KR100460083B1 - Articulated robot module having intersecting axes - Google Patents

Abstract

PURPOSE: A multi-axial robot module having a cross-axis is provided to remove the offset between plural rotating shafts embedding driving units, to make cable connection possible through the interior of a module and the central portion of the rotating shafts, and to compose a multi-axial robot without additional structure or parts. CONSTITUTION: A multi-axial robot module(100) having a cross-axis comprises a body(150) having an internal space and plural openings and plural drive shaft connecting units(110,120) mounted in the openings, removably combined with an external shaft or a link member and having a drive motor and a gear reducer(114) for rotating the shaft or the link member. The drive shaft connecting unit includes a hollow core fixed part(141), a driving rotor(112) received in the hollow core portion(113) of the fixed part and removably combined with the shaft or link member, and a drive unit. The drive motor is prepared in the position spaced apart from a central shaft to remove offset.

Description

Articulated robot module having intersecting axes

The present invention relates to a multi-axis robot module having an intersecting shaft, and more particularly, there is no offset between a plurality of rotating shafts each having a built-in driving means, and a cable connection is possible through the inside of the module and the center of the rotating shaft. And, it relates to a multi-axis robot module that can configure a multi-axis robot without additional structure or parts other than the link member.

In general, a multi-axis robot is constituted by a continuous combination of an arm having a roll rotation axis and a pitch rotation axis respectively or together and a link member connecting them. The arm has a roll and a pitch rotation shaft, respectively or together, a drive motor for driving the roll or pitch rotation shaft inside or outside the arm, a speed reducer for transmitting the power of the drive motor to the rotation shaft at a predetermined reduction ratio and the drive. It is provided with a connection cable for providing power and control signals to the motor.

Such a multi-axis robot may be formed by a continuous combination of a multi-axis robot module having a roll and a pitch rotation axis, respectively or together, and a link member connected to the roll or pitch rotation axis to provide a desired size of motion. However, there are some problems that cannot be easily solved in the construction of a robot using a general-purpose multi-axis robot module.

In the case of a conventional rotary shaft of a multi-axis robot, when a driving motor is embedded as a solid shaft, a driving unit including a driving motor and a speed reducer for transmitting power thereof is provided at the center of the rotating shaft. When the size of the arm or module of the multi-axis robot is reduced, the driving unit of the roll rotating shaft and the driving unit of the pitch rotating shaft collide with each other at the intersection of the inside of both shafts.

However, if there is an intersection distance between the two axes, there is a problem that kinematic or dynamic analysis is difficult or impossible when the multi-axis robot is formed as a whole. This problem may be solved in the process of designing and manufacturing a multi-axis robot separately, but may cause a fatal problem that is not solved when the modular general-purpose multi-axis robot module is assembled and used for use.

In addition, when the rotary shaft is formed as a solid shaft as described above, there is a problem that the connection cable should be connected to the arm or module of the multi-axis robot. Proposed to solve this problem is the modular robot joint axis structure of the Utility Model Registration No. 20-0159581.

1 is a cross-sectional view showing a conventional robot joint axis structure. The registration proposal is composed of a body 10 and a rotating body 20, the motor 10 is fixed to the body 10 for driving the rotating body 20. A drive shaft 61 protrudes from one shaft of the motor 60, and a first pulley 62 is fixed thereto. The first pulley 62 is connected to the second pulley 71 and the timing belt 40 fixed to the hollow rotating shaft 70 of the rotating body 20 to transmit rotational force. At this time, the connection cable 30 for providing power and control signals to the motor 60 may pass through the hollow rotating shaft 70 to be connected to a correlating shaft coupled to an external control device or the rotating body 20. have.

However, as in the registration proposal, the rotation driving method by the pulley and the timing belt is easy to pass the connecting cable by forming a hollow in the rotating shaft like the hollow rotating shaft, but the rigidity and the elasticity of the timing belt have a robot. There is a problem that the reactivity of is lowered and adversely affects the control of the robot by a servo motor or the like.

Due to the above problems, it is difficult to provide a multi-axis robot module that can be used in combination with a link member suitable for the purpose by implementing the arm of the multi-axis robot in a general-purpose module.

The present invention has been proposed to solve the above problems, and there is no offset between a plurality of rotary shafts each having a built-in driving means, and a cable connection is possible through the center of the rotary shaft and the module. An object of the present invention is to provide a multi-axis robot module capable of constructing a multi-axis robot without additional structures or parts other than members.

