KR101837959B1 - Joint robot - Google Patents

Abstract

The present invention relates to a joint robot, comprising: a serial connected driving portion formed to have serial connection between a step motor and a reducer; and a parallel connected driving portion formed to have parallel connection between the step motor and the reducer, wherein the serial connected driving portion and the parallel connected driving portion are connected to each other and are operated as a rotary arm, respectively, and a torque adjusting portion is formed in the parallel connected driving portion so as to be connected to the reducer.

Description

Joint robot

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint robot, and more particularly, to a joint robot which is inexpensive and compact to be used in an assembly automation process.

Recently, various robots have been used throughout the industry from everyday life.

Among them, industrial joint robots are being used in place of manpower in many production sites such as automobile assembly processes. Brushless less direct current (BLDC) motors are mainly used as parts for generating driving force in such joint robots .

However, such a conventional articulated robot uses an expensive brushless direct current (BLDC) motor to raise a problem of high price.

Korean Patent Publication No. 2013-0051357

An object of the present invention is to provide a joint robot that does not use a brushless direct current (BLDC) motor.

The present invention is characterized in that it comprises a series connection driving part formed so that a step motor and a speed reducer are connected in series, and a parallel connection driving part formed such that a step motor and a speed reducer are connected in parallel, wherein the series connection driving part and the parallel connection driving part are connected to each other, And the parallel connection driving part is provided with a torque adjusting part to be connected to the speed reducer.

The parallel connection driving unit may be formed with a connecting member so that the step motor is connected to the speed reducer.

The connecting member may be a pulley.

A first torque fixing member fixed to the torque outer frame; a second torque fixing member fixed to the torque rotation shaft; and a second torque fixing member fixed to the torque transmission shaft, wherein the torque adjusting member includes: a torque outer frame; a torque rotation shaft configured to rotate inside the torque outer frame; And an elastic member connecting between the first torque fixing member and the second torque fixing member.

The torque regulating portion includes a torque outer frame, a torque rotation shaft formed to rotate inside the torque outer frame, an outer projection formed on the inner side of the torque outer frame, an axial projection formed on the outer side of the torque rotation shaft, And a pressing elastic member formed between the first and second elastic members.

An axial groove may be formed around the torque rotation shaft.

A plurality of the serial connection driving units and the parallel connection driving units may be formed to configure six axes.

The gripper assembly may be further connected to one of the serial connection driving unit and the parallel connection driving unit constituting the six axes.

The gripper assembly includes a gripper frame, a driving part formed on the gripper frame, a gripper driving rotary shaft formed to be connected to the driving part, a gripper one side driven rotary shaft and a gripper one side driven rotary shaft spaced apart from the gripper driving rotary shaft, A gripper one side link portion connected to the one-side driven rotary shaft of the gripper, and a gripper side link portion connected to the other driven side rotational shaft of the gripper.

The gripper one side link portion may include a link connected to the one-side driven rotational shaft of the gripper and a one side gripper member attached to the link.

A driven gear is formed on the outer periphery of the gripper driving rotary shaft, a driven gear is formed on an outer periphery of the one-side driven rotary shaft of the gripper, a coupled driven gear is formed to connect the driving gear and the driven gear, And the other driven gear that is directly connected to the driving gear may be formed around the outer periphery of the driven rotation shaft on the other side of the gripper.

The present invention uses a step motor to reduce the cost.

The present invention has the effect of compensating for the torque acting through the torque regulating portion when the stepping motor of the parallel connection driving portion is restored to its original position after the operation.

