WO2024151010A1 - Hollow swivel actuator - Google Patents

Abstract

The present invention relates to a hollow swivel actuator allowing more design freedom due to the placement of a motor drive mechanism and a plurality of pinion gears around a sun gear on the bottom surface of an actuator housing. The swivel actuator includes: an actuator housing having a hollow cylindrical part protruding upward; a motor drive mechanism provided with a worm gear in the center that produces rotational output from first and second driving motors; a rotary table provided with integrated ring gears therein; and a reducer for reducing the rotational output of the worm gear to rotate the ring gears, wherein the reducer comprises: a sun gear in which an integrated spur gear is disposed on the upper side, and a worm wheel is disposed on the lower side and engages with the worm gear and carries out a primary reduction; and a plurality of pinion gears that engage with the spur gear to rotate, and engage with the ring gear to carry out a secondary reduction.

Description

Internal hollow swivel actuator

The present invention relates to an internal hollow swivel actuator, and in particular, a motor drive device is disposed on one side of the bottom of the actuator housing, and a plurality of motor drives are placed on the other side of the bottom of the actuator housing in an eccentric state at intervals on the same circumference with a sun gear as the center. This relates to an internal hollow swivel actuator that can increase the degree of design freedom by eccentrically arranging the pinion gear.

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.

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.

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).

However, in Patent Document 1, the drive motor is placed at the bottom of the housing, the reducer is placed at the middle, and the rotary table is placed at the top, so the housing structure is complex and there is a problem in that an overall slim structure cannot be realized.

In addition, various types of reducers are used for torque conversion. Among these, the cycloid type reducer has the advantages of a high reduction ratio and low backlash compared to its size, but due to its complex structure, mass productivity is poor and miniaturization and slim structure cannot be realized. there is a problem.

Moreover, conventionally, a single drive motor disposed on one side of the reducer is used to provide rotational force to the reducer gear stage through a worm gear formed integrally with the output shaft, so when the drive motor is assembled to the reducer gear module, the outer shape of the actuator is enlarged on one side. When force is applied, the output shaft of the drive motor may be tilted to one side, causing a problem of not being able to support the force.

Therefore, the present invention was proposed to solve the problems of the prior art described above, and its purpose is to arrange the motor drive device on one side of the bottom surface of the actuator housing and to space the motor drive device on the other side of the bottom surface of the actuator housing on the same circumference with the sun gear as the center. The purpose is to provide an internal hollow swivel actuator that can increase the degree of design freedom by eccentrically arranging a plurality of pinion gears in an eccentric state.

Another object of the present invention is to provide a motor drive device capable of supporting a large load by stably driving a sun gear by driving a worm gear disposed in the center of the rotating shaft by two motors installed at both ends of the rotating shaft, and an internal hollow swivel using the same. (Swivel) To provide an actuator.

Another object of the present invention is to provide a motor drive device that can realize a slim structure by arranging the motor drive device and the reduction gear unit on the same plane inside a cylindrical housing, and an internal hollow swivel actuator using the same.

Another object of the present invention is to provide an internal hollow swivel actuator that provides a structure that can prevent damage even when a large external force is applied by stably receiving and supporting the motor housing of the motor drive device in the actuator housing. there is.

Another object of the present invention is to suppress the left and right displacement in the bearing housing by using set screws at both ends of the common rotation axis of the motor drive device, thereby eliminating the tolerance that occurs when coupling between gears and zeroing backlash. The purpose is to provide an internal hollow swivel actuator.

In order to achieve the above object, an internal hollow swivel actuator according to an aspect of the present invention includes an actuator housing with a central hollow cylindrical portion protruding upward; A motor drive device installed on one side of the bottom of the actuator housing and integrally formed with a worm gear that generates rotational output of the first and second drive motors at the center of the rotation axis; a rotary table whose central portion is rotatably supported on the outer periphery of the hollow cylindrical portion and a ring gear integrally formed on the inside of the side portion; It includes a reducer that reduces the rotational output of the worm gear to rotate the ring gear, wherein the reducer is rotatably supported on the outer periphery of the hollow cylindrical part and is geared to the worm gear on the lower side to achieve primary reduction. A sun gear on which a worm wheel is disposed and a spur gear that transmits the rotational output of the worm wheel is integrally formed on the upper side; and a plurality of gears disposed on the other side of the bottom surface of the actuator housing at intervals on the same circumference around the sun gear, rotated by being coupled to a spur gear of the sun gear, and geared to the ring gear to achieve secondary deceleration. It is characterized in that it includes a pinion gear.

The swivel actuator according to the present invention includes a needle roller bearing disposed between the lower end of the hollow cylindrical portion and the sun gear to rotatably support the sun gear; a table support bearing for rotatably supporting the rotary table on an outer periphery of an upper end of the hollow cylindrical portion; And it may further include a bearing support that is press-fitted to the outer periphery of the hollow cylindrical part and disposed between the needle roller bearing and the table support bearing.

