WO2020004714A1 - Actionneur intégré utilisant un réducteur de type cycloïde de petite taille - Google Patents

Actionneur intégré utilisant un réducteur de type cycloïde de petite taille Download PDF

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Publication number
WO2020004714A1
WO2020004714A1 PCT/KR2018/011472 KR2018011472W WO2020004714A1 WO 2020004714 A1 WO2020004714 A1 WO 2020004714A1 KR 2018011472 W KR2018011472 W KR 2018011472W WO 2020004714 A1 WO2020004714 A1 WO 2020004714A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
cycloid
actuator
reducer
internal gear
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/KR2018/011472
Other languages
English (en)
Inventor
Sun-Woo Lee
Kook-sun LEE
Jun-Ho Kim
Hyeon-Woo Park
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.)
Alienrobot Inc
Original Assignee
Alienrobot Inc
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 Alienrobot Inc filed Critical Alienrobot Inc
Publication of WO2020004714A1 publication Critical patent/WO2020004714A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/324—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising two axially spaced, rigidly interconnected, orbital gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes

Definitions

  • the present invention relates to an integrated actuator using a small size cycloid-type reducer.
  • the present invention relates to a device and a method for detecting a rotation angle of an actuator of which the shaft direction length is reduced, by attaching an output shaft of a cycloid-type reducer to a dynamic power transmission structure and measuring the rotation angle transferred from the dynamic power transmission structure.
  • robots have been applied to simple and repetitive jobs or potentially dangerous jobs in the industry world, allowing increasing productivity and allocating manpower to high efficiency of jobs.
  • a joint of a robot may be equipped with a motor for applying torque, a reducer for multiplying torque of the motor, and a device for measuring a rotation angle of the joint.
  • a cycloid-type reducer among such reducers has advantages of a rate of high reduction against a size and of less back-lash together with a drawback due to a complicated structure.
  • the present invention relates to an integrated actuator using a small size cycloid-type reducer.
  • the present invention relates to a device and a method for detecting a rotation angle of an actuator of which the shaft direction length is reduced, by attaching an output shaft of a cycloid-type reducer to a dynamic power transmission structure and measuring the rotation angle transferred from the dynamic power transmission structure.
  • an actuator may include a cycloid reducer, wherein the cycloid reducer includes: a motor 1; an input side case 2 which is coupled with the motor 1; a first internal gear 5 which is coupled with the input side case 2; an eccentric shaft 3 which is fixed and coupled to the input side case 2 and an external gear 4 and of which one end engages with the first internal gear 5, allowing rotation; a second internal gear 7 which engages with opposite end of the eccentric shaft 3, allowing rotating together; an output carrier 6 which outputs power transferred to the second internal gear 7; and an output side case 8 which is equipped with a bearing 9 which the output carrier 6 passes through.
  • the cycloid reducer includes: a motor 1; an input side case 2 which is coupled with the motor 1; a first internal gear 5 which is coupled with the input side case 2; an eccentric shaft 3 which is fixed and coupled to the input side case 2 and an external gear 4 and of which one end engages with the first internal gear 5, allowing rotation; a second internal gear 7 which engages with opposite end of the
  • At least a portion of the input side case 2 and the first internal gear 5 and the second internal gear 7 and the output carrier 6 may be manufactured in to an integrated type.
  • the external gear 4 may be formed into a multi-tier gear, and a ratio of reduction of a cycloid reducer may be determined by at least one of sizes of each of the first internal gear 5, the second internal gear 7 and the multi-tier external gear 4.
  • At least a portion of the output carrier 6 may have a first gear shape, and further include: a second gear which engages with the first gear shape, allowing rotation; and an angle detection part for measuring at least one of an absolute angle and a relative angle which are related to rotation of the second gear.
  • the first gear shape may include at least one of a spur gear shape, a bevel gear shape and a magnet gear shape.
  • the angle detection part may include at least one of a magnetic encoder 12, a magnet 13, an optical encoder 14 and a potentiometer 15.
  • At least a portion of the eccentric shaft 3, the external gear 4 and the output carrier 6 may be manufactured into a hollow type.
  • the present invention is capable of providing a user with an integrated actuator using a small cycloid-type reducer.
  • the present invention is capable of providing a user with a device and a method for detecting a rotation angle of an actuator of which the shaft direction length is reduced, by attaching an output shaft of a cycloid-type reducer to a dynamic power transmission structure and measuring the rotation angle transferred from the dynamic power transmission structure.
  • FIG. 1 shows one example of a conventional cycloid gear related with the present invention.
