KR890002852Y1 - A structure for robot - Google Patents
A structure for robot Download PDFInfo
- Publication number
- KR890002852Y1 KR890002852Y1 KR2019860018441U KR860018441U KR890002852Y1 KR 890002852 Y1 KR890002852 Y1 KR 890002852Y1 KR 2019860018441 U KR2019860018441 U KR 2019860018441U KR 860018441 U KR860018441 U KR 860018441U KR 890002852 Y1 KR890002852 Y1 KR 890002852Y1
- Authority
- KR
- South Korea
- Prior art keywords
- axes
- robot
- pinion
- rack
- backlash
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- 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
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
내용 없음.No content.
Description
제1도는 본 고안의 암(ARM)부를 보인 외부 사시도.1 is an external perspective view showing an arm of the present invention (ARM).
제2도는 피니언과 랙의 구성을 보인 사시도.2 is a perspective view showing the structure of the pinion and the rack.
제3도는 피니언과 랙 사이의 백래쉬를 없애기 위하여 스프링을 설치한 상태의 사시도.3 is a perspective view of a spring installed to eliminate the backlash between the pinion and the rack.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 암 2 : 피니언1: arm 2: pinion
3 ; 랙 4 : 스프링3; Rack 4: spring
5 : 서보모타5: Servo motor
본 고안은 제1도에서 보는 바와같이 간트리(GANTRY)형태의 정밀 조립용 소형 로보트 시스템을 구성하는 장치에 있어서 기계 부분과 콘트롤 부분중 가장 핵심이 될수 있는 구조 내용에 관한 것이다.The present invention relates to the structural contents that can be the core of the machine part and the control part in the device constituting the small robot system for precision assembly of the GANTRY type as shown in FIG.
먼저 기계부분에서 보면 첫째로 제2도에서 보는 바와같이 랙(3)과 피니언(2)을 사용한 서본모타(5)구동 방식을 채택하므로서 구동 구조를 간단하게 설계, 제작할 수 있고 한편 스피드를 올릴수 있으며, 필요시 서보모타(5)를 구동시키지 않고도 직접 손으로 암(1)을 잡고, 임의원 원하는 위치까지 끌고가서 포지숀을 셋트 할 수 있다.First, in the machine part, as shown in FIG. 2, the drive motor (5) using the rack (3) and the pinion (2) can be adopted to simplify the design and manufacture of the drive structure and increase the speed. If necessary, the arm 1 can be grasped by hand without dragging the servomotor 5, and the position can be set by dragging it to the desired position.
둘째로 피니언(2)과 랙(3)에 의한 구동 방식이므로 구동식 필연적으로 백래쉬(BACKLASH)가 발생되므로 그 만큼의 기계 오차가 발생되어 로보트의 위치 정밀도가 문제가 되므로 이 위치 정밀도를 향상시키기 위해서는 전자적인 제어장치의 정밀성도 우수해야 하지만 기계적인 백래쉬 현상도 최소로 줄여줄 필요가 있다.Secondly, because the pinion (2) and the rack (3) is a drive method, the driving type inevitably causes backlash (BACKLASH), so that a mechanical error is generated, and the positional accuracy of the robot becomes a problem. The precision of electronic controls must be excellent, but mechanical backlash needs to be reduced to a minimum.
따라서 본 고안은 제3도에서 보는 바와같이 적당한 인장력을 갖는 스프링(4)을 사용하여 서보모타(5)축에 마운트되어 있는 피니언(2)이 랙(3)에 최대로 밀착될 수 있도록 하므로서 백래쉬 현상을 최소로하여 로보트 구동시 반복 정도를 향상시켰다.Therefore, the present invention uses a spring (4) having a suitable tension force as shown in Figure 3 so that the pinion (2) mounted on the servo motor (5) shaft can be in close contact with the rack (3) to the maximum backlash By minimizing the phenomenon, the degree of repetition is improved when the robot is driven.
