KR101182600B1 - Parallel-kinematic robotic manipulator with a large cylindrical workspace - Google Patents

Parallel-kinematic robotic manipulator with a large cylindrical workspace Download PDF

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KR101182600B1
KR101182600B1 KR20100040732A KR20100040732A KR101182600B1 KR 101182600 B1 KR101182600 B1 KR 101182600B1 KR 20100040732 A KR20100040732 A KR 20100040732A KR 20100040732 A KR20100040732 A KR 20100040732A KR 101182600 B1 KR101182600 B1 KR 101182600B1
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link
rotary
driver
joint
horizontal arm
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KR20100040732A
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KR20110121231A (en
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김한성
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경남대학교 산학협력단
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Abstract

The present invention relates to a parallel robot mechanism having a large working area in the form of a cylinder, comprising: a fixed base 10 in the form of a cylinder; Rotation drive means 20 is installed in the upper center of the fixed base 10 to rotate the link; A first horizontal arm portion 30 connected to the first rotary driver 21 of the rotary driving means 20 through a drive link 31; A second horizontal arm portion 40 connected to the second rotary driver 22 of the rotary driver 20 through a drive link 41; A vertical arm part 50 connected to the spare rotary driver 23 of the rotary driver 20 through a drive link 51; A moving platform 60 connected to ends of the first horizontal arm part 30, the second horizontal arm part 40, and the vertical arm part 50; An additional driver 70 installed on an outer surface of the movable platform 60; It is composed of the robot end (80) installed in the additional driver 70 is attached to the tool, the fixed base and the first connecting joint shaft of each arm is arranged on the same line to reduce the size of the drive and controller by moving the inertia and weight of the moving part Can be dramatically reduced, and the robot mechanism can be fixed on the desk, which greatly reduces the installation area of the robot mechanism, which greatly expands the work area compared to the installation area and enables high speed positioning work as well as wide work. It is a useful invention that has a special advantage with excellent economical efficiency because it can eliminate the installation of peripheral devices with the area, and can greatly improve productivity over time since the positioning operation can be performed at high speed / high acceleration.

Description

Parallel-kinematic robotic manipulator with a large cylindrical workspace

The present invention relates to a parallel robot, and more particularly, to a cylinder type that can increase the work area greatly and appropriately reduce the inertia and weight of the moving part while positioning can be performed at a high speed through proper joint arrangement. A parallel robotic mechanism having a large working area.

SCARA; Selective Compliant Assembly Robot Arm (also known as Selective Compliant Articulated Robot Arm) is a multi-axis robotic arm that can be accessed in any X-Y-Z, or rather R-θ-Z coordinates within the workspace. 'X' and 'Y' motion is obtained with three parallel axis rotary joints. The vertical motion 'Z' is usually an independent linear axis at the wrist or base.

SCARA robots are used in assembly operations where the final movement to insert the part is a single vertical movement. Inserting components into a printed circuit board may be an example. This is often referred to as "vertical assembly". Substrate transfer between processing chambers during electronic device manufacturing may be another common use for SCARA robots.

A feature of SCARA is a jointed two link arm arrangement, which may be similar to a human arm, and therefore often uses the term articulated. This property can be withdrawn or "folded" out of this path after the arm extends into the defined area. This is useful for transferring substrates from one chamber to another or in enclosed loading / unloading process stations.

However, the SCARA robot cannot perform high speed positioning work in a specific installation area and work area, and there are problems such as high weight and weight as well as a problem that the size of the driving unit and the controller is very large.

Meanwhile, US Pat. Nos. 4,976,582, 6,339,969, and 6,616,681 are known as conventional technologies related to robots.

However, the above-described US patents have a problem that the work area is narrow compared to the installation area of the robot because the robot is fixed to the upper side like the ceiling as a delta type parallel type.

