KR20080001537U - Geared Motor with Encoder - Google Patents

Abstract

It relates to a geared motor with an encoder according to the present invention, the pinion gear 101 is fixed to the motor 301 shaft by the interference fit to rotate; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; And a final reduction gear 104 which receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with the idler, and fixedly rotates the secondary reduction gear 103. The encoder rotation shaft 106 is fixed and rotated with the encoder disk plate 203, and is configured to generate a feedback signal by installing a photo interrupt 202 on one side of the rotating disk plate 203 for rotation. And there is an advantage to receive the data (DATA) that can be a natural operation, there is an advantage to provide a geared motor made small in terms of size.

Geared Motor, Encoder, Pinion Gear, Reducer Gear, Disc, Motor, Photo Interrupt, Feedback

Description

Geared Motor with Encoder {Gear Motor Having Encoder}

1 is a cross-sectional view of a geared motor with an encoder according to a preferred embodiment of the present invention

2 is a cross-sectional view of a geared motor with an encoder according to another embodiment of the present invention

3 is a cross-sectional view of a geared motor with an encoder according to another embodiment of the present invention

<Description of the symbols for the main parts of the drawings>

101: pinion gear 102: primary reduction gear

103: 2nd reduction gear 104: final reduction gear (output member)

105: rotation pin (center of the second rotation axis)

106: encoder rotation axis (center of the third rotation axis)

114: 3rd gear reduction gear

115, 116: final reduction gear (output member)

201: PCB 202: Photo Interrupt

203: disc plate for encoder 204: encoder fixture

301: motor 302: motor case

303: gear cover 304: motor cover

313: gear cover 501: primary rotation center

502: 2nd rotation center 503: 3rd rotation center

The present invention relates to a geared motor with an encoder attached to the robot, and more particularly to a geared motor with a feedback (Feed Back) to enable the robot to control well or more naturally and stably.

In general, the geared motor has been used by connecting a wheel or a shaft in the final reduction gear after decelerating to the first reduction gear, the secondary reduction gear and several in the pinion gear forcibly fitted to the motor shaft.

However, when a geared motor without feedback (Feed Back) is used as the driving unit of the robot, there is a problem that accurate control cannot be performed due to the weight and inertia of the robot when the operation is stopped and operated. The weight and inertia of the robot depend on the type and condition of the robot. Accordingly, it is necessary to control the driving of the motor according to the dynamic change, and it is necessary to provide feedback. In the absence of feedback, it is possible to control the power by putting an excessive power supply to the motor, and in many cases, the durability of the motor and the driving state of the robot are not smooth.

In order to eliminate such a problem, there is a geared motor with an encoder, but it is directly connected to the motor shaft, and the size of the motor, such as the length, may be limited to design and manufacture the robot.

Therefore, the present invention was devised to solve the above problems, and an object of the present invention is to simply configure a feedback device by using a disc plate for a geared motor thin encoder, and the robot may be driven or stopped. It is to provide a geared motor with an encoder that can receive data that can be fed back in a stable and natural operation.

In addition, another object of the present invention is to use the encoder connected to the reduction gear shaft, rather than using the encoder directly connected to the motor shaft, like the conventional motor, not only to receive a more stable feedback due to the reduced speed, but also the length and It is to provide a geared motor with a small encoder.

Geared motor with an encoder according to the present invention for achieving the above object, the pinion gear (101) is fixed to the motor 301 by being securely inserted into the shaft; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; And a final reduction gear 104 which receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with the idler, and fixedly rotates the secondary reduction gear 103. The encoder rotation shaft 106 is fixed and rotated with the encoder disk plate 203, and installs a photo interrupt 202 on one side of the rotating disk disk 203 for generating a feedback signal. .