1 is a schematic front view showing a joint robot according to the present invention.
2 is a schematic side perspective view showing a joint robot according to the present invention.
3 is a schematic rear view showing the articulated robot according to the present invention.
4 is a schematic perspective view showing the first torque adjusting portion.
5 (a) is a schematic front sectional view showing a first torque adjusting section, and Fig. 5 (b) is a schematic front sectional view showing a state in which a torque rotating shaft of a first torque adjusting section is rotated.
6 is a schematic perspective view showing the second torque regulator and the third torque regulator;
7 (a) is a schematic front sectional view showing a second torque adjusting portion and a third torque adjusting portion, and FIG. 7 (b) is a view showing a state in which the torque rotating shaft of the second torque adjusting portion and the third torque adjusting portion is rotated Fig.
8A is a schematic front view showing a state before the first parallel connection driving unit is driven by driving the first serial connection driving unit and FIG. 8B is a schematic front view showing a state before the first serial connection driving unit is driven by the first serial connection driving unit, Fig. 2 is a schematic front view showing a state after the parallel connection drive unit is rotated;
FIG. 9A is a schematic front view showing a state before the second parallel connection driving unit is driven by driving the first parallel connection driving unit, FIG. 9B is a schematic front view showing a state before the second parallel connection driving unit is driven by driving the first parallel connection driving unit, 9 (a) is a schematic left side view as viewed from the left side, and Fig. 9 (d) is a front view showing a state after the parallel connection drive portion is rotated as shown in Fig. 9 (b) The left side is a schematic left side view.
10 (a) is a schematic front view showing a state before the second series connection driving unit is driven by the driving of the second parallel connection driving unit, and FIG. 10 (b) 10 (a) is a schematic left side view as viewed from the left side, and FIG. 10 (d) is a schematic front view showing a state after the series connection driving unit is rotated, The left side is a schematic left side view.
11 (a) is a schematic front view showing a state before the third parallel connection driving unit is driven by the driving of the second series connection driving unit, and FIG. 11 (b) Fig. 2 is a schematic front view showing a state after the parallel connection drive unit is rotated;
12 (a) is a schematic front view showing a state before the third series connection driving unit is driven by the driving of the third parallel connection driving unit, and FIG. 12 (b) Fig. 12 (c) is a schematic left side view of Fig. 12 (a), and Fig. 12 (d) is a cross- The left side is a schematic left side view.
FIG. 13A is a schematic front view showing a state before the gripper assembly is rotated by driving the third series connection driving part, FIG. 13B is a view illustrating a state where the gripper assembly is rotated by driving the third series connection driving part, And Fig.
14 is a perspective view showing a gripper assembly.
15 is a front view of the gripper assembly.
16 is a schematic operating state view showing a process of moving away from one gripper member and the other gripper member of the gripper assembly.
17 is a schematic operating state view showing a process of approaching between one gripper member and the other gripper member of the gripper assembly.
18 is a schematic perspective view showing a modification of the gripper assembly.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood, however, that the appended drawings illustrate the present invention in order to more easily explain the present invention, and the scope of the present invention is not limited thereto. You will know.

In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

Also, the terms used in the present application are used only to describe certain embodiments and are not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

FIG. 1 is a schematic front view showing a joint robot according to the present invention, FIG. 2 is a schematic side perspective view showing a joint robot according to the present invention, and FIG. 3 is a schematic rear view showing a joint robot according to the present invention.

The joint robot 100 according to the present invention includes a base frame 110, a first serial connection driver 200 formed on the base frame 110, A second parallel connection driving part 400 connected to the upper part of the first parallel connection driving part 300 and a second serial connection driving part 400 connected to the upper part of the second parallel connection driving part 400. [ A third parallel connection driver 600 connected to the upper portion of the second serial connection driver 500 and a third serial connection driver 700 connected to the upper portion of the third parallel connection driver 600, And a gripper assembly 800 which is connected to the upper portion of the third series connection driving unit 700 and acts to catch or transfer objects such as a hand.

The base frame unit 110 includes a lower substrate 112, vertical columns 114 provided at four corners of the lower substrate 112, and upper and lower substrates 114, (116).

The first series connection driving part 200 includes a first step motor 210 formed to be fixed to the upper substrate 116 by a bracket 118 and a second step motor 210 connected to one side of the first step motor 210 And a first planetary speed reducer 230 connected to the other side of the first pulley 220. The first pulley 220 is connected to the first pulley 220,

The first planetary speed reducer 230 includes an outer frame 232 fixed to the upper substrate 116 and an inner driven member 220 formed to be rotated by the first pulley 220 inside the outer frame 232, (234).

The first stepping motor 210 and the first planetary reduction gear 230 may be disposed in parallel by the first pulley 220 so that the first planetary reduction gear 230 is connected to the first stepping motor 210 The height is lower than that in the case of connecting in series, and the effect of making the whole compact is generated, and at the same time, the electric wire or the like connected to the first step motor 210 can be easily processed.