In addition, the swivel actuator according to the present invention includes a plurality of support shafts rotatably supporting a plurality of pinion gears arranged at intervals on the same circumference around the sun gear on the other side of the bottom surface of the actuator housing; a plurality of protrusions each protruding from the bottom surface of the actuator housing and fixing lower portions of the plurality of support shafts; and a plurality of stopper rings coupled to the distal ends of the plurality of support shafts to prevent the pinion gear from being separated.

The motor driving device includes a rotating shaft integrally formed with a worm gear in the central portion through which the rotational output of the motor is generated; and first and second driving motors formed at both ends of the rotating shaft, wherein the first and second driving motors include first and second motor housings respectively accommodating both ends of the rotating shaft; First and second rotors with magnets attached to outer circumferences of both ends of the rotating shaft; and first and second stators disposed outside the first and second rotors with an air gap and generating a rotating magnetic field to rotate the rotational axes of the first and second rotors.

In this case, the motor drive device is screwed and assembled to both ends of the first and second motor housings, respectively, and the front end is provided with first and second set screws for suppressing the flow of the rotation shaft by pressurizing and supporting the end of the rotation shaft. It may further include ;.

In addition, the first and second motor housings are assembled so that both ends partially span the first and second grooves formed on the circular wall of the actuator housing, and the first and second set screws are operated from the outside using a driver. This can be done.

Moreover, the first and second motor housings include first and second brackets that protrude on the outside and third and fourth brackets that protrude on the inside, respectively, and the actuator housing protrudes on the outer periphery of the bottom surface. a circular wall having first and second grooves assembled to span some of both ends of the first and second motor housings, and third and fourth grooves assembled to span the first and second brackets; first and second through holes through which portions of lower surfaces of the first and second motor housings are assembled to the bottom surface of the circular wall; and first and second protruding fixing parts that protrude from the bottom surface of the circular wall to fix the third and fourth brackets.

In this case, the rotation axis is divided into three or two central parts where the first and second rotors and the worm gear are formed, and can be assembled using a D-cut structure.

The first and second stators each include a stator core including a plurality of teeth in a "T" shape and a back yoke interconnected with the plurality of teeth to form a magnetic circuit; a bobbin integrally formed to surround an outer peripheral surface of each of the plurality of teeth on which the coil is to be wound; and a coil wound around the outer peripheral surface of the bobbin, wherein the plurality of teeth and back yokes may have an asymmetric structure.

Additionally, the motor drive device and the plurality of pinion gears may be disposed on the same plane on the bottom surface of the actuator housing.

The swivel actuator according to the present invention is mounted on a printed circuit board (PCB) installed inside the actuator housing and includes a motor drive circuit for applying a motor drive signal to the first and second drive motors according to the user's operation of the car seat control button. It further includes, and the rotation table can be used to rotate the car seat.

As described above, in the present invention, a motor drive device is disposed on one side of the bottom surface of the actuator housing, and a plurality of pinion gears are installed on the other side of the bottom surface of the actuator housing in an eccentric state at intervals on the same circumference with a sun gear as the center. ) can be placed eccentrically to increase the degree of design freedom.

In addition, in the present invention, a worm gear disposed in the center of the rotating shaft is driven by two motors installed at both ends of the rotating shaft to stably drive the sun gear, thereby supporting a large load.

Additionally, in the present invention, a slim structure can be realized by arranging the motor drive device and the reduction gear unit on the same plane inside the cylindrical housing.

Moreover, in the present invention, damage can be prevented even when a large external force is applied by stably supporting the motor housing of the motor drive device in the actuator housing.

In addition, in the present invention, by using set screws at both ends of the common rotation axis of the motor drive device to suppress left and right displacement in the bearing housing, tolerances occurring when coupling between gears can be eliminated and backlash can be reduced to zero.

Moreover, in the present invention, the length of one motor is divided into two halves and two bearings are placed at both ends of the rotating shaft to have a structure that can uniformly distribute force and stably accommodate force.

In addition, in the present invention, a worm gear is placed at the center of the rotation shaft rotated by the first and second drive motors to drive the sun gear, resulting in a more stable structure against vibration and noise.

The first and second drive motors are formed inside first and second motor housings fixed to one side of the actuator housing, and both ends of the rotating shaft are connected to a pair of bearings disposed inside the first and second motor housings. It is rotatably supported and can provide stability when driving the worm gear.

1 and 2 are a perspective view and a plan view, respectively, of an internal hollow swivel actuator according to a preferred embodiment of the present invention.

FIGS. 3A to 3D are cross-sectional views taken along lines A-A, B-B, C-C, and D-D of FIG. 2, respectively.

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.

Figures 6 and 7 are 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, respectively.

FIGS. 8A to 8F are a plan view of a motor drive device according to a preferred embodiment of the present invention, a cross-sectional view along the line E-E of FIG. 8A, a cross-sectional view along the line F-F of FIG. 8A, an exploded perspective view, and an exploded perspective view of the rotating shaft and the magnet.