The present invention has been invented to solve various defects and problems caused by the above-described conventional robot, and its object is to place the fixed base and the first connecting joint shaft of each arm in the same line, thereby dramatically reducing the size of the drive unit and the controller. It is to provide a parallel robot mechanism having a large working area in the form of a cylinder that can significantly reduce the inertia and weight of the moving part.

Another object of the present invention is to fasten the robot mechanism on the desk to greatly reduce the installation area of the robot mechanism by largely widening the work area compared to the installation area while high speed / high acceleration work ability to perform the positioning work at high speed It is to provide a parallel robot mechanism having a large working area in the form of a cylinder having a.

Another object of the present invention is to have a large work area to eliminate the installation of peripheral devices, and to perform the positioning work at a high speed / high acceleration can dramatically improve productivity over time, so the economical parallel robot To provide an appliance.

Parallel robot mechanism having a large working area of the present invention cylinder type for achieving the above object and the fixed base 10 of the cylinder type; The first rotary driver 21, the second rotary driver 22 and the spare rotary driver 23 is installed in multiple stages in the upper center of the fixed base 10 to rotate the link to rotate the link (20) and; A first horizontal arm portion 30 connected to the first rotary driver 21 of the rotary driving means 20 through a drive link 31; A second horizontal arm portion 40 connected to the second rotary driver 22 of the rotary driver 20 through a drive link 41; A vertical arm part 50 connected to the spare rotary driver 23 of the rotary driver 20 through a drive link 51; A moving platform 60 connected to ends of the first horizontal arm part 30, the second horizontal arm part 40, and the vertical arm part 50; An additional driver 70 installed on an outer surface of the movable platform 60; Installed on the additional driver 70 is characterized in that consisting of the robot end 80 to which the tool is attached.

The present invention can significantly reduce the inertia and weight of the moving part by placing the fixed base and the first connecting joint axis of each arm on the same line, thereby drastically reducing the size of the driving part and the controller, and fixing the robot mechanism on the desk. By drastically reducing the installation area of the robotic mechanism, the work area can be greatly expanded compared to the installation area, and the positioning work can be performed at high speed, and the work area can be eliminated by having a large work area. It can be made at high speed and high speed, which can dramatically improve productivity over time, so it has a special advantage with excellent economic efficiency.

1 is a perspective view showing a first embodiment of a parallel robot mechanism having a large working area in the form of a cylinder of the present invention;
Figure 2 is a perspective view showing a second embodiment of the parallel robot mechanism having a large working area of the present invention cylinder type,
Figure 3 is a perspective view showing a third embodiment of the parallel robot mechanism having a large working area in the form of the present invention,
Figure 4 is a perspective view showing a fourth embodiment of the parallel robot mechanism having a large working area of the present invention cylinder type.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the parallel robot mechanism having a large working area in the form of the present invention.

1 is a perspective view showing a first embodiment of a parallel robot mechanism having a large working area in the form of the present invention, and FIG. 2 is a second embodiment of a parallel robot mechanism having a large working area in the form of a present invention. 3 is a perspective view showing a third embodiment of a parallel robot mechanism having a large working area in the form of the present invention, and FIG. 4 is a fourth embodiment of a parallel robot mechanism having a large working area in the form of a present invention. As a perspective view of the present invention, the parallel robot mechanism having a large working area in the form of a cylinder includes a fixed base 10 in the form of a cylinder; The first rotary driver 21, the second rotary driver 22 and the spare rotary driver 23 is installed in multiple stages in the upper center of the fixed base 10 to rotate the link to rotate the link (20) and; A first horizontal arm portion 30 connected to the first rotary driver 21 of the rotary driving means 20 through a drive link 31; A second horizontal arm portion 40 connected to the second rotary driver 22 of the rotary driver 20 through a drive link 41; A vertical arm part 50 connected to the spare rotary driver 23 of the rotary driver 20 through a drive link 51; A moving platform 60 connected to ends of the first horizontal arm part 30, the second horizontal arm part 40, and the vertical arm part 50; An additional driver 70 installed on an outer surface of the movable platform 60; Is installed in the additional driver 70 is composed of a robot end 80 to which a tool is attached.

