KR101264483B1 - Joint module of universal robot - Google Patents

Abstract

The present invention is a motor and a speed reducer is installed, the speed reduction driver is provided with an output end and a fixed end screwing the coupling ring at both ends; The robot arm is provided with the output end and the fixed end of the reduction driver is formed on both ends of the coupling hole is assembled by the coupling ring, the reduction driver and the robot arm is repeatedly arranged, the robot arm is the reduction driver to the axis It is characterized in that the pivot is formed to implement the motion movement.
Accordingly, as the reduction driver and the robot arm are easily disassembled and assembled by the fastening ring, the motion area can be easily expanded and changed, and the manufacturing cost can be drastically reduced by simplifying the structure and forming the reduction driver with a low cost commercially available reducer. There is an effect that anyone can feel free to perform the robot operation, including motion video shooting.

Description

Joint module of universal robot

The present invention relates to a universal robot joint module, and more particularly, to a universal robot joint module for expanding and changing the motion region in various forms by simply changing the assembly structure of the joint module.

In general, robots mimic humans and perform tasks that humans can do instead. In general, robots occupy the majority of industrial robots specialized in the purpose of producing products. It is being developed in various forms, such as to replace work at Esau or to assist general household activities.

Such robots have various joints, such as human joints, to perform behaviors similar to humans, and are widely used in various industrial fields because they precisely perform even movements that are impossible to humans, such as human movements, by joint motion.

Looking at the conventionally disclosed robot, Patent Registration No. 10-0695471 is composed of a plurality of robot arm is supported on one side to the support and rotatably connected to the joint, and surgical tool support coupled to the guide arm of the end of the robot arm To place the surgical instruments in the surgical site.

In addition, in Patent Registration No. 10-0749878, the robot arm is designed to have 3, 1, 3 degrees of freedom in the shoulder joint, the elbow joint, and the wrist joint, respectively, and operates in a motion similar to the arm movement of the human body. It makes every possible operation possible.

In addition, in Korean Patent Publication No. 10-2009-0086656, by reducing the width of the displacement of the robot arm connected by a number of joints, the doctor secures a relatively large surgical space and safety while interfering with other surgical devices I do not want to.

However, the prior art is to increase the utilization efficiency for the human substitute by controlling the displacement and degrees of freedom of the robot, but it is practically difficult to expand and change the motion area by the user. In other words, the robot arm and the control part for controlling the pivoting range of the joint and the robot arm and the driving part and the deceleration part which combine the robot, and the various control parts, such as the safety device, are complicated and expensive, and the disassembly and assembly by the expert An impossible problem was followed.

On the other hand, in recent years, with the spread of digital cameras capable of shooting Full-HD movies, the general public has become more interested in small-scale video production, and as the demand for control robots for special photography including motion photography is soaring, it is inexpensive and general consumers It is urgent to develop a control robot that can be easily and easily manipulated.

Accordingly, the present invention has been conceived to solve the above problems, it is easy to expand and change the motion area, easy to simplify the structure and drastically reduce the manufacturing cost, anyone can feel free to use the robot operation including motion image shooting The present invention relates to a universal robot joint module for performing.

In order to achieve this object, a feature of the present invention is that the output end 16 and the fixed end 17, on which the fastening ring 23 is screwed, are provided at both ends, and the motor 11 and the reducer 14, and the control unit are built in. Decelerating driver 10; The robot arm 20 is provided at both ends of the output end 16 and the fixed end 17 of the reduction driver 10 is assembled by the fastening ring 23; The deceleration driver 10 and the robot arm 20 are repeatedly arranged, and the robot arm 20 is configured to pivot the deceleration driver 10 on the axis to implement a motion movement.

At this time, the fastening hole 21 is formed as a square hole, characterized in that the angle connecting rod 18 is formed on one side of the output end 16 and the fixed end 17 accommodated on the fastening hole 21.

In addition, the main shaft 12a for transmitting the power of the drive shaft 12 or the drive shaft 12 of the motor 11 is exposed to one side of the output end 16 or the fixed end 17, and includes a driver and a box at the end. Manual operation unit 13 is formed so that the tool (T) is fastened.

In addition, the output end 16 and the fixed end 17 is installed in a corresponding position is characterized in that the proximity sensor 30 for detecting and controlling the turning angle of the output end 16 is provided.

According to the above configuration and operation, the present invention is easy to expand and change the motion area by simply disassembling and assembling the speed reduction driver and the robot arm by a fastening ring, and the speed reduction driver as a speed reducer commercially available with a simple structure and low cost. Since the manufacturing cost is greatly reduced, anyone can feel free to perform the robot operation, including motion image shooting.

