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WO2021015432A1 - Module d'entraînement du type à empilement - Google Patents

Module d'entraînement du type à empilement Download PDF

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Publication number
WO2021015432A1
WO2021015432A1 PCT/KR2020/008198 KR2020008198W WO2021015432A1 WO 2021015432 A1 WO2021015432 A1 WO 2021015432A1 KR 2020008198 W KR2020008198 W KR 2020008198W WO 2021015432 A1 WO2021015432 A1 WO 2021015432A1
Authority
WO
WIPO (PCT)
Prior art keywords
housing
stacked
driving
shaft
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/008198
Other languages
English (en)
Korean (ko)
Inventor
양우성
천세영
노재호
이재용
이랑진
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ezwon Internet Service Co Ltd
Original Assignee
Ezwon Internet Service Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ezwon Internet Service Co Ltd filed Critical Ezwon Internet Service Co Ltd
Publication of WO2021015432A1 publication Critical patent/WO2021015432A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • H02K7/003—Couplings; Details of shafts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • 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
    • H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
    • 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 driving module for implementing multiple degrees of freedom of a joint of a robot, etc., and a stacked driving module having a compact size, easy maintenance, and improved durability by assembling a plurality of motors and shafts concentrically in a stacked type.
  • each motor in charge of rotation of the X, Y, and Z axes is arranged in the X, Y, and Z axes to simulate the joint movement of about 3 degrees of freedom. I could do it.
  • the rotation center of the joint was not aligned inside, it was impossible to implement natural movement.
  • the overall weight is heavy and the load at the distal end is large, so the response speed of the robot is increased. There was a problem that it was slow and the control accuracy was poor.
  • the center of rotation of the joint is concentrated to one point inside, and for this purpose, the shaft of the driving motors for implementing each degree of freedom needs to be maintained coaxial in a hollow type.
  • the present invention has been proposed to solve this problem, as a driving module for realizing multiple degrees of freedom in joints of robots, etc., as a stacked type of concentric assembly of a plurality of motors and shafts, so that the size is compact, maintenance is easy, and durability is It is to provide an improved stacked driving module.
  • the stacked driving module according to the present invention for achieving the above object is composed of a housing having a hollow in the center, a rotor, a stator, and a reducer mounted inside the housing, and a plurality of driving units having a shaft coupled to the output side of the reducer are stacked. It is a stacked drive module that is constructed by being assembled, and the shafts of each drive unit are inserted into each other to form a coaxial structure, and are exposed to the outside through the hollow of each housing, and the front end of the drive unit housing is adjacent and overlapped. It can be fastened to the rear end of the unit housing in a fitting manner.
  • a plurality of locking flanges are spaced apart from each other at the front end of the housing, and a plurality of locking grooves are formed by being inserted into the rear end of the housing, so that the front end of the housing contacts the rear end of the adjacent housing and rotates.
  • the housings can be coupled to each other.
  • one end of the engaging flange is cut in a diagonal shape, when the housing is rotated, one end of the engaging flange may be guided into the engaging groove along the cutting surface.
  • the driving unit may be composed of a stator disposed inside the housing, a rotor rotating inside the stator, and a reducer connected to a rear end of the rotor.
  • the drive unit is provided with a hollow penetrating the housing, the rotor and the reducer, so that the shaft of the adjacent driving unit can penetrate through the hollow.
  • the shafts of the plurality of driving units are coupled to each other in a shape that is inserted to overlap each other, and the shaft diameter of the rearmost driving unit may be the smallest, and the shaft diameter of the frontmost driving unit may be the largest.
  • the shafts of the plurality of driving units are coupled in a manner that is sequentially inserted, and the shaft of the rearmost driving unit may be inserted so as to be located at the innermost side.
  • Shafts of the plurality of driving units may be exposed to protrude forward of the driving unit located in the foremost position.
  • the reducer is a harmonic drive
  • the circular line of the harmonic drive is exposed to the front of the drive unit
  • the shaft has a flange formed at the rear end, and the flange of the shaft faces the front part of the circular line and can be fastened.
  • the plurality of driving units are mounted and supported on the base laterally in a stacked and assembled state, and separation of the driving units in the assembled state can be prevented by fastening the base and each driving unit housing.