In the first embodiment of the present invention, the first horizontal arm portion 30 has a connection block 32 connected to an end of the drive link 31 and a spherical joint installed at an end of the connection block 32. 33 and 33 ', connecting links 34 and 34' having one end connected to each of the spherical joints 33 and 33 ', and a spherical connecting to the other end of each of the connecting links 34 and 34'. The joints 35 and 35 'and connecting blocks 36 connected between the spherical joints 35 and 35' form a spatial parallelogram mechanism.

In the first embodiment of the present invention, the second horizontal arm portion 40 has a connection block 42 connected to an end of the drive link 41 and a spherical joint installed at an end of the connection block 42. 43 and 43 ', connecting links 44 and 44' having one end connected to each of the spherical joints 43 and 43 ', and a spherical connecting to the other end of each of the connecting links 44 and 44'. It consists of a joint 45, 45 'and a connecting block 46 connected between the spherical joints 45, 45' to form a spatial parallelogram mechanism.

In the first embodiment of the present invention, the vertical arm portion 50 has a connection block 52 connected to an end of the drive link 51 and a spherical joint 53 installed at an end of the connection block 52. 53 '), connecting links 54 and 54' having one end connected to each of the spherical joints 53 and 53 ', and a spherical join ㅌ connected to the other end of each of the connecting links 54 and 54'. 55, 55 'and a connecting block 56 connected between the spherical joints 55, 55' to form a spatial parallelogram mechanism.

One end of the driving link 51 in the first embodiment of the present invention is connected to a third rotary driver 24 installed between the support members 23a which are erected and fixed to the upper edge of the spare rotary driver 23. It is fixed.

In addition, the movable platform 60 in the first embodiment of the present invention, the left end is connected to the connection block 36 of the first horizontal arm portion 30, the right end is connected to the second horizontal arm portion 40 It is connected to the block 46, the upper end is connected to the connecting block 56 of the vertical arm 50.

In the second embodiment of the present invention, the first horizontal arm portion 30 includes a universal joint 31a connected to an end of the drive link 31 and a connection link of which one end is connected to the universal joint 31a. 32a and a universal joint 33a connected to the other end of the connecting link 32a.

In the second embodiment of the present invention, the second horizontal arm portion 40 includes a universal joint 41a connected to an end of the drive link 41 and a connection link of which one end is connected to the universal joint 41a. And a universal joint 43a connected to the other end of the connection link 42a.

In addition, the vertical arm 50 in the second embodiment of the present invention is a universal joint (51a) is connected to the end of the drive link 51, the connection link is connected to one end of the universal joint (51a) 52a and a universal joint 53a connected to the other end of the connecting link 52a.

In the third embodiment of the present invention, a manual rotary joint 23 'is employed in place of the spare rotary driver 23 of the rotary drive means 20.

The first horizontal arm portion 30 is a connection block 32 connected to the end of the drive link 31, the spherical joints 33, 33 'installed at the end of the connection block 32, and Connection links 34 and 34 'having one end connected to each of the spherical joints 33 and 33', and spherical joints 35 and 35 'connected to the other end of each of the connection links 34 and 34'. And a connecting block 36 connected between the spherical joints 35 and 35 'to form a spatial parallelogram mechanism.

In the third embodiment of the present invention, the second horizontal arm portion 40 includes a connection block 42 connected to an end of the drive link 41 and a spherical joint installed at an end of the connection block 42. (43, 43 '), connecting links (44, 44') having one end connected to each of the spherical joints (43, 43 '), and the other end of each of the connecting links (44, 44'). Comprising a spherical joint (45, 45 ') and the connection block 46 is connected between the spherical joint (45, 45') to form a spatial parallelogram mechanism.

