WO2019054651A1 - 백래시 방지 싸이클로이드 감속기 - Google Patents
백래시 방지 싸이클로이드 감속기 Download PDFInfo
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- WO2019054651A1 WO2019054651A1 PCT/KR2018/009413 KR2018009413W WO2019054651A1 WO 2019054651 A1 WO2019054651 A1 WO 2019054651A1 KR 2018009413 W KR2018009413 W KR 2018009413W WO 2019054651 A1 WO2019054651 A1 WO 2019054651A1
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- rotor
- pin
- cyclic
- torque
- hollow
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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
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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
- F16H49/00—Other gearings
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
Definitions
- the present invention relates to a backlash-preventing cycloidal speed reducer.
- Industrial robots provide motion to the joints through actuator motors, servomotors, etc. in joint structures with multiple joint degrees of freedom.
- a joint of a robot is generally provided with a speed reducer at the output end of the servo motor.
- Patent Document 1 a pair of first and second cycloid discs, which are manufactured separately from each other, are configured to be in a one-to-one set in a state of facing each other, and a small phase difference is provided between the teeth formed on the respective discs Thereby reducing backlash.
- rollers on the portion of the outer circumferential surface of the cyclodic disk which is in contact with the outer teeth, but also can not guarantee the rotation of the rollers without clearance space such as backlash.
- the present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide an internal pin which is engaged with the external teeth of a cyclic rotor rotating eccentrically in a housing, or a rotor pin arranged inside a through- And to eliminate (prevent) backlash between the constituent members.
- the backlash-preventing cycloidal speed reducer comprises a decelerating portion for decelerating the input torque and an output portion for receiving the predetermined decelerating torque through the decelerating portion and transmitting the output torque to the outside
- a decelerating portion for decelerating the input torque
- an output portion for receiving the predetermined decelerating torque through the decelerating portion and transmitting the output torque to the outside
- the deceleration section includes an input shaft to which an input torque is transmitted; A hollow housing capable of receiving an input shaft; At least one cycloid rotor having a plurality of through holes arranged equidistantly in the circumferential direction in the inner region and a toothed protrusion formed along the circumference of the circumference and axially stacked on the outer circumference of the input shaft in an eccentrically rotatable manner; A plurality of elastically deformable inner fins disposed along an inner circumferential surface of the housing in contact with the toothed protrusions of the at least one cycloid rotor; And a plurality of elastically deformable rotor fins extending in a plurality of through holes arranged in the axial direction toward the rear end side,
- the output section includes a hollow main body, a hollow journal elongated from the center of one surface of the main body to the rear end side, and a receiving groove arranged at equal intervals in the circumferential direction on the front end side of the main body so as to receive one end portion of the elastically deformable rotor pin
- An output shaft for transmitting an output torque to the outside And a hollow housing cover capable of receiving the output shaft.
- the elastically deformable inner fin is provided with a cylindrical shape having a hollow portion therein so as to prevent a backlash between the inner pin and the tooth protrusion of the cycloconductor rotor by providing a preload to the tooth protrusion of the cycloconductor rotor during eccentric rotation
- the rotor pin being elastically deformable is a cylindrical member having a hollow portion inside to provide a preload to the through-hole of the cyclic rotor during eccentric rotation so as to prevent backlash between the rotor pin and the through-hole of the cyclic rotor consist of.
- the present invention can further form a slot in the longitudinal direction at the lower end of the elastically deformable inner fin, and further form a slot in the longitudinal direction at the lower end of the elastically deformable rotor pin.
- the present invention can additionally dispose a disk spring at an intersection of the main body and the journal so as to provide a preload through an elastic force to eliminate a clearance to the thrust load of the output shaft.
- the disc spring may be made of a material having elasticity.
- the hollow housing comprises an annular plate having a center hole for permitting penetration of the input shaft in the center of the inner region; A side wall formed along the periphery of the annular plate; A step formed around an edge of the center hole; And a receiving groove arranged at equal intervals in the circumferential direction along the circumference of the inner circumferential surface in order to arrange the inner pins in the axial direction.
