WO2024005397A1 - Swivel actuator - Google Patents
Swivel actuator Download PDFInfo
- Publication number
- WO2024005397A1 WO2024005397A1 PCT/KR2023/007756 KR2023007756W WO2024005397A1 WO 2024005397 A1 WO2024005397 A1 WO 2024005397A1 KR 2023007756 W KR2023007756 W KR 2023007756W WO 2024005397 A1 WO2024005397 A1 WO 2024005397A1
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- WO
- WIPO (PCT)
- Prior art keywords
- gear
- rotor
- worm
- support
- power transmission
- Prior art date
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Images
Classifications
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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
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
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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
- F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/039—Gearboxes for accommodating worm gears
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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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Definitions
- the present invention relates to a swivel actuator.
- a swivel actuator by adopting a double worm structure at both ends of the first and second gear trains, the breaking strength is improved by minimizing backlash and increasing brake torque.
- This relates to a swivel actuator that can increase .
- An electric actuator serves to rotate or linearly move a driven object with high-torque torque obtained by converting the rotational force generated from a rotational power source into torque.
- the overall housing height is low and the product is configured to be long either horizontally or vertically, so it is difficult to adopt a structure in which a DC motor with an external casing is mounted vertically on the inner floor of the housing.
- the stopped position When using a DC motor, the stopped position must be maintained when external pressure is applied to the output shaft that rotates forward or reverse, so the braking torque must be increased using a worm gear.
- a magnet for rotational position sensing is placed at the bottom of the worm gear of the DC motor, and a Hall sensor IC for rotational position sensing is applied, so DC power is used, and a Hall sensor is connected to the printed circuit board (PCB) to sense the rotational position.
- PCB printed circuit board
- a swivel actuator has been used to rotate a driven body (i.e., car seat) left and right together with a rotary table as an actuator for rotating a vehicle car seat to the left and right.
- Patent Document 1 Korean Patent Publication No. 10-2022-0056821
- the swivel actuator of Patent Document 1 is also a power transmission structure that can minimize backlash by changing the gear train structure to minimize the number of combined gears by forming a worm wheel and worm gear integrally at a distance from the power transmission shaft.
- a structure that can rotate the rotary table is proposed.
- Patent Document 1 is a structure that transmits rotational power using a single gear train between the BLDC motor and the pinion gear unit that drives the rotary table, so the tolerance between gears can be reduced, but cannot be completely reduced, and also the rotary table There is a problem that vibration cannot be suppressed because the brake torque that controls the left and right rotation of the driven body (i.e., car seat) that rotates together is low.
- the present invention was proposed to solve the problems of the prior art described above, and its purpose is to adopt a double worm structure at both ends of the power transmission shaft of the first and second gear trains, thereby providing four worm gears.
- the goal is to provide a swivel actuator.
- Another object of the present invention is to reduce backlash by adopting a double worm structure at both ends of the first and second gear trains and driving the rotary table by combining four pinion gear units with four worm gears
- the goal is to provide a swivel actuator that can increase breaking strength by increasing brake torque while minimizing backlash.
- Another object of the present invention is to suppress the left and right displacement in the bearing housing by using set screws on both ends of the power transmission shaft of the first and second gear trains, thereby eliminating the tolerance that occurs when coupling between gears and preventing backlash.
- the goal is to provide a swivel actuator capable of zero operation.
- a swivel actuator includes a lower housing with a central hollow cylindrical portion protruding upward; an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward; a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing; Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides; Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively
- the swivel actuator according to the present invention is disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and includes first and second bearings stacked in series; And it may further include a third bearing for rotatably supporting the rotary table on the outer periphery of the upper end of the hollow cylindrical part.
- the swivel actuator according to the present invention may further include a bearing support disposed between the second bearing and the third bearing to press the outer periphery of the hollow cylindrical part and press the second bearing.
- the upper housings are disposed opposite each other at 180-degree intervals around the through hole, respectively, and provide first and second gear trains and first to fourth pinion gear units for accommodating the first and second gear trains and the first to fourth pinion gear units. 2 It can be provided with grooves.
- the drive motor includes a rotor rotatably coupled to the outer periphery of the hollow cylindrical portion and having a rotor support body whose lower end is formed in a cup shape.
- a stator disposed on the outside of the rotor with an air gap and disposed on the bottom of the housing to generate a rotating magnetic field to rotate the rotor;
- first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series;
- it may include a bearing support that is press-coupled with the outer periphery of the hollow cylindrical part and presses the second bearing.
- the rotor support body includes an inner groove provided on the inside of the lower end to serve as a bearing housing for accommodating the first and second bearings; And an outer groove formed on the outside of the lower end to serve as a support for accommodating the back yoke and magnet of the rotor, wherein the first and second bearings each have an inner ring supported on the hollow cylindrical portion and are located in the inner groove.
- the outer ring may be composed of a supported ball bearing.
- the inner rings of the first and second bearings are supported at their lower ends by a stepped stopper formed on the outer periphery of the hollow cylindrical part by press-fitting the bearing support into the hollow cylindrical part, and the lower ends of the inner rings of the first and second bearings
- the outer ring may be supported in an inner groove provided on the inside of the lower end of the rotor support.
- the swivel actuator according to the present invention may further include a rotor worm gear separation prevention protrusion protruding from the upper end of the bearing support to prevent the rotor from being separated from the first and second bearings and coming into contact with the third bearing.
- the rotor worm gear is disposed in a vertical direction at the center of the through hole, and the first and second power transmission shafts are first and second power transmission shafts disposed opposite each other at 180-degree intervals around the through hole of the upper housing. It is disposed in the groove in a horizontal direction perpendicular to the axis of the rotor worm gear, and the first to fourth support axes may be disposed in a vertical direction in the first and second grooves of the upper housing.
- both ends of the first and second power transmission shafts are rotatably supported by bearings, and the bearing housing in which the bearings are embedded is provided with a plurality of sets to suppress left and right displacement of the first and second power transmission shafts. Screws can be installed.
- the swivel actuator according to the present invention includes a pair of bearings that rotatably support both ends of the first and second power transmission shafts, respectively; a pair of bearing housings respectively installed in first and second grooves disposed opposite each other at 180-degree intervals around the through hole of the upper housing to accommodate and support the pair of bearings therein; And it may further include a pair of set screws, each of which is coupled to the rear end of the pair of bearing housings and whose front ends press and support the ends of the first and second power transmission shafts.
- the swivel actuator according to the present invention further includes a through hole for adjusting the set screw formed on the wall of the upper housing and used to advance the set screw from the outside and fix the first and second power transmission shafts by pushing them to one side. can do.
- the set screw rotates from the outside as a tool is used through the through hole for adjusting the set screw formed in the upper housing, thereby pushing and fixing the first and second power transmission shafts to one side. 2 Axial displacement of the power transmission shaft can be suppressed.
- the swivel actuator according to the present invention includes a drive motor that generates rotational power through a rotor worm gear integrally formed on the outer periphery of a cylindrical rotor support body; First and second worm wheels, which are respectively arranged and coupled at 180-degree intervals on the outer periphery of the rotor worm gear to achieve primary deceleration, are formed in the middle of the first and second power transmission shafts, and are disposed on both sides of the first and second power transmission shafts.
- Third to sixth worm wheels which are respectively gear-coupled with the first to fourth worm gears to achieve secondary deceleration, are rotatably coupled to the lower ends of the first to fourth support shafts, and the upper ends of the first to fourth support shafts
- First to fourth pinion gear units rotatably coupled to first to fourth pinion gears that rotate in conjunction with third to sixth worm wheels; and a rotary table in which a ring gear geared to the first to fourth pinion gears and performing third reduction is integrally formed on the inside of the side portion, wherein the rotary table is used to rotate the car seat. do.
- the swivel actuator according to the present invention includes a lower housing in which a hollow cylindrical portion on which the cylindrical rotor support and the rotary table are rotatably supported protrudes upward at the center and the drive motor is installed; And an upper housing that is stacked and assembled on the upper part of the lower housing and has a through-hole formed in the center where the hollow cylindrical part protrudes upward, and in which the first and second gear trains and first to fourth pinion gear units are installed. It may further include ;.
- the first reduction ratio of the primary reduction, the second reduction ratio of the secondary reduction, and the third reduction ratio of the tertiary reduction may be set to be sequentially smaller toward the rear end.
- the rotary table includes a top plate on which the driven body is installed; a side portion extending downward from the outside of the upper plate; and a ring gear integrally formed inside the side portion, wherein the first to fourth pinion gears of the first to fourth pinion gear units can be gear-coupled with the ring gear of the rotary table at 4 points. there is.
- the present invention provides a power transmission structure that can minimize backlash through a gear train change structure that minimizes the number of combined gears by forming a worm wheel and a worm gear integrally at a distance from the power transmission shaft. .
- the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.
- the BLDC drive motor is installed on the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals from the power transmission shaft, are arranged symmetrically inside the housing to prevent backlash. ) can be minimized and at the same time the vibration of the rotary table can be suppressed.
- the BLDC drive motor is installed on the bottom of the housing, the worm wheels of the first and second gear trains are arranged symmetrically on the outer periphery of the cylindrical rotor worm gear of the drive motor, and 4 formed at both ends of the first and second gear trains.
- the rotational force converted into high torque through deceleration is transmitted to the ring gear of the rotary table at four points, thereby minimizing backlash and suppressing vibration of the rotary table. can do.
- a swivel actuator is rotatably supported on a fixed frame fixed to a floor panel inside a vehicle, and a car seat is installed on a rotating table installed on top of the swivel actuator.
- the swivel actuator is driven electrically and can operate the rotary table to rotate in a desired direction with respect to the fixed frame according to the user's switch operation.
- the operation of the swivel actuator rotates by a preset angle in conjunction with the operation (turn-on) of the operation switch, or when the operation of the operation switch is stopped while rotation is made in conjunction with the operation (turn-on) of the operation switch (turn-on).
- -Off It can be driven by stopping in the rotated position.
- a predetermined brake torque is applied between the output part of the drive motor, that is, the rotor worm gear and the rotary table, depending on the operation (turn-on) of the operation switch. (Brake Torque) is required.
- brake torque is determined by the power transmission mechanism of the gear train and pinion gear unit coupled between the rotor worm gear and the ring gear of the rotary table. It is necessary to increase .
- the rotary table on which the user's car seat is installed cannot withstand large forces because the number of meshing gears between the ring gear and pinion gear arranged on the outside of the rotary table is small.
- the pinion gear which is a spur gear, has a smaller gear diameter than the ring gear, the number of meshing gears between the ring gear and the pinion gear is about 1ea to 1.5ea per pinion gear.
- a double worm structure is adopted at both ends of the first and second gear trains, and four pinion gear units are combined with four worm gears to connect four pinion gear units to the ring gear of the rotary table at four points.
- the breaking strength can be increased by increasing the brake torque by driving the rotary table by increasing the number of meshing gears (number of gear teeth in contact) by transmitting from .
- first and second gear trains are arranged symmetrically around the outer periphery of the cylindrical rotor worm gear inside the upper housing as described above, it is possible to reduce the tolerance between gears, but it is difficult to completely reduce it. In other words, the gap between the tiles and the gears is minimized, but a clearance between the gears occurs, which may cause a problem in which the rotary table coupled with the pinion gear unit and the gears shakes left and right.
- a set screw is screwed to the set screw assembly extending from the rear end of the bearing housing to suppress left and right displacement in the bearing housing at both ends of the power transmission shaft, and a set screw for adjusting the set screw formed on the housing is added.
- Axial displacement of the first and second power transmission shafts can be suppressed by pushing and fixing the first and second power transmission shafts to one side by tightening a set screw from the outside through a through hole.
- the tolerance (gap) that occurs when engaging between gears between the worm gear of the gear train and the worm wheel of the pinion gear unit is eliminated, and as a result, the pinion gear unit Backlash can also be reduced to zero by eliminating the gap between the pinion gear and the ring gear of the rotary table.
- 1 to 3A are a perspective view, a plan view, and a cross-sectional view taken along the line A-A of FIG. 2, respectively, of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
- Figure 3b is a 1/2 enlarged view of an axial cross-section of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
- Figures 4 and 5 are a perspective view of the internal hollow swivel actuator according to a preferred embodiment of the present invention with the rotary table separated, and a plan view of Figure 4 with the rotary table removed, respectively.
- FIGS. 6A to 6C are cross-sectional views taken along lines B-B, C-C, and D-D of FIG. 5, respectively.
- Figures 7 and 8 are respectively an exploded perspective view and a completely exploded perspective view of each module of the internal hollow swivel actuator according to a preferred embodiment of the present invention.
- Figure 9 is a perspective view with the upper part of the rotary table removed in the internal hollow swivel actuator according to a preferred embodiment of the present invention.
- the swivel actuator according to the present invention is used together with the rotary table to rotate the driven body, that is, the vehicle car seat, left and right. If a swivel actuator is installed on the lower plate fixed to the floor of the vehicle and the connection frame installed on the rotary table is fixed to the upper plate where the car seat is installed, the car seat can also be rotated according to the rotation of the rotary table.
- the motor is placed vertically at the bottom of the housing and the motor torque is increased by increasing the size in the radial direction.
- the drive motor has a stator and rotor placed on the bottom of the housing, and uses an inner rotor type BLDC motor.
- the actuator according to the prior art consists of a motor part made of a DC motor, a gear part, and a rotating part as separate parts, so there are many problems such as assembly tolerances and parts supply when assembling the actuator product into a main body.
- the swivel actuator according to the present invention is composed of a drive motor, gear train, and rotating body in an integrated form, so it can achieve miniaturization and slimming while solving the problems of the prior art.
- the internal hollow swivel actuator according to the present invention is made in the shape of a disk, and is hollow on the inside, with a through hole for cable extraction formed in the center, and a driven body and a driven body at the top of the rotating body (rotating table).
- a plurality of coupling holes for example, four, are formed to connect, and the lower end of the fixing bolt passes through the coupling hole and is screwed to a stud nut fixed to the inner surface of the rotary table.
- the internal hollow swivel actuator according to the present invention has a BLDC drive motor installed at the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals on the power transmission shaft, are symmetrical inside the housing. By arranging it, backlash can be minimized and vibration occurrence can be suppressed.
- an annular stator is disposed on the bottom of a housing, and a rotor with a rotor worm gear integrally formed on the upper side is disposed inside the stator.
- a pair of gear trains are coupled in a symmetrical structure on the outer periphery of the rotor worm gear, the worm wheels of the power transmission shaft forming each gear train are gear-coupled with the outer periphery of the rotor worm gear, and the four worm gears formed on both ends of the power transmission shaft are four.
- the four pinion gears are coupled to the worm wheel located at the bottom of each pinion gear unit, and the four pinion gears located at the top of the four pinion gear units are coupled at four points to the ring gear formed on the inside of the side part of the rotary table to achieve low speed and high torque conversion.
- the rotary table is driven to rotate using the generated rotational force.
- the swivel actuator according to the present invention increases torque by decelerating the high-speed, low-torque rotational output of the drive motor, and when transmitting the rotational force converted to low-speed and high torque by deceleration to the rotary table, a pair of gear trains is coupled to the rotor worm gear of the drive motor in a symmetrical structure, forming a double worm structure at both ends of a pair of gear trains, and engaging the ring gear of the rotary table through four pinion gear units on the double worm. Number of gears (number of gear teeth in contact) ) can be transmitted by increasing the backlash, suppressing the vibration of the rotary table, and increasing the breaking strength by increasing the brake torque.
- the swivel actuator according to the present invention includes a BLDC type drive motor, a pair of gear trains to increase the torque by decelerating the rotational power of the drive motor and then transmitting it to the rotary table, and four pinnies each coupled to both ends of the pair of gear trains. It includes a rotary table that is coupled at four points by the output of the on gear unit and the four pinion gear units and rotates together with the ring gear. A driven body is coupled to the rotary table and rotates together with the rotary table.
- the drive motor, gear train, pinion gear unit, and rotary table are integrated into the housing.
- the internal hollow swivel actuator 200 includes a lower housing 10 with a central hollow cylindrical portion 11a protruding upward;
- An upper housing (15) that is stacked and assembled on top of the lower housing (10) and has a through hole (15c) in the center through which the hollow cylindrical portion (11a) protrudes upward;
- a drive motor 100 disposed on the bottom of the lower housing 10 and having a rotor worm gear 35 integrally formed around the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30;
- Each is disposed in the upper housing 15 and coupled to the outer periphery of the rotor worm gear 35, and is gear-coupled with the rotor worm gear 35 in the middle portion of the first and second power transmission shafts 71a and 71b.
- First and second worm wheels (72a, 72b) are formed and first to fourth worm gears (73a-73d) are formed on one side and the other of the first and second power transmission shafts (71a, 71b), respectively.
- Third to sixth worm wheels (81a-81d) are formed at the bottom and gear-coupled with the first to fourth worm gears (73a-73d), and first to fourth pinion gears (82a-82d) are formed at the top.
- a hollow cylindrical portion 11a protrudes at the center of the lower housing 10, and a drive motor 100 is installed in the space between the hollow cylindrical portion 11a and the circular wall 10a.
- the upper housing 15 is stacked and assembled on the upper part of the lower housing 10, and is fixed by fastening a plurality of fixing bolts or screws 17.
- the upper housing 15 accommodates the first and second gear trains 70a and 70b and first to fourth pinion gears 82a-82d, and a rotary table 20 rotates on the upper housing 15. Possibly installed.
- the drive motor 100 generates relatively high-speed rotational power
- the first and second gear trains 70a and 70b receive the high-speed rotational power and reduce the rotational speed to provide torque. This conversion generates reduced rotational power with increased torque.
- the first to fourth pinion gears (82a-82d) are installed in a vertical direction on the first to fourth worm gears (73a-73d) of the first and second gear trains (70a, 70b), respectively. After receiving the reduced rotational power with increased torque, it is transmitted at four points to the ring gear 24 formed integrally with the rotary table 20 to rotate the rotary table 20 at low speed.
- the drive motor 100 may be configured as an inner rotor type in which the rotor is disposed on the inside of the stator, and the rotor 30 is rotatably coupled to the outer periphery of the hollow cylindrical portion 11a of the lower housing 10. and a stator 40 disposed on the outside of the rotor 30 with an air gap and disposed on the bottom of the lower housing 10 to generate a rotating magnetic field to rotate the rotor 30.
- a rotor worm gear 35 is integrally formed on the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30.
- the magnet 31 disposed on the outer periphery of the back yoke 32 located on the inside of the rotor 30 is made of a plurality of divided magnet pieces of N and S poles, or a ring-shaped magnet with N and S poles.
- a multi-pole split magnetized magnet can be used, and the back yoke 32 is installed on the back of the magnet 31 to form a magnetic circuit.
