WO2013062155A1 - Integrated cycloid decelerator - Google Patents
Integrated cycloid decelerator Download PDFInfo
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- WO2013062155A1 WO2013062155A1 PCT/KR2011/008073 KR2011008073W WO2013062155A1 WO 2013062155 A1 WO2013062155 A1 WO 2013062155A1 KR 2011008073 W KR2011008073 W KR 2011008073W WO 2013062155 A1 WO2013062155 A1 WO 2013062155A1
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- gear
- case
- unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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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
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
Definitions
- the present invention relates to an integrated cycloid reducer, and more particularly, the case, the pin gear and the bearing are integrated so as to be applied to the joint of the robot to not only smoothly induce movement but also to realize a high-speed high-accuracy characteristic while structurally simplified.
- An integrated cycloid reducer is an integrated cycloid reducer.
- robots used in various fields from industrial robots to humanoid robots use actuators having a deceleration function for flexible movement of joints.
- reduction gears used in such actuators, such as gear type reduction gears, electric ball type reduction gears, harmonic drive reduction gears, cycloid reduction gears, and the like.
- the gear type reducer is the most common type of reducer and it uses the Involute Tooth Form.
- the gear type reducer is the epicycloid curve and the hypocycloid curve.
- the speed reducer is a gear that allows the ball to be rotated to execute the deceleration rotation in the opposing guide groove.
- the harmonic drive reducer is an elliptical motion part that is rotated by an oval when the wave generator bundle is rotated. It is delivered to the flexplane and the flexplane is a speed reducer that rotates by slowly skipping the outer ring gear one space to induce deceleration. Cycloid gear reducers are usually fixed pins and are planetary gears.
- To execute only the rotation of the trochoid gear refers to a speed reducer to achieve the reduced rotation, through the control pin holes and pins, and there is the speed reducer mutually combining them with modified base.
- the cycloidal decelerator is widely used in a field requiring precise control because it can implement various reduction ratios and is advantageous for high precision and high reduction.
- Prior arts related to such a reducer include: Registered Room No. 0325018 'Cycloid Reducer Using Involute Gear', Publication No. 2010-0038146 'Rotary Reducer', Publication No. 2011-0068500 'Multi-Axis Cycloid Reducer' And the like are disclosed.
- Figure 1 shows an example of a typical conventional cycloidal speed reducer, as illustrated, after installing a plurality of pin gears 12 at regular intervals along the inner circumferential surface of the separately manufactured case 10, the pin A pair of eccentric plate gears 14 are installed to induce deceleration through internal friction with the gear 12 and vibration friction, and a separate cross roller bearing 16 is reassembled at the input end. Because of this, it was not free from the above-mentioned problems, and it also became a factor to hinder the miniaturization.
- the present invention has been made in view of the above-mentioned problems in the prior art, and has been created to simplify the structure of the cycloid reducer and realize the integration between parts to reduce the volume of the entire reducer, which is advantageous for miniaturization and processing errors. Its main purpose is to provide an integrated cycloid reducer that can achieve high precision and high speed reduction by eliminating assembly errors and can be manufactured at low cost.
- the present invention is a means for achieving the above object, an input unit for receiving power, a reduction unit for reducing the input power by the reduction ratio, an output unit for outputting the reduced power, the input unit and the reduction unit and a case in which the output unit is built
- the cycloid reducer comprising;
- a pin gear which is in contact with the plate gear constituting the deceleration portion and decelerates by a dimension difference is integrally formed on the inner circumferential surface of the case;
- a bearing groove integrally formed in the inner circumferential surface of the case at a distance in the output direction from the pin gear; A part is inserted into the bearing groove, the other part is inserted into the outer circumferential surface of the output portion to provide an integrated cycloid reducer, characterized in that it comprises a;
- the reduction unit is formed to be in contact with the pin gear and the plate gear, the pin gear and the plate gear of the epitroid tooth-type contact or the pin gear is an internal gear of the involute tooth type and the plate gear is in ball It is also characterized by the form of a root tooth external gear.
- the input unit is directly coupled to the motor shaft to receive the driving force in the axial form, or is coupled to the drive gear fixed to the motor shaft in the form of a spur gear to receive the driving force or bevel gear is coupled to receive the driving force. It also has its features.
- the pin gear and the bearing by integrating the case, the pin gear and the bearing, processing errors and assembly errors can be eliminated, thereby ensuring high precision and high deceleration characteristics, reducing manufacturing costs, and reducing the overall volume of the reducer.
- FIG. 1 is an exemplary view showing a partially cut cycloid reducer according to the prior art.
- Figure 2 is an exemplary perspective view showing a cut off a part of the cycloid reducer according to the present invention.
- 3 and 4 are exemplary exploded perspective views of a cycloid reducer according to the present invention.
- FIG. 5 is an exemplary view showing an exploded main part of the cycloid reducer according to the present invention.
- FIG. 6 is an exemplary view showing another example of a cycloid reducer according to the present invention.
- FIG. 7 is an exemplary view showing another example of a cycloid reducer according to the present invention.
- Cycloid reducer is a speed reducer using an internal gear of the epitrochoid teeth, the main feature is that the pin gear is integrally formed in the case for structural simplification .
- the cycloid reducer according to the present invention includes a case (100).
- an input part, a deceleration part, and an output part are built in the case 100, and the input part is a part for receiving power from the driving motor, and the deceleration part is coupled with the pin gear and the plate gear to induce the deceleration by the dimension difference.
- the output unit is a portion for outputting the decelerated power through the reduction unit.
- the input unit is not only a gear form as in the preferred embodiment described below, but also a shaft type in which the driving shaft of the driving motor is directly connected, and a bevel gear coupling type capable of inputting power in a 90 ° direction is possible.
- the plate gear constituting the reduction unit is a disk-shaped gear with teeth formed on the outer circumferential surface, and a pair of the same size is arranged to be eccentrically contacted with each other. It is configured to be operated while the pair is rotated again, the tooth shape of the plate gear in contact with the pin gear for the deceleration function can be formed in the epitroid form, as described below may be formed in the involute tooth shape In the case of teeth, the pin gear should also have an involute shape, which will be described later with another embodiment of the present invention.