- the hollow housing cover comprises: an annular plate having a center hole for permitting the passage of the output shaft in the center of the inner region; A side wall formed along the periphery of the annular plate; And a stepped portion formed around an edge of the center hole.
- the present invention can dispose a tubular bushing around the inner circumferential surface of the through-hole to reduce frictional force between the rotor pin and the through-hole of the cyclic rotor.
- the present invention further comprises discrete bushes disposed between the one or more cycloidal rotors and the disc-shaped bushes further disposed on the front and rear ends of the at least one cyclodial rotor, .
- tubular bush and the disc-shaped bush can be made of a synthetic resin having a low coefficient of friction.
- the disc-shaped bushing can further form a through-hole allowing penetration of the rotor pin.
- backlash is removed between inner and / or rotor pins contacting a cyclic rotor during eccentric rotation of a cycloid rotor to improve excellent positioning accuracy, durability, and torque transmission capability .
- the present invention can be realized through elastic deformation of hollow inner pins and / or rotor pins simply without a separate component for preventing backlash.
- the present invention can provide a structure having a spring effect that removes the clearance between the constituent members with respect to the load in the thrust direction and gives a preload. It can replace low-cost roller bearings with low-cost ball bearings, and it can prevent low friction drive, noise and vibration by structural stabilization.
- FIG. 1 is a perspective view schematically illustrating a backlash-preventing cycloidal speed reducer according to a preferred embodiment of the present invention.
- Fig. 2 is an exploded perspective view of the backlash preventing cycloconductor shown in Fig. 1 viewed from the rear end side. Fig.
- FIG. 3 is an exploded perspective view of the anti-backlash cycloid reducer shown in FIG. 1 viewed from the front end side.
- FIG. 4 is a cross-sectional view of a backlash-preventing cycloidal speed reducer taken along line A-A of FIG.
- FIG. 5 is an exploded perspective view schematically showing an output portion in a state in which the housing cover is removed so as to confirm the arrangement state of the output shaft.
- FIG. 6 is a plan view showing a speed reducer in a state in which the output portion is removed so that the arrangement state of the cycloid rotor can be checked, from the rear end side.
- FIG. 7 is a plan view showing the coupling state of two cycloidal rotors disposed on the input shaft axis, in which the disc-shaped bush and the housing are removed at the reduction portion shown in FIG.
- FIG. 8 is a side view showing a coupling state of two cycloidal rotors disposed on the input shaft axis, and is a side view of the deceleration unit shown in FIG. 7.
- FIG. 8 is a side view showing a coupling state of two cycloidal rotors disposed on the input shaft axis, and is a side view of the deceleration unit shown in FIG. 7.
- FIG. 9 is an exploded perspective view schematically showing a recessed portion of the deceleration portion shown in Fig.
- Figure 10 is an illustration of various types of rotor pins.
- Figure 11 is an illustration of various types of inner pins.
- FIG. 12 is a stress distribution diagram of the elastically deformable hollow type rotor pin of the present invention and the conventional solid type rotor pin.
- the cycloidal speed reducer according to the preferred embodiment of the present invention can be expected to improve the positioning accuracy and durability by eliminating backlash in spite of the eccentric rotational movement of the cycloid rotor and is designed to reduce noise and vibration .
- an industrial robot requires a motor for generating power and a speed reducer for decelerating the input torque of the motor.
- the present invention proposes a reducer capable of not only decelerating input torque of a motor, for example, a servo motor but also preventing (or reducing) backlash as described above.
- the reducer according to the present invention can be employed in various industrial fields without being limited to industrial articulated robots.
- the anti-backlash cycloid type speed reducer may be coupled to a driving device (not shown) coupled to the motor along the axial direction so as to transmit power between the driving device (not shown) and the output device (not shown).
- the driving device is disposed at an input end which is a front end side of the speed reducer, and rotatably drives the hollow input shaft of the speed reducer which is the rear end facility through the rotational force of the motor.