- the rotor 30 includes a rotor support 34 whose lower end is cup-shaped, and the rotor support 34 serves as a bearing housing for accommodating the first and second bearings 61 and 62. It includes an inner groove (34a) provided on the inside of the lower part and an outer groove (34b) formed on the outside of the lower part to serve as a support for accommodating the back yoke (32) and magnet (31) of the rotor.
- the rotor support body 34 serves as a bearing housing in which the inner groove 34a provided on the inside of the lower end accommodates the first and second bearings 61 and 62, and is formed on the outside of the rotor support body 34.
- the outer groove (34b) also serves as a support body for accommodating the back yoke (32) and the magnet (31).
- the rotor support body 34 has a cup-shaped lower portion that supports the first and second bearings 61 and 62, the back yoke 32, and the magnet 31 inside and outside, and a penetration of the upper housing 15 from the lower portion. It includes an upper end extending upward through a hole 15c, and a rotor worm gear 35 is integrally formed on the cylindrical outer periphery of the upper end.
- the rotational output of the drive motor 100 is generated from the rotor worm gear 35 integrally formed on the upper part of the rotor support 34.
- the rotor support 34 may be manufactured by injection molding with the rotor worm gear 35 integrated at the upper end.
- first and second bearings are installed.
- the first and second bearings 61 and 62 are stacked in series at the top and bottom between the rotor support 34 and the hollow cylindrical portion 11a and stably support the rotor 30.
- the first and second bearings 61 and 62 which are stacked in series without leaving a gap between the bearings, support the rotor 30 over a large area and thus support the rotor 30 when the rotor 30 rotates. Verticality and dimensional stability can be achieved.
- the first and second bearings 61 and 62 may be composed of ball bearings in which balls 61c and 62c are inserted between inner rings 61a and 62a and outer rings 61b and 62b.
- the inner rings 61a and 62a of the first and second bearings 61 and 62 are supported at their lower ends by a stepped stopper 11b formed on the outer periphery of the hollow cylindrical portion 11a, and the first and second bearings 61 and 62
- the outer rings 61b and 62b of the bearings 61 and 62 are supported in the inner groove 34a provided on the inside of the lower end of the rotor support body 34.
- the inner rings 61a and 62a of the first and second bearings 61 and 62 are supported on the step stopper 11b by press-fitting the bearing support 64 into the hollow cylindrical portion 11a. It can be fixed.
- a rotor worm gear separation prevention protrusion 64a protrudes from the upper end of the bearing support 64 to prevent the rotor worm gear 35 formed in the extension part of the rotor support 34 from separation.
- the rotor worm gear 35 rotates in the radial direction, CW or CCW, but receives force up and down.
- the rotor worm gear 35 may cause the rotor 30 to separate from the first and second bearings 61 and 62 and touch the third bearing 63 due to force received up and down. In order to prevent such touching from occurring, it is desirable to provide a rotor worm gear separation prevention protrusion 64a on the bearing support 64.
- the stator 40 includes a stator core 45 including a plurality of teeth 41 each having a "T" shape and a back yoke 42 interconnected with the plurality of teeth 41 to form a magnetic circuit; upper and lower insulators (44a, 44b) made of an insulating material integrally formed to surround an outer peripheral surface on which the coils (43) of each of the plurality of teeth are to be wound; and a coil 43 wound around the outer peripheral surface of the insulators 44a and 44b.
- the insulators 44a and 44b may be integrally formed as a bobbin and stator support body surrounding the back yoke 42 along with a plurality of teeth 41.
- the drive motor 100 may be configured as, for example, a BLDC motor with a 20 pole-18 slot structure.
- the drive motor 100 winds the coil 43 in a three-phase structure of U, V, and W, and U, V,
- the other end of the W three-phase coil 43 may be connected in a Y-connection or star-connection method.
- the drive motor 100 receives rotor position signals from two or three Hall sensors (H1-H3) mounted on the Hall sensor assembly 50 in the motor drive circuit, and then operates the inverter. It can be driven by a 6-step radio wave driving method.
- the first and second gear trains (70a, 70b) face each other around the hollow cylindrical portion (11a) of the lower housing that protrudes upward through the through hole (15c) located in the center of the upper housing (15).
- the structure is disposed in the first and second grooves 16a and 16b formed on the bottom 15b.
- the first and second gear trains (70a, 70b) include first and second power transmission shafts (71a, 71b) disposed opposite each other at 180-degree intervals on the outer periphery of the rotor worm gear (35), the first and First and second worm wheels (72a, 72b) geared to the rotor worm gear 35 in the middle portion of the second power transmission shafts (71a, 71b), and the first and second power transmission shafts (71a, 71b) ) and first to fourth worm gears 73a-73d formed on one side and the other, respectively.
- the first and second power transmission shafts (71a, 71b) each have both ends rotatably supported by a pair of bearings (74a, 74b, 75a, 75b), and the first and second grooves (16a, 16b) ) is composed of a groove shape that accommodates the first and second gear trains (70a, 70b) and first to fourth pinion gear units (80a-80d).
- the first and second gear trains (70a, 70b) include first and second worm wheels (72a, 72b) provided in the middle portions of the first and second power transmission shafts (71a, 71b), respectively, and the rotor worm gear ( 35), they are coupled opposite each other at 180-degree intervals on the outer periphery to transmit rotational power and achieve primary deceleration.
- left and right displacement occurs in the bearing housings (77a-77d) where the first and second power transmission shafts (71a, 71b) support the two pairs of bearings (74a, 74b, 75a, 75b).
- Set screws (76a-76d) were added to the rear ends of the bearing housings (77a-77d) to limit the left and right flow of the first and second power transmission shafts (71a, 71b).
- the set screws (76a-76d) have male threads formed on the outer periphery of the body, and a groove in the shape of "-" or “+” that can accommodate the tip of the driver is formed at the rear end, and the tip is curved or flat. It can be done in the form
- the set screws (76a-76d) form female threads in through-holes penetrating inward from the rear end of the bearing housing (77a-77d), and the set screws (76a-76d) are screwed together to form four set screws (76a-76a-76d).
- the tip of 76d) is coupled to both ends of the first and second power transmission shafts 71a and 71b by pushing and compressing them.
- the set screws (76a-76d) are four bearing housings (77a-) of four bearings (74a, 74b, 75a, 75b) that rotatably support both ends of the first and second power transmission shafts (71a, 71b). 77d), and is installed only on one side of the bearing housing (77a-77d) to support one end of the first and second power transmission shafts (71a, 71b) to support the first and second power transmission shafts (71a, 71b). It is also possible to suppress left and right flow by pushing 71a, 71b) in one direction.
- the set screws (76a-76d) may have ends that protrude in a spherical shape to minimize contact with the ends of the first and second power transmission shafts (71a, 71b), or may have ends that have a planar shape.
- the shape of the tip of the set screws 76a-76d does not have a significant influence.
- the first to fourth pinion gear units (80a-80d) are installed on first to fourth support shafts (83a-83d) whose lower ends are installed through the grooves (16a, 16b) of the upper housing (15).
- Third to sixth worm wheels (81a-81d) which are gear-coupled with the first to fourth worm gears (73a-73d), are rotatably coupled to the lower ends of the first to fourth support shafts (83a-83d), respectively.
- first to fourth pinion gears (82a-82d) are formed integrally with the third to sixth worm wheels (81a-81d).
- the third to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d) may be integrally formed by injection molding using synthetic resin, and may be manufactured separately and then assembled together. It is also possible to use it by rotatably coupling it to the support shaft 83.
- the rotary table 20 includes a circular upper plate 21 and a side portion 23 extending downward from the outer periphery of the upper plate 21.
- the upper plate 21 may be formed with a plurality of coupling holes penetrating through it for coupling with the main body (eg, electric seat) installed on the rotary table 20.
- a motor drive assembly is installed on the outside of the swivel actuator 200 from the stator coil 43 of the drive motor 100 and a plurality of Hall sensors provided in the Hall sensor assembly 50.
- a central through hole 25 is formed through which a cable for connection to the furnace passes.
- the cable is introduced into the lower portion through the central through hole 25 provided in the center of the upper plate and the hollow cylindrical portion 11a of the lower housing 10, and then through the through hole formed in the bottom of the lower housing 10. It is connected to the stator coil 43 and the hall sensor assembly 50 through (19a).
- the through hole (19a) is finished by assembling the through hole cover (19).
- the printed circuit board (PCB) on which the motor driving circuit is implemented is installed on the outside of the swivel actuator 200 and then connected to the stator coil 43 and the Hall sensor assembly 50 of the driving motor 100 installed inside through the cable. ) can be connected to.
- the printed circuit board (PCB) on which the motor driving circuit is implemented can also be built into the space formed in the lower part of the lower housing 10 or the lower side of the upper housing 15.
- the cable When connected from the outside to the stator coil 43 of the internally installed drive motor 100 and the Hall sensor assembly 50 through the cable, the cable includes the U, V, and W output terminals of the inverter circuit and three Hall sensors. It is necessary to have 8 wires consisting of (Hall sensor) (H1 ⁇ H3), Vcc, and GND.
- the upper end of the hollow cylindrical part 11a of the lower housing 10 is located in the central through hole 25, and the rotary table 20 is installed at the center of the inner peripheral surface of the upper plate 21 with the hollow cylindrical part 11a.
- a third bearing 63 may be installed on the outer periphery to rotatably support it.
- the third bearing 63 may be composed of a ball bearing in which a ball 63c is inserted between the inner ring 63a and the outer ring 63b.
- the outer ring 63b of the third bearing 63 is supported on the bearing housing 26 protruding from the lower part of the rotary table 20, and the inner ring 63a of the third bearing 63 has its lower end supported by the bearing. It is supported on the upper end of the support stand 64 and supported on the hollow cylindrical portion 11a of the lower housing 10.
- the hollow type swivel actuator 200 has a stopper insertion groove 11c formed at the upper end of the hollow cylindrical portion 11a, and the stopper insertion groove 11c prevents the rotation table 20 from being separated.
- the stopper ring (13) is coupled to do so.
- a ring gear 24 is integrally formed on the inside of the side portion 23 of the rotary table 20, and the ring gear 24 includes the first to fourth pinion gear units 80a-80d. To fourth pinion gears (82a-82d) are gear-coupled.
- the first and second worm wheels (72a, 72b) are disposed in the middle of each of the first and second power transmission shafts (71a, 71b), and the first to fourth worm wheels (72a, 72b) are installed at both ends at a distance from each other.
- a power transmission structure that can minimize backlash is provided by a gear train change structure that minimizes the number of combined gears by forming worm gears (73a-73d) as one piece.
- the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.
- the BLDC drive motor 100 is installed on the bottom of the lower housing 10, and the first and second worm wheels 72a and 72b are installed in the upper housing 15 assembled on the upper part of the lower housing 10.
- the first to fourth worm gears (73a-73d) are formed integrally with the first and second power transmission shafts (71a, 71b) at intervals, and the upper housing (15) ) By placing them opposite each other at 180-degree intervals inside, backlash can be minimized and vibration can be suppressed.
- the two first and second gear trains (70a, 70b) are evenly arranged and coupled to the rotor worm gear (35) of the drive motor (100) at 180-degree intervals to transmit the first and second power.
- First to fourth worm gears (73a-73d) are integrally formed at both ends of the shafts (71a, 71b) to have a double worm structure, and four third worm gears (73a-73d) of the first to fourth pinion gear units (80a-80d) are integrally formed at both ends of the shafts (71a, 71b).
- Gear coupling is performed at four points on the ring gear 24 using the to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d).
- a double worm structure is adopted at both ends of the first and second gear trains 70a and 70b, respectively, so that four worm gears 73a-73d and four pinion gear units 80a- By driving the rotary table 20 by combining 80d), breaking strength can be increased by increasing brake torque while minimizing backlash.
- both ends of the first and second power transmission shafts 71a and 71b are rotatably supported by four bearings 74a, 74b, 75a, and 75b, respectively.
- the four bearings (74a, 74b, 75a, 75b) are built into four bearing housings (77a-77d) fixed to the first and second grooves (16a, 16b) formed on the bottom of the upper housing (15).
- both ends of the first and second power transmission shafts (71a, 71b) are provided with four shafts at the rear ends of the four bearing housings (77a-77d) to suppress left and right displacement from occurring in the bearing housings (77a-77d).
- Set screws (76a-76d) were added.
- the first to fourth worm gears 73a-73d of the first and second gear trains 70a and 70b and the first Eliminates the tolerance (gap) that occurs when engaging gears between the third to sixth worm wheels (81a-81d) of the first to fourth pinion gear units (80a-80d), and also eliminates the gap between the first to fourth pinion gear units (80a-80d).
- Backlash is also reduced to zero by eliminating the gap between the first to fourth pinion gears (82a-82d) of (80a-80d) and the ring gear (24) of the rotary table (20). can do.
- Compression between the set screws (76a-76d) and the first and second power transmission shafts (71a, 71b) as described above is performed by assembling the first and second power transmission shafts (71a, 71b) inside the upper housing (15). After that, the set screws (76a-76d) are advanced in one direction from the outside through the set screw adjustment through hole (12) formed in the wall (15a) of the upper housing (15) to move the first and second power transmission shafts. By pushing (71a, 71b), the left and right flow of the first and second power transmission shafts (71a, 71b) can be suppressed.
- the internal hollow swivel actuator 200 of the present invention first operates the BLDC drive motor 100 installed on the bottom of the lower housing 10, so that the rotor 30 rotates and the rotor support 34 of the rotor 30
- the rotor worm gear 35 integrally formed on the upper side also rotates in the same direction.
- the first and second worm wheels 72a of the first and second gear trains 70a and 70b are arranged at 180-degree intervals on the outer periphery of the rotor worm gear 35 and gear-coupled.
- ,72b) rotates, primary deceleration occurs and the first and second power transmission shafts (71a, 71b) also rotate.
- the first to fourth worm gears (73a-73d) formed on both sides of the first and second power transmission shafts (71a, 71b) are gear-coupled with the first to fourth pinion gear units (80a-80d).
- Secondary deceleration is achieved by rotating the third to sixth worm wheels (81a-81d).
- first to fourth pinion gears (82a-82d) located at the top of the first to fourth pinion gear units (80a-80d) are also rotated, and the first to fourth pinion gears (80a-80d) are also rotated.
- 82a-82d) are gear-engaged with the ring gear 24 provided on the rotary table 20 at 90-degree intervals and rotate in the same direction to achieve third deceleration.
- the reduction ratio of a reduction device is calculated as (number of driven gear teeth/number of drive pinion gear teeth), and when multi-stage gear combination is performed, the total reduction ratio is calculated as the product of each reduction ratio.
- the gear ratio (reduction ratio) (R1) between the rotor worm gear 35 of the drive motor 100 and the first and second worm wheels 72a and 72b of the first and second gear trains 70a and 70b ) is 20:1
- the gear ratio (reduction ratio) (R2) between the first to fourth worm gears (73a-73d) and the third to sixth worm wheels (81a-81d) is 10:1
- the first to fourth pinion By setting the gear ratio (reduction ratio) (R3) between the gears 82a-82d and the ring gear 24 to 2:1, a total reduction ratio of 400:1 can be easily achieved.
- the swivel actuator 200 of the present invention is decelerated to 400:1 in the case of a total reduction ratio of 400:1 by three-stage deceleration, so that the rotary table 20 The rotation speed is lowered to a low speed of 2 rpm and the rotation torque is increased by 400 times, resulting in a large increase in torque.
- the swivel actuator 200 of the present invention When the swivel actuator 200 of the present invention is applied to a car seat, when holding a meeting inside a vehicle, it is possible to rotate the car seat to a desired angle and hold the meeting with the occupants facing each other.
- the first and second gear trains (70a, 70b) are arranged in a symmetrical structure inside the upper housing (15), and each of the first and second gear trains (70a, 70b) has a double
- backlash is minimized by combining four pinion gear units (80a-80d) with four worm gears (73a-73d) to drive the rotary table (20).
- the breaking strength can be increased by increasing the brake torque.
- both ends of the first and second power transmission shafts 71a and 71b are formed extending from the rear ends of the bearing housings 77a-77d to suppress left and right displacement from occurring in the bearing housings 77a-77d.
- Set screws (76a-76d) were added to the set screw assembly.
- the set screw is assembled from the outside through the through hole 12 for adjusting the set screw formed in the wall 15a of the upper housing 15.
- the set screws (76a-76d) installed in the unit, one for each of the first and second power transmission shafts (71a, 71b) is advanced in one direction to set the first and second set screws (76a-76d).
- the left-right displacement of the first and second power transmission shafts 71a and 71b is suppressed by tightening the set screws 76a-76d, thereby suppressing the first to second gear trains 70a and 70b.
- backlash can also be set to zero.
- the swivel actuator according to the present invention can be applied to rotate together with the rotary table to rotate a driven object such as a car seat installed on the rotary table to the left and right.
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Abstract
The present invention relates to a swivel actuator capable of increasing fracture strength by increasing brake torque while minimizing backlash. The swivel actuator according to the present invention comprises: a driving motor having a rotor worm gear integrally formed on the outer periphery of a cylindrical rotor support; first and second gear trains, each being arranged at 180 degree intervals at the outer periphery of the rotor worm gear and being coupled thereto, having, in the middle of first and second power transmission shafts, first and second worm wheels gear-coupled to the rotor worm gear, and having first to fourth worm gears formed at both sides of each of the first and second power transmission shafts; first to fourth pinion gear units, each having, at the lower ends thereof, third to sixth worm wheels gear-coupled to the first to fourth worm gears, and having first to fourth pinion gears integrally formed at the upper ends thereof; and a rotary table gear-coupled to a ring gear having the first to fourth pinion gears integrally formed on the inner side of the side surface part thereof, so as to rotate.
Description
본 발명은 스위블 액추에이터에 관한 것으로, 특히 제1 및 제2 기어트레인의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 백래쉬(Backlash)를 최소로 하면서 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있는 스위블(Swivel) 액추에이터에 관한 것이다. The present invention relates to a swivel actuator. In particular, by adopting a double worm structure at both ends of the first and second gear trains, the breaking strength is improved by minimizing backlash and increasing brake torque. This relates to a swivel actuator that can increase .
전동 액추에이터(Actuator)는 회전 동력원으로부터 발생된 회전력을 토크 변환하여 얻어진 고토크 회전력으로 피동체를 회전 또는 직선 운동시키는 역할을 한다.An electric actuator serves to rotate or linearly move a driven object with high-torque torque obtained by converting the rotational force generated from a rotational power source into torque.
