KR101329024B1 - Belt-pulley apparatus and Cylindrical coordinate type robot - Google Patents

Abstract

In the robot for implementing a linear motion by rotating at least three rotary shafts with one actuator (10), the actuator (10); A reducer 15 connected to the actuator 10; A first link 20 connected to the reducer 15 and rotating; A second link 30 connected to the first link 20 and rotated by receiving a driving force; A third link 40 connected to the second link 30 and rotated by receiving a driving force; A fourth link 50 connected to the third link 40 and linearly moved by receiving a driving force, among the first, second, third, and fourth links 10, 20, 30, and 40. At least one of the reinforcing belt is disposed for transmitting the rotational force generated from the actuator 10, the reinforcing belt is formed of a metal or synthetic resin material does not occur elasticity or sag, connecting the belt to adjust the length Since the connection unit 70 is included to be disposed, by placing the high rigid connection unit 70 in the reinforcing belt to minimize the use error, such as stretching and sag, pulley by being configured to be adjustable in length Fine adjustment of the angle is possible.

Description

Belt pulley device and robot according to it {Belt-pulley apparatus and Cylindrical coordinate type robot}

The present invention relates to a belt pulley device and a robot according to the present invention. More specifically, a belt pulley capable of forming high-strength tension on a belt in an output shaft sharing type robot that realizes linear movement of an articulated robot using one actuator. It relates to an apparatus and a robot accordingly.

In general, a robot that drives three rotary joints with one actuator to obtain linear motion of the distal end can be divided into an output shaft sharing method and an input shaft sharing method.

The input shaft sharing method is a method of connecting the input shaft of the reducer installed in each joint with a timing belt, and the rigidity of the timing belt is reduced by the reducer, so that the movement of the link is affected by the stiffness of the reducer.

The output shaft sharing method is a method of directly transmitting power to a timing belt without installing a speed reducer in each joint, and since the expensive speed reducer is not used, the cost of the robot can be greatly reduced. However, the conventional robot configured by the output shaft sharing method has a problem that the rigidity of the timing belt is reflected in the rotational movement of the link, the rigidity is lowered.

1 is a front view showing a belt-pulley structure in the output shaft sharing robot according to the prior art.

As shown, the existing belt-pull structure has a pulley (1) (2) spaced at a predetermined interval, a belt (3) surrounding and connecting the pulley (1) (2) and tension the belt (3) It comprises an idler pulley 4 which rotates in close contact with the belt 3 to provide.

In addition, the belt-pulley structure in the conventional robot forms a long hole in the pulleys (1) and (2) in order to control the angle between the links, and uses the idler pulley (4) or the like to remove the belt ( An initial tension was formed in 3), and the angle between the links was adjusted by rotating the pulleys 1 and 2 little by little using the long holes.

However, since the initial tension must be largely applied to the timing belt for sharing the output shaft, even if the bolt installed in the long hole is released, the fine rotation of the pulley (1) (2) is caused by the large force applied to the pulley (1) (2). This is difficult, and therefore, there is a problem that the angle adjustment of each link is difficult.

It is an object of the present invention to provide a belt pulley device and a robot according to the present invention, in which a high strength tension can be formed on a belt in an output shaft sharing robot that uses a single actuator to realize linear movement of an articulated robot.

One side of the present invention is a robot for implementing a linear motion by rotating at least three rotary shafts with one actuator (10), the actuator (10); A reducer 15 connected to the actuator 10; A first link 20 to which the reducer 15 is installed; The second link 30 is connected to the first link 20 and the first connecting shaft 61 and rotated by a predetermined angle by receiving a driving force from the reducer 15 through the first connecting shaft 61. ; A third link connected to the second link 30 and the second connecting shaft 62 and rotated by a predetermined angle by receiving a driving force from the first connecting shaft 61 through the second connecting shaft 62; 40); And a fourth link 50 connected to the third link 40 and linearly moved by receiving a driving force from the second connecting shaft 62, wherein the first, second, third and fourth links 10 At least one of the 20, 30 and 40 is disposed in the reinforcement belt for transmitting the rotational force generated from the actuator 10, the reinforcement belt is formed of a metal or synthetic resin material does not occur elasticity or sag And, the connection unit 70 for connecting the belt so that the length can be adjusted to provide a robot disposed.

