hole or a screw hole, and other shapes are possible.
  • the power unit 120 is a device that generates rotational force.
  • the power unit 120 may be configured to include, for example, a motor 122 and a gear 124 coupled to the motor 122.
  • the power unit 120 can operate by receiving an external electrical signal.
  • the driving shaft 130 is disposed in the through hole 114 of the first body 110 and protrudes in at least one direction through the through hole 114.
  • the drive shaft 130 is rotated by receiving power from the power unit 120.
  • the driving shaft 130 has gears protruding in the outer diameter direction at the longitudinal center portion, and receives the rotational force of the power unit 120 through the gear.
  • the present invention is not limited to this, and it is also possible that the drive shaft 130 constitutes a part of the power unit 120. It is also possible that the drive shaft 130 protrudes in one direction other than both sides of the first body 110.
  • the signal transmission unit 140 may include a first PCB 142 and a power supply pin 144.
  • the first PCB 142 is mounted within the first body 110 and can receive or generate electrical signals.
  • the conductive pin 144 is connected to the first PCB 142 and exposed to the outside through the exposure hole 116 described above. That is, the lower end of the energizing pin 144 may be connected to the first PCB 142, and the upper end may protrude to the outside of the first body 110 through the exposure hole 116.
  • a plurality of the energizing pins 144 may be provided, and each of the energizing pins 144 may be exposed through the respective exposure holes 116.
  • the energizing pin 144 may include a first energizing pin 144a, a second energizing pin 144b, and a third energizing pin 144c.
  • the energizing pin 144 may include, for example, a lower pin 145, a spring 147, and an upper pin 146.
  • the lower pin 145 is connected to the first PCB 142 at a lower portion and a groove having a predetermined depth is formed at an upper portion thereof.
  • the spring 147 is inserted into the groove of the lower pin 145.
  • the upper pin 146 is put on the spring 147.
  • the energizing pin 144 may have a pogo pin configuration.
  • the rotation plate 150 is a member connected to one end of the drive shaft 130 and rotated by the rotation of the drive shaft 130.
  • the rotary plate 150 may be positioned on the opposite side of the side where the signal transfer unit 140 is disposed.
  • the rotating plate 150 may have a disk-shaped rotating body 152 as a whole, but the present invention is not limited thereto.
  • a predetermined fitting groove, into which one end of the driving shaft 130 can be fitted, may be formed in the center of the inner side of the rotating body 152.
  • the rotating plate 150 may be provided with a predetermined second connecting means 154 to which a bracket described later can be connected.
  • the second connecting means 154 may be constituted by, for example, a predetermined fitting hole or a screw hole.
  • the rotating plate 150 may be omitted . It is also possible that the second unit 200 is connected to both ends of the drive shaft 130 and the rotary plate 150 is omitted even when the drive shaft 130 protrudes on both sides of the first body 110 .
  • the second unit 200 is connected to the driving shaft 130 of the first unit 100 and rotates.
  • the second unit 200 may be connected to at least one end of the drive shaft 130 of the first unit 100 and rotate together with the drive shaft 130.
  • the second unit 200 may have a disc shape as a whole, but is not limited thereto.
  • the second unit 200 may have a shape corresponding to the rotation plate 150 when the rotation plate 150 is connected to one end of the driving shaft 130 of the first unit 100.
  • the second unit 200 and the rotating plate 150 When the second unit 200 and the rotating plate 150 are connected to both ends of the driving shaft 130, the second unit 200 and the rotating plate 150, which are disposed on both sides of the driving shaft 130, 150 may have a shape symmetrical to each other.
  • the present invention is not limited thereto, and the second unit 200 may be symmetrically connected to both ends of the driving shaft 130.
  • the second unit 200 may include a second body 210 and a second PCB 220.
  • the second body 210 is connected to the drive shaft 130 and rotates.
  • the second body 210 may have, for example, a fitting surface 212 and a circumferential surface 214 that surrounds the outer perimeter of the fitting surface 212.
  • the fitting surface portion 212 may have, for example, a disc shape, but is not limited thereto.
  • a fitting groove 216 into which one end of the driving shaft 130 can be fitted may be formed in the center of the inner surface of the fitting surface portion 212.
  • the fitting surface portion 212 may be provided with a predetermined third connecting means 218 to which a bracket to be described later can be connected.
  • the third connecting means 218 may be constituted by, for example, a predetermined fitting hole or a screw hole.
  • the third connecting means 218 formed on the second body 210 and the second connecting means 154 formed on the rotating plate 150 may have the same structure.
  • the circumferential surface portion 214 may have a predetermined width and may surround the circumference of the fitting surface portion 212. Accordingly, a predetermined fitting space may be formed inside the second body 210.
  • the shape of the fitting space may be circular, for example.
  • the second PCB 220 includes a substrate portion 222, and a conductive track 226.
  • the substrate portion 222 may be formed of a predetermined PCB having a center hole 224 through which the driving shaft 130 can pass.
  • the substrate portion 222 may have an outer shape that can be fitted into the fitting space of the second body 210.
  • the substrate portion 222 may have a disk shape corresponding to the shape of the fitting space of the second body 210.
  • the present invention is not limited thereto, and a predetermined fitting means may be provided.
  • the center hole 224 formed at the center of the substrate portion 222 has a diameter larger than the diameter of the drive shaft 130 so that the substrate portion 222 can be spaced apart from the drive shaft 130 by a predetermined distance.
  • the present invention is not limited thereto, and the driving shaft 130 may be fitted in the center hole 224.
  • the conductive track 226 may be provided on one side of the substrate unit 222. Specifically, when the base portion 222 is coupled to the second body 210 and the second unit 200 is coupled to the drive shaft 130 of the first unit 100, the energizing track 226 is electrically connected to the energizing pins 144 The energizing track 226 is disposed on one side of the base portion 222 so as to be in contact with the base portion 222. [