일반적으로 액추에이터는 사용 특징상 제품 전체적으로 하우징의 높이는 낮고, 가로와 세로 중 하나가 긴 형태로 구성으로 되어 있어, 외부 케이싱을 갖는 DC 모터를 하우징 내부 바닥에 수직으로 장착하는 구조를 채택하기 힘들다. In general, due to the characteristics of the actuator, the overall housing height is low and the product is configured to be long either horizontally or vertically, so it is difficult to adopt a structure in which a DC motor with an external casing is mounted vertically on the inner floor of the housing.
DC 모터를 사용하는 경우 정,역 회전 운동하는 출력축(output shaft)에서 외압을 가할시에 멈춰 있는 위치를 고수해야하므로, 웜 기어를 사용하여 제동 토크(Brake torque)를 높여야 한다.When using a DC motor, the stopped position must be maintained when external pressure is applied to the output shaft that rotates forward or reverse, so the braking torque must be increased using a worm gear.
DC 모터에 웜 기어와 웜 휠(worm wheel)을 사용하고 출력축이 있는 위치까지 동력을 전달하려면 일반적으로 스퍼 기어(Spur Gear)를 사용하여 연결하고 있으며, 이러한 경우 다음과 같은 문제가 존재한다. In order to use a worm gear and a worm wheel in a DC motor and transmit power to the location of the output shaft, a spur gear is generally used to connect. In this case, the following problems exist.
첫째, 엑추에이터의 하우징 높이가 낮아 DC 모터를 일반적으로 눕혀서 적용하는 문제가 있어 조립 구조에 어려움이 있고, 단가가 상승한다. 즉, DC 모터의 케이싱과 웜 샤프트(worm shaft)를 잡아줘야 하는 베어링으로 인하여 조립공간 확보에 문제가 있다. First, because the actuator's housing height is low, there is a problem in that DC motors are generally applied lying down, which makes assembly structure difficult and increases unit cost. In other words, there is a problem in securing assembly space due to the bearing that must hold the casing and worm shaft of the DC motor.
둘째, 모터 콘트롤러에서 모터 전원을 연결하는 구조가 복잡해진다. Second, the structure of connecting the motor power to the motor controller becomes complicated.
셋째, 엑추에이터에서 정확한 위치 제어를 위해서 로터의 회전위치 정보가 필요하다. 이를 위해 DC 모터의 웜 기어 밑단에 회전위치 센싱용 마그넷을 넣고, 회전위치 센싱용 홀센서 IC를 적용하기 때문에 DC 전원을 사용하고 회전위치 센싱을 하기 위해서는 인쇄회로기판(PCB)에 홀센서를 연결하는 구조가 복잡하다. Third, information on the rotational position of the rotor is required for accurate position control in the actuator. For this purpose, a magnet for rotational position sensing is placed at the bottom of the worm gear of the DC motor, and a Hall sensor IC for rotational position sensing is applied, so DC power is used, and a Hall sensor is connected to the printed circuit board (PCB) to sense the rotational position. The structure is complex.
넷째, 큰 감속비를 얻기 위해 구동모터의 회전 동력을 스퍼 기어를 여러 개를 사용하는 기어트레인에서는 공차가 커져서 백래쉬(Backlash)가 커지며 정밀 위치 제어가 어렵다. Fourth, in a gear train that uses multiple spur gears to generate the rotational power of the drive motor to obtain a large reduction ratio, the tolerance increases, resulting in increased backlash and difficult precise position control.
한편, 최근에는 차량용 카시트를 좌우로 회전시키기 위한 액추에이터로서 회전 테이블과 함께 피동체 본체(즉, 카시트)를 좌우로 회전시키기 위한 용도로 스위블(Swivel) 액추에이터가 사용되고 있다.Meanwhile, recently, a swivel actuator has been used to rotate a driven body (i.e., car seat) left and right together with a rotary table as an actuator for rotating a vehicle car seat to the left and right.
종래의 액추에이터는 높이가 낮은 하우징 내부에 눕혀진 DC 모터를 사용하는 점을 점을 고려하여, 알모터 형태의 BLDC 모터를 하우징 바닥에 수직방향으로 설치하고 상부에 감속용 기어트레인을 설치함에 의해 콤팩트하고 슬림한 구조를 갖는 스위블 액추에이터가 한국 공개특허공보 제10-2022-0056821호(특허문헌 1)에 제안되어 있다.Considering that conventional actuators use a DC motor lying down inside a low-height housing, an Almotor-type BLDC motor is installed vertically on the bottom of the housing and a reduction gear train is installed on the top to make it compact. A swivel actuator with a slim structure is proposed in Korean Patent Publication No. 10-2022-0056821 (Patent Document 1).
특허문헌 1의 스위블(Swivel) 액추에이터는 또한 동력전달축에 간격을 두고 웜휠과 웜기어를 일체로 형성하여 결합기어수를 최소화시킨 기어트레인 변경 구조에 의해 백래쉬(Backlash)를 최소화할 수 있는 동력전달 구조에 의해 회전 테이블을 회전시킬 수 있는 구조를 제안하고 있다.The swivel actuator of Patent Document 1 is also a power transmission structure that can minimize backlash by changing the gear train structure to minimize the number of combined gears by forming a worm wheel and worm gear integrally at a distance from the power transmission shaft. A structure that can rotate the rotary table is proposed.
그러나, 특허문헌 1은 BLDC 모터와 회전 테이블을 구동하는 피니온 기어유닛 사이에 하나의 기어트레인을 이용하여 회전 동력을 전달하는 구조이므로, 기어간 공차를 줄일 수 있으나 완전히 줄일 수 없고, 또한 회전 테이블과 함께 회전하는 피동체 본체(즉, 카시트)의 좌우 회전을 제어하는 브레이크 토크(brake torque)가 낮아 진동 발생을 억제할 수 없는 문제가 있다.However, Patent Document 1 is a structure that transmits rotational power using a single gear train between the BLDC motor and the pinion gear unit that drives the rotary table, so the tolerance between gears can be reduced, but cannot be completely reduced, and also the rotary table There is a problem that vibration cannot be suppressed because the brake torque that controls the left and right rotation of the driven body (i.e., car seat) that rotates together is low.
따라서, 본 발명은 상기한 종래기술의 문제점을 해결하고자 제안된 것으로, 그 목적은 제1 및 제2 기어트레인의 동력전달축 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어에 4개의 피니온 기어유닛을 결합하여 감속에 의해 고토크 변환된 회전력을 회전 테이블의 링기어에 4개 지점에서 전달시킴에 의해 백래쉬(Backlash)를 최소화함과 동시에 회전테이블의 진동 발생을 억제할 수 있는 스위블(Swivel) 액추에이터를 제공하는 데 있다.Therefore, the present invention was proposed to solve the problems of the prior art described above, and its purpose is to adopt a double worm structure at both ends of the power transmission shaft of the first and second gear trains, thereby providing four worm gears. By combining four pinion gear units and transmitting the rotational force converted into high torque through deceleration to the ring gear of the rotary table at four points, backlash can be minimized and vibration of the rotary table can be suppressed. The goal is to provide a swivel actuator.
본 발명의 다른 목적은 제1 및 제2 기어트레인의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어에 4개의 피니온 기어유닛을 결합하여 회전 테이블을 구동시킴에 의해 백래쉬(Backlash)를 최소로 하면서 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있는 스위블(Swivel) 액추에이터를 제공하는 데 있다. Another object of the present invention is to reduce backlash by adopting a double worm structure at both ends of the first and second gear trains and driving the rotary table by combining four pinion gear units with four worm gears The goal is to provide a swivel actuator that can increase breaking strength by increasing brake torque while minimizing backlash.
본 발명의 또 다른 목적은 제1 및 제2 기어트레인의 동력전달축의 양단부를 세트 스크류를 사용하여 베어링 하우징에서의 좌우변위를 억제함에 의해 기어간 결합시에 발생하는 공차를 없애고 백래쉬(Backlash)를 제로로 할 수 있는 스위블(Swivel) 액추에이터를 제공하는 데 있다.Another object of the present invention is to suppress the left and right displacement in the bearing housing by using set screws on both ends of the power transmission shaft of the first and second gear trains, thereby eliminating the tolerance that occurs when coupling between gears and preventing backlash. The goal is to provide a swivel actuator capable of zero operation.
상기한 목적을 달성하기 위하여, 본 발명의 일 특징에 따른 스위블 액추에이터는 중앙에 중공형 원통부가 상부로 돌출된 하부하우징; 상기 하부하우징의 상부에 적층 조립되고 중앙부에 상기 중공형 원통부가 상부로 돌출된 관통구멍이 형성된 상부하우징; 상기 하부하우징의 바닥면에 배치되며, 상기 상부하우징의 관통구멍을 통하여 상부로 연장된 원통형 로터지지체의 외주에 로터웜기어가 일체로 형성된 구동모터; 각각 상기 로터웜기어의 외주에 180도 간격으로 배치되어 결합되며, 제1 및 제2 동력전달축의 중간에 상기 로터웜기어와 기어 결합되는 제1 및 제2 웜휠이 형성되고 제1 및 제2 동력전달축의 양측에 제1 내지 제4 웜기어가 형성된 제1 및 제2 기어트레인; 각각 제1 내지 제4 지지축의 하단에 상기 제1 내지 제4 웜기어와 기어결합되는 제3 내지 제6 웜휠이 형성되고 상기 제1 내지 제4 지지축의 상단에 제1 내지 제4 피니온 기어가 일체로 형성된 제1 내지 제4 피니온 기어유닛; 및 상기 제1 내지 제4 피니온 기어가 측면부의 내측에 일체로 형성된 링기어에 기어 결합되어 회전이 이루어지는 회전 테이블;을 포함하는 것을 특징으로 한다.In order to achieve the above object, a swivel actuator according to an aspect of the present invention includes a lower housing with a central hollow cylindrical portion protruding upward; an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward; a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing; Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides; Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively, and first to fourth pinion gears are integrated at the upper ends of the first to fourth support shafts. First to fourth pinion gear units formed of; and a rotary table in which rotation is achieved by gearing the first to fourth pinion gears to a ring gear integrally formed on the inside of the side portion.
본 발명에 따른 스위블 액추에이터는 상기 로터지지체의 컵형태의 하단부와 중공형 원통부의 하단 사이에 배치되어 로터를 회전 가능하게 지지하며 직렬로 적층된 제1 및 제2 베어링; 및 상기 회전 테이블을 상기 중공형 원통부의 상단부 외주에 회전 가능하게 지지하기 위한 제3베어링;을 더 포함할 수 있다.The swivel actuator according to the present invention is disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and includes first and second bearings stacked in series; And it may further include a third bearing for rotatably supporting the rotary table on the outer periphery of the upper end of the hollow cylindrical part.
또한, 본 발명에 따른 스위블 액추에이터는 상기 중공형 원통부의 외주에 압착 결합되어 상기 제2베어링을 압착하도록 제2베어링과 제3베어링 사이에 배치되는 베어링 지지대;를 더 포함할 수 있다.In addition, the swivel actuator according to the present invention may further include a bearing support disposed between the second bearing and the third bearing to press the outer periphery of the hollow cylindrical part and press the second bearing.
이 경우, 상기 상부하우징은 각각 상기 관통구멍의 주변에 180도 간격으로 서로 대향하여 배치되어, 상기 제1 및 제2 기어트레인과 제1 내지 제4 피니온 기어유닛을 수용하기 위한 제1 및 제2 요홈을 구비할 수 있다. In this case, the upper housings are disposed opposite each other at 180-degree intervals around the through hole, respectively, and provide first and second gear trains and first to fourth pinion gear units for accommodating the first and second gear trains and the first to fourth pinion gear units. 2 It can be provided with grooves.
또한, 상기 구동모터는 하단부가 컵형태로 이루어진 로터지지체를 구비하며, 상기 중공형 원통부의 외주에 회전 가능하게 결합되는 로터; 상기 로터의 외측에 에어갭을 두고 배치되며 회전자기장을 발생하여 상기 로터를 회전 구동하기 위해 상기 하우징의 바닥에 배치되는 스테이터; 상기 로터지지체의 컵형태의 하단부와 중공형 원통부의 하단 사이에 배치되어 상기 로터를 회전 가능하게 지지하며 직렬로 적층된 제1 및 제2 베어링; 및 상기 중공형 원통부의 외주에 압착 결합되어 상기 제2베어링을 압착하는 베어링 지지대;를 포함할 수 있다.In addition, the drive motor includes a rotor rotatably coupled to the outer periphery of the hollow cylindrical portion and having a rotor support body whose lower end is formed in a cup shape. a stator disposed on the outside of the rotor with an air gap and disposed on the bottom of the housing to generate a rotating magnetic field to rotate the rotor; first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; And it may include a bearing support that is press-coupled with the outer periphery of the hollow cylindrical part and presses the second bearing.
이 경우, 상기 로터지지체는 상기 제1 및 제2 베어링을 수용하는 베어링 하우징으로서 역할을 하도록 하단부 내측에 구비된 내측 요홈; 및 상기 로터의 백요크와 자석을 수용하는 지지체로서 역할을 하도록 하단부 외측에 형성된 외측 요홈;을 포함하며, 상기 제1 및 제2 베어링은 각각 상기 중공형 원통부에 내륜이 지지되고 상기 내측 요홈에 외륜이 지지되는 볼베어링으로 구성될 수 있다.In this case, the rotor support body includes an inner groove provided on the inside of the lower end to serve as a bearing housing for accommodating the first and second bearings; And an outer groove formed on the outside of the lower end to serve as a support for accommodating the back yoke and magnet of the rotor, wherein the first and second bearings each have an inner ring supported on the hollow cylindrical portion and are located in the inner groove. The outer ring may be composed of a supported ball bearing.
또한, 상기 제1 및 제2 베어링의 내륜은 상기 베어링 지지대를 중공형 원통부에 압입시킴에 의해 중공형 원통부의 외주에 형성된 단차부 걸림턱에 하단부가 지지되고, 상기 제1 및 제2 베어링의 외륜은 상기 로터지지체의 하단부 내측에 구비된 내측 요홈에 지지될 수 있다.In addition, the inner rings of the first and second bearings are supported at their lower ends by a stepped stopper formed on the outer periphery of the hollow cylindrical part by press-fitting the bearing support into the hollow cylindrical part, and the lower ends of the inner rings of the first and second bearings The outer ring may be supported in an inner groove provided on the inside of the lower end of the rotor support.
본 발명에 따른 스위블 액추에이터는 상기 로터가 제1 및 제2 베어링으로부터 이탈되어 제3베어링과 접촉이 이루어지는 것을 차단하기 위해 상기 베어링 지지대의 상단에 돌출된 로터웜기어 이탈방지돌기를 더 포함할 수 있다.The swivel actuator according to the present invention may further include a rotor worm gear separation prevention protrusion protruding from the upper end of the bearing support to prevent the rotor from being separated from the first and second bearings and coming into contact with the third bearing.
이 경우, 상기 로터웜기어는 상기 관통구멍의 중앙에 수직방향으로 배치되고, 상기 제1 및 제2 동력전달축은 상기 상부하우징의 관통구멍 주변에 180도 간격으로 서로 대향하여 배치된 제1 및 제2 요홈에 상기 로터웜기어의 축과 직교하는 수평방향으로 배치되며, 상기 제1 내지 제4 지지축은 상기 상부하우징의 제1 및 제2 요홈에 수직방향으로 배치될 수 있다.In this case, the rotor worm gear is disposed in a vertical direction at the center of the through hole, and the first and second power transmission shafts are first and second power transmission shafts disposed opposite each other at 180-degree intervals around the through hole of the upper housing. It is disposed in the groove in a horizontal direction perpendicular to the axis of the rotor worm gear, and the first to fourth support axes may be disposed in a vertical direction in the first and second grooves of the upper housing.
또한, 상기 제1 및 제2 동력전달축의 양단부는 베어링에 의해 회전 가능하게 지지되고, 상기 베어링이 내장된 베어링 하우징에는 상기 제1 및 제2 동력전달축의 좌우 변위가 발생하는 것을 억제하도록 복수의 세트 스크류가 설치될 수 있다.In addition, both ends of the first and second power transmission shafts are rotatably supported by bearings, and the bearing housing in which the bearings are embedded is provided with a plurality of sets to suppress left and right displacement of the first and second power transmission shafts. Screws can be installed.
본 발명에 따른 스위블 액추에이터는 각각 상기 제1 및 제2 동력전달축의 양단부를 회전 가능하게 지지하는 한쌍의 베어링; 각각 상기 상부하우징의 관통구멍 주변에 180도 간격으로 서로 대향하여 배치된 제1 및 제2 요홈에 설치되어 상기 한쌍의 베어링을 내부에 수용하여 지지하는 한쌍의 베어링 하우징; 및 각각 상기 한쌍의 베어링 하우징의 후단부에 결합되어 선단부가 상기 제1 및 제2 동력전달축의 단부를 압박 지지하는 한쌍의 세트 스크류;를 더 포함할 수 있다.The swivel actuator according to the present invention includes a pair of bearings that rotatably support both ends of the first and second power transmission shafts, respectively; a pair of bearing housings respectively installed in first and second grooves disposed opposite each other at 180-degree intervals around the through hole of the upper housing to accommodate and support the pair of bearings therein; And it may further include a pair of set screws, each of which is coupled to the rear end of the pair of bearing housings and whose front ends press and support the ends of the first and second power transmission shafts.
이 경우, 본 발명에 따른 스위블 액추에이터는 상기 상부하우징의 벽에 형성되어 외부로부터 세트 스크류를 전진시켜 상기 제1 및 제2 동력전달축을 일측으로 밀어서 고정시키는 데 사용되는 세트 스크류 조정용 관통구멍을 더 포함할 수 있다.In this case, the swivel actuator according to the present invention further includes a through hole for adjusting the set screw formed on the wall of the upper housing and used to advance the set screw from the outside and fix the first and second power transmission shafts by pushing them to one side. can do.
그 결과, 상기 세트 스크류는 상기 상부하우징에 형성된 세트 스크류 조정용 관통구멍을 통하여 도구를 사용함에 따라 외부로부터 세트 스크류 회전시켜 상기 제1 및 제2 동력전달축을 일측으로 밀어서 고정시킴에 의해 제1 및 제2 동력전달축의 축방향 변위를 억제할 수 있다.As a result, the set screw rotates from the outside as a tool is used through the through hole for adjusting the set screw formed in the upper housing, thereby pushing and fixing the first and second power transmission shafts to one side. 2 Axial displacement of the power transmission shaft can be suppressed.