- the reduction gear is made of a structure in which the pin gear 110 and the plate gear 300 is disposed in contact, the double plate gear 300 is based on the central axis 210 of the input unit first
- the first eccentric shaft (S1) spaced by a certain amount in the direction
- the second eccentric shaft (S2) spaced apart by the eccentricity spaced apart from the first direction in a direction opposite to the first direction with respect to the central axis (210)
- the first plate gear 302 is rotatably fixed to the first eccentric shaft S1 and the second eccentric shaft S2 is fixed to the first eccentric shaft S1 so as to contact the pin gear 110 and cause a deceleration by a dimension difference.
- It consists of a combination of the second plate gear 304, which is well known in the art, and thus, further description thereof will be omitted.
- the output unit has a circular flange form as the output member 500 of the circular flange form having an output shaft 510 has a very free and easy connection for the output.
- the rear end of the case 100 is connected to the input motor (not shown), the rotation axis of the motor is an input shaft, the drive gear (not shown) fixed to the input shaft is input To be coupled with the gear 200.
- the drive gear and the input gear 200 are tooth-coupled to each other in the form of a spur gear so that the input direction and the output direction are parallel.
- the plate gear 300 is connected to the central shaft 210 formed on the input gear 200, the front of the plate gear 300 is provided with a bearing, preferably a cross roller bearing 400, An output member 500 having an output shaft 510 is provided in front of the cross roller bearing 400.
- the bearing is described as being limited to the cross roller bearing 400, but the bearing is not limited to the cross roller bearing 400, and any bearing structure having a rolling action may be used. Of course.
- the pin gear 110 is integrally formed on the inner circumferential surface of the case 100. Unlike the conventional method, the pin gear 110 is formed to be integrally molded to the case 100 itself when the case 100 is molded.
- the case 100 itself and the pin gear 110 corresponding to the plate gear 300 having the epitroid tooth shape in the case 100 is molded together in the manufacturing step to manufacture and integrate the processing error as well as assembly Eliminate errors and reduce manufacturing costs.
- the pin gear 110 and the plate gear 300 is processed so that the tooth is different from each other, which is obviously known in the case of the cycloid reducer in the field of the reducer does not need to be described in detail.
- the pin gear 110 and the plate gear 300 is processed so that the tooth is different from each other, which is obviously known in the case of the cycloid reducer in the field of the reducer does not need to be described in detail.
- the eccentric rotation of the plate gear 300 is a reduction ratio of "1 / number of plate gear teeth" compared to the input rotation speed It will be decelerated.
- the number of teeth of the plate gear 300 is 50
- the number of pins of the pin gear 110 is maintained at 51, so that the reduction gear ratio of 1/50 can be obtained in the reducer having such a structure.
- a groove groove-shaped bearing groove 120 is machined on the output side inner circumferential surface of the case 100, that is, on the output side inner circumferential surface spaced from the pin gear 110 as shown in FIGS. 4 and 5.
- the bearing housing (not shown) including the cross-roller bearing 400 on the output side of the case 100 was installed in a manner that is directly fixed separately.
- the bearing housing that can install the cross roller bearing 400 that is, the outer ring of the bearing is formed integrally with the case 100, through which the cross roller bearing 400 can be implemented integrally. Assembly errors and machining errors can be further reduced.
- bearing housing does not need to be fixed as before, thus eliminating the need for ancillary fixing bolts, thereby reducing costs, and eliminating the need for centering operations that must be managed sensitively and precisely during assembly.
- Productivity is also improved, and the volume and mass can be reduced, resulting in a lighter weight and a thinner thickness.
- the bearing groove 120 is recessed in the circumferential direction along the inner circumferential surface of the case 100, and a part of the cross roller bearing 400 is inserted into the bearing groove 120.
- the remaining portion of the cross roller bearing 400 is inserted into a groove (not shown) formed along the bottom surface of the output member 500, although not shown in detail.
- the output member 500 is supported to be smoothly rotated by the cross roller bearing 400.
- the plate gear 300 constituting the deceleration portion is a well-known structure known in the art, and is formed in a form in which circular plates having a pair of epitrocoid teeth facing each other are fixed in contact with each other so as to be eccentrically fixed to each other,
- the plate surface has a plurality of plate holes 310 are formed along the circumferential direction, so that the fixing pins 330 protruding from the fixing flange 320 are fitted to each other so as to be bound in an eccentric state and to transmit power. .
- the plate gear 300 is formed in a pair to face each other, the reason for the eccentricity is to offset the vibration generated during deceleration, the bite is reinforced twice.
- the output member 500 is decelerated by mutual coupling. The output can be delivered to the output member 500.
- the present invention having such a configuration is the output shaft 510 through the output member 500 while the rotational speed input from the motor is decelerated at a reduction ratio by a predetermined dimension difference (generated by the plate gear and the pin gear) via the integrated cycloid reducer. Because it is output as), more precise deceleration control is possible.
- the integrated cycloid reducer according to the present invention may be modified to a shape as shown in FIG. 6.
- the example illustrated in FIG. 6 is configured to transmit an output by switching it in a 90 ° direction with respect to the input.
- the input gear 200 is changed to the bevel gear type, and the drive gear G connected to the motor is also changed to the bevel gear type and is coupled to each other in a 90 ° direction, thereby decelerating the input while the input is decelerated. It can be switched in the 90 ° direction.
- the teeth of the pin gear and the plate gear constituting the integrated cycloid reducer according to the present invention may be modified into an involute form as shown in FIG. 7.
- the involute tooth shown as a deformable example belongs to a typical serrated internal planetary gear group, and thus there may be a problem of tooth interference.
- the pin gear 110 is made of an involute toothed internal gear
- the plate gear 300 is made of an involute toothed external gear so that the pin gear 110 can be in contact with each other, thereby realizing another form of reduction gear.
- the interlocking depths, the inclination angles of the interlocking parts, and the like must be set accurately so as not to cause interference between the teeth.