In addition, a support bearing or the like is provided on the driving side of the rotating shaft and on the opposite side on such a shaft to support both ends, and to provide a multi-axis robot module which makes it easier to connect the cable through the hollow on the opposite side of the steel shaft. There is a purpose.

1 is a cross-sectional view showing a conventional robot joint axis structure.

Figure 2 is a perspective view showing an embodiment of a multi-axis robot arm consisting of a multi-axis robot module and a link member according to the present invention.

Figure 3 is a perspective view showing an embodiment of a multi-axis robot module according to the present invention.

Figure 4 is an assembly view showing the embodiment of Figure 3 by parts.

FIG. 5 is a perspective view showing a state in which a part of the embodiment shown in FIG. 3 is cut away; FIG.

Figure 6 is a perspective view showing an embodiment of a multi-axis robot consisting of a multi-axis robot module and a link member according to the present invention.

100: multi-axis robot module 110: first drive shaft connecting portion

111, 121, 141: fixed part 112, 122: drive rotating body

114,124: gear reducer 115,125: drive motor

120: second drive shaft connecting portion 140: support shaft connecting portion

142: support rotating body 153: bearing

In order to achieve the object of the present invention, the multi-axis robot module having a cross axis according to the present invention, the space is secured inside, the body is formed with a plurality of openings in a direction perpendicular to each other; And a plurality of drive shaft connecting parts mounted to the opening and detachably coupled to an external correlation shaft or link member and having a drive motor and a gear reducer connected to an inside to rotate the correlation shaft or link member. .

The drive shaft connecting portion, the hollow fixing portion fixed to the opening; A drive rotatable body rotatably received in the hollow of the fixing unit and detachably coupled to an external correlation shaft or link member; And a driving means having a gear reducer configured to decelerate and transmit the rotational motion of the driving motor and the driving motor to a predetermined ratio inside the driving rotation body, wherein at least one of the plurality of driving shaft connections is a predetermined distance from a central axis. It is provided with a drive motor connected to a remote location, so that the central axes of the plurality of drive shaft connecting portions orthogonal to each other without crossing distance.

In the case of a two-axis robot module, at least one of the two drive shaft connecting portions allows the internal drive motor to be mounted at a position away from the central axis, thereby preventing the driving motors of each of the two axes from colliding at the intersection of the central axis. That is, instead of securing a mounting space of the drive motor by providing an intersecting distance between the two axes, it is possible to secure the drive motor mounting space without the cross-distance between the axes by separating the positions of the respective built-in drive motors from the center of the shaft.

In addition, at least one support shaft connecting portion may include a through hole formed at a central portion thereof without a driving means on an opposite side of the driving shaft connecting portion to allow a connecting cable for providing power and control signals to the driving motor. The through hole may be formed in the center of the driving shaft connecting portion having the driving motor at a position away from the central axis among the plurality of driving shaft connecting portions.

Therefore, the connecting cable may be connected to an adjacent module through two supporting shaft connecting parts or through one supporting shaft connecting part and one driving shaft connecting part.

Here, the driving motor refers to a device that can be controlled by electric or mechanical signals as well as an electric motor, and can generate rotational power in accordance with the control signal. However, it is desirable to use an electric servomotor for precise and immediate control.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view showing an embodiment of a multi-axis robot arm composed of a multi-axis robot module and a link member according to the present invention. The multi-axis robot using the multi-axis robot module according to the present invention, as described above, consists of a continuous combination of the multi-axis robot module (two-axis robot module in this embodiment) and the link member.

As shown in FIG. 2, a six-axis robot may be configured by a combination of three two-axis robot modules 100 and an appropriate link member 200. In this case, a drive motor capable of driving a roll rotating shaft and a pitch rotating shaft may be built in the multi-axis robot module, and a connection cable for providing power and control signals to the driving motor may be connected through the inside of the module and the link member.

The drive shaft connection part 110 corresponding to the roll rotation shaft of the multi-axis robot module 100 may couple the drive rotation body 112 to be detachably attached to an external correlation shaft or a link member, and a hollow, that is, a through hole (center) of the drive shaft (112). Through the connecting cable 113 can be passed.

3 is a perspective view showing an embodiment of a multi-axis robot module according to the present invention. 3 shows an embodiment in which both the roll rotation axis and the pitch rotation axis have respective drive shaft connecting portions 110 and 120 and respective support shaft connecting portions 140 opposed thereto.