본 발명에 따른 스위블 액추에이터는 원통형 로터지지체의 외주에 일체로 형성된 로터웜기어를 통하여 회전 동력을 발생하는 구동모터; 각각 상기 로터웜기어의 외주에 180도 간격으로 배치되어 결합되어 1차 감속이 이루어지는 제1 및 제2 웜휠이 제1 및 제2 동력전달축의 중간에 형성되고 제1 및 제2 동력전달축의 양측에 제1 내지 제4 웜기어가 형성된 제1 및 제2 기어트레인; 각각 상기 제1 내지 제4 웜기어와 기어결합되어 2차 감속이 이루어지는 제3 내지 제6 웜휠이 제1 내지 제4 지지축의 하단에 회전 가능하게 결합되고, 상기 제1 내지 제4 지지축의 상단에 상기 제3 내지 제6 웜휠과 연동하여 회전되는 제1 내지 제4 피니온 기어가 회전 가능하게 결합된 제1 내지 제4 피니온 기어유닛; 및 상기 제1 내지 제4 피니온 기어와 기어결합되어 3차 감속이 이루어지는 링기어가 측면부의 내측에 일체로 형성된 회전 테이블;을 포함하며, 상기 회전 테이블은 카시트의 회전 구동에 이용되는 것을 특징으로 한다.The swivel actuator according to the present invention includes a drive motor that generates rotational power through a rotor worm gear integrally formed on the outer periphery of a cylindrical rotor support body; First and second worm wheels, which are respectively arranged and coupled at 180-degree intervals on the outer periphery of the rotor worm gear to achieve primary deceleration, are formed in the middle of the first and second power transmission shafts, and are disposed on both sides of the first and second power transmission shafts. First and second gear trains formed with first to fourth worm gears; Third to sixth worm wheels, which are respectively gear-coupled with the first to fourth worm gears to achieve secondary deceleration, are rotatably coupled to the lower ends of the first to fourth support shafts, and the upper ends of the first to fourth support shafts First to fourth pinion gear units rotatably coupled to first to fourth pinion gears that rotate in conjunction with third to sixth worm wheels; and a rotary table in which a ring gear geared to the first to fourth pinion gears and performing third reduction is integrally formed on the inside of the side portion, wherein the rotary table is used to rotate the car seat. do.
본 발명에 따른 스위블 액추에이터는 상기 원통형 로터지지체와 회전 테이블이 회전 가능하게 지지되는 중공형 원통부가 중앙에 상부로 돌출되고 상기 구동모터가 설치되는 하부하우징; 및 상기 하부하우징의 상부에 적층 조립되고 중앙부에 상기 중공형 원통부가 상부로 돌출된 관통구멍이 형성되며, 상기 제1 및 제2 기어트레인과 제1 내지 제4 피니온 기어유닛이 설치되는 상부하우징;을 더 포함할 수 있다.The swivel actuator according to the present invention includes a lower housing in which a hollow cylindrical portion on which the cylindrical rotor support and the rotary table are rotatably supported protrudes upward at the center and the drive motor is installed; And an upper housing that is stacked and assembled on the upper part of the lower housing and has a through-hole formed in the center where the hollow cylindrical part protrudes upward, and in which the first and second gear trains and first to fourth pinion gear units are installed. It may further include ;.
상기 1차 감속의 제1감속비, 상기 2차 감속의 제2감속비, 상기 3차 감속의 제3감속비는 후단으로 갈수록 순차적으로 작게 설정될 수 있다.The first reduction ratio of the primary reduction, the second reduction ratio of the secondary reduction, and the third reduction ratio of the tertiary reduction may be set to be sequentially smaller toward the rear end.
이 경우, 상기 구동모터의 로터와 로터웜기어가 시계방향으로 회전하면, 상기 제1 및 제2 동력전달축은 반시계방향으로 회전하고, 상기 회전 테이블은 시계방향으로 회전할 수 있다. In this case, when the rotor and rotor worm gear of the drive motor rotate clockwise, the first and second power transmission shafts rotate counterclockwise, and the rotary table may rotate clockwise.
또한, 상기 회전 테이블은 피동체가 설치되는 상판; 상기 상판의 외부로부터 하방향으로 연장된 측면부; 및 상기 측면부의 내측에 일체로 형성된 링기어;를 포함하며, 상기 제1 내지 제4 피니온 기어유닛의 제1 내지 제4 피니온 기어는 상기 회전 테이블의 링기어에 4지점에서 기어 결합될 수 있다.In addition, the rotary table includes a top plate on which the driven body is installed; a side portion extending downward from the outside of the upper plate; and a ring gear integrally formed inside the side portion, wherein the first to fourth pinion gears of the first to fourth pinion gear units can be gear-coupled with the ring gear of the rotary table at 4 points. there is.
상기한 바와 같이, 본 발명에서는 동력전달축에 간격을 두고 웜휠과 웜기어를 일체로 형성하여 결합기어수를 최소화시킨 기어트레인 변경 구조에 의해 백래쉬(Backlash)를 최소화할 수 있는 동력전달 구조를 제공한다. 그 결과, 본 발명은 복수의 스퍼 기어를 조합한 종래의 기어트레인과 비교하여 전체 사이즈가 감소하고 공간 확보가 가능하여 설계 자유도가 증가하고 원가 절감이 가능하다.As described above, the present invention provides a power transmission structure that can minimize backlash through a gear train change structure that minimizes the number of combined gears by forming a worm wheel and a worm gear integrally at a distance from the power transmission shaft. . As a result, the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.
또한, 본 발명에서는 BLDC 구동모터를 하우징 바닥에 설치하고 상부에 웜휠과 웜기어가 동력전달축에 간격을 두고 일체로 형성된 제1 및 제2 기어트레인을 하우징 내부에 대칭 구조로 배치함에 의해 백래쉬(Backlash)를 최소화함과 동시에 회전테이블의 진동 발생을 억제할 수 있다.In addition, in the present invention, the BLDC drive motor is installed on the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals from the power transmission shaft, are arranged symmetrically inside the housing to prevent backlash. ) can be minimized and at the same time the vibration of the rotary table can be suppressed.
더욱이, 본 발명에서는 BLDC 구동모터를 하우징 바닥에 설치하고 구동모터의 원통형 로터웜기어의 외주에 제1 및 제2 기어트레인의 웜휠을 대칭 구조로 배치하고 제1 및 제2 기어트레인의 양단부에 형성된 4개의 웜기어에 4개의 피니온 기어유닛을 결합하여 감속에 의해 고토크 변환된 회전력을 회전 테이블의 링기어에 4개 지점에서 전달함에 의해 백래쉬(Backlash)를 최소화함과 동시에 회전테이블의 진동 발생을 억제할 수 있다.Moreover, in the present invention, the BLDC drive motor is installed on the bottom of the housing, the worm wheels of the first and second gear trains are arranged symmetrically on the outer periphery of the cylindrical rotor worm gear of the drive motor, and 4 formed at both ends of the first and second gear trains. By combining four worm gears with four pinion gear units, the rotational force converted into high torque through deceleration is transmitted to the ring gear of the rotary table at four points, thereby minimizing backlash and suppressing vibration of the rotary table. can do.
또한, 본 발명에서는 제1 및 제2 기어트레인의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어에 4개의 피니온 기어유닛을 결합하여 회전 테이블을 구동시킴에 의해 백래쉬(Backlash)를 최소로 하면서 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있다.In addition, in the present invention, by adopting a double worm structure at both ends of the first and second gear trains, backlash is prevented by combining four pinion gear units with four worm gears to drive the rotary table. ) can be minimized and the breaking strength can be increased by increasing the brake torque.
일반적으로 스위블 액추에이터는 차량의 실내에서 플로워 패널에 고정되게 설치된 고정 프레임에 회전 가능하게 지지되고, 스위블 액추에이터의 상부에 설치되어 회전되는 회전 테이블에는 카시트가 설치된다.In general, a swivel actuator is rotatably supported on a fixed frame fixed to a floor panel inside a vehicle, and a car seat is installed on a rotating table installed on top of the swivel actuator.
이 경우, 스위블 액추에이터는 전동방식으로 구동되어 사용자의 스위치 조작에 따라 고정 프레임에 대해 회전 테이블을 원하는 방향으로 회전 가능하게 동작시킬 수 있다. 스위블 액추에이터의 구동은 조작스위치의 작동(턴-온)에 연동하여 미리 설정된 각도씩 회전시키거나 또는 조작스위치의 작동(턴-온)에 연동하여 회전이 이루어지면서 조작스위치의 작동을 멈추면(턴-오프) 회전된 위치에 정지하는 방식으로 구동시킬 수 있다.In this case, the swivel actuator is driven electrically and can operate the rotary table to rotate in a desired direction with respect to the fixed frame according to the user's switch operation. The operation of the swivel actuator rotates by a preset angle in conjunction with the operation (turn-on) of the operation switch, or when the operation of the operation switch is stopped while rotation is made in conjunction with the operation (turn-on) of the operation switch (turn-on). -Off) It can be driven by stopping in the rotated position.
사용자가 스위블 액추에이터를 전동방식으로 구동시켜 원하는 회전 각도만큼 회전한 후 정지시킬 때, 조작스위치의 작동(턴-온)에 따라 구동모터의 출력부, 즉 로터웜기어와 회전 테이블 사이에는 소정의 브레이크 토크(Brake Torque)를 가지는 것이 요구된다. When the user drives the swivel actuator electrically and stops it after rotating to the desired rotation angle, a predetermined brake torque is applied between the output part of the drive motor, that is, the rotor worm gear and the rotary table, depending on the operation (turn-on) of the operation switch. (Brake Torque) is required.
회전 구동되는 회전 테이블은 회전 관성력을 가지고 있으므로 원하는 위치에서 정지시키려면 로터웜기어와 회전 테이블의 링기어 사이에 결합되는 기어트레인과 피니온 기어유닛의 동력전달 메카니즘에 따라 결정되는 브레이크 토크(Brake Torque)를 높이는 것이 필요하다.Since the rotating table has rotational inertia, in order to stop it at the desired position, brake torque is determined by the power transmission mechanism of the gear train and pinion gear unit coupled between the rotor worm gear and the ring gear of the rotary table. It is necessary to increase .
사용자가 착석한 카시트가 설치된 회전 테이블은 회전 테이블의 외곽에 배치된 링기어와 피니온 기어 사이의 맞물림 기어 개수가 작아서 큰 힘을 이겨내지 못하고 있다. 이 경우, 스퍼 기어(spur gear)인 피니온 기어는 링기어보다 기어의 직경이 작기 때문에 링기어와 피니온 기어 사이의 맞물림 기어 개수는 피니온 기어 1개당 1ea 내지 1.5ea 정도이다.The rotary table on which the user's car seat is installed cannot withstand large forces because the number of meshing gears between the ring gear and pinion gear arranged on the outside of the rotary table is small. In this case, since the pinion gear, which is a spur gear, has a smaller gear diameter than the ring gear, the number of meshing gears between the ring gear and the pinion gear is about 1ea to 1.5ea per pinion gear.
따라서, 링기어와 피니온 기어 사이의 브레이크 토크(Brake Torque)를 증가시키려면 맞물림 기어 개수(맞닿는 기어 잇수)를 최대한 늘리는 것이 바람직하다.Therefore, in order to increase the brake torque between the ring gear and the pinion gear, it is desirable to increase the number of meshing gears (number of gear teeth in contact) as much as possible.
이 경우, 본 발명에서는 제1 및 제2 기어트레인의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어에 4개의 피니온 기어유닛을 결합하여 회전 테이블의 링기어에 4개 지점에서 전달함에 의해 맞물림 기어 개수(맞닿는 기어 잇수)를 늘려서 회전 테이블을 구동시킴에 의해 브레이크 토크(Brake Torque)를 높여서 파괴 강도를 증대시킬 수 있다.In this case, in the present invention, a double worm structure is adopted at both ends of the first and second gear trains, and four pinion gear units are combined with four worm gears to connect four pinion gear units to the ring gear of the rotary table at four points. The breaking strength can be increased by increasing the brake torque by driving the rotary table by increasing the number of meshing gears (number of gear teeth in contact) by transmitting from .
상기와 같이 브레이크 토크가 증대되면 기어의 재질을 선택할 수 있는 자유도가 높아지게 된다. 이에 따라 종전에 기어 재질로서 SUS 가공된 제품을 사용하였으면, 소결 금속으로 제작된 제품 또는 플라스틱 가공 제품을 사용하는 것이 가능하므로 단가적인 측면과 양산적인 측면에서 좀더 나은 경쟁력을 가질 수 있기 때문에 기어 결합시에 맞물림 기어 잇수를 증대하는 설계가 바람직하다.As the brake torque increases as described above, the degree of freedom in selecting the material of the gear increases. Accordingly, if SUS-processed products were previously used as gear materials, it is possible to use products made of sintered metal or plastic-processed products, which can be more competitive in terms of unit cost and mass production when combining gears. A design that increases the number of meshing gear teeth is desirable.
또한, 상기와 같이 제1 및 제2 기어트레인을 상부하우징 내부에 원통형 로터웜기어의 외주에 대칭 구조로 배치하면 기어간 공차를 줄이는 것은 가능하나, 완전히 줄이는 것은 어렵다. 즉, 기와와 기어간 틈새를 최소로 하지만 기어간 공차가 발생되어 유격이 발생하므로 피니온 기어유닛과 기어 결합되는 회전 테이블이 좌우로 흔들리는 문제가 발생할 수 있다.In addition, if the first and second gear trains are arranged symmetrically around the outer periphery of the cylindrical rotor worm gear inside the upper housing as described above, it is possible to reduce the tolerance between gears, but it is difficult to completely reduce it. In other words, the gap between the tiles and the gears is minimized, but a clearance between the gears occurs, which may cause a problem in which the rotary table coupled with the pinion gear unit and the gears shakes left and right.
이러한 문제는 기어트레인을 형성하는 동력전달축의 양단부가 베어링 하우징에서 좌우(즉, 축방향) 변위가 발생하는 것에 기인할 수 있다. 이에 따라 본 발명에서는 동력전달축의 양단부가 베어링 하우징에서 좌우 변위가 발생하는 것을 억제하도록 베어링 하우징의 후단부에 연장 형성된 세트 스크류 조립부에 나사 결합된 세트 스크류를 부가하고, 상기 하우징에 형성된 세트 스크류 조정용 관통구멍을 통하여 외부로부터 세트 스크류를 조임에 의해 상기 제1 및 제2 동력전달축을 일측으로 밀어서 고정시킴에 의해 제1 및 제2 동력전달축의 축방향 변위를 억제할 수 있다. This problem may be due to left/right (i.e. axial) displacement of both ends of the power transmission shaft forming the gear train in the bearing housing. Accordingly, in the present invention, a set screw is screwed to the set screw assembly extending from the rear end of the bearing housing to suppress left and right displacement in the bearing housing at both ends of the power transmission shaft, and a set screw for adjusting the set screw formed on the housing is added. Axial displacement of the first and second power transmission shafts can be suppressed by pushing and fixing the first and second power transmission shafts to one side by tightening a set screw from the outside through a through hole.
그 결과, 제1 및 제2 동력전달축의 좌우 변위를 억제함에 의해 기어트레인의 웜기어와 피니온 기어유닛의 웜휠 사이의 기어간 결합시에 발생하는 공차(갭)를 없애고, 그 결과 피니온 기어유닛의 피니온 기어와 회전 테이블의 링기어 사이의 갭(gap)을 제거하여 백래쉬(Backlash)도 제로(zero)로 할 수 있다.As a result, by suppressing the left and right displacement of the first and second power transmission shafts, the tolerance (gap) that occurs when engaging between gears between the worm gear of the gear train and the worm wheel of the pinion gear unit is eliminated, and as a result, the pinion gear unit Backlash can also be reduced to zero by eliminating the gap between the pinion gear and the ring gear of the rotary table.
도 1 내지 도 3a는 각각 본 발명의 바람직한 실시예에 따른 내부 중공형 스위블 액추에이터의 사시도, 평면도 및 도 2의 A-A 선 단면도이다. 1 to 3A are a perspective view, a plan view, and a cross-sectional view taken along the line A-A of FIG. 2, respectively, of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
도 3b는 본 발명의 바람직한 실시예에 따른 내부 중공형 스위블 액추에이터의 축방향 단면의 1/2확대도이다.Figure 3b is a 1/2 enlarged view of an axial cross-section of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
도 4 및 도 5는 각각 본 발명의 바람직한 실시예에 따른 내부 중공형 스위블 액추에이터의 회전 테이블 분리 사시도 및 회전 테이블이 제거된 도 4의 평면도이다.Figures 4 and 5 are a perspective view of the internal hollow swivel actuator according to a preferred embodiment of the present invention with the rotary table separated, and a plan view of Figure 4 with the rotary table removed, respectively.
도 6a 내지 도 6c는 각각 도 5의 B-B 선, C-C 선 및 D-D 선 단면도이다.FIGS. 6A to 6C are cross-sectional views taken along lines B-B, C-C, and D-D of FIG. 5, respectively.
도 7 및 도 8은 각각 본 발명의 바람직한 실시예에 따른 내부 중공형 스위블 액추에이터의 모듈별 분해사시도 및 완전 분해사시도이다.Figures 7 and 8 are respectively an exploded perspective view and a completely exploded perspective view of each module of the internal hollow swivel actuator according to a preferred embodiment of the present invention.
도 9는 본 발명의 바람직한 실시예에 따른 내부 중공형 스위블 액추에이터에서 회전 테이블의 상부가 제거된 사시도이다.Figure 9 is a perspective view with the upper part of the rotary table removed in the internal hollow swivel actuator according to a preferred embodiment of the present invention.
이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 설명한다. Hereinafter, preferred embodiments according to the present invention will be described with reference to the attached drawings.
이 과정에서 도면에 도시된 구성요소의 크기나 형상 등은 설명의 명료성과 편의상 과장되게 도시될 수 있다. 또한, 본 발명의 구성 및 작용을 고려하여 특별히 정의된 용어들은 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 한다. In this process, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Additionally, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. Definitions of these terms should be made based on the content throughout this specification.
본 발명에 따른 스위블 액추에이터는 회전 테이블과 함께 피동체 본체, 즉 차량용 카시트를 좌우로 회전시키기 위한 용도로 이용된다. 차량의 바닥면에 고정된 하부 플레이트에 스위블(Swivel) 액추에이터를 설치하고 회전 테이블에 설치된 연결 프레임을 카시트가 설치되는 상부 플레이트에 고정시키면 회전 테이블의 회전에 따라 카시트도 회전될 수 있다. The swivel actuator according to the present invention is used together with the rotary table to rotate the driven body, that is, the vehicle car seat, left and right. If a swivel actuator is installed on the lower plate fixed to the floor of the vehicle and the connection frame installed on the rotary table is fixed to the upper plate where the car seat is installed, the car seat can also be rotated according to the rotation of the rotary table.
