KR101198442B1 - Industrial robot - Google Patents

Industrial robot Download PDF

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KR101198442B1
KR101198442B1 KR1020110138430A KR20110138430A KR101198442B1 KR 101198442 B1 KR101198442 B1 KR 101198442B1 KR 1020110138430 A KR1020110138430 A KR 1020110138430A KR 20110138430 A KR20110138430 A KR 20110138430A KR 101198442 B1 KR101198442 B1 KR 101198442B1
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South Korea
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arm
driving
driven
arms
housing
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KR1020110138430A
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Korean (ko)
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서영호
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삼익티에이치케이 주식회사
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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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • 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
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A high speed industrial robot is provided to prevent dust caused by the exposure of a driving unit by controlling the position of a gripper arm with the link motions of first and second operating parts. CONSTITUTION: A high speed industrial robot comprises a first and a second operating part(100,200) and a gripper arm(50). The first operating part comprises a first driving arm(10) and a first driven arm(20). The first driving arm is installed in a first housing and is turned by a driving unit(M). One end of the first driven arm is turnably installed in the first housing and the other end thereof is connected to the end of the first driving arm by a first link bar(22). The second operating part comprises a second driving arm(30) and a second driven arm(40). The second driving arm is installed in a second housing and is turned by the driving unit. An end of the second driven arm is turnably installed and the other end thereof is connected to the end of the second driving arm by a second link bar(42). One side of the gripper arm is connected to a pair of first auxiliary arms(11,21) coupled to the end of the first driving arm and the first driven arm. The other side of the gripper arm is connected to a pair of second auxiliary arms(31,41) coupled to the end of the second driving arm and the second driven arm.

Description

산업용 고속로봇{INDUSTRIAL ROBOT}Industrial high speed robot {INDUSTRIAL ROBOT}

본 발명은 산업용 고속로봇에 관한 것으로, 보다 상세하게는 로봇암의 관절운동에 의해 인간을 대신하여 작업현장에서 노동을 행하는 산업용 고속로봇에 관한 것이다.The present invention relates to an industrial high-speed robot, and more particularly to an industrial high-speed robot for labor in the workplace on behalf of a human by the joint motion of the robot arm.

통상적으로 산업용 고속로봇은 노동을 기피하는 업종에서 노동력을 확보하는 수급관계 등의 해결수단으로 사용되고, 또 단조로운 반복작업에서 권태감과 부주의로 생기기 쉬운 불량률을 최소한으로 하기 위한 수단으로 이용되어 왔다.In general, industrial high-speed robots have been used as a means of solving supply-demand relations to secure labor in industries that avoid labor, and have been used as a means of minimizing defect rates that can easily occur due to boredom and carelessness in monotonous repetitive work.

하지만, 근자에는 노동의 숙련도(정밀도)를 필요로 하는 업종에서 해마다 증대되는 작업량에 못미치는 숙련공 수급문제와 인력부족으로 인한 인건비 상승이 미치는 제품원가의 상승을 해결하는 수단으로 산업용 고속로봇이 각광을 받고 있는 추세이다.However, in recent years, industrial high-speed robots have come to the fore as a means to solve the rise in product cost due to the increase in labor costs due to the shortage of skilled workers and the shortage of labor in industries that require labor skill (precision). The trend is getting.

이에 따른 종래에 산업용 고속로봇을 살펴보면, 특허공개번호 제10-2008-46213호 및 특허공개번호 제10-2011-0115096호에서 다수개의 암이 관절구조로 연결되고, 각각의 관절위치에 서보모터 또는 실린더를 포함하는 암 구동수단을 설치하여 동작의 자유도가 향상된 산업용 고속로봇이 선 공개된바 있다.Accordingly, in the conventional high speed robot, a plurality of arms are connected by a joint structure in Patent Publication No. 10-2008-46213 and Patent Publication No. 10-2011-0115096, and a servo motor or An industrial high-speed robot has been disclosed to improve the degree of freedom of operation by installing an arm driving means including a cylinder.

그러나, 상기 종래기술들은 산업용 고속로봇의 자유도를 향상시키기 위한 기술이나, 제작 및 사용상에 있어 다음과 같은 문제점이 제기되었다.However, the above conventional technologies are techniques for improving the degree of freedom of industrial high-speed robot, but the following problems have been raised in manufacturing and use.