The first parallel connection driving part 300 includes a first swing arm frame 302 connected to the inner driven member 234 to rotate and a second swinging arm frame 302 formed on the inner side of the first swinging arm frame 302, A second planetary gear set 330 connected to the other side of the second pulley 320, a second planetary gear set 330 connected to the second planetary gear set 330, And a first torque regulator 340 connected to the second planetary speed reducer 330.

The driving force of the second stepping motor 310 is transmitted to the second planetary speed reducer 330 through the second pulley 320.

The second parallel connection driving part 400 includes a second swing arm frame 402 connected to the second planetary speed reducer 330 and the first torque adjusting part 340, A third stepper motor 410 formed inside the third pulley 420 and a third pulley 420 connected to one end of the third stepper motor 410 to be connected to the other end of the third pulley 420, And a second torque regulator 440 connected to the third planetary speed reducer 430 and the third planetary speed reducer 430.

The third stepping motor 410 and the third planetary reduction gear 430 are connected in parallel by the third pulley 420 and the driving force of the third stepping motor 410 is transmitted through the third pulley 420 And is transmitted to the third planetary speed reducer 430.

The second series connection driving part 500 includes a second horizontal rotating frame 502 connected to the third planetary speed reducer 430 and the second torque adjusting part 440, And a fourth planetary reduction gear 530 connected to the fourth stepping motor 510. The fourth planetary reduction gear 530 is connected to the fourth stepping motor 510. The fourth planetary reduction gear 530 is connected to the fourth stepping motor 510,

The fourth stepping motor 510 and the fourth planetary reduction gear 530 are connected in series without a pulley and the driving force of the fourth stepping motor 510 is directly transmitted to the fourth planetary reduction gear 530.

The third parallel connection driving part 600 includes a third swing arm frame 602 connected to the fourth planetary speed reducer 530 and a fifth step motor 602 formed on the third swing arm frame 602 A fifth planetary speed reducer 630 connected to the other side of the fourth pulley 620 and a fourth planetary speed reducer 640 connected to the fifth planetary speed reducer 630. [ And a third torque regulator 640 that is configured to be coupled to the output shaft 630.

When a fourth pulley 620 is formed between the fifth stepping motor 610 and the fifth planetary reduction gear 630 and is connected in parallel, the driving force generated by the fifth stepping motor 610 is transmitted to the fourth pulley 620 To the fifth planetary speed reducer 630 through the second planetary gear mechanism 630.

The third series linkage driving unit 700 includes a third horizontal rotation frame 702 connected to the fourth planetary speed reducer 530 and the third torque adjustment unit 640 and a third horizontal rotation frame 702 connected to the third horizontal rotation frame 702 And a sixth planetary speed reducer 730 connected to the sixth step motor 710. The sixth planetary speed reducer 730 is connected to the sixth step motor 710,

The sixth stepper motor 710 and the sixth planetary speed reducer 730 are connected in series without forming a pulley and the driving force generated by the sixth step motor 710 is directly transmitted to the sixth planetary speed reducer 730 do.

The gripper assembly 800 is connected to the sixth planetary speed reducer 730 and is rotatable. The gripper assembly 800 performs a function of holding or moving objects such as a hand.

As described above, the present invention is a six-axis articulated robot 100 that drives six axes through three parallel connection actuators 300, 400, 600 and three serial connection actuators 200, 500, 700.

5 (a) is a schematic front sectional view showing a first torque adjusting section, and Fig. 5 (b) is a sectional view showing a state in which the torque rotating shaft of the first torque adjusting section is rotated Fig.

The first torque regulator 340 includes a torque outer frame 342, a torque rotation shaft 344 configured to rotate inside the torque outer frame 342, Which is a second torque fixing member fixed to the shaft groove 347 formed in the torque rotation shaft 344, a first torque fixing pin 346, which is a first torque fixing member, And a plurality of tensile spring-like tensile elastic members 349a, 349b, and 349c connecting the first torque fixing pin 346 and the second torque fixing pin 348. [

In the present invention, when torque is generated by rotating the torque rotation shaft 344 as shown in FIG. 5 (b) in a state where no torque is generated as shown in FIG. 5 (a) The elastic member 349a is deformed within the elastic range so that the torque required for the torque rotation shaft 344 to return to the original position is reduced.

