KR20170053499A - Multi-joint manipulator - Google Patents
Multi-joint manipulator Download PDFInfo
- Publication number
- KR20170053499A KR20170053499A KR1020150156105A KR20150156105A KR20170053499A KR 20170053499 A KR20170053499 A KR 20170053499A KR 1020150156105 A KR1020150156105 A KR 1020150156105A KR 20150156105 A KR20150156105 A KR 20150156105A KR 20170053499 A KR20170053499 A KR 20170053499A
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- KR
- South Korea
- Prior art keywords
- driving
- module
- unit
- drive
- connection
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An articulated manipulator is provided according to an embodiment of the present invention.
The multi-joint manipulator according to an embodiment of the present invention includes at least one first drive module for providing a rotational force about one axis, at least one second drive module for providing a rotational force about two axes orthogonal to each other, And a first connection part and a second connection part, to which one of the first drive module and the second drive module is connected, and the first connection part and the second connection part are connected to the first drive module or the second drive module, And at least one connection module that is orthogonal to each other.
Description
The present invention relates to a multi-joint manipulator, and more particularly, to a multi-joint manipulator capable of implementing various types of joints with a minimum number of modules.
In general, industrial robots are indispensable factors for constructing an unmanned automated factory, which is the final goal of factory automation, and can be largely classified into mobile robots and fixed robots (or manipulators, manipulators). have.
The mobile robot autonomously moves objects along a given path while avoiding obstacles, and can move the position freely with sensors and actuators. The manipulator has a plurality of joints to perform operations such as welding, material handling, painting, and assembly, and the motion of the connected link can be determined according to the degrees of freedom of the joints.
However, the conventional manipulator is not easy to implement various joint shapes, and there is a restriction to use it, so that it can not be utilized in various fields easily.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a multi-joint manipulator capable of implementing various types of joints with a minimum number of modules.
The technical objects of the present invention are not limited to the technical matters mentioned above, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.
According to an aspect of the present invention, there is provided a multi-joint manipulator including at least one first drive module for providing a rotational force about one axis, at least one first drive module for providing a rotational force about two axes orthogonal to each other, And a first connection part and a second connection part to which one of the first driving module and the second driving module is connected, and the first connection part and the second connection part are connected to each other, And at least one connection module in which rotation axes of the first driving module or the second driving module are orthogonal to each other.
The connection module may be formed such that the first connection portion and the second connection portion are formed on different surfaces, and the normal line of the first connection portion and the second connection portion may be formed to be perpendicular to each other.
The first drive module and the second drive module provide rotational force independently of each other, and the second drive module can independently provide rotational force about the two axes.
The first driving module includes a first driving unit, and the first driving unit includes a first driving unit that rotates to provide a driving force, a first driving unit that limits the rotation of the first driving unit, A first deceleration unit connected to the first driving unit and varying the rotation speed of the first driving unit, and a first control unit connected to the first shaking unit and controlling the first driving unit.
The rotation axis of the first deceleration unit may be disposed on the same line as the rotation axis of the first driving unit.
The second driving module includes two second driving units. The second driving unit includes a second driving unit that rotates to provide a driving force, a second shaking unit that limits the rotation of the second driving unit, A second deceleration unit connected to the second driving unit for varying the rotation speed of the second driving unit, and a second control unit connected to the second deceleration unit to control the second driving unit.
The rotation axis of the second deceleration unit may be disposed on the same line as the rotation axis of the second driving unit.
According to the present invention, a minimum number of modules can be assembled to realize various types of joints. Therefore, it is possible to utilize it easily in a variety of fields due to reduced restrictions on use, and precision control can be performed, thereby improving production efficiency.
1 is a perspective view of a multi-joint manipulator according to an embodiment of the present invention.
Figure 2 is a front view of the articulated manipulator of Figure 1;
3 is an exploded view of the articulated manipulator of FIG.
4 is a cross-sectional view of the articulated manipulator of FIG.
5 is an operational view for explaining the operation of the articulated manipulator.
6 is a view showing the use state of the articulated manipulator.
BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.
Hereinafter, a multi-joint manipulator according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6. FIG.
1 is a perspective view of a multi-joint manipulator according to an embodiment of the present invention.
The articulated
The articulated manipulator (1) can assemble a variety of articulated joints by assembling a minimum number of modules. Therefore, it is possible to utilize it easily in various fields due to the restriction on use, and it is possible to perform precise control, thereby improving production efficiency.