In addition, the vertical arm portion 50 according to the third embodiment of the present invention is connected to one end of the manual rotary joint 51b and one end of the manual rotary joint 51b. It consists of a connection link 52b and a manual rotary joint 53b connected to the other end of the connection link 52b.

In the fourth embodiment, a manual rotary joint 23 'is used in place of the spare rotary driver 23 of the rotary drive means 20. As shown in FIG.

In the fourth embodiment of the present invention, the first horizontal arm part 30 has a universal joint 31a connected to an end of the drive link 31 and a connection link of which one end is connected to the universal joint 31a. 32a and a universal joint 33a connected to the other end of the connecting link 32a.

In the fourth embodiment of the present invention, the second horizontal arm portion 40 includes a universal joint 41a connected to an end of the driving link 41 and a connection link of which one end is connected to the universal joint 41a. And a universal joint 43a connected to the other end of the connection link 42a.

In addition, in the fourth embodiment of the present invention, the vertical arm part 50 has a manual rotary joint 51b connected to an end of the drive link 51 and one end thereof connected to the manual rotary joint 51b. It consists of a connection link 52b and a manual rotary joint 53b connected to the other end of the connection link 52b.

Next, a description will be given of the operation according to the operation of the parallel robot mechanism having a large working area in the form of the present invention configured as described above.

1 is a perspective view showing a first embodiment of a parallel robot mechanism having a large working area in the form of a cylinder of the present invention. First, the first horizontal arm portion 30 and the second horizontal arm portion 40 are formed of the movable platform 60. The position (x, y coordinates) is determined on a plane, and the vertical arm 50 determines the height z of the moving platform 60 by the driving of the third rotary driver 24.

At this time, the first horizontal arm portion 30 and the second horizontal arm portion 40 constituting the spatial parallelogram mechanism transmit the moment of the actuator to the moving platform 60 in the form of axial force and enable manual operation in the other direction. do.

When the moving platform 60 moves to the left and right, the operating range of the moving platform 60 is limited by the connecting links 54 and 54 'of the vertical arm 50, thereby alleviating such constraints and virtually having a cylindrical shape. In order to have a work area, the free rotation driver 23 of the rotation driving means 20 supporting the driving link 51 is controlled as in Equation 1 below according to the movement of the moving platform 60.

Figure 112010028172588-pat00001

Here, θ is the rotation angle of the spare rotary actuator 23 or the manual rotary joint 23 'measured from the x-axis, and p x , p y represent the x, y coordinates of the moving platform 60, respectively.

2 is a perspective view showing a second embodiment of a parallel robot mechanism having a large working area in the form of a cylinder of the present invention, wherein the first horizontal plane forms a spatial parallelogram mechanism in the first embodiment of the present invention shown in FIG. The arm part 30, the second horizontal arm part 40, and the vertical arm part 50 are replaced by the universal joints 31a, 33a, 41a, 43a, 51a, and 53a and the connecting links 32a, 42a, and 52a. Using the configuration of this second embodiment, the number of connecting links in each of the first horizontal arm portion 30, the second horizontal arm portion 40 and the vertical arm portion 50 can be reduced from two to one, and the first In the horizontal arm part 30, the second horizontal arm part 40, and the vertical arm part 50, four spherical joints can be reduced to two universal joints.

The operation of the parallel robot mechanism shown in the second embodiment is the same as that of the robot mechanism shown in the first embodiment described above, except that the operation of the first horizontal arm portion 30 of the first embodiment is carried out in the second embodiment. The universal joints 31a and 33a and the linking link 32a are used. In the second embodiment, the universal joints 41a and 43a and the linking link 42a are applied to the action of the second horizontal arm portion 40 of the first embodiment. In the second embodiment, the universal joints 51a and 53a and the connection link 52a perform the action of the vertical arm 50 of the first embodiment.