The shaft 347 prevents the tensile elastic members 349a, 349b and 349c from contacting and deforming around the torque rotation shaft 344 when the torque rotation shaft 344 is rotated to generate torque, .

As described above, the present invention has the effect of compensating the torque applied when the step motor of the parallel connection drive unit is restored to its original position after the step motor of the parallel connection drive unit is operated through the torque adjustment unit.

FIG. 6 is a schematic perspective view showing a second torque adjusting portion and a third torque adjusting portion, FIG. 7 (a) is a schematic front sectional view showing a second torque adjusting portion and a third torque adjusting portion, and FIG. The second torque adjusting portion and the third torque adjusting portion are rotated.

The second torque regulating portion 440 and the third torque regulating portion 640 include torque outer frames 442 and 642 and torque rotation shafts 444 and 442 formed to rotate inside the torque outer frames 442 and 642, 644 formed on the inner side of the torque outer frame 442, 642, outer projections 446, 646 formed on the inner side of the torque outer frame 442, 642, shaft projections 448, 648 formed outwardly from the torque rotation shafts 444, 644, 644 and the shaft projections 448, 648 on both sides along the shaft grooves 447, 647 and the axial projections 448, 648, Shaped compression elastic members 449a, 649a, 449b, and 649b.

The second torque adjusting unit 440 and the third torque adjusting unit 640 of the present invention are configured such that when the torque is not generated as shown in FIG. 7A, the torque rotating shafts 444, 644 are rotated to generate a torque, the compressive elastic members 449b, 649b are deformed within the elastic range so that the torque required to return the torque rotation shafts 444, 644 back to their original positions is reduced.

The present invention has an effect of compensating a torque applied when the step motor of the parallel connection drive unit is restored to the original position after the step motor is operated through the torque adjustment unit.

The first torque adjusting portion 340 uses the tensile elastic member 349a and the second torque adjusting portion 440 and the third torque adjusting portion 640 use the compression elastic members 449b and 649b, It is also possible to use all of the tensile elastic members 349a or the compression elastic members 449b and 649b.

8A is a schematic front view showing a state before the first parallel connection driving unit is driven by driving the first serial connection driving unit and FIG. 8B is a schematic front view showing a state before the first serial connection driving unit is driven by the first serial connection driving unit, Fig. 2 is a schematic front view showing a state after the parallel connection drive unit is rotated;

When the first stepping motor 210 of the first series connection driving part 200 is operated, rotational force is transmitted to the first planetary speed reducer 230 through the first pulley 220 and the first parallel driving part 300, Is rotated from Fig. 8 (a) to Fig. 8 (b).

As described above, the first parallel connection driving part 300 acts as one rotary arm with respect to the first serial connection driving part 200.

FIG. 9A is a schematic front view showing a state before the second parallel connection driving unit is driven by driving the first parallel connection driving unit, FIG. 9B is a schematic front view showing a state before the second parallel connection driving unit is driven by driving the first parallel connection driving unit, 9 (a) is a schematic left side view as viewed from the left side, and Fig. 9 (d) is a front view showing a state after the parallel connection drive portion is rotated as shown in Fig. 9 (b) The left side is a schematic left side view.

When the second step motor 310 of the first parallel connection driving part 300 is operated, the rotational force is transmitted to the second planetary speed reducer 330 through the second pulley 320 and the second parallel connection driving part 400, 9 (b) and 9 (d) in the state of Figs. 9 (a) and 9 (c).

When the second stepping motor 310 is operated in reverse, the rotational force is transmitted to the second planetary speed reducer 330 through the second pulley 320 so that the second parallel connection driving part 400 is rotated 9 (a) and 9 (c), and returns to the original position.

Since the second parallel connection drive part 400 is connected to one side of the rotation axis of the second planetary speed reducer 330, the second parallel connection drive part 400, which is positioned horizontally, The second parallel connection driving part 400 is rotated horizontally as shown in FIG. 3B. In this case, the first torque adjusting part 340 is operated, (400) is vertically erected in the horizontal position.

As described above, the second parallel connection driver 400 functions as one rotary arm for the first parallel connection driver 300.