In addition, the reinforcing belt 25 is a main belt (25a) disposed to surround any one pulley (22); A driven belt 25b disposed to surround the other pulley 24; A driving fixing bar 72 which includes the connecting unit 70 connecting the driving belt 25a and the driven belt 25b, and the connecting unit 70 is fixed to the driving belt 25a; A driven fixing bar 74 fixed to the driven belt 25b; The main assembly bar 72 and the driven fixing bar 74 may include a fastening assembly 76 which is fastened and coupled to adjust the length.

In addition, the fastening assembly 76 may be threaded to be formed to be screwed to at least one of the main fixing bar 72 or the driven fixing bar 74.

In addition, the fastening assembly 76 includes a main fastening portion 77 is fastened to the main coaxial fixed bar (72); A driven fastening part 78 fastened to the driven fixing bar 74; By being fixed and rotated to the main fastening portion 77 and the driven fastening portion 78 or the distance between the main fastening portion 77 and the main driving bar 72 or the driven fastening portion 78 and the driven fixed It may include a rotating portion 75 for adjusting the distance between the bars (74).

In addition, the reinforcing belt may be disposed in the 1, 2, 3 links 20, 30, 40, respectively.

In addition, the second, third, and fourth links 30, 40, and 50 form predetermined angles θ1, θ2, and θ3, wherein the angles are between θ1: θ2: θ3 = 1: 2: 1. Can be formed in proportion.

Another aspect of the present invention is a belt pulley device reciprocating while being rotated in a forward or reverse direction within a predetermined angle, comprising: a main belt (25a) disposed to surround one of the pulleys (22); A driven belt 25b disposed to surround the other pulley 24; A driving fixing bar 72 which includes the connecting unit 70 connecting the driving belt 25a and the driven belt 25b, and the connecting unit 70 is fixed to the driving belt 25a; A driven fixing bar 74 fixed to the driven belt 25b; Provides a belt pulley device including a fastening assembly 76 which is fastened and coupled to any one of the main fixing bar 72 and the driven fixing bar 74 to adjust the length.

In addition, the fastening assembly 76 may be threaded to be formed to be screwed to at least one of the main fixing bar 72 or the driven fixing bar 74.

In addition, the fastening assembly 76 includes a main fastening portion 77 is fastened to the main coaxial fixed bar (72); A driven fastening part 78 fastened to the driven fixing bar 74; By being fixed and rotated to the main fastening portion 77 and the driven fastening portion 78 or the distance between the main fastening portion 77 and the main driving bar 72 or the driven fastening portion 78 and the driven fixed It may include a rotating portion 75 for adjusting the distance between the bars (74).

In addition, the connection unit 70 further includes a plurality of fastening members 79 for fixing the reinforcing member 73 and the reinforcing member 73 to the fastening assembly 76, and the plurality of the fastening members 79. At least one of the penetrating through the reinforcing member 73 may be fixed to the pivot fixing bar 72, and at least one of the at least one may be fixed to the driven fixing bar 74 through the reinforcing member 73. .

The belt pulley device and the robot according to the present invention minimize the occurrence of use errors such as stretching and deflection by arranging the high rigid connection unit 70 on the reinforcing belt, and the length of the pulley angle can be adjusted. Fine adjustment is possible.

1 is a front view showing a belt pulley structure in the output shaft sharing robot according to the prior art
2 is a schematic cross-sectional view of a robot according to an embodiment of the present invention.
3 is a belt pulley device of FIG.
4 is an operation example 1 of FIG.
5 is an operation example 2 of FIG.
6 is a schematic view of the operation of FIG.
7 is a schematic cross-sectional view of a robot according to another embodiment of the present invention.
8 is a belt pulley device according to another embodiment of the present invention.
Fig. 9 is a plan view of Fig. 8

2 is a schematic cross-sectional view of a robot according to an embodiment of the present invention, FIG. 3 is a belt pulley device of FIG. 2, FIG. 4 is an operation example 1 of FIG. 3, and FIG. 5 is an operation example 2 of FIG. 3. 6 is an operational schematic diagram of FIG. 3.