첫째, 로봇을 구성하는 각각의 암을 제어하기 위해 암 관절부분마다 암 구동수단(서보모터, 실린더)이 설치됨에 따라 로봇의 전체 중량이 증가되고, 고중량으로 인해 관성모멘트가 증가되어 작동속도 및 정밀도가 저하됨과 더불어 고출력의 암 구동수단을 적용해야 함으로 에너지 효율이 저하되는 문제점이 따랐다.First, as the arm driving means (servo motor, cylinder) are installed at each arm joint part to control each arm constituting the robot, the overall weight of the robot is increased, and the inertia moment is increased due to the high weight, thereby operating speed and precision. In addition to the deterioration of the energy efficiency has been accompanied by a high power arm drive means to be applied.

둘째, 암 구동수단을 제어하는 배선(전선, 유ㆍ공압호수)들이 각각의 암을 거쳐 설치됨에 따라 구조가 복잡하고, 특히 암이 단방향으로 연속 회전시 배선이 꼬여 쉽게 단락되는 폐단이 따랐다.Second, as the wirings for controlling the arm driving means (wires, hydraulic / pneumatic lakes) are installed through the respective arms, the structure is complicated, and in particular, the closed end is easily shorted because the wiring is twisted when the arm is continuously rotated in one direction.

셋째, 각각의 암 구동수단에서 발생되는 미세 분진으로 인해 클린룸을 포함하는 청결이 유지되어야 하는 장소에서 적용이 제한되는 실정이다.Third, due to the fine dust generated in each arm drive means that the application is limited in the place where cleanliness including a clean room should be maintained.

이에 따라 본 발명은 상기한 문제점을 해결하기 위해 착안 된 것으로서, 로봇을 경량으로 구조 개선하여 작동속도 및 정밀도를 향상시킴과 더불어 불필요한 동력소모를 줄여 에너지 효율을 높이고, 또 작동 중 분진발생 및 구동수단을 제어하는 배선의 손상으로 인한 오작동을 방지하기 위한 산업용 고속로봇을 제공하는 것에 그 목적이 있다.Accordingly, the present invention has been conceived to solve the above problems, and improve the operating speed and precision by improving the structure of the robot to light weight, reduce unnecessary power consumption, increase the energy efficiency, and generate dust and drive means during operation An object of the present invention is to provide an industrial high-speed robot to prevent malfunction due to damage to the wiring to control the control.

이러한 목적을 달성하기 위해 본 발명의 특징은, 제1하우징(12)상에서 구동수단(M)에 의해 선회되도록 설치되는 제1구동암(10)과, 제1하우징(12)상에 일단이 선회되도록 설치되고 다른 일단은 제1링크바(22)를 통하여 제1구동암(10)의 단부와 연결되는 제1피동암(20)이 구비되는 제1작동부(100); 상기 제1작동부(100)와 대칭되도록 위치되고, 제2하우징(32)상에서 구동수단(M)에 의해 선회되도록 설치되는 제2구동암(30)과, 제2하우징(32)상에 일단이 선회되도록 설치되고 다른 일단은 제2링크바(42)를 통하여 제2구동암(30)의 단부와 연결되는 제2피동암(40)이 구비되는 제2작동부(200); 및 상기 제1구동암(10)과 제1피동암(20)의 단부에 링크결합되는 한 쌍의 제1보조암(11)(21)상에 일측이 연결되고, 다른 일측은 제2구동암(30)과 제2피동암(40)의 단부와 링크결합되는 한 쌍의 제2보조암(31)(41)상에 연결되는 그립퍼암(50);을 포함하여 이루어지는 것을 특징으로 한다.In order to achieve this object, a feature of the present invention is that the first drive arm 10 is installed to be pivoted on the first housing 12 by the driving means M, and one end pivots on the first housing 12. A first operating part 100 having a first driven arm 20 installed at the other end and connected to an end of the first driving arm 10 through a first link bar 22; A second driving arm 30 positioned to be symmetrical with the first operating part 100 and installed to be swiveled by the driving means M on the second housing 32, and once on the second housing 32; The second operating part 200 is installed so as to pivot and the other end is provided with a second driven arm 40 connected to the end of the second driving arm 30 through the second link bar 42; And one side connected to a pair of first auxiliary arms 11 and 21 coupled to the ends of the first driving arm 10 and the first driven arm 20, and the other side of the second driving arm 10. And a gripper arm (50) connected to the pair of second auxiliary arms (31) (41) that are coupled to the ends of the (30) and second driven arms (40).