  • the energizing track 226 is formed in a toric shape having a predetermined radius around the center axis of rotation of the driving shaft 130, and a plurality of energizing tracks 226 may be provided.
  • the plurality of energizing tracks 226 are arranged concentrically with different radii and with a predetermined distance from each other. For example, as shown in Fig. 5, a first energizing track 226a, a second energizing track 226b, and a third energizing track 226c having sequentially large radii (M1, M2, M3) have.
  • each of the energizing tracks 226 is shown as having a C-shape instead of a complete annular shape, but is not limited thereto.
  • Fig. 6 is a schematic diagram showing the structure when the first unit 100 and the second unit 200 are coupled to each other.
  • Fig. 7 is a cross- Fig.
  • the second unit 200 may be coupled to the drive shaft 130 of the first unit 100 and rotated.
  • the connection between the first unit 100 and the second unit 200 may be established by inserting the driving shaft 130 of the first unit 100 into the fitting groove 216 of the second body 210 of the second unit 200, So that it can be inserted into and inserted into one end.
  • the energizing track 226 provided on the second PCB 220 of the second unit 200 is electrically connected to the energizing pin 144 of the first unit 100, .
  • each of the energizing pins 144 can contact each energizing track 226 at a ratio of 1: 1. 6 and 7, the first energizing pin 144 can exchange signals with the first energizing track 226, and the second energizing pin 144, the third energizing pin 144) also contact the second energizing track 226 and the third energizing track 226 to exchange signals.
  • each of the energizing pins 144 that is, the distance between the center of the driving shaft 130 and the energizing pins 144 is determined by the radius of each energizing track 226, M2, and M3, which are distances between the tracks 226, respectively.
  • FIG. 8A and 8B are views showing a first bracket 310 and a second bracket 320 of an actuator module according to an embodiment of the present invention
  • FIG. 2 is a view showing a connection structure between the actuator unit 1 of the actuator module and the bracket according to the embodiment of the present invention.
  • a plurality of actuator units 1 according to the present invention are provided and connected by a bracket connecting the plurality of actuator units 1 to constitute an actuator module.
  • the bracket is a member connecting the actuator units 1 to each other.
  • the bracket may include, for example, a first bracket 310 and a second bracket 320.
  • the first bracket 310 has a rectangular first panel 312 having a predetermined width and width and two first brackets 310 extending in parallel with the first panel 312 at right angles to the first panel 312 And a second panel 316. Accordingly, the first bracket 310 may have a generally U-shaped configuration.
  • the first panel 312 may have a fourth connecting means 314 that can be connected to the second body 210, the rotating plate 150, or a second bracket 320 described later.
  • the fourth connecting means 314 may be, for example, a predetermined connecting hole.
  • the second panel 316 may also have a second body 210 or a predetermined fifth connecting means 318 which may be connected to the rotating plate 150.
  • the fifth connection means 318 may be a predetermined connection hole, for example.
  • the interval between the second panels 316 provided on both sides of the first panel 312 is equal to the distance between the outer surface of the second unit 200 of the actuator unit 1 and the outer surface of the rotary plate 150 of the first unit 100 May correspond to the distance between the sides. Accordingly, the second panel 316 of the first bracket 310 can be connected to the second unit 200 and the rotary plate 150, respectively. This type of coupling is as shown in Fig. Accordingly, the first bracket 310 can rotate around the driving shaft 130 in accordance with the rotation of the second unit 200. [
  • the second bracket 320 includes a rectangular third panel 322 having a predetermined width and width and two second brackets 320 extending from the right and left of the third panel 322 in parallel with the third panel 322 And a fourth panel 326. Accordingly, the second bracket 320 may have a generally U-shaped configuration.
  • the third panel 322 may have a second body 210, a rotating plate 150, or a predetermined sixth connecting means 324 to be connected to the first bracket 310.
  • the sixth connection means 324 may be a predetermined connection hole, for example.
  • the fourth panel 326 may have a seventh connecting means 328 which may be connected to the first connecting means 118 formed on the body of the first unit 100.
  • the seventh connecting means 328 may be a predetermined connecting hole, for example.
  • the spacing between the fourth panels 326 of the third panel 322 may correspond to the width or thickness of the first body 110 of the first unit 100. Accordingly, the fourth panel 326 of the second bracket 320 can be connected to the first unit 100. This type of coupling is as shown in Fig.
  • a predetermined fitting projection, a connecting screw, or the like may be provided to connect the connecting means with each other.
  • FIG. 10 is a view showing a connection structure between the actuator units 1 of the present invention.
  • the actuator unit 1 is variously connected using the bracket to achieve a multi-joint structure.
  • a first bracket 310 is connected to the rotary plate 150 of the one actuator unit 1 and the second unit 200, and the first bracket 310 of the first bracket 310
  • the third panel 322 of the second bracket 320 is connected to the panel 312 and the fourth panel 326 of the second bracket 320 is connected to the first panel 100 of the actuator unit 1
  • a connection structure in which one body 110 is connected can be achieved. When such a connection structure is added in series, the connection structure as shown in FIG. 10 (b) may be achieved.
  • connection structure as shown in FIG. 10C may be achieved.
  • 10 (c) in addition to the connection structure as shown in FIGS. 10 (a) and 10 (b), a single rotation plate 150 of one actuator unit 1 or a second bracket 320 are connected to each other.
  • the second bracket 320 has a connection structure in which the first body 110 of the first unit 100 of the one actuator unit 1 is connected.
  • the plurality of actuator units 1 can be connected to have various connection structures, have.
  • the drive unit unit has the energizing pin 144 disposed on the outer side of the drive shaft 130
  • the second unit 200 has the arrangement corresponding to the arrangement of the energizing pins 144
  • the second unit 200 is configured to rotate about the drive shaft 130.
  • the second unit 200 is rotated about the drive shaft 130.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Manipulator (AREA)