- binding pin 400 cross roller bearing
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Abstract
The present invention relates to an integrated cycloid decelerator, and to a cycloid decelerator comprising an input unit for receiving a power input, a decelerating unit for decelerating the input power by a deceleration ratio, an output unit for outputting the decelerated power, and a case containing the input unit, the decelerating unit, and the output unit, wherein a pin gear, which contacts and decelerates a plate gear (configuring the decelerating unit) by the number of teeth thereof, is integrally formed on the inner peripheral surface of the case. The cycloid decelerator also comprises: a bearing slot integrally formed into the inner peripheral surface of the case at a distance from the pin gear in the output shaft direction; and a bearing having a portion inserted into the bearing slot and the remaining portion inserted in the outer peripheral surface of the output unit to rotatably support the output unit. According to the present invention, by integrating the case, the pin gear, and the bearing, processing errors and assembling errors can be eliminated to achieve high precision and high deceleration properties, manufacturing costs can be reduced, and the overall volume of the decelerator can be reduced.
Description
본 발명은 일체형 싸이클로이드 감속기에 관한 것으로, 보다 상세하게는 로봇의 관절에 적용되어 동작을 원활하게 유도할 뿐만 아니라 구조적으로 단순화되면서도 고감속 고정밀 특성을 구현할 수 있도록 케이스와 핀기어 및 베어링이 일체화된 일체형 싸이클로이드 감속기에 관한 것이다.The present invention relates to an integrated cycloid reducer, and more particularly, the case, the pin gear and the bearing are integrated so as to be applied to the joint of the robot to not only smoothly induce movement but also to realize a high-speed high-accuracy characteristic while structurally simplified. An integrated cycloid reducer.
주지된 바와 같이, 산업용 로봇에서부터 휴머노이드 로봇에 이르기까지 다양한 분야에서 사용되는 로봇에는 관절의 유연한 운동을 위하여 감속기능을 갖는 엑츄에이터를 사용하고 있다.As is well known, robots used in various fields from industrial robots to humanoid robots use actuators having a deceleration function for flexible movement of joints.
이러한 엑츄에이터에 사용되는 감속기에는 여러 종류가 있는데, 이를 테면 기어식 감속기, 전동볼식 감속기, 하모닉 드라이브 감속기, 싸이클로이드 감속기 등을 들 수 있다.There are several types of reduction gears used in such actuators, such as gear type reduction gears, electric ball type reduction gears, harmonic drive reduction gears, cycloid reduction gears, and the like.
이때, 기어식 감속기는 가장 많이 사용하고 있는 일반적인 감속기로서 인볼루트 치형(Involute Tooth Form)을 사용하는 감속기를 말하고, 전동볼식 감속기는 에피싸이클로이드 곡선(Epicycloid Curve)과 하이포 싸이클로이드 곡선(Hypocycloid Curve)이 마주보는 형상의 안내홈 내를 볼이 전동(轉動)하여 감속회전을 실행시키도록 한 감속기를 말하며, 하모닉 드라이브 감속기는 타원형으로 된 웨이브 제네레이터 뭉치가 회전하면 타원형으로 쓸려 돌아가는 베어링에 의해 타원운동 부분만 플렉스플라인으로 전달되고 플렉스플라인은 천천히 맨 바깥쪽 링기어를 한칸씩 건너 뛰면서 회전하여 감속을 유도하는 감속기를 말하며, 싸이클로이드 감속기는 보통 핀을 고정하고 유성기어로서 트로코이드 기어(Trochoid Gear)를 편심회전시켜 트로코이드 내에 동일한 각도로 배치되어 있는 핀구멍 및 핀을 통해 트로코이드 기어의 자전만을 실행시켜 감속회전을 얻도록 한 감속기를 말하며, 이들을 기본으로 상호 조합 변형한 감속기들도 존재하고 있다.At this time, the gear type reducer is the most common type of reducer and it uses the Involute Tooth Form. The gear type reducer is the epicycloid curve and the hypocycloid curve. The speed reducer is a gear that allows the ball to be rotated to execute the deceleration rotation in the opposing guide groove. The harmonic drive reducer is an elliptical motion part that is rotated by an oval when the wave generator bundle is rotated. It is delivered to the flexplane and the flexplane is a speed reducer that rotates by slowly skipping the outer ring gear one space to induce deceleration. Cycloid gear reducers are usually fixed pins and are planetary gears. Rotates eccentrically at same angle within the trocoid To execute only the rotation of the trochoid gear refers to a speed reducer to achieve the reduced rotation, through the control pin holes and pins, and there is the speed reducer mutually combining them with modified base.
이들 중에서 특히, 싸이클로이드 감속기(Cycloid Decelerator)는 다양한 감속비를 구현할 수 있고 고정밀 고감속에 유리하므로 정밀 제어가 필요한 분야에 많이 활용되고 있다.Among these, the cycloidal decelerator is widely used in a field requiring precise control because it can implement various reduction ratios and is advantageous for high precision and high reduction.
이와 같은 감속기와 관련된 선행기술로는 등록실용 제0325018호 '인벌류트 기어를 이용한 싸이클로이드 감속기', 공개특허 제2010-0038146호 '로터리 감속기', 공개특허 제2011-0068500호 '다축 싸이클로이드 감속기' 등이 개시되어 있다.Prior arts related to such a reducer include: Registered Room No. 0325018 'Cycloid Reducer Using Involute Gear', Publication No. 2010-0038146 'Rotary Reducer', Publication No. 2011-0068500 'Multi-Axis Cycloid Reducer' And the like are disclosed.
그런데, 개시된 선행 기술들 뿐만 아니라 당해 분야에 속한 싸이클로이드 감속기의 경우, 대부분 감속기 케이스와 감속기능을 수행하는 핀기어, 그리고 회전을 지지하는 베어링 등이 서로 각기 분리된 상태로 별체로 제작된 후 상호 조립되는 구조를 갖고 있기 때문에 구조가 복잡하고, 가공시 가공오차, 조립시 조립오차를 발생시켜 고속 정밀제어를 저해할 뿐만 아니라 가공비 제조비 등이 비싸며, 감속기 전체의 볼륨을 키우게 되어 소형화에 불리한 단점이 있었다.By the way, in the case of the cycloid reducer in the related art as well as the disclosed prior art, most of the reducer case, the pin gear to perform the deceleration function, and the bearing for supporting the rotation are made separately from each other and then mutually Due to the structure that is assembled, the structure is complicated, processing error during processing, assembly error occurs during assembly, which not only impedes high-speed precision control but also expensive manufacturing cost, and increases the volume of the entire reducer, which is disadvantageous in miniaturization. there was.