이때, 상기 제1, 2하우징(12)(32)상에 설치되어 제 1, 2구동암(10)(30) 또는 제1, 2피동암(20)(40)의 회전각을 검출하는 센서(60)가 구비되는 것을 특징으로 한다.In this case, the sensor is installed on the first and second housings 12 and 32 to detect rotation angles of the first and second driving arms 10 and 30 or the first and second driven arms 20 and 40. 60 is provided.

또한, 상기 제1구동암(10)에 연결되는 제1보조암(11)과 제2피동암(40)에 연결되는 제2보조암(41)은 그립퍼암(50)상에 축핀(11a)(41a)을 통하여 동축상에 일치되도록 연결되고, 제1피동암(20)에 연결되는 제1보조암(21)과 제2구동암(30)에 연결되는 제2보조암(31)은 그립퍼암(50)상에 축핀(21a)(31a)을 통하여 동축상에 일치되도록 연결되는 것을 특징으로 한다.In addition, the first auxiliary arm 11 connected to the first driving arm 10 and the second auxiliary arm 41 connected to the second driven arm 40 have a shaft pin 11a on the gripper arm 50. The first auxiliary arm 21 and the second auxiliary arm 31 connected to the same coaxial through the 41a and connected to the first driven arm 20 are connected to the gripper. It is characterized in that it is connected to match the coaxial through the shaft pins (21a) (31a) on the arm (50).

또한, 상기 제1, 2하우징(12)(32)은 작동판(70)상에 설치되고, 작동판(70)은 회전축(72)을 통하여 구동수단(M)의 작동에 의해 선회각이 제어되도록 구비되는 것을 특징으로 한다.In addition, the first and second housings 12 and 32 are installed on the operation plate 70, and the operation plate 70 is controlled by the operation of the driving means M through the rotation shaft 72. Characterized in that it is provided.

이상의 구성 및 작용에 의하면, 본 발명은 제1, 2작동부의 링크운동에 의해 그립퍼암의 위치가 제어됨에 따라 구동수단의 노출로 인한 분진발생이 방지되면서 구동수단을 제어하기 위한 배선처리가 용이하고, 특히 암을 포함하는 로봇 작동체의 전체중량이 감소되어 작동속도 및 정밀도가 향상됨은 물론 저출력 구동수단으로 제어가능하므로 에너지 효율이 향상되는 효과가 있다.
또한, 제1, 2하우징이 설치된 작동판이 회전축을 통하여 구동수단의 작동에 의해 선회각이 제어되도록 구비됨에 따라 제1, 2작동부의 2차원 평면운동이 3차원 입체운동으로 구현되는 효과가 있다.According to the above configuration and action, according to the present invention, since the gripper arm is controlled by the link movement of the first and second operating portions, the wiring process for controlling the driving means is easy while preventing dust generation due to the exposure of the driving means. In particular, the overall weight of the robot actuator including the arm is reduced to improve the operating speed and precision, as well as to be controlled by a low power drive means, thereby improving energy efficiency.
In addition, since the turning angle is controlled by the operation of the driving means through the rotating shaft in which the first and second housings are installed, the two-dimensional planar motion of the first and second operating parts is realized in three-dimensional three-dimensional motion.

도 1은 본 발명에 따른 산업용 고속로봇을 전체적으로 나타내는 구성도.
도 2는 본 발명에 따른 산업용 고속로봇의 링크구조를 나타내는 구성도.
도 3은 본 발명에 따른 산업용 고속로봇의 링크구조를 상세히 나타내는 분해도.
도 4a 내지 4b는 본 발명에 따른 산업용 고속로봇의 작동형태를 나타내는 구성도.
도 5는 본 발명의 변형예에 따른 산업용 고속로봇을 나타내는 구성도.1 is a block diagram showing an overall industrial high speed robot according to the present invention.
Figure 2 is a block diagram showing a link structure of the industrial high-speed robot according to the present invention.
Figure 3 is an exploded view showing in detail the link structure of the industrial high-speed robot according to the present invention.
4a to 4b is a configuration diagram showing the operation of the industrial high-speed robot according to the present invention.
5 is a configuration diagram showing an industrial high speed robot according to a modification of the present invention.