10 (a) is a schematic front view showing a state before the second series connection driving unit is driven by the driving of the second parallel connection driving unit, and FIG. 10 (b) 10 (a) is a schematic left side view as viewed from the left side, and FIG. 10 (d) is a schematic front view showing a state after the series connection driving unit is rotated, The left side is a schematic left side view.

When the third stepping motor 410 of the second parallel connection driving part 400 is operated, the rotational force is transmitted to the third planetary speed reducer 430 through the third pulley 420 and is transmitted to the second series connection driving part 500, 10 (b) and 10 (d) in the state of Figs. 10 (a) and 10 (c).

When the third stepping motor 410 is operated in reverse, the rotational force is transmitted to the third planetary speed reducer 430 via the third pulley 420 so that the second series connection driving part 500 is rotated 10 (a) and 10 (c) in the state (d) of FIG. 10, and returns to the original position.

In this case, the second serial connection drive part 500 is connected to one side of the rotation axis of the third planetary speed reducer 430 and vertically rotates the horizontally positioned second serial connection part 500, The second torque control unit 440 is operated to rotate the second serial connection drive unit 500. In this case, the second torque control unit 440 is operated to rotate the second serial connection drive unit 500, 500 are vertically erected in the horizontal position.

As described above, the second series connection driver 500 acts as a single rotary arm with respect to the second parallel connection driver 400.

11 (a) is a schematic front view showing a state before the third parallel connection driving unit is driven by the driving of the second series connection driving unit, and FIG. 11 (b) Fig. 2 is a schematic front view showing a state after the parallel connection drive unit is rotated;

In the present invention, when the fourth step motor 510 of the second series connection driving part 500 is operated, the rotational force is transmitted to the fourth planetary speed reducer 530 so that the third parallel connection driving part 600 is rotated.

As described above, the third parallel connection driver 600 acts as one rotary arm to the second serial connection driver 500.

12 (a) is a schematic front view showing a state before the third series connection driving unit is driven by the driving of the third parallel connection driving unit, and FIG. 12 (b) Fig. 12 (c) is a schematic left side view of Fig. 12 (a), and Fig. 12 (d) is a cross- The left side is a schematic left side view.

When the fifth stepping motor 610 of the third parallel connection driving part 600 is operated, a rotational force is transmitted to the fifth planetary speed reducer 630 through the fourth pulley 620 so that the third series connection driving part 700, 12 (b) and 12 (d) in the state of Figures 12 (a) and 12 (c).

When the fifth stepping motor 610 is operated in reverse, the rotational force is transmitted to the fifth planetary speed reducer 630 through the fourth pulley 620 so that the third series connection driving part 700 is rotated 12 (a) and 12 (c) in the state (d) of FIG. 12, and returns to the home position.

At this time, the third series connection driving part 700 is connected to one side of the rotation axis of the fifth planetary speed reducer 630, and the third series connection driving part 700 horizontally positioned is vertically rotated as shown in (a The third torque control unit 640 is operated to rotate the third serial connection drive unit 700 in the horizontal direction by the third serial connection drive unit 700. In this case, (700) is vertically erected in the horizontal position.

As described above, the third series connection driving part 700 acts as one rotating arm with respect to the third parallel connection driving part 600.

FIG. 13A is a schematic front view showing a state before the gripper assembly is rotated by driving the third series connection driving part, FIG. 13B is a view illustrating a state where the gripper assembly is rotated by driving the third series connection driving part, And Fig.

13 (a), when the sixth step motor 710 of the third series connection driving part 700 is operated, the rotational force is transmitted to the sixth planetary speed reducer 730 so that the gripper assembly 800 is rotated 13 (b).

As described above, the gripper assembly 800 serves as one rotary arm for the third series connection driver 700. [

14 is a perspective view showing a gripper assembly, and Fig. 15 is a front view showing a gripper assembly.