1 is a perspective view of the universal robot joint module according to the present invention as a whole.
Figure 2 is an exploded perspective view showing an exploded deceleration driver applied to the universal robot joint module according to the present invention.
Figure 3 is a longitudinal sectional view showing the internal resistance of the reduction driver applied to the universal robot joint module according to the present invention.
4 is a use state diagram showing a state in which the universal robot joint module according to an embodiment of the present invention applied to the motion robot.

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

The present invention relates to a universal robot joint module, wherein the universal robot joint module is composed of a main configuration including a reduction driver 10, the robot arm 20 to facilitate the expansion and modification of the robot motion area.

The reduction driver 10 according to the present invention has an output end 16 and a fixed end 17 on which both fastening rings 23 are screwed, and are provided with a motor 11, a reducer 14, and a controller. The deceleration driver 10 includes a motor 11 operating by receiving an operation signal from a control unit, and a decelerator 14 for decelerating and transmitting the rotational force transmitted from the drive shaft 12 of the motor 11 to the output end 16. .

At this time, the speed reducer 14 is a power transmission means for increasing torque instead of slowing down the rotational speed of the motor 11, and shows a state in which a harmonic driver is applied in FIG. 2, but is not limited thereto. It is also possible to alternatively apply either a gear reducer or an RV reducer.

In FIG. 2, the speed reducer 14 is applied in the form of a harmonic driver. In detail, the flexplane 14b surrounding the elliptical wave generator 14a and the circular envelope surrounding the flexplane 14b are illustrated. In the form of a three-stage concentric circle of the spline 14c, when the wave generator 14a rotates, the outer tooth of the flexpline 14b, which is deformed into an ellipse, contacts the inner tooth of the circular spline 14c, and the rotation is transmitted. The deceleration takes place due to the difference in the number of contact teeth.

On the other hand, the harmonic driver reducer 14 has a simple structure, is easy to compact and lightweight, and has excellent deceleration efficiency, and can control the deceleration on the same axis as the drive shaft 12. By applying it as a means, there is an advantage in that the weight and manufacturing cost of the robot arm is greatly reduced.

In addition, the output end 16 and the fixed end 17 are provided at both ends of the reduction driver 10, the output end 16 is connected to the flexplane 14b of the reducer 14, one end of the robot arm 20 Is coupled, the fixed end 17 is assembled integrally with the circular splines 14c is coupled to another robot arm 20 at one end.

The robot arm 20 is fastened on the output end 16 and the fixed end 17 by the fastening ring 23, and at this time, the male screw 19 is provided at one end of the output end 16 and the fixed end 17. Is formed fastening ring 23 is screwed. The fastening ring 23 is formed in the form of a cap or nut (in Fig. 1 shows a state in which the fastening ring is formed in the form of a cap), and the uneven portion (nering portion) or the key surface on the outer circumferential surface so that the user can easily disassemble and assemble by bare hands. Is formed.

In addition, the output end 16 and the fixed end 17 is provided at a corresponding position is provided with a proximity sensor 30 for detecting and controlling the turning angle of the output end 16. Proximity sensor 30 is a sensor including an optical type using light or a sensing type using a magnet or an electrical contact. The proximity sensor 30 is connected to a control unit to detect and control the turning angle of the output terminal (robot arm) to set and control the motion region in various forms. Done.

Meanwhile, in order to prevent malfunction due to an error of the proximity sensor 30, stoppers 31a and 31b are provided at positions corresponding to the output end 16 and the fixed end 17, so that the robot arm can be rotated in hardware. 2, but the stopper 31a is installed on the output end 16, and the other stopper 31b is installed on the fixed end 17 corresponding to the stopper 31a, when the output end 16 rotates. Rotation is stopped at the angle set by 31b).

In addition, in the robot arm 20 according to the present invention, the output end 16 and the fixed end 17 of the reduction driver 10 are accommodated, and fastening holes 21 are assembled at both ends by the fastening ring 23. . The robot arm 20 has fastening holes 21 formed at two ends or at both ends and three central parts thereof, and the output end 16 and the fixed end 17 of the reduction driver 10 are fastened through the fastening holes 21. Connected.

In addition, the motion region of the robot arm is expanded and changed in various forms according to the length and shape of the robot arm 20. The robot arm 20 shows a "I" type in which both fastening holes 21 are horizontally arranged as shown in FIG. 1 and an "L" type arranged so as to be orthogonal to each other, but is not limited thereto. To change the length and bending angle of the robot arm 20 is to be changed in various forms.