- the output device is disposed at the output end, which is the rear end side of the speed reducer, and receives the preset deceleration torque through the eccentric rotation of the cycloid rotor disposed in the speed reducer, and transmits the output torque to the outside.
- the front end means an input end which receives the input torque of the driving device and is directed toward the hollow input shaft, and the rear end side corresponds to a direction toward the hollow output shaft for transmitting the output torque to the outside It means set output stage.
- the backlash-preventing cycloidal speed reducer includes the deceleration section 1 for decelerating the input torque provided from the driving apparatus such as a motor, the deceleration section 1, And an output unit 2 that receives a predetermined reduction torque through the output shaft 2 and transmits an output torque to the outside.
- the reduction unit 1 and the output unit 2 are coupled along the axial direction.
- the housing 12 of the deceleration section 1 and the housing cover 22 of the output section 2 can be integrally combined along the axial direction by various coupling methods such as screw tightening.
- the deceleration section 1 includes a hollow input shaft 11 receiving the input torque of the motor, a hollow housing 12 surrounding the input shaft 11, A plurality of inner pins 15 arranged around the inner circumferential surface of the housing 12 so as to engage with the toothed protrusions formed around the outer circumferential surfaces of the cycloid rotors 13 and 14 and the cycloid rotors 13 and 14, And a rotor pin 16 disposed in an inner region of the one or more cycloidal rotors 13 and 14 stacked in the axial direction to transfer decelerating torque to the outside.
- the housing 12 is formed into a hollow cylindrical shape or a cup shape with its rear end opened.
- the housing 12 has an annular plate 121 having a center hole 123 at the center of the inner region, And a side wall 122 formed thereon.
- the center hole 123 is formed in a size and shape so as to rotatably accommodate the front end side of the hollow input shaft 11.
- the center hole 123 is formed between the center hole 123 of the housing 12 and the hollow input shaft 11
- the first bearing B1 can be interposed.
- the housing 12 may be provided with the receiving grooves 125 arranged at equal intervals in the circumferential direction along the circumference of the inner circumferential surface thereof, and the inner pin 15 may be positioned in the receiving groove 125 along the axial direction.
- the center hole 123 is formed in a size and shape permitting penetration of the front end side of the hollow input shaft 11 and is formed on the inner surface of the annular plate 121 adjacent to the edge of the center hole 123 So that the step portion 124 is formed.
- the stepped portion 124 assists the seating of the first bearing B1 on the inner surface of the annular plate 21.
- the cycloid rotors 13 and 14 are disposed at one or more stepped surfaces (not shown) formed on the outer circumferential surface of the input shaft 11 and are preferably disposed at the center insertion holes 131 and 141 of the cycloidal rotors 13 and 14
- the second and third bearings B2 and B3 can be interposed between the outer circumferential surfaces of the input shaft 11.
- the cycloid rotors 13 and 14 can be stably supported on the stepped surface formed on the outer circumferential surface of the input shaft by means of bearings B2 and B3.
- the at least one stepped surface is formed on the outer peripheral surface of the hollow input shaft 11 as described above, and is eccentric with respect to the axial center thereof.
- the cycloid rotor 13 is formed in a flat disk shape, and includes a central insertion hole 131 which is fitted around the outer circumferential surface (specifically, a stepped surface) of the input shaft at the center of the inner region, One or more through-holes 136 arranged at equal intervals in the circumferential direction, and tooth-like protrusions 135 arranged continuously along the circumference of the through-holes 136.
- the cycloid rotor 14 has a flat disk shape and can be arranged in parallel with the cyclic rotor 13 and disposed along the axial direction of the input shaft 11.
- the outer circumferential surface of the input shaft (specifically, A plurality of through holes 146 arranged at equal intervals in the circumferential direction in the inner region, and tooth-like projections 145 arranged continuously along the circumference thereof, Respectively.
- the cycloid rotor 14 may be formed in the same shape and / or the same size as the cycloid rotor 13.