Hereinafter, the articulated
FIG. 2 is a front view of the articulated manipulator of FIG. 1, FIG. 3 is an exploded view of the articulated manipulator of FIG. 1, and FIG. 4 is a sectional view of the articulated manipulator of FIG.
The articulated
The
The
The
The
However, the
The
On the other hand, the
4, the
The first driving
The
The
The
Meanwhile, the
The
At least a part of the rotation axis of the
Meanwhile, the
The
The
The
The
The
Meanwhile, the
The
At least a part of the rotation axis of the
The operation of the articulated
5 is an operational view for explaining the operation of the articulated manipulator.
In the articulated
The articulated
Hereinafter, the
The supporting
One side of the
One side of the
One side of the
One side of the
6 is a view showing the use state of the articulated manipulator.
The articulated
While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the embodiments described above are in all respects illustrative and not restrictive.
1: articulated manipulator
10: first driving module 20: second driving module
30: connection module 31: first connection part
32: second connection part 40: support part
100a:
120a:
140a:
160a: first housing
100b: second driving
120b:
140b:
160b:
200: Operation module
Claims (7)
At least one second drive module for providing a rotational force about two axes orthogonal to each other; And
Wherein the first driving module and the second driving module each include a first connecting portion and a second connecting portion to which one of the first driving module and the second driving module is connected, And at least one connection module in which the rotation axes of the drive modules are orthogonal to each other.
Wherein the second drive module independently provides rotational force about the two axes.
The first drive unit includes:
A first driving unit for rotating and providing a driving force,
A first shunt for restricting the rotation of the first driving unit,
A first deceleration unit connected to the first driving unit and varying a rotation speed of the first driving unit; And
And a first controller connected to the first braking unit to control the first driving unit.
And the second drive unit includes:
A second driving unit that rotates to provide a driving force,
A second shunt section for restricting rotation of the second driving section,
A second deceleration unit connected to the second driving unit and varying a rotation speed of the second driving unit; And
And a second controller connected to the second braking unit to control the second driving unit.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150156105A KR20170053499A (en) | 2015-11-06 | 2015-11-06 | Multi-joint manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150156105A KR20170053499A (en) | 2015-11-06 | 2015-11-06 | Multi-joint manipulator |
Publications (1)
Publication Number | Publication Date |
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KR20170053499A true KR20170053499A (en) | 2017-05-16 |
Family
ID=59035088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020150156105A KR20170053499A (en) | 2015-11-06 | 2015-11-06 | Multi-joint manipulator |
Country Status (1)
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019096923A3 (en) * | 2017-11-15 | 2019-06-20 | Universal Robots A/S | Strain wave gear |
KR20200040814A (en) * | 2017-08-31 | 2020-04-20 | 카와사키 주코교 카부시키 카이샤 | Articulated robot |
WO2021144968A1 (en) * | 2020-01-17 | 2021-07-22 | ヤマハ発動機株式会社 | Biaxial integrated module and multi-joint robot arm device |
EP4063693A1 (en) * | 2021-03-25 | 2022-09-28 | Universal Robots A/S | Strain wave gear with encoder integration |
-
2015
- 2015-11-06 KR KR1020150156105A patent/KR20170053499A/en unknown
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20200040814A (en) * | 2017-08-31 | 2020-04-20 | 카와사키 주코교 카부시키 카이샤 | Articulated robot |
EP3677390A4 (en) * | 2017-08-31 | 2021-08-18 | Kawasaki Jukogyo Kabushiki Kaisha | Articulated robot |
US11331816B2 (en) | 2017-08-31 | 2022-05-17 | Kawasaki Jukogyo Kabushiki Kaisha | Articulated robot |
WO2019096923A3 (en) * | 2017-11-15 | 2019-06-20 | Universal Robots A/S | Strain wave gear |
KR20200086270A (en) * | 2017-11-15 | 2020-07-16 | 유니버셜 로보츠 에이/에스 | Strain wave gear |
CN111615602A (en) * | 2017-11-15 | 2020-09-01 | 优傲机器人公司 | Strain wave gear |
US11964389B2 (en) | 2017-11-15 | 2024-04-23 | Universal Robots A/S | Strain wave gear with output flange and integrated encoder |
WO2021144968A1 (en) * | 2020-01-17 | 2021-07-22 | ヤマハ発動機株式会社 | Biaxial integrated module and multi-joint robot arm device |
EP4063693A1 (en) * | 2021-03-25 | 2022-09-28 | Universal Robots A/S | Strain wave gear with encoder integration |
US11796045B2 (en) | 2021-03-25 | 2023-10-24 | Universal Robots A/S | Strain wave gear with encoder integration |
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