3 is a perspective view showing a third embodiment of a parallel robot mechanism having a large working area in the form of a cylinder of the present invention. The structure of the first horizontal arm portion 30 and the second horizontal arm portion 40 is shown in FIG. The same as in the first embodiment, and the operation thereof is also the same. However, in the third embodiment, the manual arm joints 51a and 53a and the connection link 52a act as the vertical arm part 50 of the first embodiment, and the spare rotation driver 23 of the rotation driving means 20 is performed. Instead, a manual rotary joint 23 'is used.

Therefore, the third embodiment has the advantage that the driver is composed of only three rotary drivers (21, 22, 24) can reduce the number of drivers and simplify the control.

4 is a perspective view showing a third embodiment of a parallel robot mechanism having a large working area in the form of a cylinder of the present invention, wherein the first horizontal plane constitutes a spatial parallelogram mechanism in the third embodiment of the present invention shown in FIG. The arm part 30 and the second horizontal arm part 40 are replaced with the universal joints 31a, 33a, 41a, and 43a and the connection links 32a and 42a. Using the configuration of this fourth embodiment, the number of connecting links in each of the first horizontal arm portion 30 and the second horizontal arm portion 40 can be reduced from two to one, and the first horizontal arm portion 30 and In each of the second horizontal arm portions 40, four spherical joints may be reduced to two universal joints.

The operation of the parallel robot mechanism shown in the fourth embodiment is the same as the operation of the robot mechanism shown in the third embodiment described above, except that the action of the first horizontal arm portion 30 of the third embodiment is controlled in the fourth embodiment. The universal joints 31a and 33a and the linking link 32a are provided. In the fourth embodiment, the universal joints 41a and 43a and the linking link 42a function as the second horizontal arm portion 40 of the third embodiment. Done.

While the present invention has been described as a preferred embodiment, the present invention is not limited thereto, and various modifications can be made without departing from the gist of the invention.

10: fixed base 20: rotation driving means
21: first rotary driver 22: second rotary driver
23: Extra rotary actuator 23 ': Manual rotary joint
23a: support 24: third rotary actuator
30: first horizontal arm portion 31: drive link
31a: Universal Joint 32: Connection Block
32a: connection link 33, 33 ': spherical joint
33a: Universal Joint 34, 34 ': Link
35, 35 ': spherical joint 36: connection block
40: second horizontal arm portion 41: drive link
41a: universal joint 42: connection block
42a: Link 43, 43 ': Spherical joint
43a: Universal Joint 44, 44 ': Link
45, 45 ': spherical joint 46: connection block
50: vertical arm 51: drive link
51a: Universal Joint 51b: Manual Rotary Joint
52: connection block 52a, 52b: connection link
53, 53 ': spherical joint 53a: universal joint
53b: Manual rotary joint 54, 54 ': Link
55, 55 'spherical joint 56 connection block
60: mobile platform 70: additional driver
80: robot end

Claims (13)