- the cycloidal rotors 13 and 14 have curved rounding teeth protrusions 135 and 145 to minimize friction during eccentric rotation of the cycloid rotor in the process of rolling contact with the inner pin 15.
- the inner pin 15 is disposed around the edges of the cycloid rotors 13 and 14 to minimize the friction between the inner pin 15 and the teeth protrusions 135 and 145 of the cycloid rotor, To the cloud.
- the inner pin 15 is seated in the receiving groove 125 formed along the inner circumferential surface of the hollow housing 12 and is covered with the annular cover 19 disposed around the inner peripheral surface of the open rear end side of the housing 12 .
- the inner pin 15 is disposed so as to mesh with the teeth protrusions 135 and 145 around the edges of the cycloidal rotors 13 and 14 to effectively support the input side thrust load and the eccentricity of the cycloid rotors 13 and 14 So that it is rotatable.
- the inner pin 15 is a cylindrical member having a hollow portion 151 therein, and can be made of an elastically deformable material.
- the inner pin 15 since the inner pin 15 has a hollow cylindrical structure, when the inner pin is engaged with the toothed protrusions of the cycloid rotors 13 and 14, the inner pin is in correspondence with the shape of the toothed protrusions of the cycloid rotors 13 and 14 So that the shape of the inner pin can be deformed. This makes it possible to eliminate the backlash between the inner pin 15 and the tooth protrusions 135 and 145 of the cycloid rotor.
- the deceleration section 1 generates the deceleration torque for decelerating the input torque to convert the input torque into a high output torque.
- the deceleration section 1 includes an input shaft 11 connected to the motor for receiving the input torque and transmitting the input torque to the output section 2,
- One or more cycloid rotors 13 and 14 may be disposed along the axial direction of the input shaft 11.
- the deceleration section 1 has a structure that eccentrically rotates the cycloid rotors 13 and 14 to reduce the rotation speed according to a predetermined reduction ratio. Normally, the cycloid rotor rotates eccentrically to cause vibration, and one or more rotors, preferably two cycloid rotors (13, 14), are disposed axially so as to suppress such vibrations.
- the cycloid rotors 13 and 14 insert and arrange a plurality of rotor pins 16 in the through-holes 136 and 146 spaced equidistantly in the circumferential direction in the inner region thereof so as to extend toward the rear end side.
- a plurality of rotor pins 16 are coupled to the receiving grooves 212 of the output shaft 21 while assisting in the positioning of the one or more cycloidal rotors 13, 14 axially stacked as shown.
- the eccentric rotation of the cycloidal rotors 13 and 14 is forcibly rotated in the cyclic rotational direction of each of the rotor pins 16 disposed in the through holes 136 and 146 arranged in a line in the axial direction,
- the input torque is axially coupled to the output shaft and is rotated to be transmitted as the output torque.
- the through holes (136, 146) have a larger diameter than the size of the rotor pin (16).
- the through holes 136 and 146 should be formed to be larger in size than the outer shape of the rotor pin 16 so as to ensure eccentric rotation of the cycloid rotors 13 and 14.
- the through-holes 136 and 146 may be formed as a circular cross-section hollow.
- the through holes are formed in a shape corresponding to the cylindrical rotor pin 16 so that the rotor pin 16 can rotate while contacting the inner circumferential surface of the through holes 136 and 146.
- the inner circumferential surface of the through hole and the outer circumferential surface of the cylindrical rotor pin correspond to each other, wear of the through hole and the rotor pin at the time of rotation can be remarkably reduced.
- the present invention forms the rotor pin 16 as a cylindrical member having a hollow portion 161 (see FIG. 10) inside, preferably made of an elastically deformable material. That is, since the rotor pin 16 has a hollow cylindrical structure, the rotor pin is in contact with the inner circumferential surface of the through-holes 136 and 146 during the eccentric rotation of the cycloid rotor, Can be deformed. This makes it possible to eliminate backlash as well as stress relaxation between the rotor pin 16 and the through-holes 136, 146 of the cyclic rotor.