The module 100 includes a body 150 having two pairs of openings facing each other in a roll rotation axis and a pitch rotation axis direction perpendicular to each other, and a first drive shaft connecting part 110 mounted to the opening in the roll rotation axis direction, in the pitch rotation axis direction. And a second drive shaft connecting portion 120 mounted to the opening and a support shaft connecting portion 140 mounted to each of the opposing openings. Here, the roll rotating shaft and the pitch rotating shaft may be interchanged with each other.

The drive shaft connecting parts 110 and 120 are hollow fixing parts 111 fixed to the openings, and are rotatably accommodated in the hollows of the fixing parts, and a driving rotating body detachably coupled to an external correlation shaft or link member ( 112 and a driving means having a gear reducer 114 that decelerates and transmits a rotational motion of the driving motor and the driving motor to a predetermined ratio inside the driving rotating body 112.

In this case, the plurality of driving shaft connecting parts 110 and 120 may include at least one first driving shaft connecting part 110 and the driving motor mounted on a central axis of the driving motor at a position separated by a predetermined distance from the central axis. Including the second drive shaft connecting portion 120, the central axis of the plurality of drive shaft connecting portion may be perpendicular to each other without crossing distance.

However, the module 100 may be formed of two first drive shaft connecting parts in which the roll rotation axis and the pitch rotation axis are respectively mounted on the opposite side of the drive shaft connecting part based on the central axis of the driving shaft connecting part.

In addition, the multi-axis robot module 100 according to the present invention, if necessary, provided with three first drive shaft connecting portion in the direction perpendicular to each other, and the drive motors mounted on each inner side to cross each other at one point of three axes It can be made to intersect.

In the present embodiment, the connection cable for providing power and control signals to each of the driving motors is formed through the through hole 113 formed in the center of the first drive shaft connecting unit 110 and the center of the support shaft connecting unit 140. The inside and the outside of the module may be connected through the hole 143. In addition, in the case of including two first drive shaft connecting portions, the inside and the outside of the module may be connected through the two through holes 113 even when the separate supporting shaft connecting portions are not included.

In the multi-axis robot module 100 according to the present invention, as shown in FIG. 3, the central axis of the roll rotation axis and the pitch rotation axis cross each other inside the module 100. That is, the intersection distance between the axes is zero. This is possible because the driving means provided inside the respective drive shaft connecting portions do not interfere with each other, thereby solving the problem of mechanical analysis and the control problem caused by the existence of the offset between the axes, Therefore, it is possible to easily configure a multi-axis robot by combining a general-purpose multi-axis robot module and the necessary link member.

4 is an assembly view showing the embodiment of FIG. 3 according to parts. The body 150 has openings 151 formed in directions perpendicular to each other and on opposite sides thereof. Sealing members 155 and 156 may be included between the opening 151 and the drive shaft connecting portions 110 and 120 or the support shaft connecting portion 140. As the sealing member, it is preferable to use an O-ring 156 on the drive shaft connecting portions 110 and 120 and an oil seal 155 on the supporting shaft connecting portion 140, which not only prevents oil leakage. It prevents foreign matter such as water or dust from penetrating into the robot module from the outside.

The plurality of drive shaft coupling parts 110 and 120 may include gear reducers 114 and 124 and drive motors 115 and 125, respectively. The first drive shaft coupling part 110 may be mounted at a position spaced apart from the central axis as illustrated in FIG. 4. And a driven motor 115.

In the first drive shaft connecting unit 110, the gear reducer 114 for transmitting a rotational movement from the drive motor 115 to the drive rotating body 112 at a predetermined reduction ratio is connected to the rotation shaft of the drive motor 115 to rotate. And an output shaft connected to the gear train and the gear train for decelerating and transmitting the rotational motion of the input shaft at a predetermined ratio.

The gear reducer 114 is connected at a position in which the rotation shaft of the drive motor 115 and the input shaft are spaced apart from the central axis by a predetermined distance, and a through hole is formed at the center thereof, so that the through hole 113 of the drive rotation body 112 is formed. It is desirable to be able to connect with). However, a through hole may not be formed in the gear reducer 124 of the second driving shaft connecting portion in which the rotation shaft of the driving motor 125 is connected to the input shaft at the central portion.

The gear reducers 114 and 124 allow for fast and precise operation compared to power transmission devices using pulleys and timing belts. As the gear reducer, various types of gear reducers may be applied. However, in order to easily implement the above-described features, an internal planetary gear reducer is preferable.