이하 본 발명의 실시예를 첨부된 도면을 참조하여 살펴본다.Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

본 발명은 산업용 고속로봇에 관련되며, 이때 산업용 고속로봇은 경량으로 구조 개선하여 작동속도 및 정밀도를 향상시킴과 더불어 불필요한 동력소모를 줄여 에너지 효율을 높이고, 또 작동 중 분진발생 및 구동수단을 제어하는 배선의 손상으로 인한 오작동을 방지하기 위해 제1작동부(100), 제2작동부(200), 그립퍼암(50)을 포함하여 주요구성으로 이루어진다.The present invention relates to an industrial high-speed robot, in which the industrial high-speed robot is light in weight, improves the operation speed and precision, reduces unnecessary power consumption, increases energy efficiency, and controls dust generation and driving means during operation. In order to prevent malfunction due to damage to the wiring, the first operation part 100, the second operation part 200, and the gripper arm 50 are configured to include a main component.

본 발명에 따른 제1작동부(100)는 제1하우징(12)상에서 구동수단(M)에 의해 선회되도록 설치되는 제1구동암(10)과, 제1하우징(12)상에 일단이 선회되도록 설치되고 다른 일단은 제1링크바(22)를 통하여 제1구동암(10)의 단부와 연결되는 제1피동암(20)이 구비된다. 제1구동암(100)은 일단부가 구동수단(M)에 의해 선회되도록 연결되고, 구동수단(서보모터, 감속기)(M)의 구동축과 수평선상으로 이격되는 제1하우징(12)상에 제1피동암(20)이 축핀으로 연결되며, 제1구동암(10)과 제1피동암(20)의 다른 일단부는 제1링크바(22)에 의해 축핀으로 연결된다.The first operating part 100 according to the present invention is the first drive arm 10 is installed so as to pivot on the first housing 12 by the drive means (M), and one end pivoting on the first housing 12. The first driven arm 20 is installed so as to be connected to an end of the first driving arm 10 through the first link bar 22. One end of the first driving arm 100 is pivotally connected by the driving means M, and is disposed on the first housing 12 spaced apart from the driving shaft of the driving means (servo motor, reducer) M on a horizontal line. The first driven arm 20 is connected to the shaft pin, and the other end of the first driving arm 10 and the first driven arm 20 is connected to the shaft pin by the first link bar 22.

이때 제1링크바(22)에 의해 연결되는 제1구동암(10)과 제1피동암(20)의 이격거리는 제1하우징(12)상에 연결된 제1구동암(10)과 제1피동암(20)의 이격거리와 동일하게 유지되도록 구비된다. At this time, the separation distance between the first driving arm 10 and the first driven arm 20 connected by the first link bar 22 is the first driving arm 10 and the first blood connected to the first housing 12. It is provided to maintain the same distance of the copper arm 20.

이에 구동수단(M)의 작동에 의해 제1구동암(10)이 선회시 제1링크바(22)에 의해 제1피동암(20)이 연계작동되고, 이때 제1링크바(22)는 제1구동암(10)이 선회작동되는 중에 제1하우징(12)상에 연결된 제1구동암(10)과 제1피동암(10)의 축을 잇는 선과 평행하게 유지된다.
Accordingly, when the first driving arm 10 is rotated by the operation of the driving means M, the first driven arm 20 is interlocked by the first link bar 22, and the first link bar 22 is While the first driving arm 10 is pivoting, the first driving arm 10 is maintained in parallel with a line connecting the axes of the first driving arm 10 and the first driven arm 10 connected to the first housing 12.