- the deformation state of the rotor pin disposed in the through-hole of the cycloid rotor will be described in more detail with reference to FIG.
- a tube-shaped bush (not shown) is formed around the inner circumferential surfaces of the through holes 136 and 146 17 are disposed.
- the tubular bush 17 may be made of a synthetic resin having a low coefficient of friction, such as Teflon.
- Teflon a synthetic resin having a low coefficient of friction
- the hollow input shaft 11 interposes a disc-shaped bush 18 between two axially stacked cyclic roters 13, 14.
- the disc-shaped bush 18 provides a preload in the thrust direction so that clearance can be removed between the two cycloidal rotors 13, 14.
- the disc-shaped bush 18 may be made of a synthetic resin having a low coefficient of friction, such as Teflon.
- the disc-shaped bushing 18 can be positioned in various manners, such as double-sided tape, adhesive, etc., on the cycloid rotor.
- the disk-shaped bushes 18 are not disposed only locally between the cycloidal rotors 13 and 14 but can be arranged at various positions to eliminate the gap phenomenon with the adjacent constituent members and to be adjacent in a low friction state.
- the disc bush 18 is disposed on the front end side of one or more stacked cyclic rods arranged in contact with the inner surface of the annular plate 121 of the housing 12 and the cyclic rotor 14, Which is a contact portion between the inner surface of the annular plate 221 of the rotor 22 and the cyclotor 13, can be selectively disposed on the rear end side of the stacked arranged one or more cycloidal rotors.
- the disc-shaped bushing 18 is adapted to correspond to the through holes 136 and 146 so as to allow penetration of the rotor pin 16 received in the through-holes 136 and 146 of the two cycloid rotors 13 and 14
- An insertion hole 186 may be formed.
- the output section 2 includes a hollow output shaft 21 for transmitting the torque received from the cycloid rotors 13 and 14 of the deceleration section 1 to the outside, a hollow output shaft 21 surrounding the output shaft 21, A fifth bearing B5 disposed around the outer circumferential surface of the output shaft 21, a sixth bearing B6 disposed around the outer circumferential surface of the journal 213 of the output shaft 21, And a disc spring 23 for applying a preload in the axial direction of the sixth bearing B6 toward the second bearing 22.
- the hollow output shaft 21 has a hollow or cylindrical body 211 and a hollow or cylindrical journal 213 extending in the outer direction (rear end side) And a plurality of receiving grooves 212 for receiving one end portion of the rotor pin 16 on the other surface (front end side) of the main body 211.
- the plurality of receiving grooves 212 may be spaced equidistantly in the circumferential direction on the other surface of the main body 211.
- the housing cover 22 is a hollow cylindrical or cup-shaped component member having a front end opened to cover the rear end side opening of the housing 12 forming the receiving space of the cycloid rotor, So that the shaft 21 can be received.
- the housing cover 22 is composed of an annular plate 221 having a center hole 223 at the center of the inner region and a side wall 222 formed along the periphery of the annular plate 221.
- the center hole 223 is formed in a size and shape permitting the passage of the journal 213 of the hollow output shaft 21.
- the center hole 223 is formed in an annular plate 221 adjacent to the edge of the center hole 223
- a step portion 224 is formed on the inner surface.
- the stepped portion 224 assists the seating of the sixth bearing B6 on the inner surface of the annular plate 221.
- the sixth bearing B6 may employ a ball bearing to support the journal 213 of the output shaft 21, but is not limited thereto and may be replaced by various types of bearings.
- the output section 2 is connected to the output shaft (not shown) to eliminate clearance between the sixth bearing B6 and the annular plate 222, and more specifically, the stepped section 224 of the annular plate, by a load in the thrust direction
- the disc spring 23 is disposed at the intersection of the main body 211 of the disc 21 and the journal. The disc spring 23 is capable of preventing wear, noise, vibration, and the like during rotation of the output shaft 21 by applying a preload to the sixth bearing B6 on the rear end side, that is, in the axial direction.