이하의 설명에서 BLDC 방식의 구동모터를 동력원으로 이용하여 피동체를 구동시키는 내부 중공형 스위블 액추에이터를 설명한다.In the following description, an internal hollow swivel actuator that drives a driven body using a BLDC type drive motor as a power source will be described.
일반적인 모터는 BLDC 적용이 어려운 부분을 본 발명에서는 모터를 하우징 하부에 수직으로 세우고 직경방향의 크기를 키워서 모터 토크를 증대하였다. 구동모터는 하우징의 바닥면에 스테이터와 로터가 배치되어 있으며, 인너 로터 방식의 BLDC 모터를 이용하고 있다. In the present invention, where BLDC is difficult to apply to general motors, the motor is placed vertically at the bottom of the housing and the motor torque is increased by increasing the size in the radial direction. The drive motor has a stator and rotor placed on the bottom of the housing, and uses an inner rotor type BLDC motor.
종래기술에 따른 액추에이터는 DC 모터로 이루어진 모터부, 기어부 및 회전부가 별도의 부품으로 구성되어 있어 액추에이터 제품을 이용하는 본체에 조립할 때, 조립 공차 및 부품 수급 등 많은 문제점이 있다. The actuator according to the prior art consists of a motor part made of a DC motor, a gear part, and a rotating part as separate parts, so there are many problems such as assembly tolerances and parts supply when assembling the actuator product into a main body.
본 발명에 따른 스위블 액추에이터는 구동모터, 기어트레인 및 회전체가 일체형으로 구성되어 있어 종래기술의 문제를 해결하면서 소형화 및 슬림화를 도모할 수 있다.The swivel actuator according to the present invention is composed of a drive motor, gear train, and rotating body in an integrated form, so it can achieve miniaturization and slimming while solving the problems of the prior art.
또한, 본 발명에 따른 내부 중공형 스위블 액추에이터는 원반 형상으로 이루어지며, 내측 중공형으로서 중앙부에는 케이블이 인출되는 케이블 인출용 관통구멍이 형성되어 있고, 회전체(회전 테이블)의 상부에는 피동체와 연결하도록 복수개, 예를 들어, 4개의 결합구멍이 형성되어 있고, 결합구멍에는 고정볼트의 하단부가 통과하면서 회전 테이블의 내면에 고정 설치된 스터드 너트에 나사결합되어 고정된다.In addition, the internal hollow swivel actuator according to the present invention is made in the shape of a disk, and is hollow on the inside, with a through hole for cable extraction formed in the center, and a driven body and a driven body at the top of the rotating body (rotating table). A plurality of coupling holes, for example, four, are formed to connect, and the lower end of the fixing bolt passes through the coupling hole and is screwed to a stud nut fixed to the inner surface of the rotary table.
더욱이, 본 발명에 따른 내부 중공형 스위블 액추에이터는 BLDC 구동모터를 하우징 바닥에 설치하고 상부에 웜휠과 웜기어가 동력전달축에 간격을 두고 일체로 형성된 제1 및 제2 기어트레인을 하우징 내부에 대칭 구조로 배치함에 의해 백래쉬(Backlash)를 최소화함과 동시에 진동 발생을 억제할 수 있다.Moreover, the internal hollow swivel actuator according to the present invention has a BLDC drive motor installed at the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals on the power transmission shaft, are symmetrical inside the housing. By arranging it, backlash can be minimized and vibration occurrence can be suppressed.
본 발명에 따른 스위블 액추에이터는 하우징의 바닥에 환형의 스테이터가 배치되고, 그 내부에 상측에 로터웜기어가 일체로 형성된 로터가 배치되어 있다. 상기 로터웜기어의 외주에는 한쌍의 기어트레인이 대칭 구조로 결합되며, 각각의 기어트레인을 형성하는 동력전달축의 웜휠이 로터웜기어의 외주에 기어결합되고, 동력전달축의 양단에 형성된 4개의 웜기어는 4개의 피니온 기어유닛 각각의 하단에 위치한 웜휠에 결합되고 4개 피니온 기어유닛의 상단에 위치한 4개의 피니온 기어는 회전 테이블의 측면부 내측에 형성된 링기어에 4개 지점에서 결합되어 저속, 고토크 변환된 회전력으로 회전 테이블을 회전 구동시킨다.In the swivel actuator according to the present invention, an annular stator is disposed on the bottom of a housing, and a rotor with a rotor worm gear integrally formed on the upper side is disposed inside the stator. A pair of gear trains are coupled in a symmetrical structure on the outer periphery of the rotor worm gear, the worm wheels of the power transmission shaft forming each gear train are gear-coupled with the outer periphery of the rotor worm gear, and the four worm gears formed on both ends of the power transmission shaft are four. The four pinion gears are coupled to the worm wheel located at the bottom of each pinion gear unit, and the four pinion gears located at the top of the four pinion gear units are coupled at four points to the ring gear formed on the inside of the side part of the rotary table to achieve low speed and high torque conversion. The rotary table is driven to rotate using the generated rotational force.
그 결과, 본 발명에 따른 스위블 액추에이터는 구동모터의 고속, 저토크 회전출력을 감속시킴에 의해 토크를 증대시키고, 감속에 의해 저속, 고토크 변환된 회전력을 회전테이블에 전달할 때, 한쌍의 기어트레인을 구동모터의 로터웜기어에 대칭 구조로 결합시키고, 한쌍의 기어트레인의 양단부에 더블 웜 구조를 형성하고 더블 웜에 4개의 피니온 기어유닛을 통하여 회전테이블의 링기어에 맞물림 기어 개수(맞닿는 기어 잇수)를 늘려서 전달함에 의해 백래쉬(Backlash)를 최소화함과 동시에 회전테이블의 진동 발생을 억제하며 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있다.As a result, the swivel actuator according to the present invention increases torque by decelerating the high-speed, low-torque rotational output of the drive motor, and when transmitting the rotational force converted to low-speed and high torque by deceleration to the rotary table, a pair of gear trains is coupled to the rotor worm gear of the drive motor in a symmetrical structure, forming a double worm structure at both ends of a pair of gear trains, and engaging the ring gear of the rotary table through four pinion gear units on the double worm. Number of gears (number of gear teeth in contact) ) can be transmitted by increasing the backlash, suppressing the vibration of the rotary table, and increasing the breaking strength by increasing the brake torque.
본 발명에 따른 스위블 액추에이터는 BLDC 방식의 구동모터, 구동모터의 회전 동력을 감속에 의해 토크를 증대시킨 후 회전 테이블에 전달하도록 한쌍의 기어트레인, 한쌍의 기어트레인의 양단부에 각각 결합되는 4개의 피니온 기어유닛 및 4개의 피니온 기어유닛의 출력에 의해 4개 지점에서 결합되어 링기어와 함께 회전하는 회전 테이블을 포함하며, 회전 테이블에는 피동체가 결합되어 회전 테이블과 함께 회전이 이루어진다.The swivel actuator according to the present invention includes a BLDC type drive motor, a pair of gear trains to increase the torque by decelerating the rotational power of the drive motor and then transmitting it to the rotary table, and four pinnies each coupled to both ends of the pair of gear trains. It includes a rotary table that is coupled at four points by the output of the on gear unit and the four pinion gear units and rotates together with the ring gear. A driven body is coupled to the rotary table and rotates together with the rotary table.
이 경우, 구동모터, 기어트레인, 피니온 기어유닛 및 회전 테이블이 하우징에 일체형으로 조립되어 있다.In this case, the drive motor, gear train, pinion gear unit, and rotary table are integrated into the housing.
도 1 내지 도 9를 참고하면, 본 발명의 바람직한 일 실시예에 따른 내부 중공형 스위블 액추에이터(200)는 중앙에 중공형 원통부(11a)가 상부로 돌출된 하부하우징(10); 상기 하부하우징(10)의 상부에 적층 조립되고 중앙부에 상기 중공형 원통부(11a)가 상부로 돌출된 관통구멍(15c)이 형성된 상부하우징(15); 상기 하부하우징(10)의 바닥면에 배치되며, 로터(30)의 상부로 연장된 로터지지체(34)의 연장부 외주에 로터웜기어(35)가 일체로 형성된 구동모터(100); 각각 상기 상부하우징(15)에 배치되고 상기 로터웜기어(35)의 외주에 결합되며, 제1 및 제2 동력전달축(71a,71b)의 중간 부분에 상기 로터웜기어(35)와 기어 결합되는 제1 및 제2 웜휠(72a,72b)이 형성되고 제1 및 제2 동력전달축(71a,71b)의 일측 및 타측에 각각 제1 내지 제4 웜기어(73a-73d)가 형성된 제1 및 제2 기어트레인(70a,70b); 각각 하단에 상기 제1 내지 제4 웜기어(73a-73d)와 기어결합되는 제3 내지 제6 웜휠(81a-81d)이 형성되고 상단에 제1 내지 제4 피니온 기어(82a-82d)가 일체로 형성된 제1 내지 제4 피니온 기어유닛(80a-80d); 및 상기 제1 내지 제4 피니온 기어유닛(80a-80d)의 제1 내지 제4 피니온 기어(82a-82d)가 측면부의 내측에 일체로 형성된 링기어(24)에 기어 결합되어 회전이 이루어지는 회전 테이블(20);을 포함한다.Referring to Figures 1 to 9, the internal hollow swivel actuator 200 according to a preferred embodiment of the present invention includes a lower housing 10 with a central hollow cylindrical portion 11a protruding upward; An upper housing (15) that is stacked and assembled on top of the lower housing (10) and has a through hole (15c) in the center through which the hollow cylindrical portion (11a) protrudes upward; A drive motor 100 disposed on the bottom of the lower housing 10 and having a rotor worm gear 35 integrally formed around the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30; Each is disposed in the upper housing 15 and coupled to the outer periphery of the rotor worm gear 35, and is gear-coupled with the rotor worm gear 35 in the middle portion of the first and second power transmission shafts 71a and 71b. First and second worm wheels (72a, 72b) are formed and first to fourth worm gears (73a-73d) are formed on one side and the other of the first and second power transmission shafts (71a, 71b), respectively. gear train (70a, 70b); Third to sixth worm wheels (81a-81d) are formed at the bottom and gear-coupled with the first to fourth worm gears (73a-73d), and first to fourth pinion gears (82a-82d) are formed at the top. First to fourth pinion gear units (80a-80d) formed by; And the first to fourth pinion gears (82a-82d) of the first to fourth pinion gear units (80a-80d) are gear-coupled with the ring gear 24 integrally formed on the inside of the side portion to rotate. Includes a rotary table (20).
상기 하부하우징(10)에는 중앙에 중공형 원통부(11a)가 돌출되어 있고 중공형 원통부(11a)와 원형 벽(10a) 사이의 공간에 구동모터(100)가 설치되어 있다. A hollow cylindrical portion 11a protrudes at the center of the lower housing 10, and a drive motor 100 is installed in the space between the hollow cylindrical portion 11a and the circular wall 10a.
또한, 상기 하부하우징(10)의 상부에는 상부하우징(15)이 적층 조립되며, 복수의 고정 볼트나 나사(17)를 체결하여 고정시킨다. 상기 상부하우징(15)은 상기 제1 및 제2 기어트레인(70a,70b)과 제1 내지 제4 피니온 기어(82a-82d)를 내부에 수용하며, 그의 상부에 회전 테이블(20)이 회전 가능하게 설치된다.In addition, the upper housing 15 is stacked and assembled on the upper part of the lower housing 10, and is fixed by fastening a plurality of fixing bolts or screws 17. The upper housing 15 accommodates the first and second gear trains 70a and 70b and first to fourth pinion gears 82a-82d, and a rotary table 20 rotates on the upper housing 15. Possibly installed.
상기 구동모터(100)는 예를 들어, 상대적으로 고속의 회전 동력을 발생하며, 상기 제1 및 제2 기어트레인(70a,70b)은 상기 고속의 회전 동력을 받아서 회전 속도를 감속시킴에 의해 토크 변환하여 토크가 증가된 감속된 회전 동력을 발생한다.For example, the drive motor 100 generates relatively high-speed rotational power, and the first and second gear trains 70a and 70b receive the high-speed rotational power and reduce the rotational speed to provide torque. This conversion generates reduced rotational power with increased torque.
이어서, 상기 제1 내지 제4 피니온 기어(82a-82d)은 각각 상기 제1 및 제2 기어트레인(70a,70b)의 상기 제1 내지 제4 웜기어(73a-73d)에 수직방향으로 설치되어 토크가 증가된 감속된 회전 동력을 수신한 후, 회전 테이블(20)과 일체로 형성된 링기어(24)에 4지점에서 전달하여 회전 테이블(20)을 저속으로 회전시킨다. Subsequently, the first to fourth pinion gears (82a-82d) are installed in a vertical direction on the first to fourth worm gears (73a-73d) of the first and second gear trains (70a, 70b), respectively. After receiving the reduced rotational power with increased torque, it is transmitted at four points to the ring gear 24 formed integrally with the rotary table 20 to rotate the rotary table 20 at low speed.
상기 구동모터(100)는 스테이터의 내측에 로터가 배치되는 인너 로터 타입으로 구성될 수 있으며, 상기 하부하우징(10)의 중공형 원통부(11a)의 외주에 회전 가능하게 결합되는 로터(30)와, 상기 로터(30)의 외측에 에어갭을 두고 배치되며 회전자기장을 발생하여 상기 로터(30)를 회전 구동하기 위해 상기 하부하우징(10)의 바닥면에 배치되는 스테이터(40)를 포함하며, 상기 로터(30)의 상부로 연장된 로터지지체(34)의 연장부에는 외주부에 로터웜기어(35)가 일체로 형성되어 있다. The drive motor 100 may be configured as an inner rotor type in which the rotor is disposed on the inside of the stator, and the rotor 30 is rotatably coupled to the outer periphery of the hollow cylindrical portion 11a of the lower housing 10. and a stator 40 disposed on the outside of the rotor 30 with an air gap and disposed on the bottom of the lower housing 10 to generate a rotating magnetic field to rotate the rotor 30. , a rotor worm gear 35 is integrally formed on the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30.
상기 로터(30)는 내측에 위치한 백요크(32)의 외주에 배치된 자석(31)은 복수의 N극 및 S극의 분할 자석편으로 이루어지거나 또는 링형상의 자석에 N극 및 S극이 다극으로 분할 착자된 자석을 사용할 수 있으며, 백요크(32)는 자석(31)의 배면에 설치되어 자기회로를 형성한다. The magnet 31 disposed on the outer periphery of the back yoke 32 located on the inside of the rotor 30 is made of a plurality of divided magnet pieces of N and S poles, or a ring-shaped magnet with N and S poles. A multi-pole split magnetized magnet can be used, and the back yoke 32 is installed on the back of the magnet 31 to form a magnetic circuit.
상기 로터(30)는 하단부가 컵 형태로 이루어진 로터지지체(34)를 포함하고 있으며, 상기 로터지지체(34)는 상기 제1 및 제2 베어링(61,62)을 수용하는 베어링 하우징으로서 역할을 하도록 하단부 내측에 구비된 내측 요홈(34a) 및 상기 로터의 백요크(32)와 자석(31)을 수용하는 지지체로서 역할을 하도록 하단부 외측에 형성된 외측 요홈(34b)을 포함하고 있다.The rotor 30 includes a rotor support 34 whose lower end is cup-shaped, and the rotor support 34 serves as a bearing housing for accommodating the first and second bearings 61 and 62. It includes an inner groove (34a) provided on the inside of the lower part and an outer groove (34b) formed on the outside of the lower part to serve as a support for accommodating the back yoke (32) and magnet (31) of the rotor.
이 경우, 상기 로터지지체(34)는 하단부 내측에 구비된 내측 요홈(34a)이 제1 및 제2 베어링(61,62)을 수용하는 베어링 하우징으로서의 역할과, 로터지지체(34)의 외측에 형성된 외측 요홈(34b)은 백요크(32)와 자석(31)을 수용하는 지지체로서 역할을 겸하고 있다.In this case, the rotor support body 34 serves as a bearing housing in which the inner groove 34a provided on the inside of the lower end accommodates the first and second bearings 61 and 62, and is formed on the outside of the rotor support body 34. The outer groove (34b) also serves as a support body for accommodating the back yoke (32) and the magnet (31).
또한, 로터지지체(34)는 제1 및 제2 베어링(61,62)와 백요크(32)와 자석(31)을 내외부에 지지하는 컵형상의 하단부와 상기 하단부로부터 상부하우징(15)의 관통구멍(15c)을 통하여 상부로 연장된 상단부를 포함하고 있으며, 상기 상단부의 원통형 외주부에는 로터웜기어(35)가 일체로 형성되어 있다. In addition, the rotor support body 34 has a cup-shaped lower portion that supports the first and second bearings 61 and 62, the back yoke 32, and the magnet 31 inside and outside, and a penetration of the upper housing 15 from the lower portion. It includes an upper end extending upward through a hole 15c, and a rotor worm gear 35 is integrally formed on the cylindrical outer periphery of the upper end.
그 결과, 상기 로터지지체(34)의 상부에 일체로 형성된 로터웜기어(35)로부터 구동모터(100)의 회전 출력을 발생하고 있다. 이 경우, 상기 로터지지체(34)는 상단부에 로터웜기어(35)가 일체형으로 사출성형방식으로 제조될 수 있다.As a result, the rotational output of the drive motor 100 is generated from the rotor worm gear 35 integrally formed on the upper part of the rotor support 34. In this case, the rotor support 34 may be manufactured by injection molding with the rotor worm gear 35 integrated at the upper end.
상기 로터(30)의 로터지지체(34)와 하부하우징(10)의 중공형 원통부(11a) 사이에는 로터(30)를 회전 가능하게 원통부(11a)에 지지하는 제1 및 제2 베어링(61,62)이 설치되어 있다. Between the rotor support 34 of the rotor 30 and the hollow cylindrical portion 11a of the lower housing 10, first and second bearings ( 61,62) are installed.
상기 제1 및 제2 베어링(61,62)은 로터지지체(34)와 중공형 원통부(11a) 사이에 상하부에 직렬로 적층 배치되면서 로터(30)를 안정적으로 지지하고 있다. The first and second bearings 61 and 62 are stacked in series at the top and bottom between the rotor support 34 and the hollow cylindrical portion 11a and stably support the rotor 30.
복수의 베어링을 적층할 때, 인접한 베어링과 베어링 사이에 갭이 존재하여 베어링 간 간격을 유지하는 것이 일반적이다. 그러나, 본 발명에 따라 베어링과 베어링 사이에 갭을 두지 않고 직렬로 적층 배치된 제1 및 제2 베어링(61,62)은 넓은 면적으로 로터(30)를 지지함에 따라 로터(30)의 회전시 수직도 및 치수 안정성을 도모할 수 있다.When stacking a plurality of bearings, it is common for a gap to exist between adjacent bearings to maintain the gap between bearings. However, according to the present invention, the first and second bearings 61 and 62, which are stacked in series without leaving a gap between the bearings, support the rotor 30 over a large area and thus support the rotor 30 when the rotor 30 rotates. Verticality and dimensional stability can be achieved.