  • FIG. 2 shows one example of a structure according to the present invention in which a separate sensor support is installed to an output carrier and a location is measured using a sensor, such as a magnetic encoder.
  • FIG. 3 shows one example according to the present invention in which the structure provided in FIG. 2 is improved, allowing forming a hole which penetrates a reducer and a shaft and installing a rotation load inside a hollow type shaft.
  • FIG. 4 shows one example of an integrated actuator using a small cycloid reducer according to the present invention.
  • FIG. 5 shows one example of a structure according to the present invention, in which an internal gear, an input side case and an output carrier in the structure of FIG. 4 are processed into an integrated type, allowing reducing an assembly error.
  • FIG. 6 shows one example of a dynamic power transmission structure using an output carrier of a small cycloid reducer according to the present invention.
  • FIG. 7 shows another example in which an optical encoder or a potentiometer is used instead of the magnetic encoder and magnet applied to FIG. 6.
  • FIG. 8 shows another example in which a bevel gear shape or a magnet gear is used instead of the spur gear shape applied to FIG. 6.
  • robots have been applied to simple and repetitive jobs or potentially dangerous jobs in the industry world, allowing increasing productivity and allocating manpower to high efficiency of jobs.
  • a joint of a robot may be equipped with a motor for applying torque, a reducer for multiplying torque of the motor, and a device for measuring a rotation angle of the joint.
  • Robot actuators incorporating such parts have been being sold, allowing solving these problems.
  • a cycloid-type reducer among such reducers has advantages of a rate of high reduction against a size and of less back-lash together with a drawback due to a complicated structure.
  • FIG. 1 shows one example of a conventional cycloid gear related with the present invention.
  • a conventional cycloid gear 100 uses inner circumferential surface of a case as an internal gear 30. Two sheets of external gears 40 and 50 are installed, allowing being contacted with an inner gear 30. The external gears 40 and 50 are coupled with an output carrier 70 by using a plurality of output pins 60 penetrating each hole formed on the external gears.
  • the conventional cycloid gear requires complicated manufacturing and assembling processes. Therefore, this causes a drawback in minimization.
  • a rotation angle of the output carrier 70 of the reducer even corresponds to a rotation angle of the joint of the robot. Therefore, a measurement method therefor should be equipped together.
  • FIG. 2 shows one example of a structure according to the present invention in which a separate sensor support is installed to an output carrier and a location is measured using a sensor, such as a magnetic encoder.
  • a separate sensor support 210 may be installed to the output carrier 70, and a location may be measured using a sensor 130a, such as a magnetic sensor.
  • the separate sensor support 210 for supporting the sensor 130a may preclude a joint from rotating a full 360 degrees. Further, a shaft direction length is increased and thus such a structure may be without merit in an aspect of design when used for the articulated robot which has a shaft integrated structure.
  • FIG. 3 shows one example according to the present invention in which the structure provided in FIG. 2 is improved, allowing forming a hole which penetrates a reducer and a shaft and installing a rotation load inside a hollow type shaft.
  • a hole is formed, allowing penetrating a reducer 90 and a shaft 220 and a rotation load is installed inside a hollow type shaft.
  • An integrated actuator using small size cycloid-type reducer is provided to solve the aforementioned problems.
  • the present provides a device and a method for detecting a rotation angle of an actuator of which the shaft direction length is reduced, by attaching an output shaft of a cycloid-type reducer to a dynamic power transmission structure and measuring the rotation angle transferred from the dynamic power transmission structure.
  • FIG. 4 shows one example of an integrated actuator using a small cycloid reducer according to the present invention.
  • a small size cycloid-type reducer included in an actuator according to the present invention has a certainly different structure from that of a cycloid-type reducer applied to the conventional actuator, for example, in FIG. 1.
  • an eccentric shaft 3 is fixed to an input side case 2 coupled with a motor 1, using a bearing.
  • the eccentric shaft 3 is also fixed to a 2-tier external gear 4 using a bearing.
  • each of a first tier and a second tier of the external gear 4 engages with a first internal gear 5 attached to the input side case 2 and a second external gear 7 attached to an output carrier 6 respectively, allowing rotation.
  • the output carrier 6 attached with the second internal gear 7 penetrates a cross roller bearing 9 fixed to an output side case 8.
  • a pin roller bearing may be additionally added between the external gear 4 and the first internal gear 5, or between the external gear 4 and the second gear 7, allowing reducing friction between gears engaging with each other.