또한, 본 발명에 따른 제2작동부(200)은 제1작동부(100)와 대칭되도록 위치되고, 제2하우징(32)상에서 구동수단(M)에 의해 선회되도록 설치되는 제2구동암(30)과, 제2하우징(32)상에 일단이 선회되도록 설치되고 다른 일단은 제2링크바(42)를 통하여 제2구동암(30)의 단부와 연결되는 제2피동암(40)이 구비된다. 제2작동부(200)는 도 1과 같이 상기 제1작동부(100)와 대칭되는 위치에 배치되되, 여기서 제2작동부(200)는 제2구동암(30) 일단부가 구동수단(서보모터, 감속기)(M)에 의해 선회되도록 연결되고, 구동수단(M)의 구동축과 수평선상으로 이격되는 제2하우징(32)상에 제2피동암(40)이 축핀으로 연결되며, 제2구동암(30)과 제2피동암(40)의 다른 일단부는 제2링크바(42)에 의해 축핀으로 연결된다.In addition, the second actuating part 200 according to the present invention is positioned to be symmetrical with the first actuating part 100 and is installed to be pivoted by the driving means M on the second housing 32 ( 30) and the second driven arm 40 is installed so that one end is pivoted on the second housing 32 and the other end is connected to the end of the second driving arm 30 through the second link bar 42. It is provided. The second operating part 200 is disposed in a position symmetrical with the first operating part 100 as shown in Figure 1, wherein the second operating part 200 is one end of the second driving arm 30 driving means (servo) Motor, reducer) (M) is connected to the pivot, and the second driven arm (40) is connected to the second housing (32) spaced apart on the horizontal line with the drive shaft of the drive means (M), the second pin The other end of the driving arm 30 and the second driven arm 40 is connected to the shaft pin by the second link bar 42.

이때 제2링크바(42)에 의해 연결되는 제2구동암(30)과 제2피동암(40)의 이격거리는 제2하우징(32)상에 연결된 제2구동암(30)과 제2피동암(40)의 이격거리와 동일하게 유지되도록 구비된다. At this time, the separation distance between the second driving arm 30 and the second driven arm 40 connected by the second link bar 42 is the second driving arm 30 and the second blood connected on the second housing 32. It is provided to maintain the same distance of the copper arm 40.

이에 구동수단(M)의 작동에 의해 제2구동암(30)이 선회시 제2링크바(42)에 의해 제2피동암(40)이 연계작동되고, 이때 제2링크바(42)는 제2구동암(30)이 선회작동되는 중에 제2하우징(32)상에 연결된 제2구동암(30)과 제2피동암(40)의 회전축을 잇는 선과 평행하게 유지된다.Accordingly, when the second driving arm 30 is rotated by the operation of the driving means M, the second driven arm 40 is interlocked by the second link bar 42, and the second link bar 42 is While the second driving arm 30 is pivoting, the second driving arm 30 is maintained in parallel with a line connecting the rotation axis of the second driving arm 30 and the second driven arm 40 connected to the second housing 32.

또한, 본 발명에 따른 그립퍼암(50)은 제1구동암(10)과 제1피동암(20)의 단부에 링크결합되는 한 쌍의 제1보조암(11)(21)상에 일측이 연결되고, 다른 일측은 제2구동암(30)과 제2피동암(40)의 단부와 링크결합되는 한 쌍의 제2보조암(31)(41)상에 연결된다. 그립퍼암(50)은 제1, 2보조암(11)(21)(31)(41)에 의해 제1, 2구동암(10)(30) 및 제1, 2피동암(20)(40)과 링크결합되고, 제1, 2구동암(10)(30) 및 제1, 2피동암(20)(40)이 이루는 선회각도에 의해 2차원 평면에서 위치제어된다.In addition, the gripper arm 50 according to the present invention has one side on a pair of first auxiliary arms 11 and 21 that are linked to an end of the first driving arm 10 and the first driven arm 20. The other side is connected to a pair of second auxiliary arms 31 and 41 which are coupled to the end of the second driving arm 30 and the second driven arm 40. The gripper arm 50 is formed by the first and second auxiliary arms 11, 21, 31, and 41, and the first and second driven arms 10 and 30 and the first and second driven arms 20 and 40. ), And are controlled in a two-dimensional plane by the turning angle formed by the first and second driving arms 10 and 30 and the first and second driven arms 20 and 40.