상기 제1 및 제2 베어링(61,62)은 내륜(61a,62a)과 외륜(61b,62b) 사이에 볼(61c,62c)이 삽입되어 있는 볼베어링으로 구성될 수 있다.The first and second bearings 61 and 62 may be composed of ball bearings in which balls 61c and 62c are inserted between inner rings 61a and 62a and outer rings 61b and 62b.
상기 제1 및 제2 베어링(61,62)의 내륜(61a,62a)은 중공형 원통부(11a)의 외주에 형성된 단차부 걸림턱(11b)에 하단부가 지지되고, 상기 제1 및 제2 베어링(61,62)의 외륜(61b,62b)은 로터지지체(34)의 하단부 내측에 구비된 내측 요홈(34a)에 지지되어 있다.The inner rings 61a and 62a of the first and second bearings 61 and 62 are supported at their lower ends by a stepped stopper 11b formed on the outer periphery of the hollow cylindrical portion 11a, and the first and second bearings 61 and 62 The outer rings 61b and 62b of the bearings 61 and 62 are supported in the inner groove 34a provided on the inside of the lower end of the rotor support body 34.
또한, 상기 제1 및 제2 베어링(61,62)의 내륜(61a,62a)은 베어링 지지대(64)를 중공형 원통부(11a)에 압입시킴에 의해 단차부 걸림턱(11b)에 지지되어 고정될 수 있다.In addition, the inner rings 61a and 62a of the first and second bearings 61 and 62 are supported on the step stopper 11b by press-fitting the bearing support 64 into the hollow cylindrical portion 11a. It can be fixed.
더욱이, 상기 베어링 지지대(64)의 상단에는 로터지지체(34)의 연장부에 형성된 로터웜기어(35)의 이탈을 방지하기 위한 로터웜기어 이탈방지돌기(64a)가 돌출되어 있다.Moreover, a rotor worm gear separation prevention protrusion 64a protrudes from the upper end of the bearing support 64 to prevent the rotor worm gear 35 formed in the extension part of the rotor support 34 from separation.
상기 로터웜기어(35)은 레이디얼(radial) 방향으로 CW 또는 CCW 방향으로 회전하지만 힘은 상,하로 받는다. The rotor worm gear 35 rotates in the radial direction, CW or CCW, but receives force up and down.
상기 로터웜기어(35)은 상,하로 받는 힘에 의해 로터(30)가 제1 및 제2 베어링(61,62)으로부터 이탈되어 제3베어링(63)과 터치가 이루어질 수 있다. 이러한 터치가 발생되는 것을 방지하기 위해 베어링 지지대(64)에 로터웜기어 이탈방지돌기(64a)를 구비하는 것이 바람직하다.The rotor worm gear 35 may cause the rotor 30 to separate from the first and second bearings 61 and 62 and touch the third bearing 63 due to force received up and down. In order to prevent such touching from occurring, it is desirable to provide a rotor worm gear separation prevention protrusion 64a on the bearing support 64.
상기 스테이터(40)는 각각 "T" 형상으로 이루어지는 복수의 티스(41)와 상기 복수의 티스(41)와 상호 연결되어 자기회로를 형성하는 백요크(42)를 구비하는 스테이터 코어(45); 상기 복수의 티스 각각의 코일(43)이 권선될 외주면을 감싸도록 일체로 형성되는 절연성 재질의 상부 및 하부 인슐레이터(44a,44b); 및 상기 인슐레이터(44a,44b)의 외주면에 권선되는 코일(43);을 포함한다. The stator 40 includes a stator core 45 including a plurality of teeth 41 each having a "T" shape and a back yoke 42 interconnected with the plurality of teeth 41 to form a magnetic circuit; upper and lower insulators (44a, 44b) made of an insulating material integrally formed to surround an outer peripheral surface on which the coils (43) of each of the plurality of teeth are to be wound; and a coil 43 wound around the outer peripheral surface of the insulators 44a and 44b.
이 경우, 상기 인슐레이터(44a,44b)는 복수의 티스(41)와 함께 백요크(42)를 둘러싸는 보빈과 스테이터 지지체로서 일체로 형성될 수 있다.In this case, the insulators 44a and 44b may be integrally formed as a bobbin and stator support body surrounding the back yoke 42 along with a plurality of teeth 41.
본 발명에 따른 스위블 액추에이터(200)는 구동모터(100)가 예를 들어, 20폴(pole)-18슬롯(slot) 구조의 BLDC 모터로 구성될 수 있다. 또한, 상기 구동모터(100)는 스테이터(40)의 코일(43)이 복수의 티스(41)에 권선될 때, U,V,W 3상 구조로 코일(43)을 권선하고 U,V,W 3상 코일(43)의 타단은 Y-결선 또는 스타(star)-결선 방식으로 결선될 수 있다. In the swivel actuator 200 according to the present invention, the drive motor 100 may be configured as, for example, a BLDC motor with a 20 pole-18 slot structure. In addition, when the coil 43 of the stator 40 is wound around a plurality of teeth 41, the drive motor 100 winds the coil 43 in a three-phase structure of U, V, and W, and U, V, The other end of the W three-phase coil 43 may be connected in a Y-connection or star-connection method.
더욱이, 상기 구동모터(100)는, 예를 들어, 모터구동회로에서 홀센서 어셈블리(50)에 장착된 2개 또는 3개의 홀센서(H1-H3)로부터 로터위치신호를 수신한 후, 인버터를 이용한 6-스탭 방식의 전파구동방식으로 구동될 수 있다.Moreover, the drive motor 100, for example, receives rotor position signals from two or three Hall sensors (H1-H3) mounted on the Hall sensor assembly 50 in the motor drive circuit, and then operates the inverter. It can be driven by a 6-step radio wave driving method.
상기 제1 및 제2 기어트레인(70a,70b)은 각각 상부하우징(15)의 중앙에 위치한 관통구멍(15c)을 통하여 상부로 돌출된 하부하우징의 중공형 원통부(11a)를 중심으로 서로 대향 구조로 바닥(15b)에 형성된 제1 및 제2 요홈(16a,16b)에 배치되어 있다.The first and second gear trains (70a, 70b) face each other around the hollow cylindrical portion (11a) of the lower housing that protrudes upward through the through hole (15c) located in the center of the upper housing (15). The structure is disposed in the first and second grooves 16a and 16b formed on the bottom 15b.
상기 제1 및 제2 기어트레인(70a,70b)은 상기 로터웜기어(35)의 외주에 180도 간격으로 서로 대향하여 배치되는 제1 및 제2 동력전달축(71a,71b), 상기 제1 및 제2 동력전달축(71a,71b)의 중간부분에 상기 로터웜기어(35)와 기어 결합되는 제1 및 제2 웜휠(72a,72b), 및 상기 제1 및 제2 동력전달축(71a,71b)의 일측 및 타측에 각각 형성되는 제1 내지 제4 웜기어(73a-73d)를 포함하고 있다. The first and second gear trains (70a, 70b) include first and second power transmission shafts (71a, 71b) disposed opposite each other at 180-degree intervals on the outer periphery of the rotor worm gear (35), the first and First and second worm wheels (72a, 72b) geared to the rotor worm gear 35 in the middle portion of the second power transmission shafts (71a, 71b), and the first and second power transmission shafts (71a, 71b) ) and first to fourth worm gears 73a-73d formed on one side and the other, respectively.
제1 및 제2 동력전달축(71a,71b)은 각각 양단부가 1쌍의 베어링(74a,74b,75a,75b)에 의해 회전 가능하게 지지되어 있으며, 상기 제1 및 제2 요홈(16a,16b)은 제1 및 제2 기어트레인(70a,70b)과 제1 내지 제4 피니온 기어유닛(80a-80d)을 수용하는 요홈 형상으로 이루어져 있다.The first and second power transmission shafts (71a, 71b) each have both ends rotatably supported by a pair of bearings (74a, 74b, 75a, 75b), and the first and second grooves (16a, 16b) ) is composed of a groove shape that accommodates the first and second gear trains (70a, 70b) and first to fourth pinion gear units (80a-80d).
상기 제1 및 제2 기어트레인(70a,70b)은 각각 제1 및 제2 동력전달축(71a,71b)의 중간 부분에 구비된 제1 및 제2 웜휠(72a,72b)이 상기 로터웜기어(35)의 외주에 180도 간격으로 서로 대향하여 결합되어 회전 동력의 전달이 이루어지면서 1차적인 감속이 이루어진다.The first and second gear trains (70a, 70b) include first and second worm wheels (72a, 72b) provided in the middle portions of the first and second power transmission shafts (71a, 71b), respectively, and the rotor worm gear ( 35), they are coupled opposite each other at 180-degree intervals on the outer periphery to transmit rotational power and achieve primary deceleration.
이 경우, 본 발명에서는 제1 및 제2 동력전달축(71a,71b)이 2쌍의 베어링(74a,74b,75a,75b)을 지지하는 베어링 하우징(77a-77d)에서 좌우 변위가 발생하는 것을 억제하도록 베어링 하우징(77a-77d)의 후단부에 각각 세트 스크류(76a-76d)를 부가하여 제1 및 제2 동력전달축(71a,71b)의 좌우 유동을 제한하였다. In this case, in the present invention, left and right displacement occurs in the bearing housings (77a-77d) where the first and second power transmission shafts (71a, 71b) support the two pairs of bearings (74a, 74b, 75a, 75b). Set screws (76a-76d) were added to the rear ends of the bearing housings (77a-77d) to limit the left and right flow of the first and second power transmission shafts (71a, 71b).
상기 세트 스크류(76a-76d)는 몸통의 외주에 수나사산이 형성되고, 후단부에 드라이버의 선단부를 수용할 수 있는 "-" 또는 "+" 형태의 요홈이 형성되어 있으며, 선단부는 곡면 또는 평면 형태로 이루어질 수 있다.The set screws (76a-76d) have male threads formed on the outer periphery of the body, and a groove in the shape of "-" or "+" that can accommodate the tip of the driver is formed at the rear end, and the tip is curved or flat. It can be done in the form
상기 세트 스크류(76a-76d)는 베어링 하우징(77a-77d)의 후단부로부터 내부로 관통하는 관통홀에 암나사산을 형성하고 세트 스크류(76a-76d)를 나사결합하여 4개 세트 스크류(76a-76d)의 선단부가 제1 및 제2 동력전달축(71a,71b)의 양단부를 밀어서 압착시키는 형태로 결합된다.The set screws (76a-76d) form female threads in through-holes penetrating inward from the rear end of the bearing housing (77a-77d), and the set screws (76a-76d) are screwed together to form four set screws (76a-76a-76d). The tip of 76d) is coupled to both ends of the first and second power transmission shafts 71a and 71b by pushing and compressing them.
상기 세트 스크류(76a-76d)는 제1 및 제2 동력전달축(71a,71b)의 양단부를 회전 가능하게 지지하는 4개 베어링(74a,74b,75a,75b)의 4개 베어링 하우징(77a-77d)에 모두 설치하는 것이 바람직하고, 제1 및 제2 동력전달축(71a,71b)의 일측 단부를 지지하도록 일측의 베어링 하우징(77a-77d)에만 설치하여 제1 및 제2 동력전달축(71a,71b)을 한쪽 방향으로 밀어서 좌우 유동을 억제시키는 것도 가능하다.The set screws (76a-76d) are four bearing housings (77a-) of four bearings (74a, 74b, 75a, 75b) that rotatably support both ends of the first and second power transmission shafts (71a, 71b). 77d), and is installed only on one side of the bearing housing (77a-77d) to support one end of the first and second power transmission shafts (71a, 71b) to support the first and second power transmission shafts (71a, 71b). It is also possible to suppress left and right flow by pushing 71a, 71b) in one direction.
상기 세트 스크류(76a-76d)는 선단부가 구형상으로 돌출되어 제1 및 제2 동력전달축(71a,71b)의 단부와 접촉을 최소화하거나 선단부가 면형태로 이루어지는 것도 사용 가능하다. 본 발명에서는 구동모터(100)의 rpm이 작고, 기어비가 크기 때문에 세트 스크류(76a-76d)의 선단부 형태는 크게 영향을 미치지 않는다. The set screws (76a-76d) may have ends that protrude in a spherical shape to minimize contact with the ends of the first and second power transmission shafts (71a, 71b), or may have ends that have a planar shape. In the present invention, since the rpm of the drive motor 100 is small and the gear ratio is large, the shape of the tip of the set screws 76a-76d does not have a significant influence.
상기 제1 내지 제4 피니온 기어유닛(80a-80d)은, 하단부가 상기 상부하우징(15)의 요홈(16a,16b)을 관통하여 설치된 제1 내지 제4 지지축(83a-83d)에 설치되며, 각각 제1 내지 제4 지지축(83a-83d)의 하단에 상기 제1 내지 제4 웜기어(73a-73d)와 기어결합되는 제3 내지 제6 웜휠(81a-81d)이 회전 가능하게 결합되고 상단에 제1 내지 제4 피니온 기어(82a-82d)가 제3 내지 제6 웜휠(81a-81d)와 일체로 형성되어 있다. The first to fourth pinion gear units (80a-80d) are installed on first to fourth support shafts (83a-83d) whose lower ends are installed through the grooves (16a, 16b) of the upper housing (15). Third to sixth worm wheels (81a-81d), which are gear-coupled with the first to fourth worm gears (73a-73d), are rotatably coupled to the lower ends of the first to fourth support shafts (83a-83d), respectively. At the top, first to fourth pinion gears (82a-82d) are formed integrally with the third to sixth worm wheels (81a-81d).
상기 제3 내지 제6 웜휠(81a-81d)이 제1 내지 제4 지지축(83a-83d)의 하단에 회전 가능하게 지지될 때, 상부하우징(15)의 바닥면과 접촉 마찰이 발생되는 것을 최소화하도록 제1 내지 제4 지지축(83a-83d)이 설치된 부분에는 마찰방지용 돌기부(84)가 돌출되어 있다.When the third to sixth worm wheels (81a-81d) are rotatably supported at the lower ends of the first to fourth support shafts (83a-83d), contact friction occurs with the bottom surface of the upper housing (15). To minimize friction, a protrusion 84 for preventing friction protrudes from the portion where the first to fourth support shafts 83a-83d are installed.
상기 제3 내지 제6 웜휠(81a-81d)와 제1 내지 제4 피니온 기어(82a-82d)는 합성수지를 이용하여 사출성형에 의해 일체로 형성될 수 있고, 각각 분리되어 제작된 후 상호 조립되어 지지축(83)에 회전 가능하게 결합하여 사용하는 것도 가능하다.The third to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d) may be integrally formed by injection molding using synthetic resin, and may be manufactured separately and then assembled together. It is also possible to use it by rotatably coupling it to the support shaft 83.
상기 회전 테이블(20)은 원형의 상판(21)과 상판(21)의 외주로부터 하방향으로 연장된 측면부(23)를 포함한다. 상기 상판(21)에는 회전 테이블(20)에 설치되는 피동체인 본체(예를 들어, 전동시트)와 결합을 위한 복수의 결합구멍이 관통되어 형성될 수 있다.The rotary table 20 includes a circular upper plate 21 and a side portion 23 extending downward from the outer periphery of the upper plate 21. The upper plate 21 may be formed with a plurality of coupling holes penetrating through it for coupling with the main body (eg, electric seat) installed on the rotary table 20.
상기 상판(21)의 중앙에는 구동모터(100)의 스테이터 코일(43)과 홀센서 어셈블리(50)에 구비된 복수개의 홀센서(Hall sensor)로부터 스위블 액추에이터(200)의 외부에 설치되는 모터구동회로와 연결하기 위한 케이블이 통과하는 중앙 관통구멍(25)이 형성되어 있다. At the center of the top plate 21, a motor drive assembly is installed on the outside of the swivel actuator 200 from the stator coil 43 of the drive motor 100 and a plurality of Hall sensors provided in the Hall sensor assembly 50. A central through hole 25 is formed through which a cable for connection to the furnace passes.
이에 따라 상기 케이블은 상판의 중앙에 구비된 중앙 관통구멍(25)과 하부하우징(10)의 중공형 원통부(11a)를 통하여 하부로 도입된 후, 하부하우징(10)의 바닥에 형성된 관통구멍(19a)을 통하여 스테이터 코일(43)과 홀센서 어셈블리(50)에 연결된다. 관통구멍(19a)은 관통구멍 커버(19)가 조립되어 마감이 이루어진다.Accordingly, the cable is introduced into the lower portion through the central through hole 25 provided in the center of the upper plate and the hollow cylindrical portion 11a of the lower housing 10, and then through the through hole formed in the bottom of the lower housing 10. It is connected to the stator coil 43 and the hall sensor assembly 50 through (19a). The through hole (19a) is finished by assembling the through hole cover (19).
이 경우, 모터구동회로가 구현된 인쇄회로기판(PCB)은 스위블 액추에이터(200)의 외부에 설치된 후 상기 케이블을 통하여 내부에 설치된 구동모터(100)의 스테이터 코일(43)과 홀센서 어셈블리(50)에 연결될 수 있다. 그러나, 모터구동회로가 구현된 인쇄회로기판(PCB)은 하부하우징(10)의 하부에 형성된 공간 또는 상부하우징(15)의 하측에 내장되는 것도 가능하다. In this case, the printed circuit board (PCB) on which the motor driving circuit is implemented is installed on the outside of the swivel actuator 200 and then connected to the stator coil 43 and the Hall sensor assembly 50 of the driving motor 100 installed inside through the cable. ) can be connected to. However, the printed circuit board (PCB) on which the motor driving circuit is implemented can also be built into the space formed in the lower part of the lower housing 10 or the lower side of the upper housing 15.
상기 케이블을 통하여 외부로부터 내부에 설치된 구동모터(100)의 스테이터 코일(43)과 홀센서 어셈블리(50)에 연결되는 경우, 상기 케이블에는 인버터 회로의 U,V,W 출력단자, 3개의 홀센서(Hall sensor)(H1~H3), Vcc, GND로 이루어진 8개의 와이어를 구비하는 것이 필요하다.When connected from the outside to the stator coil 43 of the internally installed drive motor 100 and the Hall sensor assembly 50 through the cable, the cable includes the U, V, and W output terminals of the inverter circuit and three Hall sensors. It is necessary to have 8 wires consisting of (Hall sensor) (H1~H3), Vcc, and GND.