  • a fastening groove is formed on one side of the housing of the drive unit, and a fastening hole is formed in a position corresponding to the fastening groove of each driving unit on the base, a fastening key is inserted into the fastening hole, and the fastening key is seated in the fastening groove of the housing. It can be combined with the housing in the state.
  • a through hole is formed in the base at a position corresponding to each of the driving units, and the wiring of each driving unit passes through the through hole to extend to the outside.
  • a finishing panel that is coupled with the front part of the foremost driving unit is provided, a through hole through which the shaft passes is formed in the center of the finishing panel, and a bearing contacting the shaft may be provided on the inner circumferential surface of the through hole.
  • a driving module for realizing multiple degrees of freedom in joints of a robot, etc. a plurality of motors and shafts are concentrically assembled in a stacked type, so that the size is compact, maintenance is easy, and durability is improved.
  • FIG. 1 is a front view of a stacked driving module according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of a stacked driving module according to an embodiment of the present invention.
  • FIG. 3 is a detailed view of a stacked driving module according to an embodiment of the present invention.
  • 4 to 6 are views for explaining assembly of a stacked driving module according to an embodiment of the present invention.
  • FIG. 7 to 10 are views for explaining a process in which a stacked driving module according to an embodiment of the present invention is mounted on a base.
  • FIG 1 is a front view of a stacked driving module according to an embodiment of the present invention
  • Figure 2 is a cross-sectional view of a stacked driving module according to an embodiment of the present invention
  • Figure 3 is a stacked driving module according to an embodiment of the present invention 4 to 6 are views for explaining the assembly of a stacked driving module according to an embodiment of the present invention
  • FIGS. 7 to 10 are views in which the stacked driving module according to an embodiment of the present invention is mounted on a base. It is a diagram explaining the process.
  • FIG. 1 is a front view of a stacked driving module according to an embodiment of the present invention
  • FIG. 2 is a cross-sectional view of a stacked driving module according to an embodiment of the present invention.
  • the stacked driving module according to the present invention is composed of a housing 100 having a hollow 140 formed in the center, a rotor 300, a stator 200, and a reducer 400 mounted inside the housing 100, and a reducer It is a stacked driving module configured by stacking and assembling a plurality of driving units 1000 coupled to the shaft 500 on the output side, and the shafts 500 of each driving unit 1000 are coaxial as a structure that is inserted and overlapped with each other, Each housing 100 penetrates through the hollow 140 and is exposed to the outside, and the front end of the driving unit 1000 and the housing 100 may be fastened to the rear end of the driving unit housing overlapping adjacently and in a fitting manner.
  • each driving unit 1000 is overlapped and arranged, and the shaft 500 of each driving unit is inserted into a hollow type and extended. As shown in FIG. And in particular, each shaft is coaxial.
  • each link is connected and a multi-degree of freedom joint can be implemented by the movement of the link.
  • each driving unit 1000 must be coupled with the coaxial maintained.
  • the driving unit 1000 includes a housing 100 having a hollow 140 formed in the center, a rotor 300, a stator 200, and a reducer 400 mounted inside the housing 100.
  • the rotor 300, the stator 200 and the reducer 400 are mounted inside the housing 100, and the shaft 500 is coupled to the output side of the reducer 400.
  • each driving unit 1000 is stacked and assembled to form a stacked driving module.
  • the shaft 500 of each driving unit 1000 is inserted into and overlapped with each other to form a coaxial, penetrated through the hollow 140 of each housing 100 and exposed to the outside, the front end of the driving unit housing 100 The portion may be fastened to the rear end portion of the driving unit housing overlapping adjacently and in a fitting manner.
  • FIG. 3 is a detailed view of a stacked driving module according to an embodiment of the present invention, in which a stator 200 is disposed outside the housing 100 and a rotor 300 is disposed inside the stator 200 Is placed. And the reducer 400 is arranged in front of the rotor 300, the reducer 400 is a flex spline 420 receiving the drive of the rotor 300 as a harmonic drive, a wave generator 440 that decelerates the output, and It consists of a circular line 460 to implement.
  • the reducer is a harmonic drive
  • the circular line 460 of the harmonic drive is exposed to the front of the drive unit 1000
  • the shaft 500 has a flange formed at the rear end
  • the flange of the shaft is the circular line 460 It can be faced and fastened with the front part of the. Through this fastening, the shaft can rotate by receiving the maximum torque.
  • driving units are coupled to each other through housings.
  • 4 to 6 are diagrams illustrating assembly of a stacked driving module according to an embodiment of the present invention.