예컨대, 도 1은 전형적인 종래 싸이클로이드 감속기의 일 예를 보여 주는데, 예시된 바와 같이, 별도 제작된 케이스(10)의 내주면을 따라 일정간격을 두고 다수의 핀기어(12)를 설치한 후 상기 핀기어(12)와의 내접, 진동마찰을 통해 감속을 유도하도록 편심된 한 쌍의 판기어(14)가 설치되며, 입력측 선단에 별도의 크로스롤러 베어링(Cross Roller Bearing)(16)이 다시 조립되는 구조를 갖추고 있었기 때문에 상술한 문제로부터 자유로울 수 없었고, 또한 소형화를 저해하는 요인이 되기도 했다.For example, Figure 1 shows an example of a typical conventional cycloidal speed reducer, as illustrated, after installing a plurality of pin gears 12 at regular intervals along the inner circumferential surface of the separately manufactured case 10, the pin A pair of eccentric plate gears 14 are installed to induce deceleration through internal friction with the gear 12 and vibration friction, and a separate cross roller bearing 16 is reassembled at the input end. Because of this, it was not free from the above-mentioned problems, and it also became a factor to hinder the miniaturization.
본 발명은 상술한 바와 같은 종래 기술상의 제반 문제점들을 감안하여 이를 해결하고자 창출된 것으로, 싸이클로이드 감속기의 구조를 단순화시키고 부품간 일체화를 실현하여 감속기 전체의 볼륨을 줄일 수 있어 소형화에 유리하면서 가공오차, 조립오차를 없애 고정밀 고감속 구현이 가능하며 저렴한 비용으로 제조할 수 있는 일체형 싸이클로이드 감속기를 제공함에 그 주된 목적이 있다.The present invention has been made in view of the above-mentioned problems in the prior art, and has been created to simplify the structure of the cycloid reducer and realize the integration between parts to reduce the volume of the entire reducer, which is advantageous for miniaturization and processing errors. Its main purpose is to provide an integrated cycloid reducer that can achieve high precision and high speed reduction by eliminating assembly errors and can be manufactured at low cost.
본 발명은 상기한 목적을 달성하기 위한 수단으로, 동력을 입력받는 입력부, 입력된 동력을 감속비 만큼 감속시키는 감속부, 감속된 동력을 출력하는 출력부, 입력부와 감속부 및 출력부가 내장되는 케이스를 포함하는 싸이클로이드 감속기에 있어서; 상기 감속부를 구성하는 판기어와 접촉하면서 치수차만큼 감속시키는 핀기어가 상기 케이스의 내주면에 일체로 형성되고; 상기 핀기어와 출력측 방향으로 간격을 두고 상기 케이스의 내주면에 일체로 요입형성된 베어링홈; 일부는 상기 베어링홈에 삽입되고, 나머지 일부는 출력부의 외주면에 삽입되어 출력부를 회전지지하는 베어링;을 포함하여 구성되는 것을 특징으로 하는 일체형 싸이클로이드 감속기를 제공한다.The present invention is a means for achieving the above object, an input unit for receiving power, a reduction unit for reducing the input power by the reduction ratio, an output unit for outputting the reduced power, the input unit and the reduction unit and a case in which the output unit is built In the cycloid reducer comprising; A pin gear which is in contact with the plate gear constituting the deceleration portion and decelerates by a dimension difference is integrally formed on the inner circumferential surface of the case; A bearing groove integrally formed in the inner circumferential surface of the case at a distance in the output direction from the pin gear; A part is inserted into the bearing groove, the other part is inserted into the outer circumferential surface of the output portion to provide an integrated cycloid reducer, characterized in that it comprises a;
이때, 상기 감속부는 핀기어와 판기어가 접촉되게 배치되어 이루어지는 것으로, 상기 핀기어와 에피트로코이드 치형의 판기어가 접촉되는 형태이거나 혹은 상기 핀기어는 인볼루트 치형의 내접기어이고 상기 판기어는 인볼루트 치형의 외접기어 형태인 것에도 그 특징이 있다.In this case, the reduction unit is formed to be in contact with the pin gear and the plate gear, the pin gear and the plate gear of the epitroid tooth-type contact or the pin gear is an internal gear of the involute tooth type and the plate gear is in ball It is also characterized by the form of a root tooth external gear.
또한, 상기 입력부는 모터축과 직접 축결합되어 구동력을 축형으로 입력받거나 혹은 모터축에 고정된 구동기어와 평기어 형태로 치결합되어 구동력을 입력받거나 혹은 베벨기어 형태로 치결합되어 구동력을 입력받도록 설치된 것에도 그 특징이 있다.In addition, the input unit is directly coupled to the motor shaft to receive the driving force in the axial form, or is coupled to the drive gear fixed to the motor shaft in the form of a spur gear to receive the driving force or bevel gear is coupled to receive the driving force. It also has its features.
본 발명에 따르면, 케이스와 핀기어 및 베어링을 일체화시킴으로써 가공오차와 조립오차를 없애 고정밀 고감속 특성을 확보할 수 있고, 제조비용을 절감할 수 있으며, 감속기 전체 볼륨을 줄이는 효과를 얻을 수 있다.According to the present invention, by integrating the case, the pin gear and the bearing, processing errors and assembly errors can be eliminated, thereby ensuring high precision and high deceleration characteristics, reducing manufacturing costs, and reducing the overall volume of the reducer.
도 1은 종래 기술에 따른 싸이클로이드 감속기를 일부 절개하여 보인 예시도이다.1 is an exemplary view showing a partially cut cycloid reducer according to the prior art.
도 2는 본 발명에 따른 싸이클로이드 감속기의 일부를 절개하여 보인 예시적인 사시도이다.Figure 2 is an exemplary perspective view showing a cut off a part of the cycloid reducer according to the present invention.