또한, 중앙 관통구멍(25)에는 하부하우징(10)의 중공형 원통부(11a)의 상단부가 위치해 있고, 상기 상판(21)의 내주면 중앙에는 회전 테이블(20)을 중공형 원통부(11a)의 외주에 회전 가능하게 지지하도록 제3베어링(63)이 설치될 수 있다.In addition, the upper end of the hollow cylindrical part 11a of the lower housing 10 is located in the central through hole 25, and the rotary table 20 is installed at the center of the inner peripheral surface of the upper plate 21 with the hollow cylindrical part 11a. A third bearing 63 may be installed on the outer periphery to rotatably support it.
상기 제3베어링(63)은 내륜(63a)과 외륜(63b) 사이에 볼(63c)이 삽입되어 있는 볼베어링으로 구성될 수 있다. 이 경우, 제3베어링(63)의 외륜(63b)은 회전 테이블(20)의 하부에 돌출된 베어링 하우징(26)에 지지되고, 제3베어링(63)의 내륜(63a)은 하단부가 상기 베어링 지지대(64)의 상단에 지지되면서 하부하우징(10)의 중공형 원통부(11a)에 지지되어 있다. The third bearing 63 may be composed of a ball bearing in which a ball 63c is inserted between the inner ring 63a and the outer ring 63b. In this case, the outer ring 63b of the third bearing 63 is supported on the bearing housing 26 protruding from the lower part of the rotary table 20, and the inner ring 63a of the third bearing 63 has its lower end supported by the bearing. It is supported on the upper end of the support stand 64 and supported on the hollow cylindrical portion 11a of the lower housing 10.
또한, 중공형 타입의 스위블 액추에이터(200)는 중공형 원통부(11a)의 상단부에 스토퍼 삽입요홈(11c)이 형성되어 있으며, 상기 스토퍼 삽입요홈(11c)에는 회전 테이블(20)의 이탈을 방지하도록 스토퍼링(13)이 결합되어 있다.In addition, the hollow type swivel actuator 200 has a stopper insertion groove 11c formed at the upper end of the hollow cylindrical portion 11a, and the stopper insertion groove 11c prevents the rotation table 20 from being separated. The stopper ring (13) is coupled to do so.
상기 회전 테이블(20)의 측면부(23)에는 내측에 링기어(24)가 일체로 형성되어 있으며, 링기어(24)에는 상기 제1 내지 제4 피니온 기어유닛(80a-80d)의 제1 내지 제4 피니온 기어(82a-82d)가 기어 결합되어 있다.A ring gear 24 is integrally formed on the inside of the side portion 23 of the rotary table 20, and the ring gear 24 includes the first to fourth pinion gear units 80a-80d. To fourth pinion gears (82a-82d) are gear-coupled.
상기한 바와 같이, 본 발명에서는 제1 및 제2 동력전달축(71a,71b) 각각에 중간부분에 제1 및 제2 웜휠(72a,72b)을 배치하고 간격을 두고 양단부에 제1 내지 제4 웜기어(73a-73d)를 일체로 형성하여 결합기어수를 최소화시킨 기어트레인 변경 구조에 의해 백래쉬(Backlash)를 최소화할 수 있는 동력전달 구조를 제공한다. As described above, in the present invention, the first and second worm wheels (72a, 72b) are disposed in the middle of each of the first and second power transmission shafts (71a, 71b), and the first to fourth worm wheels (72a, 72b) are installed at both ends at a distance from each other. A power transmission structure that can minimize backlash is provided by a gear train change structure that minimizes the number of combined gears by forming worm gears (73a-73d) as one piece.
그 결과, 본 발명은 복수의 스퍼 기어를 조합한 종래의 기어트레인과 비교하여 전체 사이즈가 감소하고 공간 확보가 가능하여 설계 자유도가 증가하고 원가 절감이 가능하다.As a result, the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.
또한, 본 발명에서는 BLDC 구동모터(100)를 하부하우징(10)의 바닥에 설치하고, 하부하우징(10)의 상부에 조립되는 상부하우징(15)에 제1 및 제2 웜휠(72a,72b)과 제1 내지 제4 웜기어(73a-73d)가 제1 및 제2 동력전달축(71a,71b)에 간격을 두고 일체로 형성된 제1 및 제2 기어트레인(70a,70b)을 상부하우징(15) 내부에 180도 간격으로 대향하여 배치함에 의해 백래쉬(Backlash)를 최소화함과 동시에 진동 발생을 억제할 수 있다.In addition, in the present invention, the BLDC drive motor 100 is installed on the bottom of the lower housing 10, and the first and second worm wheels 72a and 72b are installed in the upper housing 15 assembled on the upper part of the lower housing 10. And the first to fourth worm gears (73a-73d) are formed integrally with the first and second power transmission shafts (71a, 71b) at intervals, and the upper housing (15) ) By placing them opposite each other at 180-degree intervals inside, backlash can be minimized and vibration can be suppressed.
본 발명에서는 상기와 같이 2개의 제1 및 제2 기어트레인(70a,70b)을 구동모터(100)의 로터웜기어(35)에 180도 간격으로 균등하게 배치하여 결합시키면서 제1 및 제2 동력전달축(71a,71b)의 양단부에 더블 웜 구조를 갖도록 제1 내지 제4 웜기어(73a-73d)를 일체로 형성하고, 제1 내지 제4 피니온 기어유닛(80a-80d)의 4개의 제3 내지 제6 웜휠(81a-81d)과 제1 내지 제4 피니온 기어(82a-82d)를 이용하여 링기어(24)에 4개 지점에서 기어결합이 이루어지고 있다.In the present invention, as described above, the two first and second gear trains (70a, 70b) are evenly arranged and coupled to the rotor worm gear (35) of the drive motor (100) at 180-degree intervals to transmit the first and second power. First to fourth worm gears (73a-73d) are integrally formed at both ends of the shafts (71a, 71b) to have a double worm structure, and four third worm gears (73a-73d) of the first to fourth pinion gear units (80a-80d) are integrally formed at both ends of the shafts (71a, 71b). Gear coupling is performed at four points on the ring gear 24 using the to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d).
그 결과 본 발명에서는 제1 및 제2 기어트레인(70a,70b)의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어(73a-73d)에 4개의 피니온 기어유닛(80a-80d)을 결합하여 회전 테이블(20)을 구동시킴에 의해 백래쉬(Backlash)를 최소로 하면서 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있다.As a result, in the present invention, a double worm structure is adopted at both ends of the first and second gear trains 70a and 70b, respectively, so that four worm gears 73a-73d and four pinion gear units 80a- By driving the rotary table 20 by combining 80d), breaking strength can be increased by increasing brake torque while minimizing backlash.
상기와 같이 제1 및 제2 기어트레인(70a,70b)을 상부하우징(15) 내부에 배치하면 기어간 공차를 줄이는 것은 가능하나, 완전히 줄이는 것은 어렵다. 즉, 기어와 기어간 틈새를 최소로 하지만 기어간 공차가 발생되어 유격이 발생하므로 제1 내지 제4 피니온 기어(82a-82d)와 기어 결합되는 회전 테이블(20)과 피구동물이 좌우로 흔들리는 문제가 발생할 수 있다.It is possible to reduce the tolerance between gears by arranging the first and second gear trains 70a and 70b inside the upper housing 15 as described above, but it is difficult to completely reduce it. In other words, the gap between gears is minimized, but clearance between gears is generated and clearance occurs, so the rotary table 20 and the driven animal that are gear-coupled with the first to fourth pinion gears 82a-82d are shaken from side to side. Problems may arise.
이러한 문제는 기어트레인을 형성하는 동력전달축의 양단부가 베어링 하우징에서 좌우 변위가 발생하는 것에 기인할 수 있다. 본 발명에서는 제1 및 제2 동력전달축(71a,71b)의 양단부가 각각 4개 베어링(74a,74b,75a,75b)에 의해 회전 가능하게 지지되어 있다.This problem may be due to left and right displacement occurring at both ends of the power transmission shaft forming the gear train in the bearing housing. In the present invention, both ends of the first and second power transmission shafts 71a and 71b are rotatably supported by four bearings 74a, 74b, 75a, and 75b, respectively.
4개 베어링(74a,74b,75a,75b)은 상부하우징(15)의 바닥에 형성된 제1 및 제2 요홈(16a,16b)에 고정 설치된 4개의 베어링 하우징(77a-77d)에 내장되어 있다. 본 발명에서는 제1 및 제2 동력전달축(71a,71b)의 양단부가 베어링 하우징(77a-77d)에서 좌우 변위가 발생하는 것을 억제하도록 4개 베어링 하우징(77a-77d)의 후단부에 4개의 세트 스크류(76a-76d)를 부가하였다. The four bearings (74a, 74b, 75a, 75b) are built into four bearing housings (77a-77d) fixed to the first and second grooves (16a, 16b) formed on the bottom of the upper housing (15). In the present invention, both ends of the first and second power transmission shafts (71a, 71b) are provided with four shafts at the rear ends of the four bearing housings (77a-77d) to suppress left and right displacement from occurring in the bearing housings (77a-77d). Set screws (76a-76d) were added.
그 결과, 제1 및 제2 동력전달축(71a,71b)의 좌우 변위를 억제함에 의해 제1 및 제2 기어트레인(70a,70b)의 제1 내지 제4 웜기어(73a-73d)와 제1 내지 제4 피니온 기어유닛(80a-80d)의 제3 내지 제6 웜휠(81a-81d) 사이의 기어간 결합시에 발생하는 공차(갭)를 없애고, 또한 제1 내지 제4 피니온 기어유닛(80a-80d)의 제1 내지 제4 피니온 기어(82a-82d)와 회전 테이블(20)의 링기어(24) 사이의 갭(gap)을 제거하여 백래쉬(Backlash)도 제로(zero)로 할 수 있다.As a result, by suppressing the left and right displacement of the first and second power transmission shafts 71a and 71b, the first to fourth worm gears 73a-73d of the first and second gear trains 70a and 70b and the first Eliminates the tolerance (gap) that occurs when engaging gears between the third to sixth worm wheels (81a-81d) of the first to fourth pinion gear units (80a-80d), and also eliminates the gap between the first to fourth pinion gear units (80a-80d). Backlash is also reduced to zero by eliminating the gap between the first to fourth pinion gears (82a-82d) of (80a-80d) and the ring gear (24) of the rotary table (20). can do.
상기와 같은 세트 스크류(76a-76d)와 제1 및 제2 동력전달축(71a,71b) 사이의 압착은 제1 및 제2 동력전달축(71a,71b)을 상부하우징(15) 내부에 조립한 후, 상부하우징(15)의 벽(15a)에 형성된 세트 스크류 조정용 관통구멍(12)을 통하여 외부로부터 세트 스크류(76a-76d)를 한쪽 방향으로 전진시킴에 의해 제1 및 제2 동력전달축(71a,71b)을 밀어서 제1 및 제2 동력전달축(71a,71b)의 좌우 유동을 억제시킬 수 있다. Compression between the set screws (76a-76d) and the first and second power transmission shafts (71a, 71b) as described above is performed by assembling the first and second power transmission shafts (71a, 71b) inside the upper housing (15). After that, the set screws (76a-76d) are advanced in one direction from the outside through the set screw adjustment through hole (12) formed in the wall (15a) of the upper housing (15) to move the first and second power transmission shafts. By pushing (71a, 71b), the left and right flow of the first and second power transmission shafts (71a, 71b) can be suppressed.
이하에 도 1 내지 도 9를 참고하여 본 발명에 따른 내부 중공형 스위블(Swivel) 액추에이터(200)의 동작을 설명한다.Below, the operation of the internal hollow swivel actuator 200 according to the present invention will be described with reference to FIGS. 1 to 9.
본 발명의 내부 중공형 스위블 액추에이터(200)는 먼저, 하부하우징(10)의 바닥에 설치된 BLDC 구동모터(100)를 동작시키면, 로터(30)가 회전하면서 로터(30)의 로터지지체(34)의 상측에 일체로 형성된 로터웜기어(35)도 동일한 방향으로 회전한다.The internal hollow swivel actuator 200 of the present invention first operates the BLDC drive motor 100 installed on the bottom of the lower housing 10, so that the rotor 30 rotates and the rotor support 34 of the rotor 30 The rotor worm gear 35 integrally formed on the upper side also rotates in the same direction.
상기 로터웜기어(35)가 회전하면, 상기 로터웜기어(35)의 외주에 180도 간격으로 배치되어 기어 결합되어 있는 제1 및 제2 기어트레인(70a,70b)의 제1 및 제2 웜휠(72a,72b)이 회전되면서 1차 감속이 이루어지고 제1 및 제2 동력전달축(71a,71b)도 회전한다. When the rotor worm gear 35 rotates, the first and second worm wheels 72a of the first and second gear trains 70a and 70b are arranged at 180-degree intervals on the outer periphery of the rotor worm gear 35 and gear-coupled. As ,72b) rotates, primary deceleration occurs and the first and second power transmission shafts (71a, 71b) also rotate.
그 결과, 제1 및 제2 동력전달축(71a,71b)의 양측에 형성된 제1 내지 제4 웜기어(73a-73d)는 기어결합되어 있는 상기 제1 내지 제4 피니온 기어유닛(80a-80d)의 제3 내지 제6 웜휠(81a-81d)을 회전시키면서 2차 감속이 이루어진다.As a result, the first to fourth worm gears (73a-73d) formed on both sides of the first and second power transmission shafts (71a, 71b) are gear-coupled with the first to fourth pinion gear units (80a-80d). ) Secondary deceleration is achieved by rotating the third to sixth worm wheels (81a-81d).
이에 따라 제1 내지 제4 피니온 기어유닛(80a-80d)의 상단에 위치된 제1 내지 제4 피니온 기어(82a-82d)도 회전 구동이 이루어지며, 제1 내지 제4 피니온 기어(82a-82d)는 상기 회전 테이블(20)에 구비된 링기어(24)와 90도 간격으로 기어결합되어 동일한 방향으로 회전시키면서 3차 감속이 이루어진다. Accordingly, the first to fourth pinion gears (82a-82d) located at the top of the first to fourth pinion gear units (80a-80d) are also rotated, and the first to fourth pinion gears (80a-80d) are also rotated. 82a-82d) are gear-engaged with the ring gear 24 provided on the rotary table 20 at 90-degree intervals and rotate in the same direction to achieve third deceleration.
일반적으로 감속장치의 감속비는 (피동 기어 잇수/구동 피니언 기어 잇수)로 계산되고 다단계 기어결합이 이루어지는 경우, 총감속비는 각각의 감속비의 곱으로 계산된다. Generally, the reduction ratio of a reduction device is calculated as (number of driven gear teeth/number of drive pinion gear teeth), and when multi-stage gear combination is performed, the total reduction ratio is calculated as the product of each reduction ratio.
이 경우, 본 발명에서는 구동모터(100)의 로터웜기어(35)와 제1 및 제2 기어트레인(70a,70b)의 제1 및 제2 웜휠(72a,72b) 사이의 기어비(감속비)(R1)를 20:1, 제1 내지 제4 웜기어(73a-73d)와 제3 내지 제6 웜휠(81a-81d) 사이의 기어비(감속비)(R2)를 10:1, 제1 내지 제4 피니온 기어(82a-82d)와 링기어(24) 사이의 기어비(감속비)(R3)를 2:1로 설정하면 쉽게 400:1의 총감속비를 구현할 수 있다.In this case, in the present invention, the gear ratio (reduction ratio) (R1) between the rotor worm gear 35 of the drive motor 100 and the first and second worm wheels 72a and 72b of the first and second gear trains 70a and 70b ) is 20:1, the gear ratio (reduction ratio) (R2) between the first to fourth worm gears (73a-73d) and the third to sixth worm wheels (81a-81d) is 10:1, the first to fourth pinion By setting the gear ratio (reduction ratio) (R3) between the gears 82a-82d and the ring gear 24 to 2:1, a total reduction ratio of 400:1 can be easily achieved.
이 경우, 기어 사이의 기어비(감속비)는 출력으로 갈수록 작게 설정되는 것(즉, R1 > R2 > R3)이 최종단에서 큰 토크 변환이 이루어질지라도 안정된 고토크 출력이 얻어질 수 있다.In this case, by setting the gear ratio (reduction ratio) between gears to be smaller as the output increases (i.e., R1 > R2 > R3), a stable high torque output can be obtained even if a large torque conversion occurs at the final stage.
본 발명의 스위블 액추에이터(200)는 예를 들어, BLDC 구동모터(100)가 800 rpm으로 회전될 때, 3단계 감속에 의해 총감속비 400:1인 경우 400:1로 감속되어 회전 테이블(20)은 2 rpm의 저속으로 회전속도가 낮추어지고 회전 토크는 400배 증가되어 큰 토크 증대가 이루어지게 된다. For example, when the BLDC drive motor 100 rotates at 800 rpm, the swivel actuator 200 of the present invention is decelerated to 400:1 in the case of a total reduction ratio of 400:1 by three-stage deceleration, so that the rotary table 20 The rotation speed is lowered to a low speed of 2 rpm and the rotation torque is increased by 400 times, resulting in a large increase in torque.
본 발명의 스위블 액추에이터(200)가 카시트에 적용되는 경우, 차량 내부에서 회의 등을 진행할 때 카시트를 원하는 각도만큼 회전하여 탑승자가 얼굴을 마주본 상태에서 회의를 진행하는 것이 가능하다.When the swivel actuator 200 of the present invention is applied to a car seat, when holding a meeting inside a vehicle, it is possible to rotate the car seat to a desired angle and hold the meeting with the occupants facing each other.
상기한 바와 같이, 본 발명에서는 제1 및 제2 기어트레인(70a,70b)을 상부하우징(15) 내부에 대칭 구조로 배치하면서 제1 및 제2 기어트레인(70a,70b)의 양단부에 각각 더블 웜(double worm) 구조를 채택함에 따라 4개의 웜기어(73a-73d)에 4개의 피니온 기어유닛(80a-80d)을 결합하여 회전 테이블(20)을 구동시킴에 의해 백래쉬(Backlash)를 최소로 하면서 브레이크 토크(brake torque)를 높여서 파괴 강도를 증대시킬 수 있다.As described above, in the present invention, the first and second gear trains (70a, 70b) are arranged in a symmetrical structure inside the upper housing (15), and each of the first and second gear trains (70a, 70b) has a double By adopting a double worm structure, backlash is minimized by combining four pinion gear units (80a-80d) with four worm gears (73a-73d) to drive the rotary table (20). The breaking strength can be increased by increasing the brake torque.