In addition, the gear reducer 114, 124 has an inner ring fixed to the drive rotating bodies 112 and 122 and an outer ring fixed to the fixing parts 111 and 121, and supports bearings (not shown) that rotatably support the driving rotating bodies 112 and 122. It may further include.

The support shaft connecting portion 140 mounted on the opposite side of each of the driving shaft connecting portions 110 and 120 is rotatably received in the hollow fixing portion 141 and the hollow of the fixing portion 141 fixed to the opening, It is detachably coupled to the correlation shaft or the link member of the through hole is formed in the center includes a support rotating body 142 to allow the connection cable to pass through.

The hollow fixing portion 141 is a circular hollow is formed in the center, preferably in the form of an annular or flange formed with a screw hole to be fastened to the opening of the body.

In addition, the support shaft connecting portion 140, the inner ring is fixed to the support rotating body 142 and the outer ring is fixed to the fixing part 141, the bearing 153 for supporting the support rotating body 142 to be rotatable ) May include at least one.

By providing the support shaft connecting portion 140 on each or at least one opposing side of the drive shaft connecting portions 110 and 120 described above, both ends of the load applied to the module 100 in the case of a multi-axis robot used for a large load work Can be supported by.

5 is a perspective view showing a state in which a part of the embodiment shown in FIG. 3 is cut away. FIG. 5 shows in detail the interior of the support shaft connection 140. The support shaft connecting portion at the left side of the drawing is provided on the opposite side of the second driving shaft connecting portion 120 in which the driving motor 125 is mounted at the center thereof, and the supporting shaft connecting portion at the right side of the drawing has the driving motor 115 connected to the second driving shaft connecting portion. It is provided on the opposite side of the first drive shaft connecting portion 110 mounted at a position off the center so as to avoid the drive motor 125 of the.

In addition, each of the support shaft connecting portion 140 has a through hole 143 is formed in the center of the support rotating body 142 so that a connection cable enters or exits the module 100 through the through hole 143. You can do that. Therefore, the connection cable may be connected to the outside of the structure without being exposed or twisted to provide power and control signals to the driving motors 115 and 125.

Even when an arbitrary structure is located on the central axis, such as the support shaft connecting part on the left side of FIG. 5, the through hole 143 may be formed in an elliptical shape, such that the connecting cable can be passed to one side thereof.

6 is a perspective view showing an embodiment of a multi-axis robot consisting of a multi-axis robot module and a link member according to the present invention. The drive shaft connecting portion 110, which is made up of a combination of three two-axis robot modules 100 and three link members 200, and is mounted on one end of the roll rotating shaft, is fixed to the frame and is a roll rotating shaft which is an end of the multi-axis robot arm. It is equipped with a hammer.

The number of the module and the link member may vary depending on the degree of freedom required for the required operation. The end of the multi-axis robot arm may be equipped with various devices such as a hammer and a welding device according to the purpose of the robot.

In the embodiment of the multi-axis robot module and the link member according to the present invention, since the connection cable is not exposed to the outside, it does not interfere with the operation of the robot and prevents the obstacle due to the damage of the connection cable even in a harsh working environment. have.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is common knowledge in the field of the present invention that various substitutions and modifications and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have.

Multi-axis robot module having a cross shaft according to the present invention, so that there is no offset between a plurality of rotary shafts each of which the drive means is built, and to enable the cable connection through the inside of the module and the center of the rotary shaft, There is an effect that the multi-axis robot can be configured by simply combining the multi-axis robot module with an appropriate link member without additional structure or parts.

In addition, there is an effect to support both ends by providing a support bearing or the like on the drive side and the opposite side of the axis of the rotary shaft, and to facilitate the connection of the cable through the hollow on the opposite side.

Claims (11)