도 3 및 도 4는 본 발명에 따른 싸이클로이드 감속기의 예시적인 분해 사시도이다.3 and 4 are exemplary exploded perspective views of a cycloid reducer according to the present invention.
도 5는 본 발명에 따른 싸이클로이드 감속기의 요부를 분해하여 보인 예시도이다.5 is an exemplary view showing an exploded main part of the cycloid reducer according to the present invention.
도 6은 본 발명에 따른 싸이클로이드 감속기의 다른 예를 보인 예시도이다.6 is an exemplary view showing another example of a cycloid reducer according to the present invention.
도 7은 본 발명에 따른 싸이클로이드 감속기의 또다른 예를 보인 예시도이다.7 is an exemplary view showing another example of a cycloid reducer according to the present invention.
이하에서는, 첨부도면을 참고하여 본 발명에 따른 바람직한 실시예를 보다 상세하게 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment according to the present invention.
본 발명 일 실시예에 따른 싸이클로이드 감속기는 에피트로코이드(Epitrochoid) 치형의 내접기어를 사용하는 감속기로서, 구조적 단순화를 위해 핀기어(Pin Gear)가 케이스(Case)에 일체로 구성된 것에 주된 특징을 가진다.Cycloid reducer according to an embodiment of the present invention is a speed reducer using an internal gear of the epitrochoid teeth, the main feature is that the pin gear is integrally formed in the case for structural simplification .
즉, 도 2 내지 도 5에 도시된 바와 같이, 본 발명에 따른 싸이클로이드 감속기는 케이스(100)를 포함한다.That is, as shown in Figures 2 to 5, the cycloid reducer according to the present invention includes a case (100).
이때, 상기 케이스(100)의 내부에는 입력부, 감속부, 출력부가 내장되는데, 입력부는 구동모터로부터 동력을 전달받기 위한 부분이고, 감속부는 핀기어와 판기어가 치결합되어 치수차만큼 감속을 유도하는 부분이며, 출력부는 감속부를 통해 감속된 동력을 출력하는 부분이다.In this case, an input part, a deceleration part, and an output part are built in the case 100, and the input part is a part for receiving power from the driving motor, and the deceleration part is coupled with the pin gear and the plate gear to induce the deceleration by the dimension difference. The output unit is a portion for outputting the decelerated power through the reduction unit.
여기에서, 입력부는 후술하는 바람직한 실시예와 같은 기어 형태는 물론 구동모터의 동력축이 직접 연결되는 축형도 가능하고, 동력을 90°방향에서 입력할 수 있는 베벨기어 결합 형태도 가능하다.Here, the input unit is not only a gear form as in the preferred embodiment described below, but also a shaft type in which the driving shaft of the driving motor is directly connected, and a bevel gear coupling type capable of inputting power in a 90 ° direction is possible.
다만, 본 발명에서는 기어 결합형인 입력기어(200) 형태를 예시적으로 설명한다.However, in the present invention will be described by way of example the input gear 200 of the gear coupling type.
또한, 감속부를 구성하는 판기어는 외주면에 치형이 형성된 원판상의 기어로서, 동일 크기의 한 쌍이 서로 편심되게 접촉 배치된 것이며, 이들 사이에는 핀이 매개되어 핀을 중심으로 양자가 회전유동되면서 핀기어와 맞물려 한 쌍이 다시 회전되면서 동작되도록 구성된 것으로, 감속기능을 위해 상기 핀기어와 접촉되는 판기어의 치형을 에피트로코이드 형태로 형성할 수 있고, 후술하는 바와 같이 인볼루트 치형으로 형성할 수도 있는데 인볼루트 치형의 경우에는 핀기어도 인볼루트 형태를 가져야 하며 이에 관하여는 본 발명의 다른 실시예로 나중에 다시 설명하기로 한다.In addition, the plate gear constituting the reduction unit is a disk-shaped gear with teeth formed on the outer circumferential surface, and a pair of the same size is arranged to be eccentrically contacted with each other. It is configured to be operated while the pair is rotated again, the tooth shape of the plate gear in contact with the pin gear for the deceleration function can be formed in the epitroid form, as described below may be formed in the involute tooth shape In the case of teeth, the pin gear should also have an involute shape, which will be described later with another embodiment of the present invention.
즉, 상기 감속부는 도 3에서와 같이, 핀기어(110)와 판기어(300)가 접촉 배치되는 구조로 이루어지되, 이중 판기어(300)는 입력부의 중심축(210)을 기준으로 제1방향으로 일정량 이격된 제1편심축(S1), 중심축(210)을 기준으로 제1방향과 대향되는 방향으로 제1편심축(S1)이 이격된 편심량만큼 이격된 제2편심축(S2), 핀기어(110)와 접촉하면서 치수차만큼 감속을 유발하도록 제1편심축(S1)에 회전가능하게 고정된 제1판기어(302), 제2편심축(S2)에 회전가능하도록 고정된 제2판기어(304)의 조합으로 이루어지는데 이 구조는 당해 분야에서 널리 알려진 사항이므로 더 이상의 설명은 생략한다.That is, as shown in Figure 3, the reduction gear is made of a structure in which the pin gear 110 and the plate gear 300 is disposed in contact, the double plate gear 300 is based on the central axis 210 of the input unit first The first eccentric shaft (S1) spaced by a certain amount in the direction, the second eccentric shaft (S2) spaced apart by the eccentricity spaced apart from the first direction in a direction opposite to the first direction with respect to the central axis (210) The first plate gear 302 is rotatably fixed to the first eccentric shaft S1 and the second eccentric shaft S2 is fixed to the first eccentric shaft S1 so as to contact the pin gear 110 and cause a deceleration by a dimension difference. It consists of a combination of the second plate gear 304, which is well known in the art, and thus, further description thereof will be omitted.
아울러, 출력부는 출력축(510)을 갖는 원형 플랜지 형태의 출력부재(500)로서 원형 플랜지 형태이기 때문에 출력을 위한 접속이 매우 자유롭고 용이한 장점을 가진다.In addition, the output unit has a circular flange form as the output member 500 of the circular flange form having an output shaft 510 has a very free and easy connection for the output.