In addition, the geared motor with another encoder according to the present invention for achieving the above object, the pinion gear (101) is fixed to the motor 301 by being fixed to the shaft rotation; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And a final reduction gear 115 rotating idle with an encoder rotation shaft 106 fitted to the secondary reduction gear 103 by receiving rotational force from the third reduction gear 114. The encoder rotation shaft 106 fixedly rotated with the vehicle reduction gear 103 is fixedly rotated with the encoder disk plate 203 and rotates the photointerrupter 202 on one side of the rotating disk plate 203. It is characterized by generating a feedback signal by installing.

In addition, the geared motor with another encoder according to the present invention for achieving the above object, the pinion gear (101) is fixed to the motor 301 by being securely fitted to the shaft; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 that receives rotational force from the primary reduction gear 102 and rotates the encoder rotating shaft 106 with an idle; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And a final reduction gear 115 fixed to the encoder rotation shaft 106 fitted to the secondary reduction gear 103 and fixed by rotation by receiving rotation force from the third reduction gear 114. The encoder rotation shaft 106 fixedly rotated with the final reduction gear 115 is fixed and rotated with the encoder disc plate 203, and the photo interrupt 202 on one side of the rotating disc plate 203. It is characterized by generating a feedback signal by installing a.

In addition, the geared motor with another encoder according to the present invention for achieving the above object, the pinion gear (101) is fixed to the motor 301 by being securely fitted to the shaft; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 that receives rotational force from the primary reduction gear 102 and rotates idle on a motor shaft; A third reduction gear 114 that receives the rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin with an idle; And a final deceleration gear 116 which is fixedly rotated by receiving the rotational force from the tertiary reduction gear 103 and fixed to the encoder rotation shaft 106. The fixed rotation of the final deceleration gear 116 is provided. The encoder rotation shaft 106 is fixed and rotated with the encoder disk plate 203, and installs a photo interrupt 202 on one side of the rotating disk disk 203 for generating a feedback signal. .

Hereinafter, with reference to the accompanying drawings will be described in detail an embodiment of the present invention.

Example

1 to 3 are cross-sectional views of the geared motor with an encoder according to a preferred embodiment of the present invention, respectively, showing an encoder disc plate 203 according to the position of the final reduction gear (output member).

First, the geared motor shown in Fig. 1, the pinion gear 101 is fixed to the motor 301 shaft by the interference fit to rotate; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; And a final reduction gear 104 which receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with the idler, and fixedly rotates the secondary reduction gear 103. The encoder rotation shaft 106 is fixed to and rotated with the encoder disk plate 203, and is configured to provide a photo interrupt 202 on one side of the rotating encoder disk plate 203 to generate a feedback signal. In this case, reference numeral 201 denotes a PCB on which the photointerrupter 202 is installed, reference numeral 204 denotes an encoder fixture, reference numeral 302 denotes a motor case, reference numeral 303 denotes a gear cover, and reference numeral 304 denotes a motor cover. Denoted at 501 is a primary rotational center, 502 is a secondary rotational center, and 503 is a tertiary rotational center.

In the geared motor shown in FIG. 1, the final reduction gear 104 is located at the secondary rotation center 502, which is the center of the geared motor, and the motor 301 is provided through three reduction gears 102, 103, 104. It is shown that the number of revolutions and the torque output from the transmission through the output member (104). The secondary reduction gear 103 is fixedly rotated by forcibly fitting with the encoder rotation shaft 106 at the third rotation center 503, and the encoder rotation shaft 106 rotates the disc disk 203 for the encoder. do. The encoder disk plate 203 generates a feedback signal using the photo interrupt 202 provided on one side.

Next, the geared motor shown in Fig. 2, the pinion gear 101 is fixed to the motor 301 shaft by interference fit to rotate; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And a final reduction gear 115 rotating idle with an encoder rotation shaft 106 fitted to the secondary reduction gear 103 by receiving rotational force from the third reduction gear 114. The encoder rotation shaft 106 fixedly rotated with the vehicle reduction gear 103 is fixedly rotated with the encoder disk plate 203 and rotates the photointerrupter 202 on one side of the rotating disk plate 203. It is configured to generate a feedback signal. Here, reference numeral 201 denotes a PCB on which the photointerrupter 202 is installed, reference numeral 204 is an encoder fixture, reference numeral 302 is a motor case, reference numeral 313 is a gear cover, and reference numeral 304 is a motor cover. Reference numeral 501 denotes the primary rotation center, reference numeral 502 denotes the secondary rotation center, and reference numeral 503 denotes the third rotation center.