이때, 그립퍼암(50)과 제1, 2보조암(11)(21)(31)(41)의 링크구조를 보다 상세하게 살펴보면, 도 2 내지 도 3에 도시된 바와 같이 상기 제1구동암(10)에 연결되는 제1보조암(11)과 제2피동암(40)에 연결되는 제2보조암(41)은 그립퍼암(50)상에 축핀(11a)(41a)을 통하여 동축상에 일치되도록 연결되고, 제1피동암(20)에 연결되는 제1보조암(21)과 제2구동암(30)에 연결되는 제2보조암(31)은 그립퍼암(50)상에 축핀(21a)(31a)을 통하여 동축상에 일치되도록 연결된다.At this time, the linker structure of the gripper arm 50 and the first and second auxiliary arms 11, 21, 31, and 41 will be described in detail. As shown in FIGS. The first auxiliary arm 11 connected to the 10 and the second auxiliary arm 41 connected to the second driven arm 40 are coaxially formed on the gripper arm 50 through the shaft pins 11a and 41a. The first auxiliary arm 21 and the second auxiliary arm 31 connected to the first driven arm 20 and the second driving arm 30 are connected to each other so as to correspond to the first driven arm 20. Coaxially connected via (21a) (31a).

이에 제1, 2구동암(10)(30) 및 제1, 2피동암(20)(40)과 한 쌍의 제1, 2보조암(11)(21)(31)(41)에 의한 4절 링크구조에 의해 그립퍼암(50)이 이송중에도 제1, 2링크바(22)(42)와 평행하게 유지되고, 특히 제1, 2구동암(10)(30) 및 제1, 2피동암(20)(40)의 선회각도에 따라 그립퍼암(50)의 위치가 2차원 평면에서 자유롭게 제어된다.Therefore, the first and second driven arms 10, 30 and the first and second driven arms 20, 40 and a pair of first and second auxiliary arms 11, 21, 31, and 41 Due to the four-section link structure, the gripper arm 50 is kept parallel to the first and second link bars 22 and 42 even during transportation, and in particular, the first and second drive arms 10 and 30 and the first and second parts. The position of the gripper arm 50 is freely controlled in the two-dimensional plane according to the turning angle of the driven arm 20, 40.

일예로서, 산업용 로봇을 천정에 부착하여 그립퍼암(50)이 하측에 위치되도록 설치시, 도 4a처럼 제1구동암(10)과 제2구동암(30)이 서로 근접하는 방향으로 동시 선회시 그립퍼암(50)이 하강하고, 제1, 2구동암(10)(30)이 역방향으로 선회시 그립퍼암(50)이 승강되며, 도 4b와 같이 제 1구동암(10)과 2구동암(30)이 서로 역방향으로 선회시 그립퍼암(50)이 좌ㆍ우측으로 이송된다. As an example, when the industrial robot is attached to the ceiling and installed so that the gripper arm 50 is positioned at the lower side, when the first driving arm 10 and the second driving arm 30 are simultaneously turned in a direction close to each other as shown in FIG. 4A. When the gripper arm 50 is lowered and the first and second driving arms 10 and 30 rotate in the reverse direction, the gripper arm 50 is lifted and the first driving arm 10 and the second driving arm as shown in FIG. 4B. When the 30 rotates in the opposite direction to each other, the gripper arm 50 is transferred to the left and right sides.

이때, 그립퍼암(50)은 산업용 로봇이 수행해야할 작업용 공구(T) 즉, 집개 및 드라이버, 레이져장치, 용접장치를 포함하는 작업공구가 장착되고, 다양한 작업변경에 유연하게 대응하기 위해 원터치방식(버튼 또는 레버의 작동만으로 클램핑/언클램핑되는 구조)의 공구그립홀이 형성되어 작업공구의 탈부착이 간편하게 수행된다. In this case, the gripper arm 50 is equipped with a work tool (T) that is to be performed by an industrial robot, that is, a tool including a clamp, a driver, a laser device, and a welding device, and is one-touch type to flexibly respond to various work changes. The tool grip hole of the clamping / unclamping structure is formed only by operation of a button or a lever, and thus the work tool can be easily attached and detached.