보다 구체적으로, 도 3,4를 기준으로 본 발명에 따른 바람직한 실시예를 설명한다.More specifically, with reference to Figures 3, 4 will be described a preferred embodiment according to the present invention.
도 3,4에 도시된 바와 같이, 상기 케이스(100)의 후단에는 입력측인 모터(미도시)가 연결 설치되며, 모터의 회전축은 입력축이 되고, 입력축에 고정된 구동기어(미도시)는 입력기어(200)와 치결합된다.As shown in Figures 3 and 4, the rear end of the case 100 is connected to the input motor (not shown), the rotation axis of the motor is an input shaft, the drive gear (not shown) fixed to the input shaft is input To be coupled with the gear 200.
즉, 상기 구동기어와 입력기어(200)는 평기어 형태로 상호 치결합되어 입력 방향과 출력방향이 나란하게 이루어진다.That is, the drive gear and the input gear 200 are tooth-coupled to each other in the form of a spur gear so that the input direction and the output direction are parallel.
아울러, 상기 입력기어(200)에 형성된 중심축(210)에는 판기어(300)가 접속되고, 상기 판기어(300)의 전방에는 베어링, 바람직하기로는 크로스롤러 베어링(400)이 구비되며, 상기 크로스롤러 베어링(400)의 전방에는 출력축(510)을 갖는 출력부재(500)가 구비된다.In addition, the plate gear 300 is connected to the central shaft 210 formed on the input gear 200, the front of the plate gear 300 is provided with a bearing, preferably a cross roller bearing 400, An output member 500 having an output shaft 510 is provided in front of the cross roller bearing 400.
이 경우, 설명의 편의상 바람직한 실시예로서, 베어링을 크로스롤러 베어링(400)으로 한정하여 설명하고 있으나 상기 베어링은 크로스롤러 베어링(400)에 국한되는 것은 아니며, 구름 작용을 하는 베어링 구조체이면 모두 사용할 수 있음은 물론이다.In this case, as a preferred embodiment for convenience of description, the bearing is described as being limited to the cross roller bearing 400, but the bearing is not limited to the cross roller bearing 400, and any bearing structure having a rolling action may be used. Of course.
이때, 상기 케이스(100)의 내주면에는 핀기어(110)가 일체로 형성되는데, 상기 핀기어(110)는 기존과 달리 케이스(100) 성형시 케이스(100) 자체에 일체로 성형되도록 구성된다.At this time, the pin gear 110 is integrally formed on the inner circumferential surface of the case 100. Unlike the conventional method, the pin gear 110 is formed to be integrally molded to the case 100 itself when the case 100 is molded.
다시 말해, 기존에는 케이스(100) 성형 후 도 1 및 선행기술인 공개특허 제2010-0038146호에 나타나 있듯이 롤 형상의 핀을 하나 하나 일일이 케이스(100)에 심어 넣어 고정하는 형태를 취하였다.In other words, conventionally, as shown in FIG. 1 and the prior art Patent Publication No. 2010-0038146 after molding the case 100, the pins having a roll shape are planted and inserted into the case 100 one by one.
따라서, 조립시 조립공차는 물론 별체로 제작해야 하므로 제작시 가공오차가 발생되어 고정밀, 고감속을 요하는 목적에 부합되지 못하고 불량을 초래하는 문제를 야기시켰다.Therefore, when assembling, as well as the assembly tolerances must be manufactured separately, processing errors occur during manufacturing, causing problems that do not meet the purpose of requiring high precision and high deceleration and causing defects.
그러나, 본 발명에서는 케이스(100) 자체에 에피트로코이드 치형을 갖는 판기어(300)와 대응되는 핀기어(110)를 케이스(100) 성형단계에서 함께 성형하여 제조하여 일체화시키기 때문에 가공오차는 물론 조립오차를 없애고, 제조비용도 줄일 수 있게 되는 것이다.However, in the present invention, because the case 100 itself and the pin gear 110 corresponding to the plate gear 300 having the epitroid tooth shape in the case 100 is molded together in the manufacturing step to manufacture and integrate the processing error as well as assembly Eliminate errors and reduce manufacturing costs.
뿐만 아니라, 상기 핀기어(110)와 판기어(300)는 치형이 서로 1개 차이 나도록 가공되는데, 이는 당해 감속기 분야에서 싸이클로이드 감속기인 경우 자명하게 알려져 있는 사항이므로 굳이 구체적으로 설명할 필요는 없으나 간단히 부연하자면 다음과 같다.In addition, the pin gear 110 and the plate gear 300 is processed so that the tooth is different from each other, which is obviously known in the case of the cycloid reducer in the field of the reducer does not need to be described in detail. In short,
즉, 핀기어(110)의 갯수가 판기어(300)의 치형 보다 1개 더 많이 구비되도록 가공되므로 편심회전되는 판기어(300)는 입력회전수 대비 "1/판기어 치형 개수"의 감속비로 감속회전되게 된다.That is, since the number of the pin gear 110 is processed to be provided with one more than the teeth of the plate gear 300, the eccentric rotation of the plate gear 300 is a reduction ratio of "1 / number of plate gear teeth" compared to the input rotation speed It will be decelerated.
예컨대, 판기어(300)의 치형이 50개라면 핀기어(110)의 핀수는 51개로 유지되므로 결국 이러한 구조의 감속기에서는 1/50의 감속비를 얻을 수 있게 되는 것이다.For example, if the number of teeth of the plate gear 300 is 50, the number of pins of the pin gear 110 is maintained at 51, so that the reduction gear ratio of 1/50 can be obtained in the reducer having such a structure.
아울러, 상기 케이스(100)의 출력측 내주면 상부, 다시 말해 도 4 및 도 5에서와 같이, 상기 핀기어(110)와 간격을 둔 출력측 내주면 상부에는 요홈 형상의 베어링홈(120)이 가공된다.In addition, a groove groove-shaped bearing groove 120 is machined on the output side inner circumferential surface of the case 100, that is, on the output side inner circumferential surface spaced from the pin gear 110 as shown in FIGS. 4 and 5.