The gripper assembly 800 connected to the sixth planetary speed reducer 730 of the third series connection driving part 700 includes a gripper frame 802 and a DC motor serving as a driving part fixed to the rear surface of the gripper frame 802. [ A gripper driving rotary shaft 812 connected to the shaft of the DC motor 810 and formed on a front surface of the gripper frame 802 and a gripper driving rotary shaft 812 separated from the gripper driving rotary shaft 812, A gripper one side link portion 830 connected to the gripper one side driven rotation shaft 814 and formed on the rear surface of the gripper frame 802, And a gripper-side link portion 820 formed on the rear surface of the gripper frame 802, connected to the other-side driven rotary shaft 816 of the gripper.

The gripper one side link portion 830 includes a first gripper one side link 832 connected at one end to the gripper one side driven rotation axis 814 and a first gripper one side link 832 connected at one end thereof to be fixed substantially perpendicularly to the first gripper one side link 832. [ A third gripper one side link 836 connected to the second gripper one side link 834 and one end connected to the third gripper one side link 836 and the other end connected to the first gripper one side link 836, A fourth gripper one side link 838 connected to the gripper frame 802 adjacent one end of the one side link 832; And one side gripper member 850 attached to the third gripper one side link 836.

The first gripper one side link 832 and the second gripper one side link 834 are connected at two connection points and are integrally operated as a whole.

One end of the third gripper one side link 836 is connected to the other end of the second gripper one side link 834, is bent substantially vertically at the middle portion, and is connected to the fourth gripper one side link 838.

Accordingly, when the one-side driven rotational shaft 814 is rotated, the one-side gripper member 850 is connected to the one-side driven rotational shaft 814 by the connection structure between the first gripper one side link 832 and the fourth gripper one side link 838 And is rotated in the same direction.

The other gripper side link portion 820 includes a first gripper side link 822 connected at one end to the gripper second side driven rotation shaft 816 and a second gripper side link 822 connected at one end thereof to be fixed substantially perpendicularly to the first gripper side link 822. [ A third gripper side link 826 connected to the second gripper side link 824 and one end connected to the third gripper side link 826 and the other end connected to the first gripper side link 826, A fourth gripper side link 828 connected to the gripper frame 802 adjacent one end of the other side link 822; And a second gripper member 840 attached to the third gripper-side link 826.

The first gripper-side link 822 and the second gripper-side link 824 are connected to each other at two connection points and are integrally operated as a whole.

One end of the third gripper-side link 826 is connected to the other end of the second gripper-side link 824, is bent substantially vertically at the middle portion, and is connected to the fourth gripper-side link 828.

The other gripper member 840 is connected to the gripper second side driven rotary shaft 816 by the connection structure between the first gripper side link 822 and the fourth gripper side side link 828 when the other gripper side rotational shaft 816 is rotated. And is rotated in the same direction.

FIG. 16 is a schematic operating state view showing a process of moving away from one gripper member and the other gripper member of the gripper assembly, and FIG. 17 is a schematic operation state view showing a process of approaching one gripper member and the other gripper member of the gripper assembly.

A twisted pulley 891 is connected between the gripper drive rotary shaft 812 and one gripper rotary shaft 814 and a pulley 893 wound once twisted between the gripper drive rotary shaft 812 and the other gripper rotary shaft 816 .

16, the gripper driving rotary shaft 812 rotates in the counterclockwise direction and the one-side driven rotary shaft 814 is rotated in the counterclockwise direction as shown in FIG. 16, so that the one-side gripper member 850 of the gripper assembly 800 and the other- And one side gripper member 850 is rotated in a direction away from the other side gripper member 840 by the connection structure between the first gripper one side link 832 and the fourth gripper one side link 838. [

The other gripper member 840 is connected to the one gripper member 810 by the connection structure between the first gripper-side link 822 and the fourth gripper-side link 828, 850).

As a result, the one side gripper member 850 and the other side gripper member 840 are rotated in directions away from each other.

17, the gripper driving rotary shaft 812 rotates in the clockwise direction and the one-side driven rotary shaft 814 is rotated clockwise as shown in FIG. 17, And the one side gripper member 850 is rotated in the direction of approaching the other side gripper member 840 by the connection structure between the first gripper one side link 832 and the fourth gripper one side link 838. [

The other gripper member 840 rotates counterclockwise on the other side of the gripper-side driven rotary shaft 816, and the other gripper member 840 is connected to the first gripper-side link 822 through the fourth gripper- Lt; RTI ID = 0.0 > 850 < / RTI >

As a result, the one side gripper member 850 and the other side gripper member 840 are rotated in directions approaching each other.