세째로 콘트롤러가 최대 8축(서보모타 8개)까지 동시 제어 할수 있으므로 제1도에서 보는 바와같이 좌, 우측 대칭의 트원 암(1)을 설치한 로보트 시스템을 구성할 수 있는바, 실례를 본다면 좌, 우측 암(1)을 각각 4축(x, Y, Z, Q)으로 하는 표준 상태로 구성하여 두개의 암(1)을 별개로 동작시키면 흡사 사람이 할수 있는 기본적인 양손 동작을 취할 수 있음을 물론 작업 고정상의 조건에 따라 좌, 우측 암(1)의 각각의 축수를 가변하여 최대8축 내에서 임의로 설정할 수 있어서 유연성이 매우 좋은 이점이 있다.Third, the controller can control up to 8 axes (8 servo motors) at the same time. As shown in Fig. 1, a robot system equipped with left and right symmetric double arms (1) can be configured. By configuring the left and right arms (1) in a standard state with four axes (x, Y, Z, Q), respectively, operating the two arms (1) separately enables a basic two-handed operation similar to that of a person. Of course, according to the conditions of the work stationary phase, the number of each axis of the left and right arms 1 can be arbitrarily set within a maximum of eight axes, so that the flexibility is very good.
(예좌 2축. 우6축 : 좌 3축. 우 5축 : 또는 이와 반대로, 등)이와같이 본 고안의 로보트의 구조물은 시대에 부응하는 공장 자동화 및 단위 고정 자동화를 유도함에 있어 매우 유용하게 활용될 수 있는 시스템이라 하겠다.(2 axes left. 6 axes right: 3 axes left. 5 axes right: or vice versa, etc.) As such, the robot structure of the present invention can be very useful in inducing factory automation and unit fixing automation in response to the times. It is a system that can.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2019860018441U KR890002852Y1 (en) | 1986-11-25 | 1986-11-25 | A structure for robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2019860018441U KR890002852Y1 (en) | 1986-11-25 | 1986-11-25 | A structure for robot |
Publications (2)
Publication Number | Publication Date |
---|---|
KR880009586U KR880009586U (en) | 1988-07-23 |
KR890002852Y1 true KR890002852Y1 (en) | 1989-05-08 |
Family
ID=19257359
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR2019860018441U KR890002852Y1 (en) | 1986-11-25 | 1986-11-25 | A structure for robot |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR890002852Y1 (en) |
-
1986
- 1986-11-25 KR KR2019860018441U patent/KR890002852Y1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
KR880009586U (en) | 1988-07-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4518308A (en) | Manipulator apparatus | |
KR840008603A (en) | Orthogonal Shaft Adjustment System | |
US4894598A (en) | Digital robot control having an improved pulse width modulator | |
JPH0531683A (en) | Moving mechanism | |
US4874997A (en) | Digital robot control providing pulse width modulation for a brushless DC drive | |
DE3573087D1 (en) | Industrial robots for different applications | |
KR880012298A (en) | Drive | |
EP0240570A1 (en) | Acceleration and deceleration control system for horizontal-joint robots | |
KR890002852Y1 (en) | A structure for robot | |
JPH10277985A (en) | Positioning device | |
JPH0475891A (en) | Wrist mechanism for industrial robot | |
JPS63163063A (en) | Two-degree of freedom driving mechanism performing straight advancing motion and rotary motion | |
EP0271590A4 (en) | Robot control apparatus | |
EP0268490A2 (en) | Digital robot control having improved arm joint motor control and feedback torque current sensing systems | |
JPH1094983A (en) | Actuator mechanism | |
EP0269372A3 (en) | Robot with micro processor-based digital robot control | |
JPS6411771A (en) | Rectilinear propagation working robot | |
JP2523978B2 (en) | Positioning table | |
Archer et al. | Actuation for industrial robots | |
GB2136529A (en) | Linear actuator | |
JPH01303360A (en) | Two dimensional moving mechanism | |
JPH0413579A (en) | Nonreactive device | |
JPS6325107Y2 (en) | ||
JPS6257003A (en) | Back lash correction system for robot | |
JPH0446715B2 (en) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
E701 | Decision to grant or registration of patent right | ||
REGI | Registration of establishment | ||
LAPS | Lapse due to unpaid annual fee |