이는 기존과 다른 것으로, 기존에는 이 부분이 없고, 케이스(100)의 출력측 외면에 크로스롤러 베어링(400)을 포함한 베어링하우징(미도시)이 직접 별도 고정되는 방식으로 조립설치되었었다.This is different from the existing, there is no conventional part, the bearing housing (not shown) including the cross-roller bearing 400 on the output side of the case 100 was installed in a manner that is directly fixed separately.
정리하자면, 크로스롤러 베어링(400)을 설치할 수 있는 베어링하우징, 즉 베어링의 외륜이 상기 케이스(100)와 일체로 형성된 것이라고 볼 수 있으며, 이를 통해 크로스롤러 베어링(400)까지 일체로 구현시킬 수 있어 조립오차나 가공오차를 더욱 더 줄일 수 있게 된다.To sum up, it can be seen that the bearing housing that can install the cross roller bearing 400, that is, the outer ring of the bearing is formed integrally with the case 100, through which the cross roller bearing 400 can be implemented integrally. Assembly errors and machining errors can be further reduced.
뿐만 아니라, 기존처럼 베어링하우징을 별도 고정할 필요가 없으므로 부수적으로 요구되던 고정볼트도 필요없게 되어 비용도 절감하게 되며, 조립시 민감하고 정밀하게 관리되어야 할 센터링 작업도 필요없게 되어 정밀도가 향상되고, 생산성도 향상되게 되며, 부피와 질량을 줄일 수 있어 경량화, 박형화를 구현할 수 있게 된다.In addition, the bearing housing does not need to be fixed as before, thus eliminating the need for ancillary fixing bolts, thereby reducing costs, and eliminating the need for centering operations that must be managed sensitively and precisely during assembly. Productivity is also improved, and the volume and mass can be reduced, resulting in a lighter weight and a thinner thickness.
상기 베어링홈(120)은 케이스(100)의 내주면을 따라 둘레방향으로 요입형성되며, 이 베어링홈(120)에 크로스롤러 베어링(400)의 일부가 삽입 설치된다.The bearing groove 120 is recessed in the circumferential direction along the inner circumferential surface of the case 100, and a part of the cross roller bearing 400 is inserted into the bearing groove 120.
아울러, 크로스롤러 베어링(400)의 나머지 부분은 도면에 구체적으로 도시하지 않았지만 출력부재(500)의 하단면 둘레를 따라 형성된 홈(도면번호 생략)에 삽입된다.In addition, the remaining portion of the cross roller bearing 400 is inserted into a groove (not shown) formed along the bottom surface of the output member 500, although not shown in detail.
따라서, 상기 출력부재(500)는 상기 크로스롤러 베어링(400)에 의해 원활하게 회전될 수 있도록 지지된다.Thus, the output member 500 is supported to be smoothly rotated by the cross roller bearing 400.
그리고, 감속부를 구성하는 상기 판기어(300)는 당해 분야에 널리 알려진 공지된 구조로서, 서로 대향하는 한 쌍의 에피트로코이드 치형을 갖는 원형판이 서로 약간 편심되게 면접 밀착되어 고정되는 형태로 형성되고, 판면에는 둘레방향을 따라 다수의 판공(310)이 형성되어 있어 고정플랜지(320) 상에 돌출된 고정핀(330)이 끼워짐으로써 상호 편심된 상태로 결속되게 되고, 동력을 전달할 수 있게 구성된다.In addition, the plate gear 300 constituting the deceleration portion is a well-known structure known in the art, and is formed in a form in which circular plates having a pair of epitrocoid teeth facing each other are fixed in contact with each other so as to be eccentrically fixed to each other, The plate surface has a plurality of plate holes 310 are formed along the circumferential direction, so that the fixing pins 330 protruding from the fixing flange 320 are fitted to each other so as to be bound in an eccentric state and to transmit power. .
이때, 상기 판기어(300)를 서로 대향하는 한 쌍으로 형성하고, 편심을 두는 이유는 감속시 발생되는 진동을 상쇄하기 위함이며, 치물림은 2배로 강화된다.At this time, the plate gear 300 is formed in a pair to face each other, the reason for the eccentricity is to offset the vibration generated during deceleration, the bite is reinforced twice.
덧붙여, 상기 출력부재(500)는 상기 판기어(300)의 판면에서 돌출된 결속핀(340)이 삽입될 수 있도록 대응되는 위치에 결속공(520)이 형성되므로 이들의 상호 결합에 의해 감속된 출력이 출력부재(500)로 전달될 수 있게 된다.In addition, since the binding member 520 is formed at a corresponding position so that the binding pin 340 protruding from the plate surface of the plate gear 300 can be inserted, the output member 500 is decelerated by mutual coupling. The output can be delivered to the output member 500.
이러한 구성으로 이루어진 본 발명은 모터로부터 입력된 회전수가 일체형 싸이클로이드 감속기를 거쳐 소정의 치수차(판기어와 핀기어에 의해 발생되는) 만큼의 감속비로 감속되면서 출력부재(500)를 통해 출력축(510)으로 출력되게 되므로 보다 정밀한 감속제어가 가능하게 된다.The present invention having such a configuration is the output shaft 510 through the output member 500 while the rotational speed input from the motor is decelerated at a reduction ratio by a predetermined dimension difference (generated by the plate gear and the pin gear) via the integrated cycloid reducer. Because it is output as), more precise deceleration control is possible.
다른 예로, 본 발명에 따른 일체형 싸이클로이드 감속기를 도 6과 같은 형태로 변형시킬 수 있다.As another example, the integrated cycloid reducer according to the present invention may be modified to a shape as shown in FIG. 6.
도 6에 도시된 예는 앞서 설명한 예와 달리, 출력을 입력에 대해 90°방향으로 전환하여 전달할 수 있도록 구성된다.Unlike the example described above, the example illustrated in FIG. 6 is configured to transmit an output by switching it in a 90 ° direction with respect to the input.