A body having a space therein and having a plurality of openings formed in directions perpendicular to each other; And And a plurality of drive shaft connecting parts mounted to the opening and detachably coupled to an external correlation shaft or link member, and having a drive motor and a gear reducer connected to an inner side to rotate the correlation shaft or link member. The drive shaft connecting portion, A hollow fixing part fixed to the opening; A drive rotatable body rotatably received in the hollow of the fixing unit and detachably coupled to an external correlation shaft or link member; And It includes a drive means having a gear reducer for reducing the transmission of the drive motor and the rotational motion of the drive motor to a predetermined ratio inside the drive rotation body, At least one of the plurality of drive shaft connecting portions includes a drive motor connected to a position separated by a predetermined distance from a central axis, such that the central axes of the plurality of drive shaft connecting portions are perpendicular to each other without crossing distances. Multi-axis robot module with intersecting axes. The method of claim 1, The plurality of drive shaft connecting portion, At least one first driving shaft connecting portion mounted at a position where the driving motor is separated by a predetermined distance from the central shaft; The drive motor includes a second drive shaft connecting portion mounted on the central axis, Central axes of the plurality of drive shaft connecting portions are perpendicular to each other without crossing distances, Multi-axis robot module with intersecting axes. The method of claim 2, The first drive shaft connecting portion is formed with a through hole connected to each other in the center of the drive rotation body and the gear reducer, so that the connection cable for providing power and control signals to the drive motor is passed through, Multi-axis robot module with intersecting axes. The method of claim 1, The drive shaft connecting portion, The outer ring is fixed to the inner circumferential surface of the fixed portion, the inner ring is further fixed to the outer circumferential surface of the drive rotary body further comprises a bearing for rotatably supporting the drive rotary body, Multi-axis robot module with intersecting axes. The method according to any one of claims 1 to 4, At least one support shaft connection portion mounted to an opening formed on an opposite side of at least one of the plurality of drive shaft coupling portions, and detachably coupled to the external correlation shaft or link member to rotatably support the support shaft connection portion, The support shaft connection portion, A hollow fixing part fixed to the opening; And It is rotatably received in the hollow of the fixing portion, detachably coupled to the external correlating shaft or link member, the through hole is formed in the center includes a support rotating body to allow the connection cable to pass through, Multi-axis robot module with intersecting axes. The method of claim 5, The support shaft connection portion, The outer ring is fixed to the inner circumferential surface of the fixing portion, the inner ring is further fixed to the outer circumferential surface of the support rotating body further includes a bearing for rotatably supporting the drive rotating body, Multi-axis robot module with intersecting axes. A body having a space therein and having a plurality of openings formed in directions perpendicular to each other; A plurality of drive shaft connecting parts mounted in the opening and detachably coupled to an external correlation shaft or link member and having a drive motor and a gear reducer configured to rotate the correlation shaft or link member inside; And Is mounted in the opening formed on the opposite side of at least one of the plurality of drive shaft connecting portion, detachably coupled to the external correlating shaft or link member is rotatably supported, a through-hole is formed in the center to pass the connection cable At least one support shaft connection, The drive shaft connecting portion, A hollow fixing part fixed to the opening; A drive rotatable body rotatably received in the hollow of the fixing unit and detachably coupled to an external correlation shaft or link member; And It includes a drive means having a gear reducer for reducing the transmission of the drive motor and the rotational motion of the drive motor to a predetermined ratio inside the drive rotation body, At least one of the plurality of drive shaft connecting portions includes a drive motor connected to a position separated by a predetermined distance from a central axis, such that the central axes of the plurality of drive shaft connecting portions are perpendicular to each other without crossing distances. Multi-axis robot module with intersecting axes. The method of claim 7, wherein The plurality of drive shaft connecting portion, The drive motor is mounted at a position separated by a predetermined distance from the central axis, and through holes are formed in the center of the drive rotation body and the gear reducer to pass a connection cable for providing power and control signals to the drive motor. At least one first drive shaft connecting portion; The drive motor includes a second drive shaft connecting portion mounted on the central axis, Central axes of the plurality of drive shaft connecting portions are perpendicular to each other without crossing distances, Multi-axis robot module with intersecting axes. The method of claim 7, wherein The support shaft connection portion, A hollow fixing part fixed to the opening; And It is rotatably received in the hollow of the fixing portion, detachably coupled to the external correlating shaft or link member, the through hole is formed in the center includes a support rotating body to allow the connection cable to pass through, Multi-axis robot module with intersecting axes. The method of claim 7, wherein The drive shaft connecting portion, An outer ring is fixed to an inner circumferential surface of the fixing part, and an inner ring is fixed to an outer circumferential surface of the driving rotating body, further comprising a bearing rotatably supporting the driving rotating body; The support shaft connection portion, The outer ring is fixed to the inner circumferential surface of the fixing portion, the inner ring is further fixed to the outer circumferential surface of the support rotating body further includes a bearing for rotatably supporting the drive rotating body, Multi-axis robot module with intersecting axes. The method according to any one of claims 7 to 10, The central axis of the support shaft connecting portion coincides with extending the central axis of the driving shaft connecting portion, Multi-axis robot module with intersecting axes.