또한, 본 발명에서는 제1 및 제2 동력전달축(71a,71b)의 양단부가 베어링 하우징(77a-77d)에서 좌우 변위가 발생하는 것을 억제하도록 베어링 하우징(77a-77d)의 후단부에 연장 형성된 세트 스크류 조립부에 세트 스크류(76a-76d)를 부가하였다. In addition, in the present invention, both ends of the first and second power transmission shafts 71a and 71b are formed extending from the rear ends of the bearing housings 77a-77d to suppress left and right displacement from occurring in the bearing housings 77a-77d. Set screws (76a-76d) were added to the set screw assembly.
본 발명에서는 스위블 액추에이터(200)의 모든 구성품을 상부하우징(15) 내부에 조립한 후, 상부하우징(15)의 벽(15a)에 형성된 세트 스크류 조정용 관통구멍(12)을 통하여 외부에서 세트 스크류 조립부에 설치된 4개의 세트 스크류(76a-76d) 중 제1 및 제2 동력전달축(71a,71b)마다 1개씩, 2개의 세트 스크류(76a-76d)를 한쪽 방향으로 전진시킴에 의해 제1 및 제2 동력전달축(71a,71b)을 일측으로 밀어서 고정시킴에 의해 제1 및 제2 동력전달축(71a,71b)의 좌우 유동을 억제시킬 수 있다.In the present invention, after assembling all components of the swivel actuator 200 inside the upper housing 15, the set screw is assembled from the outside through the through hole 12 for adjusting the set screw formed in the wall 15a of the upper housing 15. Among the four set screws (76a-76d) installed in the unit, one for each of the first and second power transmission shafts (71a, 71b) is advanced in one direction to set the first and second set screws (76a-76d). By pushing and fixing the second power transmission shafts 71a and 71b to one side, left and right movement of the first and second power transmission shafts 71a and 71b can be suppressed.
그 결과, 세트 스크류(76a-76d)의 조임에 의해 제1 및 제2 동력전달축(71a,71b)의 좌우 변위를 억제함에 의해 제1 및 제2 기어트레인(70a,70b)의 제1 내지 제4 웜기어(73a-73d)와 제1 내지 제4 피니온 기어유닛(80a-80d)의 제3 내지 제6 웜휠(81a-81d) 사이의 기어간 결합시에 발생하는 공차(갭)를 없애고, 또한 제1 내지 제4 피니온 기어유닛(80a-80d)의 제1 내지 제4 피니온 기어(82a-82d)와 회전 테이블(20)의 링기어(24) 사이의 갭(gap)을 제거하여 백래쉬(Backlash)도 제로(zero)로 할 수 있다. As a result, the left-right displacement of the first and second power transmission shafts 71a and 71b is suppressed by tightening the set screws 76a-76d, thereby suppressing the first to second gear trains 70a and 70b. Eliminate the tolerance (gap) that occurs when engaging gears between the fourth worm gear (73a-73d) and the third to sixth worm wheels (81a-81d) of the first to fourth pinion gear units (80a-80d), , Also, remove the gap between the first to fourth pinion gears (82a-82d) of the first to fourth pinion gear units (80a-80d) and the ring gear 24 of the rotary table 20. Thus, backlash can also be set to zero.
이상에서는 본 발명을 특정의 바람직한 실시예를 예를 들어 도시하고 설명하였으나, 본 발명은 상기한 실시예에 한정되지 아니하며 본 발명의 정신을 벗어나지 않는 범위 내에서 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변경과 수정이 가능할 것이다. In the above, the present invention has been shown and described by taking specific preferred embodiments as examples, but the present invention is not limited to the above-described embodiments and is within the scope of the spirit of the present invention and is within the scope of common knowledge in the technical field to which the invention pertains. Various changes and modifications will be possible by those who have it.
본 발명에 따른 스위블 액추에이터는 회전 테이블에 설치된 카시트와 같은 피동체를 좌우로 회전시키도록 회전 테이블과 함께 회전시키기 위한 용도로 적용될 수 있다.The swivel actuator according to the present invention can be applied to rotate together with the rotary table to rotate a driven object such as a car seat installed on the rotary table to the left and right.
Claims (15)
- 중앙에 중공형 원통부가 상부로 돌출된 하부하우징; a lower housing with a central hollow cylindrical portion protruding upward;상기 하부하우징의 상부에 적층 조립되고 중앙부에 상기 중공형 원통부가 상부로 돌출된 관통구멍이 형성된 상부하우징; an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward;상기 하부하우징의 바닥면에 배치되며, 상기 상부하우징의 관통구멍을 통하여 상부로 연장된 원통형 로터지지체의 외주에 로터웜기어가 일체로 형성된 구동모터; a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing;각각 상기 로터웜기어의 외주에 180도 간격으로 배치되어 결합되며, 제1 및 제2 동력전달축의 중간에 상기 로터웜기어와 기어 결합되는 제1 및 제2 웜휠이 형성되고 제1 및 제2 동력전달축의 양측에 제1 내지 제4 웜기어가 형성된 제1 및 제2 기어트레인; Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides;각각 제1 내지 제4 지지축의 하단에 상기 제1 내지 제4 웜기어와 기어결합되는 제3 내지 제6 웜휠이 형성되고 상기 제1 내지 제4 지지축의 상단에 제1 내지 제4 피니온 기어가 일체로 형성된 제1 내지 제4 피니온 기어유닛; 및 Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively, and first to fourth pinion gears are integrated at the upper ends of the first to fourth support shafts. First to fourth pinion gear units formed of; and상기 제1 내지 제4 피니온 기어가 측면부의 내측에 일체로 형성된 링기어에 기어 결합되어 회전이 이루어지는 회전 테이블;을 포함하는 스위블 액추에이터.A swivel actuator including a rotary table in which the first to fourth pinion gears are gear-coupled with a ring gear integrally formed on the inside of the side portion to rotate.
- 제1항에 있어서,According to paragraph 1,상기 로터지지체의 컵형태의 하단부와 중공형 원통부의 하단 사이에 배치되어 로터를 회전 가능하게 지지하며 직렬로 적층된 제1 및 제2 베어링; 및 first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; and상기 회전 테이블을 상기 중공형 원통부의 상단부 외주에 회전 가능하게 지지하기 위한 제3베어링;을 더 포함하는 스위블 액추에이터.A swivel actuator further comprising a third bearing for rotatably supporting the rotary table on an outer periphery of an upper end of the hollow cylindrical portion.
- 제2항에 있어서, According to paragraph 2,상기 중공형 원통부의 외주에 압착 결합되어 상기 제2베어링을 압착하도록 제2베어링과 제3베어링 사이에 배치되는 베어링 지지대;를 더 포함하는 스위블 액추에이터.A swivel actuator further comprising a bearing support that is press-fitted to the outer periphery of the hollow cylindrical portion and disposed between the second bearing and the third bearing to press the second bearing.
- 제1항에 있어서, According to paragraph 1,상기 상부하우징은 각각 상기 관통구멍의 주변에 180도 간격으로 서로 대향하여 배치되어, 상기 제1 및 제2 기어트레인과 제1 내지 제4 피니온 기어유닛을 수용하기 위한 제1 및 제2 요홈을 구비하는 스위블 액추에이터. The upper housings are arranged opposite each other at 180-degree intervals around the through holes, and have first and second grooves for accommodating the first and second gear trains and first to fourth pinion gear units. Equipped with a swivel actuator.
- 제1항에 있어서, According to paragraph 1,상기 구동모터는 The driving motor is하단부가 컵형태로 이루어진 로터지지체를 구비하며, 상기 중공형 원통부의 외주에 회전 가능하게 결합되는 로터; A rotor including a rotor support whose lower end is cup-shaped and rotatably coupled to the outer periphery of the hollow cylindrical portion;상기 로터의 외측에 에어갭을 두고 배치되며 회전자기장을 발생하여 상기 로터를 회전 구동하기 위해 상기 하우징의 바닥에 배치되는 스테이터; a stator disposed on the outside of the rotor with an air gap and disposed on the bottom of the housing to generate a rotating magnetic field to rotate the rotor;상기 로터지지체의 컵형태의 하단부와 중공형 원통부의 하단 사이에 배치되어 상기 로터를 회전 가능하게 지지하며 직렬로 적층된 제1 및 제2 베어링; 및 first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; and상기 중공형 원통부의 외주에 압착 결합되어 상기 제2베어링을 압착하는 베어링 지지대;를 포함하는 스위블 액추에이터.A swivel actuator comprising a bearing support that is press-coupled to the outer periphery of the hollow cylindrical part and presses the second bearing.
- 제5항에 있어서, According to clause 5,상기 로터지지체는 The rotor support is상기 제1 및 제2 베어링을 수용하는 베어링 하우징으로서 역할을 하도록 하단부 내측에 구비된 내측 요홈; 및 an inner groove provided on the inside of the lower end to serve as a bearing housing for accommodating the first and second bearings; and상기 로터의 백요크와 자석을 수용하는 지지체로서 역할을 하도록 하단부 외측에 형성된 외측 요홈;을 포함하며, It includes an outer groove formed on the outside of the lower end to serve as a support for accommodating the back yoke and magnet of the rotor,상기 제1 및 제2 베어링은 각각 상기 중공형 원통부에 내륜이 지지되고 상기 내측 요홈에 외륜이 지지되는 볼베어링으로 구성되는 스위블 액추에이터.The first and second bearings are a swivel actuator each consisting of a ball bearing whose inner ring is supported by the hollow cylindrical portion and whose outer ring is supported by the inner groove.
- 제5항에 있어서, According to clause 5,상기 제1 및 제2 베어링의 내륜은 상기 베어링 지지대를 중공형 원통부에 압입시킴에 의해 중공형 원통부의 외주에 형성된 단차부 걸림턱에 하단부가 지지되고, The lower ends of the inner rings of the first and second bearings are supported on a stepped stop formed on the outer periphery of the hollow cylindrical part by press-fitting the bearing support into the hollow cylindrical part,상기 제1 및 제2 베어링의 외륜은 상기 로터지지체의 하단부 내측에 구비된 내측 요홈에 지지되어 있는 스위블 액추에이터.A swivel actuator wherein the outer rings of the first and second bearings are supported in an inner groove provided on the inside of the lower end of the rotor support.
- 제5항에 있어서, According to clause 5,상기 로터가 제1 및 제2 베어링으로부터 이탈되어 제3베어링과 접촉이 이루어지는 것을 차단하기 위해 상기 베어링 지지대의 상단에 돌출된 로터웜기어 이탈방지돌기를 더 포함하는 스위블 액추에이터.A swivel actuator further comprising a rotor worm gear separation prevention protrusion protruding from the top of the bearing support to prevent the rotor from being separated from the first and second bearings and coming into contact with the third bearing.
- 제1항에 있어서, According to paragraph 1,상기 로터웜기어는 상기 관통구멍의 중앙에 수직방향으로 배치되고, The rotor worm gear is disposed vertically in the center of the through hole,상기 제1 및 제2 동력전달축은 상기 상부하우징의 관통구멍 주변에 180도 간격으로 서로 대향하여 배치된 제1 및 제2 요홈에 상기 로터웜기어의 축과 직교하는 수평방향으로 배치되며, The first and second power transmission shafts are arranged in a horizontal direction perpendicular to the axis of the rotor worm gear in first and second grooves arranged opposite to each other at 180 degree intervals around the through hole of the upper housing,상기 제1 내지 제4 지지축은 상기 상부하우징의 제1 및 제2 요홈에 수직방향으로 배치되는 스위블 액추에이터. The first to fourth support shafts are a swivel actuator disposed in a vertical direction in the first and second grooves of the upper housing.
- 제1항에 있어서,According to paragraph 1,상기 제1 및 제2 동력전달축의 양단부는 베어링에 의해 회전 가능하게 지지되고, 상기 베어링이 내장된 베어링 하우징에는 상기 제1 및 제2 동력전달축의 좌우 변위가 발생하는 것을 억제하도록 복수의 세트 스크류가 설치되는 스위블 액추에이터.Both ends of the first and second power transmission shafts are rotatably supported by bearings, and the bearing housing in which the bearings are installed is provided with a plurality of set screws to suppress left and right displacement of the first and second power transmission shafts. Swivel actuator installed.
- 제1항에 있어서, According to paragraph 1,각각 상기 제1 및 제2 동력전달축의 양단부를 회전 가능하게 지지하는 한쌍의 베어링; a pair of bearings rotatably supporting both ends of the first and second power transmission shafts, respectively;각각 상기 상부하우징의 관통구멍 주변에 180도 간격으로 서로 대향하여 배치된 제1 및 제2 요홈에 설치되어 상기 한쌍의 베어링을 내부에 수용하여 지지하는 한쌍의 베어링 하우징; 및 a pair of bearing housings respectively installed in first and second grooves disposed opposite each other at 180-degree intervals around the through hole of the upper housing to accommodate and support the pair of bearings therein; and각각 상기 한쌍의 베어링 하우징의 후단부에 결합되어 선단부가 상기 제1 및 제2 동력전달축의 단부를 압박 지지하는 한쌍의 세트 스크류;를 더 포함하는 스위블 액추에이터. A swivel actuator further comprising a pair of set screws, each of which is coupled to a rear end of the pair of bearing housings and whose front ends press and support the ends of the first and second power transmission shafts.
- 제11항에 있어서, According to clause 11,상기 상부하우징의 벽에 형성되어 외부로부터 상기 제1 및 제2 동력전달축을 일측으로 밀어서 고정시키는 데 사용되는 세트 스크류 조정용 관통구멍을 더 포함하는 스위블 액추에이터. A swivel actuator further comprising a through hole for adjusting a set screw formed on a wall of the upper housing and used to push and fix the first and second power transmission shafts to one side from the outside.
- 원통형 로터지지체의 외주에 일체로 형성된 로터웜기어를 통하여 회전 동력을 발생하는 구동모터; A drive motor that generates rotational power through a rotor worm gear integrally formed on the outer periphery of the cylindrical rotor support body;각각 상기 로터웜기어의 외주에 180도 간격으로 배치되어 결합되어 1차 감속이 이루어지는 제1 및 제2 웜휠이 제1 및 제2 동력전달축의 중간에 형성되고 제1 및 제2 동력전달축의 양측에 제1 내지 제4 웜기어가 형성된 제1 및 제2 기어트레인; First and second worm wheels, which are respectively arranged and coupled at 180-degree intervals on the outer periphery of the rotor worm gear to achieve primary deceleration, are formed in the middle of the first and second power transmission shafts, and are disposed on both sides of the first and second power transmission shafts. First and second gear trains formed with first to fourth worm gears;각각 상기 제1 내지 제4 웜기어와 기어결합되어 2차 감속이 이루어지는 제3 내지 제6 웜휠이 제1 내지 제4 지지축의 하단에 회전 가능하게 결합되고, 상기 제1 내지 제4 지지축의 상단에 상기 제3 내지 제6 웜휠과 연동하여 회전되는 제1 내지 제4 피니온 기어가 회전 가능하게 결합된 제1 내지 제4 피니온 기어유닛; 및 Third to sixth worm wheels, which are respectively gear-coupled with the first to fourth worm gears to achieve secondary deceleration, are rotatably coupled to the lower ends of the first to fourth support shafts, and the upper ends of the first to fourth support shafts First to fourth pinion gear units rotatably coupled to first to fourth pinion gears that rotate in conjunction with third to sixth worm wheels; and상기 제1 내지 제4 피니온 기어와 기어결합되어 3차 감속이 이루어지는 링기어가 측면부의 내측에 일체로 형성된 회전 테이블;을 포함하며, It includes a rotary table in which a ring gear geared to the first to fourth pinion gears and performing tertiary reduction is integrally formed on the inside of the side portion,상기 회전 테이블은 카시트의 회전 구동에 이용되는 스위블 액추에이터.The rotation table is a swivel actuator used to rotate the car seat.
- 제13항에 있어서, According to clause 13,상기 원통형 로터지지체와 회전 테이블이 회전 가능하게 지지되는 중공형 원통부가 중앙에 상부로 돌출되고 상기 구동모터가 설치되는 하부하우징; 및 a lower housing in which a hollow cylindrical portion on which the cylindrical rotor support body and the rotary table are rotatably supported protrudes upward at the center and the drive motor is installed; and상기 하부하우징의 상부에 적층 조립되고 중앙부에 상기 중공형 원통부가 상부로 돌출된 관통구멍이 형성되며, 상기 제1 및 제2 기어트레인과 제1 내지 제4 피니온 기어유닛이 설치되는 상부하우징;을 더 포함하는 스위블 액추에이터.An upper housing that is stacked and assembled on the upper part of the lower housing, has a through-hole formed in the center where the hollow cylindrical part protrudes upward, and in which the first and second gear trains and first to fourth pinion gear units are installed; A swivel actuator further comprising:
- 제13항에 있어서, According to clause 13,상기 1차 감속의 제1감속비, 상기 2차 감속의 제2감속비, 상기 3차 감속의 제3감속비는 후단으로 갈수록 순차적으로 작게 설정되는 스위블 액추에이터.A swivel actuator wherein the first reduction ratio of the primary reduction, the second reduction ratio of the secondary reduction, and the third reduction ratio of the tertiary reduction are sequentially set to be smaller toward the rear end.
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KR10-2022-0080738 | 2022-06-30 | ||
KR1020230001844A KR102681692B1 (en) | 2022-06-30 | 2023-01-05 | Swivel Actuator |
KR10-2023-0001844 | 2023-01-05 |
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JP2009138928A (en) * | 2007-11-15 | 2009-06-25 | Asmo Co Ltd | Geared motor and image forming device having the same |
KR101323777B1 (en) * | 2012-05-31 | 2013-10-29 | 김용환 | Motor having motor axle with hole |
US20170364038A1 (en) * | 2016-06-15 | 2017-12-21 | Yehuda Fulda | Kinetic Powered Smartwatch |
KR101920041B1 (en) * | 2017-06-20 | 2018-11-20 | 계양전기 주식회사 | Actuator apparatus with gear assembly |
CN112096790A (en) * | 2019-06-17 | 2020-12-18 | 西华大学 | Internal-driving internal-meshing wear compensation plane enveloping worm transmission device |
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JP2009138928A (en) * | 2007-11-15 | 2009-06-25 | Asmo Co Ltd | Geared motor and image forming device having the same |
KR101323777B1 (en) * | 2012-05-31 | 2013-10-29 | 김용환 | Motor having motor axle with hole |
US20170364038A1 (en) * | 2016-06-15 | 2017-12-21 | Yehuda Fulda | Kinetic Powered Smartwatch |
KR101920041B1 (en) * | 2017-06-20 | 2018-11-20 | 계양전기 주식회사 | Actuator apparatus with gear assembly |
CN112096790A (en) * | 2019-06-17 | 2020-12-18 | 西华大学 | Internal-driving internal-meshing wear compensation plane enveloping worm transmission device |
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