Hereinafter, preferred embodiments according to the present invention will be described with reference to the attached drawings.

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.

The internal hollow swivel actuator according to the present invention is used together with a rotation table to rotate the driven body, that is, the car seat for a vehicle, left and right. If a swivel actuator is installed on the lower plate fixed to the floor of the vehicle and the car seat is installed and fixed on the rotary table, the car seat can also be rotated according to the rotation of the rotary table.

In the following description, an internal hollow swivel actuator that drives a car seat as a driven body using a BLDC type drive motor as a power source will be described.

The internal hollow swivel actuator according to the present invention consists of a single actuator housing, a motor drive device, a sun gear, and a plurality of pinion gears arranged inside the actuator housing, and a rotary table with a ring gear integrally formed on the top. It is possible to achieve miniaturization and slimming while solving the problems of the prior art.

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, 3 to 6, are formed to connect, and the lower end of the fixing bolt passes through the coupling hole and can be fixed by being screwed to a stud nut fixed to the inner surface of the rotary table.

Referring to Figures 1 to 7, the internal hollow swivel actuator 200 according to a preferred embodiment of the present invention includes an actuator housing 10 with a central hollow cylindrical portion 11 protruding upward; It is disposed on one side of the bottom surface 10f of the actuator housing 10, and first and second drive motors 101 and 102 are formed at both ends of the common rotation axis 34, respectively, and a drive motor ( A motor drive device 100 in which a worm gear 35 that generates a rotational output of 101, 102 is integrally formed; A worm wheel 71 is rotatably supported on the outer periphery of the hollow cylindrical part 11, and is geared to the worm gear 35 on the lower side to achieve primary deceleration, and the rotational output of the worm wheel 71 is disposed on the upper side. A sun gear (70) in which the transmitting spur gear (72) is integrally formed; Each is disposed on the other side of the bottom surface 10f of the actuator housing 10 at intervals on the same circumference with the sun gear 70 as the center, and is gear-coupled with the spur gear 72 of the sun gear 70 and rotates. A plurality of pinion gears (81a-81d); And the central portion is rotatably supported on the outer periphery of the hollow cylindrical portion 11, and the plurality of pinion gears 81a-81d are gear-coupled with the ring gear 24 integrally formed on the inside of the side portion to form a secondary gear. It includes a rotary table 20 where deceleration takes place.

In this case, the sun gear 70 and a plurality of pinion gears 81a-81d may form a reducer.

Below, the internal hollow swivel actuator 200 will be described in detail.

First, a hollow cylindrical portion 11 with a through hole 11a formed in the center protrudes from the actuator housing 10 and a circular wall 10a protrudes on the outer periphery. On one side of the circular wall (10a), a section is cut so that parts of the first and second motor housings (90a, 90b) span when the first and second drive motors (101, 102) of the motor drive device (100) are installed. The first and second grooves (10b, 10c) are arranged at intervals, and the first and second motor housings (90a, 90b) are attached to adjacent portions of the first and second grooves (10b, 10c) with fixing bolts (96). ) are disposed with third and fourth grooves 10d and 10e for fastening to the circular wall 10a of the actuator housing 10 using .

In addition, step portions are formed at both ends of the first and second motor housings 90a and 90b toward the rear end, and the first and second grooves 10b and 10c are formed inside the circular wall 10a. And a step portion corresponding to the step portion of the second motor housing (90a, 90b) is formed to increase the contact area between the first and second motor housings (90a, 90b) and the actuator housing (10). The first and second motor housings 90a and 90b are stably supported.

When the first and second motor housings 90a and 90b are installed in the actuator housing 10, first and second through holes 12a and 12b are formed on the bottom surface 10f of the actuator housing 10. The first and second motor housings (90a, 90b) are assembled so that the bottom surfaces of the first and second motor housings (90a, 90b) are flush with the rear surface of the actuator housing (10) to maximize the swivel actuator ( 200) can be designed to reduce the thickness.

First and second brackets (94a, 94b) protrude from one side of the first and second motor housings (90a, 90b), respectively, and the first and second brackets (94a, 94b) have third and fourth brackets. One fixing bolt (96) can be fastened to be fixed to the grooves (10d, 10e).

In addition, third and fourth brackets 95a and 95b protrude from the other sides of the first and second motor housings 90a and 90b, respectively, and third and fourth brackets 95a and 95b are respectively protruded from the bottom surface 10f of the actuator housing 10. First and second protruding fixing parts 15a and 15b for fixing the motor corresponding to the fourth brackets 95a and 95b protrude. The third and fourth brackets 95a and 95b are provided with through holes so that at least two fixing bolts 96 can be fastened to the first and second protruding fixing parts 15a and 15b.

Moreover, on the other side of the bottom surface 10f of the actuator housing 10, a plurality of pinion gears 81a-81d are arranged at intervals on the same circumference around the sun gear 70 to rotate. Support shafts 82a-82d are installed, and the plurality of support shafts 82a-82d are fixed to a plurality of protrusions 13a-13d protruding from the bottom surface 10f of the actuator housing 10. there is.