As shown, the robot according to the present embodiment includes an actuator 10, a reducer 15 connected to the actuator 10, a first link 20 on which the reducer 15 is disposed, and the first link. A second link 30 connected to the 20 and rotated by receiving a driving force, a third link 40 connected to the second link 30 and rotated by receiving a driving force and the third link 40. And a fourth link 50 connected linearly with a driving force.

The actuator 10 is a motor for rotating the rotating shaft in the forward or reverse direction.

The reducer 15 is coupled to the rotating shaft of the actuator 10, and adjusts the torque by adjusting the rotational speed of the rotating shaft.

The first link 20 has a first link body 29 forming an outer shape, a first main pulley 22 connected to the reducer 15 and rotated, and a predetermined distance from the first main pulley 22. And a reinforcing belt 25 connecting the first driven pulley 24 and the first driven pulley 22 and the first driven pulley 24.

The reinforcing belt 25 reciprocates a predetermined length by the forward rotation or the reverse rotation of the first main pulley 22.

The first link body 29 allows the first main pulley 22, the first driven pulley 24, and the reinforcing belt 25 to be installed therein.

The second link 30 has a second link body 39 forming an appearance, a second main pulley 32 that is rotated by receiving a rotational force from the first driven pulley 24, and the second main pulley ( 32) and a second driven pulley 34 spaced apart from the predetermined interval, and the reinforcing belt 35 for connecting the second main pulley 32 and the second driven pulley 34.

The first and second links 20 and 30 are connected via a first connecting shaft 61, and in this embodiment, the first connecting shaft 61 is the first driven pulley 24 and the second. It is coupled to the main pulley 32 to transmit the rotational force.

The reinforcing belt 35 reciprocates a predetermined length by the forward rotation or the reverse rotation of the second main pulley 32.

The second link body 39 is formed by protruding an insertion portion 38 inserted into the first link body 29, and the first connection shaft 61 is disposed on the insertion portion 38. In order to minimize interference between the insertion portion 38 and the first link body 29, a bearing 27 may be installed.

The third link 40 has a third link body 49 forming an external appearance, a third main pulley 42 that is rotated by receiving rotational force from the second driven pulley 34, and the third main pulley ( 42) and a third driven pulley 44 spaced apart from the predetermined interval, and the reinforcing belt 45 for connecting the third main pulley 42 and the third driven pulley 34.

The second and third links 30 and 40 are connected via a second connecting shaft 62, and in the present embodiment, the second connecting shaft 62 is the second driven pulley 34 and the third. It is coupled to the main pulley 42 to transmit the rotational force.

The reinforcing belt 45 reciprocates a predetermined length by the forward rotation or the reverse rotation of the third main pulley 42.

The third link body 49 is formed by protruding an insertion portion 48 inserted into the second link body 39, and the second connecting shaft 62 is disposed on the insertion portion 48. In order to minimize interference between the insertion portion 38 and the first link body 29, a bearing 27 may be installed.

In addition, the fourth link 50 is formed by protruding an insertion portion 58 inserted into the third link body 49, and between the insertion portion 58 and the third link body 49. Bearings 27 may be arranged to minimize interference.

Here, the third driven pulley 44 and the insert 58 are directly connected to each other, and the fourth link 50 reciprocates within a predetermined angle by forward / reverse rotation of the third driven pulley 44. Are exercised.

The reinforcing belts 25, 35 and 45 are all the same bar will be described taking one reinforcing belt 25 as an example.

The reinforcing belt 25 includes a driving belt 25a disposed to surround one of the pulleys 22, a driven belt 25b disposed to surround the other pulley 24, and no elasticity or deflection occurs. It is formed of a metal or synthetic resin material, and includes a connecting unit 70 for connecting the driven belt 25a and the driven belt 25b to adjust the length.

The connection unit 70 includes a driving fixing bar 72 to which the driving belt 25a is fixed, a driven fixing bar 74 to which the driven belt 25b is fixed, and the driving fixing bar 72 and the It consists of a fastening assembly 76 is fastened to any one of the driven fixing bar (74).

The driving belt 25a and the driven fixing bar 74 are reciprocated between the pulleys 22 and 24 without being in contact with the outer circumferential surfaces of the pulleys 22 and 24. Alternatively, the same curved surface as the driven belt 25b may not be formed.