이를 위해, 입력기어(200)를 베벨기어 타입으로 바꾸고, 모터와 연결된 구동기어(G)도 베벨기어 타입으로 바꾸어 서로 90°방향으로 치결합됨으로써 입력을 감속시킨 상태에서 감속된 출력을 입력에 대해 90°방향으로 전환시킬 수 있게 된다.To this end, the input gear 200 is changed to the bevel gear type, and the drive gear G connected to the motor is also changed to the bevel gear type and is coupled to each other in a 90 ° direction, thereby decelerating the input while the input is decelerated. It can be switched in the 90 ° direction.
또다른 예로, 본 발명에 따른 일체형 싸이클로이드 감속기를 구성하는 핀기어와 판기어의 치형을 도 7과 같이 인볼루트 형태로 변형할 수도 있다.As another example, the teeth of the pin gear and the plate gear constituting the integrated cycloid reducer according to the present invention may be modified into an involute form as shown in FIG. 7.
도 7에 도시된 바와 같이, 변형 가능한 예로서 제시된 인볼루트 치형은 전형적인 톱니형 내접식 유성기어군에 속하는 것이므로, 치형 간섭의 문제가 있을 수 있다.As shown in FIG. 7, the involute tooth shown as a deformable example belongs to a typical serrated internal planetary gear group, and thus there may be a problem of tooth interference.
즉, 핀기어(110)는 인볼루트 치형의 내접기어로 이루어지고, 판기어(300)는 인볼루트 치형의 외접기어로 이루어져 상호 접촉 가능한 상태로 배치됨으로서 또다른 형태의 감속부를 구현할 수 있게 된다.That is, the pin gear 110 is made of an involute toothed internal gear, and the plate gear 300 is made of an involute toothed external gear so that the pin gear 110 can be in contact with each other, thereby realizing another form of reduction gear.
따라서, 판기어(300)의 치형과, 핀기어(110)의 핀 형상을 인볼루트 형태로 변형할 때에는 치형간 간섭이 생기지 않도록 상호 맞물림 깊이, 맞물림 부위의 경사각 등을 정확하게 설정하여야 한다.Therefore, when deforming the tooth shape of the plate gear 300 and the pin shape of the pin gear 110 to the involute shape, the interlocking depths, the inclination angles of the interlocking parts, and the like must be set accurately so as not to cause interference between the teeth.
다만, 본 발명에서는 이를 구현할 수 있음을 개념적으로 제시한 것이므로 간섭 배제를 위한 구체적인 수치한정에 대해서는 설명하지 않기로 한다.However, the present invention conceptually suggests that the present invention can be implemented, and therefore, specific numerical limitations for interference elimination will not be described.
(부호의 설명)(Explanation of the sign)
100 : 케이스 110 : 핀기어100: case 110: pin gear
120 : 베어링홈 200 : 입력기어120: bearing groove 200: input gear
300 : 판기어 310 : 판공300: plate gear 310: plate maker
320 : 고정플랜지 330 : 고정핀320: fixing flange 330: fixing pin
340 : 결속핀 400 : 크로스롤러 베어링340: binding pin 400: cross roller bearing
500 : 출력부재 510 : 출력축500: output member 510: output shaft
520 : 결속공520: binding ball
Claims (3)
- 동력을 입력받는 입력부, 입력된 동력을 감속비 만큼 감속시키는 감속부, 감속된 동력을 출력하는 출력부, 입력부와 감속부 및 출력부가 내장되는 케이스를 포함하는 싸이클로이드 감속기에 있어서;A cycloid reducer including an input unit for receiving power, a reduction unit for reducing the input power by a reduction ratio, an output unit for outputting the reduced power, a case in which the input unit, the reduction unit, and the output unit are built-in;상기 감속부를 구성하는 판기어와 접촉하면서 치수차만큼 감속시키는 핀기어가 상기 케이스의 내주면에 일체로 형성되고;A pin gear which is in contact with the plate gear constituting the deceleration portion and decelerates by a dimension difference is integrally formed on the inner circumferential surface of the case;상기 핀기어와 출력측 방향으로 간격을 두고 상기 케이스의 내주면에 일체로 요입형성된 베어링홈;A bearing groove integrally formed in the inner circumferential surface of the case at a distance in the output direction from the pin gear;일부는 상기 베어링홈에 삽입되고, 나머지 일부는 출력부의 외주면에 삽입되어 출력부를 회전지지하는 베어링;을 포함하여 구성되는 것을 특징으로 하는 일체형 싸이클로이드 감속기.And a part inserted into the bearing groove and the other part inserted into an outer circumferential surface of the output part to support rotation of the output part.
- 청구항 1에 있어서;The method according to claim 1;상기 감속부는 핀기어와 판기어가 접촉되게 배치되어 이루어지는 것으로,The deceleration portion is formed to be in contact with the pin gear and the plate gear,상기 핀기어와 에피트로코이드 치형의 판기어가 접촉되는 형태이거나 혹은 상기 핀기어는 인볼루트 치형의 내접기어이고 상기 판기어는 인볼루트 치형의 외접기어 형태인 것을 특징으로 하는 일체형 싸이클로이드 감속기.Or a pin gear is an involute tooth type internal gear and the plate gear is an involute tooth type external gear type.
- 청구항 1에 있어서;The method according to claim 1;상기 입력부는 모터축과 직접 축결합되어 구동력을 축형으로 입력받거나 혹은 모터축에 고정된 구동기어와 평기어 형태로 치결합되어 구동력을 입력받거나 혹은 베벨기어 형태로 치결합되어 구동력을 입력받도록 설치된 것을 특징으로 하는 일체형 싸이클로이드 감속기.The input unit is directly coupled to the motor shaft to receive the driving force in the axial form or is coupled to the drive gear fixed to the motor shaft in the form of spur gear to receive the driving force or bevel gear is installed to receive the driving force. Integral cycloidal speed reducer.
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CN103438156A (en) * | 2013-09-06 | 2013-12-11 | 上海鑫君传动科技有限公司 | Harmonic reducer avoiding interference of gear |
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CN106151390B (en) * | 2015-04-14 | 2018-11-02 | 台达电子工业股份有限公司 | Speed reducer |
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KR101308737B1 (en) | 2013-09-16 |
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