In this case, the plurality of support shafts (82a-82d) are assembled from the bottom surface (10f) of the actuator housing 10 through the through holes of the plurality of protrusions (13a-13d), and the support shafts (82a-82d) are A stopper insertion groove (84) is formed at the top, and a plurality of stopper insertion grooves (84) are formed to prevent the pinion gear (81a-81d) from being separated after the pinion gear (81a-81d) is assembled. The stopper rings (83a-83d) may be combined.

As will be described later, inside both ends of the first and second motor housings 90a and 90b, a pair of bearings 65 are provided to rotatably support the common rotation axis 34 of the first and second drive motors 101 and 102. ,66) is built-in.

In this case, the worm gear 35 is used to increase the brake torque when the motor drive device 100 generates rotational output, and the external pressure is large, so the first and second bearings support the pair of bearings 65 and 66. It is desirable to prevent bending or damage of the second motor housings 90a and 90b. To this end, in the present invention, the actuator housing 10 is designed to firmly support the first and second motor housings 90a and 90b while distributing external pressure.

In the present invention, to prevent bending or damage of the first and second motor housings (90a, 90b) from large external pressure, the first and second drive motors (101, 102) of the motor drive device (100) are the first and second motors, respectively. Both ends of the housings 90a and 90b are assembled so that a portion of them spans the first and second grooves 10b and 10c, and the third and fourth grooves 10d and 10e are respectively provided with first and second brackets 94a, 94b) is fixed using fixing bolts 96, and the third and fourth brackets 95a, 95b are fixed to the first and second protruding fixing parts 15a, 15b using at least two fixing bolts 96. So it is fixed.

For example, the motor drive device 100 generates rotational power at a relatively high speed, and the sun gear 70 and a plurality of pinion gears 81a-81d rotate at the high speed. When power is received, the rotation speed is reduced and transmitted to the rotary table 20, torque is converted to generate reduced rotation power with increased torque.

As shown in FIGS. 8A to 8F, the motor drive device 100 has first and second drive motors 101 and 102 formed at both ends of a common rotation shaft 34, respectively, and located at the center of the rotation shaft 34. A worm gear 35 that generates the rotational output of the first and second drive motors 101 and 102 is formed integrally. As a result, the worm gear 35 is formed at the center of the rotation shaft 34, which is driven to rotate by the first and second drive motors 101 and 102 of a symmetrical structure, and is gear-coupled with the whim wheel 71 of the sun gear 70. .

Conventionally, a single drive motor placed on one side of the reducer is used to provide rotational force to the reducer gear stage through a worm gear formed integrally with the output shaft, so when the drive motor is assembled to the reducer gear module, the outer shape of the actuator is enlarged on one side. When force is applied, the output shaft of the drive motor may be tilted to one side, causing a problem of not being able to support the force.

However, in the present invention, the sun gear 70 is stably driven by driving the worm gear 35 disposed in the center of the rotation shaft 34 by the first and second drive motors 101 and 102 installed at both ends of the rotation shaft 34. It can support a large load.

The first and second drive motors 101 and 102 are formed inside the first and second motor housings 90a and 90b fixed to one side of the actuator housing 10, and both ends of the rotation shaft 34 are It is rotatably supported by a pair of bearings 65 and 66 disposed inside the first and second motor housings 90a and 90b, thereby providing stability when driving the worm gear 35.

As described above, in the present invention, the length of one motor is divided into two sides and two bearings 65 and 66 are placed at both ends of the rotating shaft 34 to ensure uniform distribution of force and stable accommodation of force. It has a structure.

In addition, in the present invention, the sun gear 70 is driven by placing a worm gear 35 in the center of the rotation shaft 34 rotated by the first and second drive motors 101 and 102, thereby making it more stable against vibration and noise. It has a structure.

As the first and second drive motors 101 and 102 are disposed inside one side of the actuator housing 10, the overall shape of the actuator housing may be cylindrical.

Moreover, in the present invention, as shown in Figure 8b, both ends of the first and second motor housings 90a and 90b serve as bearing housings, and set screws 73a and 73b are added therein, respectively, to form a rotating shaft ( 34) can restrict the left and right flow.

The set screws (73a, 73b) 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 rear ends of the first and second motor housings 90a and 90b have a gradually narrowing shape to serve as bearing housings, and female threads are formed in through-holes penetrating inward from both ends. The set screws (73a, 73b) are screwed to the rear ends of the first and second motor housings (90a, 90b) in which female threads are formed, so that the leading ends of the two set screws (73a, 73b) are connected to the rotating shaft (34). It can be joined by pushing and compressing both ends.

The set screws (73a, 73b) are preferably installed in both bearing housings of the two bearings (65, 66) that rotatably support both ends of the rotating shaft (34), and one bearing is installed to support one end of the rotating shaft. It is also possible to suppress left and right flow by installing it only on the housing and pushing the rotating shaft 34 in one direction.