  • FIG.4 the structure in FIG.4 according to the present invention is different from the aforementioned conventional structure in FIG. 1 in that there is no need for a plurality of output pins to penetrate a plate gear, allowing simple assembly and minimizing a size dramatically.
  • At least a portion of elements described in FIG. 4 may be processed into an integrated type.
  • FIG. 5 shows one example of a structure according to the present invention, in which an internal gear, an input side case and an output carrier are processed into an integrated type, allowing reducing an assembly error.
  • the output carrier 6 may be processed including a portion of a dynamic power transmission structure, allowing measuring a rotation angle of the output carrier without any additional installation of either a hollow shaft or a sensor.
  • FIG. 6 shows one example of a dynamic power transmission structure using an output carrier of a small cycloid reducer according to the present invention.
  • FIG. 6 shows a preferable embodiment of a dynamic force transmission structure using the output carrier of the small size cycloid reducer according to the present invention. Since a dynamic force is transmitted in the same manner as a spur gear having a rotation ratio of 1:1, the structure of FIG. 6 will be understood easily.
  • a portion of the output carrier 6 of the small size cycloid reducer according to the present invention may be molded into a shape of a spur gear 10.
  • An angle detection part for measuring an absolute angle and a relative angle may be equipped to the side of another spur gear 11 which engages with the spur gear 10, wherein the angle detection part may include a magnetic encoder 12 and a magnet 13.
  • a method applied to the present invention is to mold a portion of a dynamic power transmission structure together with the output carrier 6 of the cycloid reducer.
  • FIG. 6 describes the spur gear having a rotation ratio of 1:1 and the magnetic encoder. However, the implementation method thereof is modifiable.
  • FIG. 7 shows another example in which an optical encoder or a potentiometer is used instead of the magnetic encoder and magnet applied to FIG. 6.
  • FIG. 7 show embodiments in which each of an optical encoder 14 and a potentiometer 15 are used instead of the magnetic encoder 12 and magnet 13, respectively.
  • a dynamic power transmission structure capable of replacing the spur gear may be coupled to the output carrier.
  • FIG. 8 shows another example in which a bevel gear shape or a magnet gear is used instead of the spur gear shape applied to FIG. 6.
  • FIG. 8 illustrate is one example in which the magnet gear is used instead of the spur gear.
  • the eccentric shaft 3, the plate gear 4 and the output carrier 6 may be manufactured into a hollow type.
  • the present invention may provide a user with an integrated actuator using a small size cycloid-type reducer.
  • the present invention may provide a user with a device and a method for detecting a rotation angle of an actuator of which the shaft direction length is reduced, by attaching an output shaft of a cycloid-type reducer to a dynamic power transmission structure and measuring the rotation angle transferred from the dynamic power transmission structure.
  • embodiments of the present invention may be implemented via various means.
  • embodiments of the present invention may be implemented by hardware, firmware, software or any combinations thereof.
  • embodiments of the present invention may implemented by ASICs (Application Specific Integrated Circuits), DSPs (digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), Processor, controller, microcontroller, microprocessor, etc.
  • ASICs Application Specific Integrated Circuits
  • DSPs digital Signal Processors
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGAs Field Programmable Gate Arrays
  • Processor controller, microcontroller, microprocessor, etc.
  • a method according to the embodiments of the present invention may be implemented into a type of a module performing technical functions or operations, a procedure, a mathematical function, etc.
  • a software code may be stored in a memory unit and operated by a processor.
  • the memory unit may be positioned inside or outside the processor, allowing transmitting and receiving data with the processor by publicly known means.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne un actionneur intégré utilisant un petit réducteur de type cycloïde. Selon un mode de réalisation donné à titre d'exemple, un actionneur comprend un réducteur cycloïde, le réducteur cycloïde comprenant : un moteur (1) ; un boîtier côté entrée (2) qui est couplé au moteur (1) ; un premier engrenage interne (5) qui est couplé au boîtier côté entrée (2) ; un arbre excentrique (3) qui est fixé et couplé au boîtier côté entrée (2) et un engrenage externe (4) et dont une extrémité vient en prise avec le premier engrenage interne (5), permettant la rotation ; un second engrenage interne (7) qui vient en prise avec l'extrémité opposée de l'arbre excentrique (3), permettant la rotation conjointe ; un support de sortie (6) qui délivre de l'énergie transférée au second engrenage interne (7) ; et un boîtier côté sortie (8) qui est équipé d'un palier (9) à travers lequel passe le support de sortie (6).
PCT/KR2018/011472 2018-06-27 2018-09-28 Actionneur intégré utilisant un réducteur de type cycloïde de petite taille Ceased WO2020004714A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0073745 2018-06-27
KR1020180073745 2018-06-27