18 is a schematic perspective view showing a modification of the gripper assembly.

The modification of the gripper assembly 800 is characterized in that it is formed in a gear structure other than a pulley structure as shown in FIG.

A drive gear 812-1a is formed on the outer periphery of the gripper drive rotary shaft 812-1 and one driven gear 814-1a is formed on the outer periphery of the gripper one-side driven rotary shaft 814-1. And the other driven gear 816-1a is formed on the outer periphery of the driven rotation shaft 816-1.

A connecting driven gear 815-1a of the connecting rotary shaft 815-1 is formed between the driving gear 812-1a and the one driven gear 814-1a and is connected to the driving gear 812-1a and the one- And the gears 814-1a.

The driving gear 812-1a and the other driven gear 816-1a are directly connected to each other.

In the modified example of the gripper assembly 800, when the gripper driving rotary shaft 812-1 is rotated clockwise through this gear structure, the one driven gear 814-1a is rotated in the clockwise direction and the other driven gear 816-1a Is rotated in the counterclockwise direction, so that one side gripper member 850 and the other side gripper member 840 are rotated in directions approaching each other.

The present invention has the effect of easily grasping an object through the structure of the gripper assembly 800 as described above.

The magnitude of the electric current sent from the DC motor 810 is controlled to adjust the rotational speed of the one gripper member 850 and the gripping force of the other gripper member 840.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. . Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

100: joint robot 110: base frame part
112: lower substrate 114: vertical column
116: upper substrate 200: first series connection driver
210: first step motor 220: first pulley
230: first planetary speed reducer 234: inner driven member
300: first parallel connection driving part 310: second step motor
330: second planetary speed reducer 340: first torque regulator
400: second parallel connection driving part 410: third step motor
420: third pulley 430: third planetary speed reducer
440: second torque regulator 500: second series connection driver
502: second horizontal rotation frame 510: fourth step motor
530: Fourth planetary speed reducer 600: Third parallel connection drive part
700: third serial connection driver 800: gripper assembly

Claims (9)

A serial connection driving part formed so that a step motor and a speed reducer are connected in series,
And a parallel connection driver configured to connect the step motor and the speed reducer in parallel,
Wherein the serial connection driving unit and the parallel connection driving unit are connected to each other to operate as rotary arms,
Wherein the parallel connection driving part is provided with a torque adjusting part to be connected to the reduction gear, a connection member is formed in the parallel connection driving part so that the step motor is connected to the reduction gear,
The torque regulator includes:
A torque outer frame,
A torque rotation shaft formed to rotate inside the torque outer frame,
An axial groove formed around the torque rotation shaft,
An outer protrusion formed on the inner side of the torque outer frame,
An axial projection formed outwardly from the torque rotation shaft; And
And a compression elastic member formed between the outer protrusion and the shaft protrusion.
delete The method according to claim 1,
Wherein the connecting member is a pulley.
delete The method according to claim 1 or 3,
Wherein a plurality of the serial connection driving units and the parallel connection driving units are formed to constitute six axes. The method of claim 5,
Wherein the gripper assembly further comprises a gripper assembly connected to one of the serial connection driving unit and the parallel connection driving unit constituting the six axes. The method of claim 6,
The gripper assembly
A gripper frame,
A driving unit formed on the gripper frame,
A gripper driving rotary shaft connected to the driving unit,
A gripper one side driven rotation axis and a gripper other side driven rotation axis which are formed apart from the gripper drive rotation axis,
A gripper one-side link portion connected to the one-side driven rotation axis of the gripper,
And a gripper-side link portion connected to the other-side driven rotation axis of the gripper. The method of claim 7,
The gripper-side link portion
A link connected to the one-side driven rotational shaft of the gripper,
And one gripper member attached to the link. The method of claim 7,
A drive gear is formed on an outer periphery of the gripper drive rotary shaft,
One driven gear is formed on the outer periphery of the one-side driven rotation shaft of the gripper,
A coupled driven gear formed to connect between the driving gear and the one driven gear,
And a second driven gear directly connected to the driving gear is formed on the outer periphery of the driven rotation shaft on the other side of the gripper.

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