As shown in FIGS. 8A to 8F, the motor drive device 100 has first and second drive motors 101 and 102 formed at both ends of a common rotation shaft 34, respectively, and includes first and second motor housings. (90a, 90b) are placed inside.

The first and second motor housings 90a and 90b are assembled so that both ends partially overlap the first and second grooves 10b and 10c of the actuator housing 10, and both ends are exposed to the outside. As a result, the set screws 73a and 73b can be operated from the outside using a driver, thereby limiting the left and right movement of the rotation shaft 34.

The first and second motor housings (90a, 90b) are first and second motor housings (90a, 90b) forming an internal space in which the first and second rotors (30a, 30b) and the first and second stators (40a, 40b) are accommodated, respectively. 2 Includes motor housing bodies (91a, 91b) and first and second motor housing covers (92a, 92b) coupled to the inlets of the first and second motor housing bodies (91a, 91b), and a plurality of fixing bolts. It is fixed by tightening (93).

The first and second drive motors 101 and 102 each have first and second rotors 30a and 30b formed at both ends of the rotating shaft 34, and air is formed outside the first and second rotors 30a and 30b. First and second stators 40a and 40b are disposed with a gap and generate a rotating magnetic field to rotate the first and second rotors 30a and 30b.

The first and second rotors 30a and 30b each consist of magnets 31a and 31b attached to outer peripheral portions of both ends of the rotation shaft 34. The magnets 31a and 31b may be composed of a plurality of divided N-pole and S-pole magnet pieces, or a ring-shaped magnet with a multi-pole N-pole and S-pole magnetization may be used.

When the first and second rotors 30a and 30b are made of a plurality of N-pole and S-pole divided magnet pieces, a plurality of protrusions 32a and 32b are formed along the outer periphery at both ends of the rotation shaft 34, respectively. A plurality of grooves (33a, 33b) to which a plurality of magnets (31a, 31b) can be attached are formed between the plurality of protrusions (32a, 32b), and a plurality of grooves (33a, 33b) are formed between the plurality of grooves (33a, 33b). (31a, 31b) are arranged.

As shown in FIGS. 8A to 8F, the common rotation shaft 34 of the first and second rotors 30a and 30b has a worm gear 35 machined in the center and a plurality of magnets 31a and 31b. It can be fixed by fixing it at both ends and magnetizing two magnets at the same time.

In addition, the common rotation axis 34 is manufactured by dividing the central part where the first and second rotors 30a, 30b and the worm gear 35 are formed into three or two pieces, and then using a D-cut structure or another connection method. Can be assembled.

The first and second stators 40a and 40b each have a plurality of teeth 41 in a “T” shape and a back yoke 42 that is interconnected with the plurality of teeth 41 to form a magnetic circuit. a stator core (45); A bobbin 44 made of an insulating material that is integrally formed to surround an outer peripheral surface on which the coil 43 of each of the plurality of teeth is to be wound; and a coil 43 wound around the outer peripheral surface of the bobbin 44. The bobbin 44 may be integrally formed as a stator support body.

In this case, the bobbin 44 may be composed of an upper and lower insulator assembled to surround the back yoke 42 from the upper and lower sides along with a plurality of teeth 41.

In this case, the first and second stators 40a and 40b have a symmetrical stator core in which a plurality of teeth 41 protrude from the annular back yoke 42 toward the center, as shown in FIG. 8D. (45), and as shown in FIG. 8C, a stator core 45 with an asymmetric structure in which a plurality of teeth 41 protrude toward the center from the back yoke 42 with an asymmetric structure at different lengths. You can have

The first and second stators 40a and 40b having the asymmetric stator core 45 can be used to provide a motor structure to maximize the space inside the actuator housing 10. That is, as shown in FIG. 8A, the space outside the rotation shaft 34 (i.e., the lower side in FIG. 8A) is used to extend the length of the plurality of teeth 41 of the stator and increase the winding amount of the coil 43. It can be applied when

As shown in FIGS. 4 to 6, the motor driving device 100 includes one motor driving circuit (i.e., a motor controller) provided with a Hall sensor assembly in the middle portion of the first and second driving motors 101 and 102. ) may be placed on a printed circuit board (PCB) 50 mounted thereon.

The swivel actuator 200 according to the present invention has the first and second drive motors 101 and 102 constituting the motor drive device 100, for example, as shown in FIG. 8D, 8 poles - 6 slots. It can be composed of a BLDC motor with a (slot) structure. In this case, the first and second driving motors 101 and 102 operate in three phases U, V, and W when the coils 43 of the first and second stators 40a and 40b are wound on the plurality of teeth 41. The coil 43 is wound in this structure, and the other end of the U, V, W three-phase coil 43 may be connected in a Y-connection or star-connection method.

Moreover, the first and second driving motors 101 and 102, for example, receive rotor position signals from two or three Hall sensors mounted on the Hall sensor assembly in the motor driving circuit, and then use an inverter to perform 6- It can be driven by a step-type radio wave drive method.