또, 상기 제1, 2하우징(12)(32)상에 설치되어 제1, 2구동암(10)(30) 또는 제1, 2피동암(20)(40)의 회전각을 검출하는 센서(60)가 구비된다. 센서는 제1, 2구동암(10)(30) 또는 제1, 2피동암(20)(40)을 회전가능하게 지지하는 축상에 센서(로터리센서)(60)가 구비되고, 센서를 통하여 검출된 제1, 2구동암(10)(30) 또는 제1, 2피동암(20)(40)의 선회각에 대한 값은 제어부(도시생략)로 전송되며, 제어부는 센서(60)에 의해 검출된 값을 통하여 제1, 2작동부(100)(200)간의 충돌을 방지함과 더불어 구동수단의 제어값을 보정하여 그립퍼암(50)의 이송위치를 정밀 제어하게 된다.Further, a sensor mounted on the first and second housings 12 and 32 to detect a rotation angle of the first and second driving arms 10 and 30 or the first and second driven arms 20 and 40. 60 is provided. The sensor is provided with a sensor (rotary sensor) 60 on an axis for rotatably supporting the first and second driving arms 10 and 30 or the first and second driven arms 20 and 40. The detected values of the turning angles of the first and second driven arms 10 and 30 or the first and second driven arms 20 and 40 are transmitted to a controller (not shown), and the controller is connected to the sensor 60. By preventing the collision between the first and second operation units 100 and 200 through the value detected by the corrected control value of the driving means to precisely control the transfer position of the gripper arm 50.

즉, 구동수단(M)으로 사용되는 서보모터에 의해 제1, 2작동부(100)(200)가 수치제어되더라도, 구동수단(M)의 동력을 감속전달하는 감속기 및 각각의 암 연결부분에서 발생되는 유격, 슬립현상으로 인해 그리퍼암(50)의 위치가 가변되더라도 센서(60)를 통하여 오차값을 검출하여 구동수단(M)의 제어값을 보정하므로 장시간 작동에 따른 오작동 및 정밀도가 저하되는 현상이 방지된다. That is, even if the first and second operation units 100 and 200 are numerically controlled by the servomotor used as the driving means M, in the reducer and the respective arm connection portions that decelerate and transfer the power of the driving means M, respectively. Even if the position of the gripper arm 50 is changed due to the generated play and slip phenomenon, the sensor 60 detects an error value and corrects the control value of the driving means M. Therefore, the malfunction and precision of the long time operation are deteriorated. The phenomenon is prevented.

도 5는 본 발명의 변형예에 따른 산업용 고속로봇을 나타내는 구성도이다.5 is a configuration diagram showing an industrial high speed robot according to a modification of the present invention.

도 5에서, 상기 제1, 2하우징(12)(32)은 작동판(70)상에 설치되고, 작동판(70)은 회전축(72)을 통하여 구동수단(M)의 작동에 의해 선회각이 제어되도록 구비된다. 도 5에 도시된 바와 같이 상기 회전축(72)은 작동판(70)상에 직교하도록 설치되고, 회전축(72)상에 구동수단(서보모터, 감속기)(M)이 연결되어 회전축(72)의 선회각이 제어된다.In FIG. 5, the first and second housings 12 and 32 are installed on the operation plate 70, and the operation plate 70 is rotated by the operation of the driving means M through the rotation shaft 72. It is provided to be controlled. As shown in FIG. 5, the rotating shaft 72 is installed to be orthogonal to the operation plate 70, and a driving means (servo motor, reducer) M is connected to the rotating shaft 72 so that the rotating shaft 72 is connected to the rotating shaft 72. Swivel angle is controlled.

이에 작동판(70)의 선회각도에 따라 상기 제1, 2작동부(100)(200)의 2차원 평면운동이 3차원 입체운동으로 구현된다.Accordingly, the two-dimensional planar motion of the first and second operating parts 100 and 200 is implemented in three-dimensional stereoscopic motion according to the turning angle of the operating plate 70.

10 : 제1구동암 20: 제1피동암 30: 제2구동암
40: 제2피동암 50: 그립퍼암 60: 센서
70: 작동판 100: 제1작동부 200: 제2작동부 10: first driving arm 20: first driven arm 30: second driving arm
40: second driven arm 50: gripper arm 60: sensor
70: operation plate 100: first operation unit 200: second operation unit

Claims (4)

