KR100806364B1 - 지능로봇용 목 관절장치 - Google Patents
지능로봇용 목 관절장치 Download PDFInfo
- Publication number
- KR100806364B1 KR100806364B1 KR1020060104633A KR20060104633A KR100806364B1 KR 100806364 B1 KR100806364 B1 KR 100806364B1 KR 1020060104633 A KR1020060104633 A KR 1020060104633A KR 20060104633 A KR20060104633 A KR 20060104633A KR 100806364 B1 KR100806364 B1 KR 100806364B1
- Authority
- KR
- South Korea
- Prior art keywords
- fixed
- motor
- coupling
- pulley
- coupled
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
Description
Claims (1)
- 내부에 각종 제어장치 및 배터리가 내장된 몸체(2)와, 몸체(2) 하측에 적용되는 이동수단(4)과, 몸체(2) 상측으로 설치되는 머리부(5) 및 몸체(2)의 상부 좌우측 어깨부재(6)와 관절장치(7)로 결합되는 한 쌍의 팔(8)을 구비한 지능로봇(1)에 있어서,상기 몸체(2)와 머리부(5)는 목 관절장치(10)로 연결되며,상기 목 관절장치(10)는 몸체(2) 상부에 고정된 서포터(11)에 결합 고정되는 베어링(12)을 내장한 하우징(13)과;내부가 비어 있고, 상부에 대향하는 브래킷(14a)을 형성하며, 하부에 베어링(14)에 결합되는 축지부(14b)를 형성한 회전체(14)와;상단이 브래킷(14a) 내측에 위치하도록 회전체(14) 내측으로 내입 설치되며, 서포터(11)에 하단을 고정한 지지대(15)와;브래킷(14a)의 상부에 고정한 모터설치판(17) 및 모터설치판(17)에 고정 설치한 정역모터(18)와;구동축(18a)과 지지대(15) 상단을 연결한 커플링(19)과;커플링(19)의 외주에 설치한 풀리(20)와 모터설치판(17)의 일측에 베어링(22)에 지지되도록 설치된 피동축(21)에 결합한 풀리(23) 및 이들을 연결하는 벨트(24)와;회전체(14)의 양측 브래킷(14a) 바깥쪽에 고정 설치한 축봉(26) 및 이에 설치한 풀리(28)와;모터설치판(17) 하측에 고정된 보조판(29) 및 보조판(29)에 결합된 정역모터(30)와,상기 일측 축봉(26)에 설치된 풀리(28)와 벨트(32)로 연결되도록 구동축(30a)에 결합한 풀리(31)와;상기 양측 풀리(28)에 고정되는 연결패널(34) 및 머리부(5)의 내부 하단과 연결부재(34)에 고정되는 결합판(35)과;피동축(21)과 구동축(30a)의 단부에 위치하도록 모터설치판(17)과 보조판(29)에 설치되며, 피동축(21)과 구동축(30a)의 회전각을 감지하여 정역모터(18)(30)를 전기적으로 제어하는 센서가 내장 구성된 모터제어수단(25)(33)을 포함하는 것을 특징으로 하는 지능로봇용 목 관절장치.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060104633A KR100806364B1 (ko) | 2006-10-26 | 2006-10-26 | 지능로봇용 목 관절장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060104633A KR100806364B1 (ko) | 2006-10-26 | 2006-10-26 | 지능로봇용 목 관절장치 |
Publications (1)
Publication Number | Publication Date |
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KR100806364B1 true KR100806364B1 (ko) | 2008-02-27 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020060104633A KR100806364B1 (ko) | 2006-10-26 | 2006-10-26 | 지능로봇용 목 관절장치 |
Country Status (1)
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KR (1) | KR100806364B1 (ko) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106976098A (zh) * | 2017-06-05 | 2017-07-25 | 游尔(北京)机器人科技股份有限公司 | 一种服务机器人头颈结构 |
CN109571454A (zh) * | 2018-12-29 | 2019-04-05 | 深圳市优必选科技有限公司 | 机器人及其头部运动结构 |
CN110587663A (zh) * | 2019-10-15 | 2019-12-20 | 和美(深圳)信息技术股份有限公司 | 机器人头部运动机构 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH025412A (ja) * | 1988-02-02 | 1990-01-10 | Natl Semiconductor Corp <Ns> | 集積回路基板上の装置をメタリゼーション層へ接続させる方法 |
JPH05115622A (ja) * | 1991-10-29 | 1993-05-14 | T I Shii Shichizun:Kk | アミユーズメントロボツト |
JPH0655233B2 (ja) * | 1988-06-30 | 1994-07-27 | 株式会社タカラ | 玩具における振り動作装置 |
JPH09225146A (ja) * | 1996-02-27 | 1997-09-02 | Japan Small Corp | からくりロボットの首関節装置 |
JP2001024965A (ja) * | 1999-07-09 | 2001-01-26 | Matsushita Electric Ind Co Ltd | 電子番組表の選択システム |
JP2005279856A (ja) | 2004-03-30 | 2005-10-13 | Victor Co Of Japan Ltd | ロボット |
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2006
- 2006-10-26 KR KR1020060104633A patent/KR100806364B1/ko active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH025412A (ja) * | 1988-02-02 | 1990-01-10 | Natl Semiconductor Corp <Ns> | 集積回路基板上の装置をメタリゼーション層へ接続させる方法 |
JPH0655233B2 (ja) * | 1988-06-30 | 1994-07-27 | 株式会社タカラ | 玩具における振り動作装置 |
JPH05115622A (ja) * | 1991-10-29 | 1993-05-14 | T I Shii Shichizun:Kk | アミユーズメントロボツト |
JPH09225146A (ja) * | 1996-02-27 | 1997-09-02 | Japan Small Corp | からくりロボットの首関節装置 |
JP2001024965A (ja) * | 1999-07-09 | 2001-01-26 | Matsushita Electric Ind Co Ltd | 電子番組表の選択システム |
JP2005279856A (ja) | 2004-03-30 | 2005-10-13 | Victor Co Of Japan Ltd | ロボット |
Non-Patent Citations (2)
Title |
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공개특허 2001-24965 |
공개특허 2005-412 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106976098A (zh) * | 2017-06-05 | 2017-07-25 | 游尔(北京)机器人科技股份有限公司 | 一种服务机器人头颈结构 |
CN109571454A (zh) * | 2018-12-29 | 2019-04-05 | 深圳市优必选科技有限公司 | 机器人及其头部运动结构 |
CN110587663A (zh) * | 2019-10-15 | 2019-12-20 | 和美(深圳)信息技术股份有限公司 | 机器人头部运动机构 |
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