- the disk spring 23 is formed in a ring shape as shown in the figure so as to be brought into contact with the inner ring portion of the sixth bearing B6.
- the disk spring 23 may be made of, for example, urethane material, synthetic resin, or the like, and any material capable of providing a spring effect with elastic force may be used.
- FIG. 10 is a diagram illustrating various examples of resiliently deformable rotor pins.
- the rotor pin 16 is a cylindrical member having a hollow portion capable of providing a resiliently deformable structure against an external force exerted by contact with the through holes 136 and 146 upon eccentric rotation of the cycloid rotor.
- the upper end of the rotor pin 16 is axially coupled to the receiving groove 212 of the output shaft 21 and the lower end of the rotor pin 16 is disposed in the through holes 136 and 146 of the cycloid rotors 13 and 14 4).
- FIG. 10 (a) shows a cylindrical rotor pin 16 having a hollow portion 161 inside and a closed upper portion. When the external force is applied by the hollow portion 161, .
- FIG. 10 (b) illustrates a cylindrical rotor pin 16 'having a hollow portion 161 inside and having an upper portion closed, and further has a slot 162 in the longitudinal direction at a lower end portion of the side surface.
- the rotor pin 16 ' makes elastic deformation more easily by the hollow portion 161.
- FIG. 10 (c) shows a tubular rotor pin 16 "having a hollow portion 161 therein.
- FIG. 11 is a diagram illustrating various examples of elastically deformable inner fins.
- the inner pin 15 is a cylindrical member having a hollow portion capable of providing a resiliently deformable structure against an external force applied by contact with the toothed protrusions 135 and 145 upon eccentric rotation of the cycloid rotor.
- the upper end of the inner pin 15 is fixed to the annular cover 19 and the lower end of the inner pin 15 is disposed in the receiving groove 125 formed in the inner peripheral surface of the housing 12 (see FIG.
- FIG. 11 (a) illustrates a tubular inner fin 15 having a hollow portion 151 therein.
- elastic deformation can easily be provided.
- FIG. 11 (c) shows a cylindrical inner fin 15 "having a hollow portion 151 inside and a closed upper portion. When an external force is applied by the hollow portion 151, can do.
- FIG. 11 (d) illustrates a cylindrical inner fin 15 '' 'having a hollow portion 151 inside and having an upper portion closed, and further has a slot 152 in the longitudinal direction at the lower end of the side surface .
- the inner fin 15 '' ' When an external force is applied, the inner fin 15 '' 'enables the elastic deformation more easily by the hollow portion 151.
- FIG. 12 (a) is a stress distribution diagram of a resiliently deformable hollow pin type rotor pin according to the present invention
- FIG. 12 (b) is a stress distribution diagram along a contact portion between the through holes 136 and 146 of the cycloid rotor and the rotor pin.
- (b) is a stress distribution diagram of a solid type rotor pin according to the prior art. This experiment was carried out with the tubular bush removed on the inner peripheral surface of the through hole.
- FIG. 12 (a) shows a state in which the rotor pins of a hollow (hollow) type capable of being resiliently deformed as described above are inserted into the through holes 136 and 146 formed in two cyclic rods laminated in the axial direction without clearance
- the stress distribution is illustrated at the contact area between parts.
- the rotor pin 16 is resiliently deformed to have the same shape as the contact inner circumferential surface of the through holes 136 and 146 so that backlash can be removed between the rotor pin and the through hole, and stress is dispersed, can do.
- Fig. 12 (b) shows the stress distribution at the contact portions between the parts in the state where the solid (tightly packed) type rotor pins are inserted into the through holes 136 and 146 formed in the two cycloidal rotors laminated in the axial direction without clearance (0.1 mm + error addition).
- the rotor pin is disposed in the through holes 136 and 146 in an interference fit manner so as to achieve backlash elimination between the rotor pin and the through hole.