A fixed base 10 in the form of a cylinder; The first rotary driver 21, the second rotary driver 22, and the spare rotary driver 23 or the manual rotary joint 23 'are rotatably installed in the upper center of the fixed base 10 so that the link can be installed. Rotation driving means 20 to rotate; A first horizontal arm portion 30 connected to the first rotary driver 21 of the rotary driving means 20 through a drive link 31; A second horizontal arm portion 40 connected to the second rotary driver 22 of the rotary driver 20 through a drive link 41; A vertical arm part 50 connected to the spare rotary driver 23 of the rotary driver 20 through a drive link 51; A moving platform 60 connected to ends of the first horizontal arm part 30, the second horizontal arm part 40, and the vertical arm part 50; An additional driver 70 installed on an outer surface of the movable platform 60; In the parallel robot mechanism having a large working area in the form of a cylinder consisting of a robot end (80) to which the tool is attached to the additional driver (70);
The vertical arm 50 has a connection block 52 connected to the drive link 51, spherical joints 53 and 53 'installed at ends of the connection block 52, and the spherical jointer ( 53, 53 ') connecting links 54 and 54' having one end connected to each other, spherical joints 55 and 55 'connected to the other end of each of the connecting links 54 and 54', and Parallel robot mechanism having a large working area in the form of a cylinder, characterized by consisting of a connecting block 56 connected between the spherical joint (55, 55 ') to form a spatial parallelogram mechanism. delete delete delete delete delete According to claim 1, wherein the first horizontal arm portion 30 is a universal joint (31a) connected to the end of the drive link 31, the connection link 32a is connected to one end of the universal joint (31a) And a universal joint (33a) connected to the other end of the connection link (32a). The method of claim 1, wherein the second horizontal arm portion 40 is a universal joint (41a) connected to the drive link 41, and a connection link (42a), one end of which is connected to the universal joint 41a, Parallel robot mechanism having a large work area in the form of a cylinder, characterized in that it is composed of a universal joint (43a) connected to the other end of the connecting link (42a). 2. The parallel robot mechanism according to claim 1, wherein a manual rotary joint (23 ') is employed instead of the spare rotary driver (23) of the rotary drive means (20). According to claim 1, The vertical arm portion 50 is a universal joint (51a) is connected to the drive link 51, the connection link 52a is connected to one end of the universal joint (51a), and the connection A parallel robot mechanism having a large working area in the form of a cylinder, characterized in that it is composed of a universal joint 53a connected to the other end of the link 52a. 11. A large working area in the form of a cylinder according to claim 10, wherein a manual rotation joint (51b) is used instead of the universal joint (51a), and a manual rotation joint (53b) is used instead of the universal joint (53a). Parallel robot mechanism having a. According to claim 1, wherein the vertical arm portion 50 is a manual rotary joint (51b) connected to the end of the drive link 51, the connection link 52b is connected to one end of the manual rotary joint (51b). And a manual rotation joint (53b) connected to the other end of the connection link (52b). According to claim 1 having a large working area of the cylinder shape, characterized in that for controlling the free rotation driver 23 of the rotary drive means 20 in accordance with the movement of the moving platform 60. Parallel robotic mechanism.
[Equation 1]
θ = arctan ( p y / p x )
Θ is the rotation angle of the marginal rotation driver 23 measured from the x-axis, p x , p y represents the x, y coordinates of the moving platform 60, respectively.
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Publication number Priority date Publication date Assignee Title
KR101383878B1 (en) 2013-05-09 2014-04-10 경남대학교 산학협력단 Transmission mechanism of rotational motion in parallel robot manipulator
KR101488440B1 (en) 2013-07-24 2015-02-12 한국로봇융합연구원 Parallel type Painting Robot
KR20190023572A (en) 2017-08-29 2019-03-08 주식회사 알씨엔이 parallel link type robot
KR20190000910U (en) 2019-04-04 2019-04-16 주식회사 알씨엔이 parallel link type robot

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WO2013162268A1 (en) * 2012-04-26 2013-10-31 주식회사 고영테크놀러지 Five degrees-of-freedom parallel micro robot
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CN105643587B (en) * 2016-03-04 2017-08-25 哈尔滨工业大学 Thirteen-degree-of-freedom argosy external surface spray robot
CN106584431B (en) * 2016-12-20 2019-02-22 西安电子科技大学 A kind of coaxial mobile revolution four-freedom-degree parallel-connection robot
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Cited By (4)

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KR101383878B1 (en) 2013-05-09 2014-04-10 경남대학교 산학협력단 Transmission mechanism of rotational motion in parallel robot manipulator
KR101488440B1 (en) 2013-07-24 2015-02-12 한국로봇융합연구원 Parallel type Painting Robot
KR20190023572A (en) 2017-08-29 2019-03-08 주식회사 알씨엔이 parallel link type robot
KR20190000910U (en) 2019-04-04 2019-04-16 주식회사 알씨엔이 parallel link type robot

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