  • a plurality of locking flanges 160 are spaced apart from each other at the front end of the housing 100, and a plurality of locking grooves 180 are inserted into the rear end of the housing 100 to be caught. Since the front end of the housing 100 is formed to be spaced apart, the front end of the housing 100 is rotated after contacting the rear end of the adjacent housing, so that the housings can be coupled to each other.
  • the engaging flange 160 formed at the front end of the housing 100 has a shape protruding outward, and the engaging groove 180 formed at the rear end of the housing 100 has a leg shape that is vertically extended and then bent back inward,
  • the locking flange 160 slides and is inserted into the locking groove 180 so that the driving units are prevented from being separated from each other in the axial direction and are in close contact with each other. Therefore, in this case, assembly and disassembly are very convenient, and tolerances generated during assembly can be reduced.
  • one end of the engaging flange 160 is cut 162 in an oblique shape, so that when the housing 100 is rotated, one end of the engaging flange 160 is formed along the cutting surface 162. ) Can be guided inside. Accordingly, it is difficult to couple the housings 100 when rotating in the opposite direction, but when rotating to a cut point, it is naturally guided and fastened, thereby regulating the fastening direction.
  • the driving unit 1000 includes a stator 200 disposed inside the housing 100, a rotor 300 rotating inside the stator 200, and a reducer 400 connected to the rear end of the rotor 300. Can be configured.
  • a hollow 140 penetrating through the housing 100, the rotor 300 and the reducer 400 is formed in the driving unit 1000 so that the shaft 500 of the adjacent driving unit 1000 can penetrate through the hollow. have.
  • the shafts 500 of the plurality of driving units 1000 are combined in a shape that overlaps and inserts each other, and the shaft diameter of the rearmost driving unit A is the smallest, and the shaft diameter of the frontmost driving unit D is the largest. It can be big.
  • each shaft 500 of each drive unit maintains coaxial and extends forward.
  • each shaft 500 is designed in a hollow type, and the shaft of the rearmost drive unit A Since the diameter is the smallest, it is inserted in the innermost position, and because the shaft diameter of the foremost driving unit D is the largest, it is positioned in the outermost part. And through this structure, assembly starts from the rearmost driving unit (A) so that the driving unit can be stacked and the shaft can be inserted at the same time, and the driving module is completed by sequential stacking and shaft fitting.
  • the frontmost or rearmost drive units may be omitted.
  • the shafts 500 of the plurality of driving units are coupled in a manner that is sequentially inserted, and the shaft of the rearmost driving unit (A) may be inserted so that the shaft of the rearmost driving unit (A) is located at the innermost position. They may be exposed by protruding toward the front of the driving unit located at the foremost.
  • FIGS. 7 to 10 are views for explaining a process in which a stacked driving module according to an embodiment of the present invention is mounted on a base, wherein a plurality of driving units are mounted on the base 700 laterally in a stacked and assembled state. It is supported, and the base 700 and each drive unit housing 100 are fastened to prevent separation of the drive unit in an assembled state.
  • a fastening groove 120 is formed on one side of the housing 100 of the driving unit, and a fastening hole 740 is formed at a position corresponding to the fastening groove 120 of each driving unit in the base 700, and The fastening key K is inserted into the hole 740, and the fastening key K may be coupled to the housing 100 while seated in the fastening groove 120 of the housing.
  • the fastening key (K) when the fastening hole 740 of the base 700 and the fastening groove 120 of the housing 100 are aligned, it can be inserted and fixed with a bolting (T), etc. Through this, the alignment of each driving unit and the correct installation position can be regulated, and after the fastening key (K) is assembled, the rotation of the driving unit 1000 is prevented by the fastening key (K). The axial coupling of (1000) can be maintained.
  • a through hole 740 is formed in the base 700 at a position corresponding to each driving unit, and the wiring W of each driving unit may penetrate through the through hole 740 and extend to the outside. .
  • the wiring W is stably exposed to the outside and is protected through the base 700 at the connection portion with the housing 100 to prevent disconnection.
  • the front end of the base 700 is provided with a finishing panel 720 coupled to the front portion of the foremost driving unit, and a through hollow through which the shaft passes is formed in the center of the finishing panel 720, and the inner peripheral surface of the through hollow A bearing 722 in contact with the shaft may be provided.
  • These bearings 722 support the shaft (not shown) of the driving unit D located at the foremost position, so that the entire shaft is not shaken and a constant rotation axis can be maintained as it is.
  • a driving module for realizing multiple degrees of freedom in joints of a robot, etc. a plurality of motors and shafts are concentrically assembled in a stacked type, so that the size is compact, maintenance is easy, and durability is improved.
  • drive unit 100 housing