- stress concentration occurs at the contact portion and a considerable frictional force is generated, Noise and vibration are accompanied.
- the inner pin of the present invention adopts a resiliently deformable structure so as to prevent backlash while engaging with the toothed protrusion of the cyclic rotor, and has a structure similar to that of the above-mentioned hollow type rotor pin, Can be expected.
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Abstract
Description
Claims (7)
- 입력 토크를 감속하는 감속부(1)와 상기 감속부(1)를 통해 미리 설정된 감속 토크를 전달받아 외부로 출력 토크를 전달하는 출력부(2)를 구비한 싸이클로이드 감속기에 있어서,상기 감속부(1)의 싸이클로이드 로우터의 내부영역에 원주방향으로 등간격되게 배치된 다수의 관통공(136,146) 내에서 후단측을 향해 신장되어 있는 다수의 탄성변형가능한 로우터 핀(16;rotor pin);을 포함하여 구성되며,상기 로우터 핀(16)은 내부에 중공부(161)를 갖추고 탄성변형가능한 원통형상부재를 포함하며,상기 로우터 핀(16)은,상단부가 출력 샤프트(21)의 수용홈(212)에 축결합되고 상부가 폐쇄된,것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 입력 토크를 감속하는 감속부(1)와 상기 감속부(1)를 통해 미리 설정된 감속 토크를 전달받아 외부로 출력 토크를 전달하는 출력부(2)를 구비한 싸이클로이드 감속기에 있어서,상기 감속부(1)의 싸이클로이드 로우터의 내부영역에 원주방향으로 등간격되게 배치된 다수의 관통공(136,146) 내에서 후단측을 향해 신장되어 있는 다수의 탄성변형가능한 로우터 핀(16;rotor pin);을 포함하여 구성되며,상기 로우터 핀(16)은 내부에 중공부(161)를 갖추고 탄성변형가능한 원통형상부재를 포함하며,상기 로우터 핀(16)은 하단부에서 길이방향으로 슬롯(162)을 추가로 형성하는 것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 청구항 1 또는 청구항 2에 있어서,상기 감속부(1)는,입력 토크를 전달받는 입력 샤프트(11)와;상기 입력 샤프트(11)를 수용할 수 있는 중공형상의 하우징(12);를 더 포함하며,상기 싸이클로이드 로우터는 가장자리 둘레를 따라 형성된 치형돌기(135,145)를 갖추고, 상기 입력 샤프트(11)의 외주면 상에 편심 회전가능하게 축선방향으로 적층배열되어 있는,것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 청구항 3에 있어서,상기 감속부(1)는,상기 싸이클로이드 로우터의 치형돌기(135,145)와 접촉가능하게 상기 하우징(12)의 내주면 둘레를 따라 배치되어 있는 다수의 이너 핀(15;inner pin)을 더 포함하되,상기 이너 핀(15)은 탄성변형가능하며 내부에 중공부(151)를 갖춘 원통형상부재를 포함하는,것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 청구항 1 또는 청구항 2에 있어서,상기 출력부(2)는,중공형상의 본체(211)와, 상기 본체(211)의 일면 중심부에서 후단측으로 길이연장된 중공형상의 저널(213), 및 상기 로우터 핀(16)의 일단부를 수용하도록 상기 본체(211)의 전단측에 원주방향으로 등간격되게 배치된 수용홈(212)을 갖추고, 출력 토크를 외부로 전달하는 출력 샤프트(21)와;상기 출력 샤프트(21)를 수용할 수 있는 중공형상의 하우징 커버(22);을 포함하여 구성되는 것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 청구항 1 또는 청구항 2에 있어서,상기 싸이클로이드 로우터는 상기 관통공(136,146) 내주면 둘레에 튜브형 부시(17)를 배치하는 것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
- 청구항 6에 있어서,상기 튜브형 부시(17)는 낮은 마찰계수를 갖는 합성수지로 제작될 수 있는 것을 특징으로 하는 백래시 방지 싸이클로이드 감속기.
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