제1하우징(12)상에서 구동수단(M)에 의해 선회되도록 설치되는 제1구동암(10)과, 제1하우징(12)상에 일단이 선회되도록 설치되고 다른 일단은 제1링크바(22)를 통하여 제1구동암(10)의 단부와 연결되는 제1피동암(20)이 구비되는 제1작동부(100);
상기 제1작동부(100)와 대칭되도록 위치되고, 제2하우징(32)상에서 구동수단(M)에 의해 선회되도록 설치되는 제2구동암(30)과, 제2하우징(32)상에 일단이 선회되도록 설치되고 다른 일단은 제2링크바(42)를 통하여 제2구동암(30)의 단부와 연결되는 제2피동암(40)이 구비되는 제2작동부(200); 및
상기 제1구동암(10)과 제1피동암(20)의 단부에 링크결합되는 한 쌍의 제1보조암(11)(21)상에 일측이 연결되고, 다른 일측은 제2구동암(30)과 제2피동암(40)의 단부와 링크결합되는 한 쌍의 제2보조암(31)(41)상에 연결되는 그립퍼암(50);을 포함하여 이루어지고,
상기 제1, 2하우징(12)(32)은 작동판(70)상에 설치되고, 작동판(70)은 회전축(72)을 통하여 구동수단(M)의 작동에 의해 선회각이 제어되도록 구비되는 것을 특징으로 하는 산업용 고속로봇.A first driving arm 10 installed to pivot on the first housing 12 by the driving means M, and one end on the first housing 12 to pivot, and the other end of the first link bar 22. A first operating part (100) having a first driven arm (20) connected to an end of the first driving arm (10) through;
A second driving arm 30 positioned to be symmetrical with the first operating part 100 and installed to be swiveled by the driving means M on the second housing 32, and once on the second housing 32; The second operating part 200 is installed so as to pivot and the other end is provided with a second driven arm 40 connected to the end of the second driving arm 30 through the second link bar 42; And
One side is connected to a pair of first auxiliary arms 11 and 21 coupled to the ends of the first driving arm 10 and the first driven arm 20, and the other side of the first driving arm 10 is connected to an end of the second driving arm. 30) and a gripper arm 50 connected to a pair of second auxiliary arms 31 and 41 which are linked with an end of the second driven arm 40,
The first and second housings 12 and 32 are installed on the operation plate 70, and the operation plate 70 is provided so that the turning angle is controlled by the operation of the driving means M through the rotation shaft 72. Industrial high speed robot, characterized in that. 제 1항에 있어서,
상기 제1, 2하우징(12)(32)상에 설치되어 제 1, 2구동암(10)(30) 또는 제1, 2피동암(20)(40)의 회전각을 검출하는 센서(60)가 구비되는 것을 특징으로 하는 산업용 고속로봇.The method of claim 1,
Sensor 60 installed on the first and second housings 12 and 32 to detect rotation angles of the first and second driving arms 10 and 30 or the first and second driven arms 20 and 40. ) Is provided with an industrial high-speed robot. 제 1항 또는 제 2항에 있어서,
상기 제1구동암(10)에 연결되는 제1보조암(11)과 제2피동암(40)에 연결되는 제2보조암(41)은 그립퍼암(50)상에 축핀(11a)(41a)을 통하여 동축상에 일치되도록 연결되고, 제1피동암(20)에 연결되는 제1보조암(21)과 제2구동암(30)에 연결되는 제2보조암(31)은 그립퍼암(50)상에 축핀(21a)(31a)을 통하여 동축상에 일치되도록 연결되는 것을 특징으로 하는 산업용 고속로봇.3. The method according to claim 1 or 2,
The first auxiliary arm 11 connected to the first driving arm 10 and the second auxiliary arm 41 connected to the second driven arm 40 have shaft pins 11a and 41a on the gripper arm 50. The first auxiliary arm 21 and the second auxiliary arm 31 connected to the coaxially and coaxially connected to the first driven arm 20 are connected to the gripper arm (). An industrial high-speed robot, characterized in that connected to the same coaxial through the shaft pins (21a) (31a) on the 50. 삭제delete
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093086A (en) * 2017-06-21 2018-12-28 江苏金恒信息科技股份有限公司 A kind of slag adding machine device people and add slag system
CN110450147A (en) * 2019-08-19 2019-11-15 北京墨狄科技有限公司 A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm

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JP2005186259A (en) * 2003-12-26 2005-07-14 Daihen Corp Transfer robot

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
JP2005186259A (en) * 2003-12-26 2005-07-14 Daihen Corp Transfer robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093086A (en) * 2017-06-21 2018-12-28 江苏金恒信息科技股份有限公司 A kind of slag adding machine device people and add slag system
CN109093086B (en) * 2017-06-21 2024-04-02 江苏金恒信息科技股份有限公司 Slag adding robot and slag adding system
CN110450147A (en) * 2019-08-19 2019-11-15 北京墨狄科技有限公司 A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm

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