The first and second driving motors 101 and 102 can be driven using one motor driving circuit (i.e., a motor controller).

In this case, the U, V, and W coils 43 are equally wound on the first and second stators 40a and 40b of the first and second driving motors 101 and 102, respectively, and are connected to a printed circuit board (PCB) 50. ) of the conductive pattern formed in ) can be solved by connecting the U and W lines in reverse.

That is, since the rotation direction of one of the first and second drive motors 101 and 102 must be opposite, the U line and W line must be changed for one of the first and second stators 40a and 40b to create two The drive motors may be driven in the same direction.

At this time, the positions of the first and second rotors 30a and 30b, the positions of the stator core, etc. must be located on the same line. That is, one Hall sensor IC (i.e., Hall sensor assembly) is used to detect the rotational positions of the first and second rotors 30a, 30b to detect the position of the rotor, the position of the stator core, and the U, V, and W lines. It must be arranged according to the direction of rotation.

A method of driving multiple drive motors using one motor drive circuit (i.e., motor controller) is summarized as follows.

First, if there are two or more drive motors, the U, V, and W phases wound on the stator coil of each drive motor can be wired in the same way.

Second, when two drive motors are located in symmetrical directions, several types occur.

First, when two drive motors are located in symmetrical directions, the rotation direction of one drive motor and the rotation direction of the other drive motor located on the opposite side must be rotated in the opposite direction, so they must rotate in the same direction from the perspective of the rotation axis.

When two drive motors are positioned in a symmetrical direction and the windings are done in the same winding direction, in order to share the motors, the windings are wound identically and the U-phase and V-phase are connected using the conductive pattern formed on the printed circuit board (PCB) 50. , the W phase can be connected to drive the rotation axis in the same direction.

When two drive motors are positioned in symmetrical directions, one drive motor is wound in reverse, and the conductive pattern formed on the printed circuit board (PCB) 50 is divided into U phase and W phase, W phase and U phase, and V phase into V phase. By connecting, the rotation shaft can be driven to rotate in the same direction.

The internal hollow swivel actuator 200 according to the present invention generates high-speed rotational output through the worm gear 35 of the motor drive device 100, and operates a sun gear 70 and a plurality of pinion gears. ) (81a-81d), a large torque conversion is achieved by two-stage deceleration that rotates the ring gear 24 of the rotary table 20, so that a stable high torque output can be obtained.

The sun gear 70 is rotatably supported on the outer periphery of the hollow cylindrical portion 11, and a worm wheel 71 is disposed on the lower side, which is geared to the worm gear 35 to achieve primary deceleration. A spur gear 72 that transmits the rotational output of the worm wheel 71 to a plurality of pinion gears 81a-81d is formed integrally on the upper side.

As shown in FIG. 7, a step portion 72a is formed on the inner periphery of the spur gear 72, and a damper ring 63 and a bearing support 64 are provided at the step portion 72a, as will be described later. It can be supported.

Between the lower part of the hollow cylindrical portion 11 and the sun gear 70, a cylindrical needle roller bearing 61 is provided to rotatably support the sun gear 70. is inserted, and a table support bearing 62 is inserted between the upper part of the hollow cylindrical part 11 and the central part of the rotary table 20.

In addition, a bearing support 64 is inserted between the needle roller bearing 61 and the table support bearing 62 to prevent the table support bearing 62 from descending. The hollow cylindrical portion 11 It is press-fitted to the outer circumference of the.

Moreover, the lower side of the bearing support 64 absorbs shock that may be applied to the needle roller bearing 61 when the bearing support 64 is press-fitted to the outer circumference of the hollow cylindrical portion 11. A damper ring 63 is inserted to do so.

First, the needle roller bearing 61 is a type of roller bearing that can withstand a large radial load compared to a regular ball bearing, and includes an outer ring fixed to the movable part and an inner ring installed to the fixed part. . In this case, the outer ring is configured by inserting a retainer and a plurality of needle-shaped rollers.

The inner ring of the needle roller bearing (61) is press-fitted to the outer circumference of the hollow cylindrical portion (11), and the outer ring is fixed to the inner circumference of the sun gear (70).

In addition, the table support bearing 62 may be composed of a ball bearing in which a plurality of balls are inserted between the inner ring and the outer ring, the inner ring is fixed to the outer circumference of the hollow cylindrical portion 11, and the outer ring is attached to the rotary table ( It is fixed to the bearing housing 26 protruding downward in the central part of 20).

In addition, the hollow type swivel actuator 200 has a stopper insertion groove (11b) formed at the upper end of the hollow cylindrical portion 11, and the stopper insertion groove (11b) prevents the rotary table 20 from being separated. A stopper ring (68) made of a snap ring is coupled to do so.

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 therethrough for coupling with the driven main body (eg, electric seat) installed on the rotary table 20.