In the geared motor shown in FIG. 2, the final reduction gear 115 is located at the third rotational center 503, which is the center of the geared motor, and the four gears 102, 103, 114, and 115 are connected to the motor ( It is shown that the rotational speed and torque output from 301 are transmitted through the output member 115. In this case, the encoder rotation shaft 106 may be fixed rotation with the secondary reduction gear 103, or fixed rotation with the final reduction gear 115.

When the encoder rotation shaft 106 is fixedly rotated with the secondary reduction gear 103, the final reduction gear 115 should rotate idle with the encoder rotation shaft 106 and the encoder rotation shaft 106. ) Rotates the final deceleration gear 115 with the secondary deceleration gear 103 to idle idle.

In addition, another geared motor according to the present invention will be described with reference to FIG.

As shown in FIG. 2, the geared motor includes a pinion gear 101 which is fixed to the shaft of the motor 301 by being inserted by force; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives rotational force from the primary reduction gear 102 and rotates the encoder rotating shaft 106 and an idle; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And a final reduction gear 115 fixed to the encoder rotation shaft 106 fitted to the secondary reduction gear 103 and fixed by rotation by receiving rotation force from the third reduction gear 114. The encoder rotation shaft 106 fixedly rotated with the secondary reduction gear 103 is fixed and rotated with the encoder disc plate 203, and a photo interrupt 202 on one side of the rotating disc plate 203 for rotation. ) To generate a feedback signal. As before, unexplained reference numerals are the same as before, reference numeral 201 is a PCB on which the photo interrupt 202 is installed, reference numeral 204 is an encoder fixture, reference numeral 302 is a motor case, and reference numeral 313 is a gear cover. Reference numeral 304 is a motor cover, 501 is a primary rotational center, 502 is a secondary rotational center, and 503 is a tertiary rotational center.

In addition, the geared motor shown in Fig. 3, the pinion gear 101 is fixed to the motor 301 shaft by the interference fit to rotate; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 that receives rotational force from the primary reduction gear 102 and rotates idle on a motor shaft; A third reduction gear 114 that receives the rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin with an idle; And a final reduction gear 116 that is rotated by receiving rotational force from the tertiary reduction gear 103 and being fixed to the encoder rotation shaft 106 by interference fit. The fixed rotation of the final reduction gear 116 is provided. The encoder rotation shaft 106 is fixed to the encoder disk 203 for rotation, and is configured to generate a feedback signal by installing a photo interrupt 202 on one side of the rotating disk disk 203. . Here, the reference numerals described above are the same as before, reference numeral 201 denotes a PCB on which the photo interrupt 202 is installed, reference numeral 204 denotes an encoder fixture, and reference numeral 302 denotes a motor case.

The present invention, the pinion gear 101 is fixed to the motor 301 by interference fit, and output to the final reduction gear (104, 115) through the primary reduction gear 102 and the secondary reduction gear 103, etc. In the geared motor, the primary reduction gear 102, the secondary reduction gear 103, or the final reduction gear 104 and the encoder rotation shaft 106 is characterized in that the configuration is configured to be fixed. In general, the geared motor has three shaft centers (501, 502, 503) including the motor shaft is arranged a reduction gear. The geared motor may include a primary rotation center 501 which is a rotation shaft of the pinion gear 101 that is forcibly fitted to the motor shaft, a secondary rotation center 502 having the primary reduction gear 102, and a secondary It consists of a third rotation center 503 with a reduction gear 103, the other reduction gear is mounted while changing the primary rotation center 501, the secondary rotation center 502, the third rotation center (503) It is characterized by being.