The driving fixing bar 72 and the driven fixing bar 74 may be formed in a hook shape to fix the driving belt 25a and the driven belt 25b, unlike the present embodiment, such as rivet joints. It can be bound in various ways.

The fastening assembly 76 may include a main fastening part 77 fastened to the main driving bar 72, a driven fastening part 78 fastened to the driven fixing bar 74, and the main fastening part ( 77) and a rotating portion 75 fixed to the driven fastening portion 78.

In the present embodiment, the main fastening portion 77 and the driven fastening portion 78 is a screw thread is formed, and is coupled to the main driving bar 72 and the driven fixing bar 74, unlike the present embodiment Only one may be arranged.

In this case, the main fastening part 77 and the driven fastening part 78 are coupled to each other by the rotation of the rotation part 75 to adjust the length.

In addition, the connection unit 70 may be disposed on only one side of the reinforcing belt 25, but in this embodiment are disposed on both sides, thereby loosening or tightening any one of the connection unit 70 through As a result, the angles of the pulleys 22 and 24 can be adjusted more easily.

On the other hand, as shown in Figure 6, the second, third, fourth link 30, 40, 50 forms a predetermined between the angle (θ1, θ2, θ3), the angle between the θ1: θ2: When formed at a ratio of θ3 = 1: 2: 1, the fourth link 50, which is a distal end, is always moved in a linear direction with respect to the rotation of the first rotation shaft 61.

In addition, the dimension ratio (diameter ratio or radius ratio) between the pulleys is as follows.

2nd main pulley (32): 2nd driven pulley (34) = 2: 1

3rd driven pulley (42): 3rd driven pulley (44) = 1: 2

When the inter-angle angles θ1, θ2, and θ3 are changed due to manufacturing errors, assembly errors, deflections, etc. of each link, the rotation angle 75 of the connection unit 70 is tightened or loosened to the inter-angle angle θ1. , θ2 and θ3 can be eliminated, and through this, the fourth link 50 can be always moved in a straight line by one actuator 10.

That is, when one of the intervals between the driving belt 25a or the driven belt 25b is increased and the other one is reduced while the initial tension is given, the pulleys 22 and 24 are rotated by the difference in length so that the fine angle is adjusted. This is possible.

Meanwhile, if the applied torque is T while the pulley to which the power is applied is T and the angular displacement due to the applied torque is θ, the rotational stiffness K during power transmission by the timing belt can be expressed by the following equation.

K = T / θ

The stiffness K of the timing belt can be expressed as follows if the unit length, the stiffness per width of the timing belt is K0, the length L of the belt, and the width B of the belt.

K = K0 x B / L

That is, it can be concluded that the rigidity increases as the length of the belt transmitting power for the same belt width decreases, and a part of the belt according to the present embodiment is replaced by the connection unit 70 having a large rigidity. The length of the belt is reduced by the length, thereby increasing the rigidity for power transmission.

7 is a schematic cross-sectional view of a robot according to another embodiment of the present invention.

As shown, the robot according to the present embodiment, unlike the above embodiment, the motor 10 and the reducer 15 are installed in the second link 130.

Here, the first and second connection pulleys 31 and 36 are disposed in the motor 10 and the reducer 15 installed in the second link 130, and the first connection pulley 31 is a reinforcing belt 35a. It is connected to the second main pulley 32 through, and the second connection pulley 39 is connected to the second driven pulley 34 through the reinforcing belt (35b).

Thus, the second, third and fourth links 130 and 40 and 50 are operated by the operation of the motor 10 installed in the second link 130.

Here, the dimension ratio (diameter ratio, radius ratio) between each pulley is as follows.

(2nd main pulley (32) * 2nd connection pulley (35b)) / 1st connection pulley (35a): 2nd driven pulley (34) = 2: 1 3rd Middle East pulley (42): 3rd driven pulley ( 44) = 1: 2.

The remaining configuration is the same as that of the above-described embodiment, and a detailed description thereof will be omitted.

8 is a belt pulley device according to another embodiment of the present invention, Figure 9 is a plan view of FIG.

As shown, the connection member 170 further includes a reinforcement member 73, unlike the embodiment, and the reinforcement member 73 is the pivot fixing bar 72 or through the fastening member 79. It is fixed to the driven fixing bar 74.