The rotary table 20 has a central portion rotatably supported on the outer periphery of the hollow cylindrical portion 11 by a table support bearing 62, and the plurality of ring gears 24 integrally formed on the inside of the side portion. The pinion gears (81a-81d) are gear-engaged to achieve secondary deceleration and rotation at low speed.

At the center of the top plate 21, a motor installed inside the actuator housing 10 transmits a motor drive signal according to the user's operation of the car seat control button to the first and second drive motors 101 and 102 constituting the motor drive device 100. A central through hole 25 through which a cable for transmission passes is formed on the printed circuit board (PCB) 50 of the driving circuit.

In the illustrated embodiment, a printed circuit board (PCB) 50 of a motor driving circuit is installed inside the actuator housing 10. However, the motor driving circuit is installed outside the actuator housing 10, and a hall sensor assembly is mounted on a printed circuit board (PCB) 50 installed inside the housing, so that the stators of the driving motors 101 and 102 are detected from the externally installed motor driving circuit. Of course, it is also possible to apply the U, V, W output terminals of the inverter circuit, three Hall sensors (H1 to H3), Vcc, and GND through cables to the coil and Hall sensor assembly.

Accordingly, the cable is introduced downward through the central through hole 25 provided in the center of the upper plate 21 and the hollow cylindrical portion 11 of the actuator housing 10, and then is connected to the bottom of the actuator housing 10. It can be connected to a printed circuit board (PCB) 50 through the formed through hole.

The plurality of pinion gears (81a-81d) are each on the other side of the bottom surface (10f) of the actuator housing (10), that is, the sun gear (70) except for one side where the motor drive device (100) is disposed. They are arranged eccentrically at intervals on the same circumference centered on .

In the present invention, design freedom can be increased by arranging the plurality of pinion gears 81a-81d eccentrically and positioning the motor drive device 100 on one side.

In addition, in the present invention, a plurality of pinion gears 81a-81d constituting the motor drive device 100 and the reduction gear unit can be arranged on the same plane inside the cylindrical actuator housing 10, thereby enabling swivel. ) The actuator 200 can have an overall slim structure.

The plurality of pinion gears 81a-81d are arranged at intervals on the same circumference with the sun gear 70 as the center on the other side of the bottom surface 10f of the actuator housing 10. It is rotatably installed on support shafts 82a-82d.

The lower ends of the plurality of support shafts 82a-82d are fixed to the plurality of protrusions 13a-13d protruding from the bottom surface 10f of the actuator housing 10.

Accordingly, the plurality of pinion gears (81a-81d) are each coupled to the spur gear (72) formed on the upper part of the sun gear (70) to rotate, and the ring gear of the rotary table (20) It is geared to (24) and transmits rotational force, thereby causing secondary deceleration to rotate the rotary table 20 at low speed.

Below, the operation of the internal hollow swivel actuator 200 according to the present invention will be described with reference to FIGS. 1 to 8F.

The internal hollow swivel actuator 200 of the present invention first operates the motor drive device 100 installed on one side of the bottom surface 10f of the actuator housing 10, thereby driving the first and second BLDC drive motors 101 and 102. ) is driven to generate rotational output from the worm gear 35 disposed in the center of the rotation shaft 34.

The worm gear 35 achieves primary deceleration by rotating the worm wheel 71 of the sun gear 70, which is rotatably supported on the outer periphery of the hollow cylindrical portion 11.

When the sun gear 70 rotates, the spur gear 72, which is formed integrally with the worm wheel 71 on the upper part of the sun gear and rotates, is arranged at intervals on the same circumference around the sun gear 70. Rotation is achieved by transmitting a reduced rotational force by being coupled to a plurality of pinion gears (81a-81d) that rotate. In this case, the spur gear 72 has a large diameter and the pinion gears 81a-81d have a small diameter, so in reality, speed increase occurs instead of deceleration.

A plurality of pinion gears (81a-81d) that rotate are gear-coupled to the ring gear (24) of the rotary table (20) integrally formed on the inside of the side part, and secondary deceleration occurs while transmitting the reduced rotational force. .

As a result, the central portion of the rotary table 20 is rotatably supported by the table support bearing 62 on the outer periphery of the hollow cylindrical portion 11, and a large torque conversion is achieved by torque conversion according to two-stage deceleration. Accordingly, low-speed rotation can be achieved by stable high torque output.

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.

In this case, in the present invention, the primary reduction ratio (R1) between the worm gear 35 of the first and second drive motors 101 and 102 and the worm wheel 71 of the sun gear 70 is set to 168:1. , the speed increase between the spur gear 72 and the pinion gears 81a-81d of the sun gear 70 and the secondary reduction ratio R2 between the plurality of pinion gears 81a-81d and the ring gear 24 are 1.4. If set to :1, the total reduction ratio can be obtained as 235:1.

In this case, if the gear ratio (reduction ratio) between gears is set smaller as output increases (i.e., R1 > R2), a stable high torque output can be obtained even if a large torque conversion occurs at the final stage.