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un module d'entraînement du type à empilement configuré de sorte qu'une pluralité d'unités d'entraînement sont empilées et assemblées, chaque unité d'entraînement comprenant : un boîtier présentant un creux formé en son centre ; un rotor disposé à l'intérieur du boîtier ; un stator ; et un réducteur de vitesse, et présentant un arbre accouplé à ce dernier sur le côté de sortie du réducteur de vitesse, les arbres des unités d'entraînement respectives étant insérés dans et se chevauchant mutuellement pour être coaxiaux et étant exposés à l'extérieur à travers le trou de chaque boîtier, et l'extrémité avant du boîtier d'une unité d'entraînement étant fixée par insertion à l'extrémité arrière du boîtier d'une autre unité d'entraînement qui est adjacente à l'unité d'entraînement et chevauche cette dernière.
PCT/KR2020/008198 2019-07-24 2020-06-23 Module d'entraînement du type à empilement Ceased WO2021015432A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190089659A KR102166829B1 (ko) 2019-07-24 2019-07-24 적층형 구동모듈
KR10-2019-0089659 2019-07-24

Publications (1)

Publication Number Publication Date
WO2021015432A1 true WO2021015432A1 (fr) 2021-01-28

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Application Number Title Priority Date Filing Date
PCT/KR2020/008198 Ceased WO2021015432A1 (fr) 2019-07-24 2020-06-23 Module d'entraînement du type à empilement

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KR (1) KR102166829B1 (fr)
WO (1) WO2021015432A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7636369B2 (ja) * 2022-05-27 2025-02-26 株式会社安川電機 搬送ロボットおよびロボットシステム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5117141A (en) * 1990-07-30 1992-05-26 The United States Of America As Represented By Department Of Energy Disc rotors with permanent magnets for brushless DC motor
JP2010178451A (ja) * 2009-01-28 2010-08-12 Minebea Motor Manufacturing Corp 同軸モータ
US20120248906A1 (en) * 2011-03-30 2012-10-04 GM Global Technology Operations LLC Rotor assembly with cooling mechanism
KR101208406B1 (ko) * 2012-03-30 2012-12-05 한국기계연구원 중공구동모듈
KR101253474B1 (ko) * 2012-09-26 2013-04-10 유동식 다단 모터

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101336802B1 (ko) 2012-07-26 2013-12-03 (주)미니로봇 복싱을 수행하는 휴머노이드 로봇

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5117141A (en) * 1990-07-30 1992-05-26 The United States Of America As Represented By Department Of Energy Disc rotors with permanent magnets for brushless DC motor
JP2010178451A (ja) * 2009-01-28 2010-08-12 Minebea Motor Manufacturing Corp 同軸モータ
US20120248906A1 (en) * 2011-03-30 2012-10-04 GM Global Technology Operations LLC Rotor assembly with cooling mechanism
KR101208406B1 (ko) * 2012-03-30 2012-12-05 한국기계연구원 중공구동모듈
KR101253474B1 (ko) * 2012-09-26 2013-04-10 유동식 다단 모터

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Publication number Publication date
KR102166829B1 (ko) 2020-10-16

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