In the present invention, the shaft of the encoder disk plate 203 becomes the third rotation center 503 and is fixedly connected to the reduction gear by interference fit, the encoder disk plate 203 is the encoder rotation shaft 106 It is fixed to and can receive a signal according to the number of rotation of the motor. Therefore, according to the present invention, the geared motor function can be further satisfied.

The present invention is not limited to the embodiments described above, but can be variously modified and changed by those skilled in the art, which is included in the spirit and scope of the present invention defined in the appended utility model registration claims You will have to look.

As described above, according to the geared motor with an encoder according to the present invention, a feedback device is simply configured by using a thin disc disk for encoder to feed back when the robot is driven or operated and stopped. BACK), there is an advantage that can receive the data (DATA) that can be stable and natural operation. According to the present invention, it is possible to reduce the burden of measuring at high speed by connecting to the reduced gear shaft without directly connecting the encoder disk plate to the rotating shaft of the motor, and to shorten the length of the product compared to directly connected to the motor shaft. It has an effect.

Claims (4)

In geared motors, A pinion gear 101 which is fixed to the motor 301 by being inserted into the shaft and rotates; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; And And a final reduction gear 104 which receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with the idler. The encoder rotation shaft 106 fixedly rotated with the secondary reduction gear 103 is fixed and rotated with the encoder disc plate 203, and a photo interrupt 202 on one side of the rotating disc plate 203 for rotation. Geared motor with an encoder, characterized in that for generating a feedback signal by installing a). In geared motors, A pinion gear 101 which is fixed to the motor 301 by being inserted into the shaft and rotates; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 which receives the rotational force from the primary reduction gear 102 and is fixedly rotated by interference with the encoder rotation shaft 106; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And And a final reduction gear 115 rotating idle with an encoder rotating shaft 106 fitted to the secondary reduction gear 103 by receiving rotational force from the third reduction gear 114. The encoder rotation shaft 106 fixedly rotated with the secondary reduction gear 103 is fixed and rotated with the encoder disc plate 203, and a photo interrupt 202 on one side of the rotating disc plate 203 for rotation. Geared motor with an encoder, characterized in that for generating a feedback signal by installing a). In geared motors, A pinion gear 101 which is fixed to the motor 301 by being inserted into the shaft and rotates; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 that receives rotational force from the primary reduction gear 102 and rotates the encoder rotating shaft 106 with an idle; A third reduction gear 114 that receives rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin 105 with an idle; And And a final reduction gear 115 that is fixedly rotated with the encoder rotation shaft 106 fitted to the secondary reduction gear 103 by receiving rotational force from the third reduction gear 114 and forcibly fitted thereto. The encoder rotation shaft 106 fixedly rotated with the final reduction gear 115 is fixed and rotated with the encoder disc plate 203, and the photo interrupt 202 on one side of the rotating disc plate 203. Geared motor with an encoder, characterized in that for generating a feedback signal by installing a. In geared motors, A pinion gear 101 which is fixed to the motor 301 by being inserted into the shaft and rotates; A primary deceleration gear 102 that receives rotational force from the pinion gear 101 and rotates the rotating shaft and the idle; A secondary reduction gear 103 that receives rotational force from the primary reduction gear 102 and rotates idle on a motor shaft; A third reduction gear 114 that receives the rotational force from the secondary reduction gear 103 and rotates the rotating shaft pin with an idle; And It receives a rotational force from the third reduction gear 103, the final reduction gear 116 is fixed by the encoder rotation shaft 106 and forcibly rotated; The encoder rotation shaft 106 fixedly rotated with the final reduction gear 116 is fixed and rotated with the encoder disc plate 203, and the photo interrupt 202 on one side of the rotating disc plate 203. Geared motor with an encoder, characterized in that for generating a feedback signal by installing a.

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