The reinforcing member 73 is formed with a long hole 71, the fastening member 79 is fixed to the driving fixing bar 72 or the driven fixing bar 74 through the long hole 71, the fastening assembly The external force applied to the (76) is dispersed and the screwing of the fastening assembly 76 is prevented.

The remaining configuration is the same as that of the above-described embodiment, and a detailed description thereof will be omitted.

Although the present invention has been described above with reference to the illustrated drawings, the present invention is not limited to the embodiments and drawings described herein, and is applied by those skilled in the art through various combinations within the scope of the technical spirit of the present invention. This is possible.

10: actuator 15: reducer
20: the first link 22: the first main pulley
24: 1st driven pulley 25: reinforced belt
25a: driven belt 25b: driven belt
27: bearing 29: the first link body
30: the second link 32: the second main pulley
34: second driven pulley 35: reinforced belt
39: second link body 40: third link
42: third driven pulley 44: third driven pulley
45: reinforced belt 49: the third link body
50: fourth link 58: insertion portion
61: first rotating shaft 62: second rotating shaft
70: connecting unit 72: main bar fixed bar
73: reinforcing member 74: driven fixing bar
75: rotating part 76: fastening assembly
77: main joint 78: driven joint
79: fastening member

Claims (10)

In the robot which rotates at least three rotary shafts with one actuator 10 to implement linear motion,
Actuator 10;
A reducer 15 connected to the actuator 10;
A first link 20 to which the reducer 15 is installed;
The second link 30 is connected to the first link 20 and the first connecting shaft 61 and rotated by a predetermined angle by receiving a driving force from the reducer 15 through the first connecting shaft 61. ;
A third link connected to the second link 30 and the second connecting shaft 62 and rotated by a predetermined angle by receiving a driving force from the first connecting shaft 61 through the second connecting shaft 62; 40);
A fourth link 50 connected to the third link 40 and linearly moved by receiving a driving force from the second connecting shaft 62;
At least one of the first, second, third, and fourth links 10, 20, 30, and 40 is provided with a reinforcing belt for transmitting the rotational force generated by the actuator 10, and the reinforcing belt is It is formed of a metal or synthetic resin material does not occur elasticity or sag, and includes a connection unit 70 for connecting the belt to adjust the length,
The reinforcing belt 25 is
A driving belt 25a disposed to surround either one of the pulleys 22;
A driven belt 25b disposed to surround the other pulley 24;
It includes the connecting unit 70 for connecting the driven belt 25a and the driven belt 25b,
The connection unit 70 is
A pivot fixing bar 72 fixed to the pivot belt 25a; A driven fixing bar 74 fixed to the driven belt 25b; It includes a fastening assembly 76 that is coupled to the main fixing bar 72 and the driven fixing bar 74 to adjust the length,
The fastening assembly 76 is
A screw fastening part 77 having a screw thread formed thereon and screwed to the main screw fixing bar 72;
A screw fastening part 78 formed with a screw threaded to the driven fixing bar 74;
Fixed and rotated to the main fastening portion 77 and the driven fastening portion 78, the distance between the main fastening portion 77 and the main driving bar 72 or the driven fastening portion 78 and the driven fixed A robot comprising a rotating portion (75) for adjusting the distance between the bars (74).
delete The method according to claim 1,
The fastening assembly 76 is a screw thread is formed to be screwed to at least one of the main driving bar (72) or the driven fixing bar (74).
delete The method according to claim 1,
The reinforcement belt is disposed in the 1, 2, 3 links (20, 30, 40), respectively.
The method according to claim 1,
The second, third, and fourth links 30, 40, and 50 form predetermined interangle angles θ1, θ2, and θ3, which are in the ratio θ1: θ2: θ3 = 1: 2: 1. Formed robot.
delete delete delete The method according to claim 1,
The connection unit 70 further includes a reinforcing member 73 and a plurality of fastening members 79 for fixing the reinforcing member 73 to the fastening assembly 76, among the plurality of fastening members 79. At least one robot penetrates the reinforcing member (73) and is fixed to the driving fixing bar (72), and at least one penetrates the reinforcing member (73) and is fixed to the driven fixing bar (74).

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