In the universal robot joint module having the above configuration, the deceleration driver 10 and the robot arm 20 are repeatedly arranged, and the robot arm 20 pivots the deceleration driver 10 around the axis to implement a motion movement.

At this time, the fastening hole 21 is formed as an angle hole, and each bar fastening portion 18 is formed at one side of the output end 16 and the fixed end 17 accommodated on the fastening hole 21. Here, the fastening hole 21 and each rod fastening portion 18 are formed with 4 to 8 angles so that the installation angle of the robot arm 20 can be easily changed according to the assembling position, and the driving force of the deceleration driver 10 is engaged with each other. It is correctly delivered onto the robot arm 20. And each rod fastening portion 18 is preferably formed in a width narrower than the thickness of the robot arm 20 to be tightly fixed by the fastening ring 23 in the state accommodated in the fastening hole (21).

In addition, in the present invention, the drive shaft 12 or the main shaft 12a for transmitting the power of the drive shaft 12 of the motor 11 is exposed to one side of the output end 16 or the fixed end 17, the driver and the box at the end Manual operation part 13 is formed to fasten the tool T including. The manual operation part 13 is formed in the shape of a square rod or a +,-driver groove, and is located inside the output end 16 or the fixed end 17.

Therefore, as the motor 11 is driven during rotation by fastening the tool T including a driver and a box on the manual control unit 13, the deceleration driver 10 is manually operated, and thus the robot cannot be operated due to a power failure or an accident. It can be controlled even in the case of fine adjustment.

Due to the gear reduction ratio, the drive of the output stage 16 is controlled by the rotational force of the motor 11 due to the characteristics of the speed reducer 14, but on the contrary, the driving force is not transmitted in the reverse direction when the output stage 16 is rotated, so that manual operation from the outside is impossible. According to the present invention, the present invention is provided with a manual operation unit 13 to enable manual operation of the deceleration driver 10 from the outside.

4 is a use state diagram showing a state in which the universal robot joint module according to an embodiment of the present invention is applied to a motion robot.

In Figure 4, by combining the universal robot joint module of the present invention with a tripod to form a control robot for shooting, the deceleration driver 10 is installed in the vertical direction on the tripod (B), the deceleration driver (10) installed in the vertical direction ) Install a joint module assembly (J) consisting of a robot arm (20) and a reduction driver (10), wherein one end of the joint module assembly (J) is equipped with a camera (C), the other end of the center of gravity The weight (W) for holding is coupled to the opposite side of the camera (C) around the tripod (B).

In addition, the shooting control robot is organically combined with the motion of each joint module to perform a variety of motion shooting stably without shaking.

At this time, the deceleration driver 10 is prepared according to different torque specifications, the arrangement of the deceleration driver 10 with a weaker torque from the main shaft (tripod) to the camera (C), that is, the lighter the lighter weight away from the main shaft The arrangement of 10 reduces the load on each deceleration driver 10 during operation.

On the other hand, the deceleration driver 10 is provided with a cable port (not shown) at one end, and each deceleration driver 10 is connected by a cable through the cable port is a signal for power supply and motion operation is transmitted.

10: deceleration driver 11: drive motor 12: drive shaft
12a: spindle 13: manual control unit 14: reducer
16 output stage 17 fixed stage 18
20: robot arm 21: fastening hole 23: fastening ring
30: proximity sensor

Claims (4)

An output end 16 and a fixed end 17 to which the fastening ring 23 is screwed are provided at both ends, and the motor 11, the speed reducer 14, and the speed reducer driver 10 incorporating a control unit;
A robot arm 20 in which the output end 16 and the fixed end 17 of the deceleration driver 10 are accommodated and fastening holes 21 are assembled at both ends to be assembled by the fastening ring 23;
And a proximity sensor (30) installed at the corresponding position of the output end (16) and the fixed end (17) to detect and control the turning angle of the output end (16).
The deceleration driver 10 and the robot arm 20 are repeatedly arranged, the robot arm 20 is a universal robot joint module, characterized in that is formed to pivot the deceleration driver 10 to implement a motion movement. The method of claim 1,
The fastening hole 21 is formed as an angle hole, the universal robot joint module, characterized in that the angular rod fastening portion 18 is formed on one side of the output end 16 and the fixed end 17 accommodated on the fastening hole 21. . The method of claim 1,
The drive shaft 12 or the main shaft 12a for transmitting power of the drive shaft 12 of the motor 11 is exposed to one side of the output end 16 or the fixed end 17, and a tool including a driver and a box at the end ( Universal robot joint module, characterized in that the manual operation portion 13 is formed so that T) is fastened. delete

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