Publications (1)

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WO2020004714A1 true WO2020004714A1 (fr) 2020-01-02

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Application Number Title Priority Date Filing Date
PCT/KR2018/011472 Ceased WO2020004714A1 (fr) 2018-06-27 2018-09-28 Actionneur intégré utilisant un réducteur de type cycloïde de petite taille

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023191391A1 (fr) * 2022-03-31 2023-10-05 주식회사 아모텍 Actionneur à rotule creuse interne
CN117182958A (zh) * 2023-09-26 2023-12-08 东莞市伟创动力科技有限公司 一种机器人关节电机及该机器人关节电机的控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001169512A (ja) * 1999-12-03 2001-06-22 Nippon Yusoki Co Ltd 電動機のエンコーダ取付装置
JP2006300272A (ja) * 2005-04-22 2006-11-02 Aisin Seiki Co Ltd モータ組込みハイポサイクロイド減速機
KR20130045694A (ko) * 2011-10-26 2013-05-06 (주)로보티즈 분리형 엑츄에이터
JP2014052033A (ja) * 2012-09-07 2014-03-20 Mikuni Corp アクチュエータ
KR101855712B1 (ko) * 2017-09-12 2018-05-10 주식회사 민트로봇 백래시 방지 싸이클로이드 감속기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001169512A (ja) * 1999-12-03 2001-06-22 Nippon Yusoki Co Ltd 電動機のエンコーダ取付装置
JP2006300272A (ja) * 2005-04-22 2006-11-02 Aisin Seiki Co Ltd モータ組込みハイポサイクロイド減速機
KR20130045694A (ko) * 2011-10-26 2013-05-06 (주)로보티즈 분리형 엑츄에이터
JP2014052033A (ja) * 2012-09-07 2014-03-20 Mikuni Corp アクチュエータ
KR101855712B1 (ko) * 2017-09-12 2018-05-10 주식회사 민트로봇 백래시 방지 싸이클로이드 감속기

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023191391A1 (fr) * 2022-03-31 2023-10-05 주식회사 아모텍 Actionneur à rotule creuse interne
CN117182958A (zh) * 2023-09-26 2023-12-08 东莞市伟创动力科技有限公司 一种机器人关节电机及该机器人关节电机的控制方法

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