Abstract

Unité d'actionneur et un module d'actionneur comprenant l'unité d'actionneur et, plus spécifiquement, unité d'actionneur et module d'actionneur, qui réalisent à la fois une liaison mécanique et une liaison électrique et ne nécessitent pas de fil électrique pour une liaison électrique entre des unités constituant l'unité d'actionneur.
PCT/KR2017/010885 2017-08-25 2017-09-28 Unité d'actionneur et module d'actionneur WO2019039647A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0108142 2017-08-25
KR1020170108142A KR101955548B1 (ko) 2017-08-25 2017-08-25 액츄에이터 유닛 및 액츄에이터 모듈

Publications (1)

Publication Number Publication Date
WO2019039647A1 true WO2019039647A1 (fr) 2019-02-28

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Application Number Title Priority Date Filing Date
PCT/KR2017/010885 WO2019039647A1 (fr) 2017-08-25 2017-09-28 Unité d'actionneur et module d'actionneur

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KR (1) KR101955548B1 (fr)
WO (1) WO2019039647A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0520651A (ja) * 1991-07-12 1993-01-29 Sony Corp 回転ヘツドドラムの組立装置
KR20160003812A (ko) * 2013-06-26 2016-01-11 가부시키가이샤 야스카와덴키 스토퍼 기구, 관절 기구, 및 로봇
US9505136B1 (en) * 2013-06-24 2016-11-29 Redwood Robotics Precision assembly of robotic components
KR101740704B1 (ko) * 2016-06-02 2017-06-16 주식회사 듀로 마그네틱 조인트를 구비한 로봇의 회전관절 조립체
KR20170068281A (ko) * 2015-12-09 2017-06-19 한국항공우주연구원 포고핀이 구비된 안전장전장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0520651A (ja) * 1991-07-12 1993-01-29 Sony Corp 回転ヘツドドラムの組立装置
US9505136B1 (en) * 2013-06-24 2016-11-29 Redwood Robotics Precision assembly of robotic components
KR20160003812A (ko) * 2013-06-26 2016-01-11 가부시키가이샤 야스카와덴키 스토퍼 기구, 관절 기구, 및 로봇
KR20170068281A (ko) * 2015-12-09 2017-06-19 한국항공우주연구원 포고핀이 구비된 안전장전장치
KR101740704B1 (ko) * 2016-06-02 2017-06-16 주식회사 듀로 마그네틱 조인트를 구비한 로봇의 회전관절 조립체

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KR20190022175A (ko) 2019-03-06
KR101955548B1 (ko) 2019-03-08

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