For example, when the first and second drive motors 101 and 102 rotate at 470 rpm, the swivel actuator 200 of the present invention rotates at a rate of 235:1 in the case of a total reduction ratio of 235:1 through two-stage deceleration. The rotation speed of the table 20 is lowered to a low speed of 2 rpm, and the rotation torque is increased by 235 times, resulting in a large increase in torque.

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.

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.

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 (11)

An actuator housing with a central hollow cylindrical portion protruding upward; A motor drive device installed on one side of the bottom of the actuator housing and integrally formed with a worm gear that generates rotational output of the first and second drive motors at the center of the rotation axis; a rotary table whose central portion is rotatably supported on the outer periphery of the hollow cylindrical portion and a ring gear integrally formed on the inside of the side portion; and It includes a reducer that reduces the rotational output of the worm gear to rotate the ring gear, The reducer is A sun gear rotatably supported on the outer periphery of the hollow cylindrical part, a worm wheel geared to the worm gear to achieve primary deceleration is disposed on the lower side, and a spur gear that transmits the rotational output of the worm wheel is integrally formed on the upper side; and A plurality of gears are disposed on the other side of the bottom surface of the actuator housing at intervals on the same circumference with the sun gear as the center, are gear-coupled with the spur gear of the sun gear to rotate, and are gear-coupled with the ring gear to achieve secondary deceleration. Internal hollow swivel actuator with pinion gear; According to paragraph 1, a needle roller bearing disposed between the lower end of the hollow cylindrical portion and the sun gear to rotatably support the sun gear; a table support bearing for rotatably supporting the rotary table on an outer periphery of an upper end of the hollow cylindrical portion; and An internal hollow swivel actuator further comprising a bearing support that is press-fitted to the outer periphery of the hollow cylindrical portion and disposed between the needle roller bearing and the table support bearing. According to paragraph 1, a plurality of support shafts rotatably supporting a plurality of pinion gears arranged at intervals on the same circumference around the sun gear on the other side of the bottom surface of the actuator housing; a plurality of protrusions each protruding from the bottom surface of the actuator housing and fixing lower portions of the plurality of support shafts; and An internal hollow swivel actuator further comprising a plurality of stopper rings coupled to distal ends of the plurality of support shafts to prevent separation of the pinion gear. According to paragraph 1, The motor driving device is A rotating shaft integrally formed with a worm gear in the central portion through which the rotational output of the motor is generated; and It includes first and second drive motors formed at both ends of the rotation shaft, The first and second driving motors are each First and second motor housings accommodating both ends of the rotating shaft; First and second rotors with magnets attached to outer circumferences of both ends of the rotating shaft; and An internal hollow swivel actuator comprising: first and second stators disposed on the outside of the first and second rotors with an air gap and generating a rotating magnetic field to rotate the rotational axes of the first and second rotors; . According to paragraph 4, First and second set screws that are screwed and assembled to both ends of the first and second motor housings, respectively, and whose tip portions press and support the ends of the rotating shaft to suppress the flow of the rotating shaft; an internal hollow type further comprising: Swivel actuator. According to clause 5, The first and second motor housings are assembled so that both ends partially span the first and second grooves formed on the circular wall of the actuator housing, The first and second set screws are internal hollow swivel actuators that are manipulated using a driver from the outside. According to paragraph 4, The first and second motor housings include first and second brackets respectively protruding outwardly and third and fourth brackets respectively protruding inwardly, The actuator housing is First and second grooves protruding from the outer periphery of the bottom surface and assembled to span some of both ends of the first and second motor housings, and third and second grooves assembled to span the first and second brackets. 3 Circular walls with grooves; first and second through holes through which portions of lower surfaces of the first and second motor housings are assembled to the bottom surface of the circular wall; and An internal hollow swivel actuator comprising: first and second protruding fixing parts that protrude from the bottom surface of the circular wall to fix the third and fourth brackets. According to paragraph 4, The rotation axis is divided into three or two central parts where the first and second rotors and the worm gear are formed, and the internal hollow swivel actuator is assembled using a D-cut structure. According to paragraph 3, The first and second stators are each A stator core including a plurality of teeth in a "T" shape and a back yoke interconnected with the plurality of teeth to form a magnetic circuit; a bobbin integrally formed to surround an outer peripheral surface of each of the plurality of teeth on which the coil is to be wound; and It includes a coil wound on the outer peripheral surface of the bobbin, An internal hollow swivel actuator wherein the plurality of teeth and back yoke have an asymmetric structure. According to paragraph 1, An internal hollow swivel actuator wherein the motor drive device and a plurality of pinion gears are disposed on the same plane on the bottom surface of the actuator housing. According to paragraph 1, It further includes a motor drive circuit mounted on a printed circuit board (PCB) installed inside the actuator housing to apply a motor drive signal to the first and second drive motors according to the user's operation of the car seat control button, The rotation table is an internal hollow swivel actuator used to rotate the car seat.

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