KR102174924B1 - Parallel robot having transmission mechanism of rotational motion - Google Patents

Abstract

The present invention relates to a parallel robot including a rotation delivery mechanism, capable of enabling rotation at an end effector. The parallel robot includes: a reference frame; a driving frame including an end effector; a plurality of driving link parts including a main driving link and a pair of parallel driven links; a plurality of first actuators delivering power to each driving link of the driving link part; and a rotation delivery part installed in at least one of the driving link parts so as to deliver rotation of one or more degrees of freedom to the end effector provided in the driving frame. The rotation delivery part includes: a main driving rotation shaft rotating by receiving a rotation force from a second actuator; a rotation delivery link performing a parallel link movement together with the pair of driven links while being located between the parallel driven links of the driving link part in parallel therewith, and rotating by having one end receiving a rotation force from the other end of the main driving rotation shaft; a first power delivery means installed in the main driving link of the driving link part, and delivering a rotation force from the other end of the main driving rotation shaft to one end of the rotation delivery link; and a second power delivery means installed in the driving frame, and delivering a rotation force from the other end of the rotation delivery link to the end effector.

Description

Parallel robot equipped with rotational motion transmission mechanism {PARALLEL ROBOT HAVING TRANSMISSION MECHANISM OF ROTATIONAL MOTION}

The present invention relates to a parallel robot, and more particularly, to a parallel robot provided with a rotational motion transmission mechanism to enable the rotational motion to the end effector.

In the current industrial field, various robots have been used to automate tasks in many areas. The basic condition is that the movement of the robot must be precisely controlled for smooth automation of work. In addition, robots are designed and used to satisfy various conditions according to the work content or environment.

In the robots used in the industrial field as described above, serial robots are used in more fields, and these serial robots have a number of end-effectors as links including driving devices are connected in series. As a robot that makes full use of the degree of freedom, it is suitable to be used in a large work space, relatively inexpensive to manufacture and operate, and has advantages such as flexibility that can be applied to various tasks.

In the case of a serial robot that is widely used in the related art, it has the advantage that it is relatively easy to handle kinematic errors caused in manufacturing and assembly processes. However, it is very difficult to improve the stiffness associated with precision, e.g., increasing stiffness while maintaining the same working space means increasing the amount of material used in the machine structure, which directly leads to an increase in cost. In addition, as the weight increases, higher specifications are required for actuators, joints, and power transmission means, leading to engineering difficulties and increased cost.

In industrial sites where higher precision is increasingly required, the limitations of serial robots are gradually emerging, and other types of robot designs have been made to solve these problems. One example is a parallel robot, which essentially has the advantage that rigidity can be greatly improved with little increase in weight, and thus precision can also be increased.

That is, parallel robots are mainly used to transfer products or parts at high speed within a limited work space, and depending on the number of link parts, three delta-type parallel robots or four quattro-type parallel robots, etc. Is called

The general structure of the parallel robot includes a reference frame 10, a driving frame 20, and a plurality of link units 30 connecting the reference frame 10 and the driving frame 20, as shown in FIG. 1, The driving frame 20 is provided with an end effector 40. As a delta-type parallel robot having three link units 30 in the drawing, the structure of each link unit 30 is the same. That is, the link unit 30 includes a main link 31 and two manual links 32 and 33, and one end of the main link 31 is connected to the actuator 11 installed in the reference frame 10. At this time, each end of the two manual links 32 and 33 is a ball joint coupled to the other end of the main link 31, and each other end has a parallelogram link structure while being ball joint coupled to the driving frame 20. Therefore, each link unit 30 is individually controlled by the actuator 11 connected to each main link 31, and the driving frame 20 is positioned through 3-axis movement based on the reference frame 10. The decision becomes possible.

However, since such a parallel robot is capable of only 3-axis linear movement of the driving frame, various parallel robots having a rotational motion transmission mechanism have been introduced recently so as to transmit the rotational motion to the end effector 40.

For example, as in Japanese Patent Publication No. 2002-532269 and Korean Patent Publication No. 10-1383878 filed and registered by the present applicant, it is a structure having a separate rotation transmission link that can be stretched through the reference frame 10, There is a problem in that the movement of the driving frame 20 is limited by the length of the rotation transmission link. In addition, as in U.S. Patent No. 4976582 or Japanese Patent Application No. 2011-88262, a separate rotary actuator for rotating the end effector 40 is directly installed on the drive frame 20 or the manual links 32 and 33. The structure of the drive frame 20 has a problem that the acceleration/deceleration performance of the drive frame 20 is greatly reduced, and the load applied to the actuator 11 moving the drive frame 20 is increased.

On the other hand, in the case of the'parallel link robot with an additional degree of freedom using a wire rope' of Korean Patent Publication No. 10-1269187, a wire rope is used to transmit a rotational motion to the end effector. However, in the case of wire ropes, first, since guide pulleys must be installed at each bending point, space utilization is deteriorated and there is great difficulty in assembly or installation, and second, wire ropes themselves are not suitable for precise control due to power transmission or their own elasticity. There is a problem that it doesn't fit at all.

An object of the present invention conceived to solve the above problems is to provide a rotational motion transmission mechanism to enable rotational motion to the end effector, but it is easy to assemble or install, and without deteriorating the acceleration/deceleration performance of the drive frame. It is to provide a parallel robot equipped with a rotational motion transmission mechanism capable of achieving precise control.

In addition, this parallel robot does not fix the reference frame so that it has an extended work area in the linear direction, and is configured to slide so that it can move linearly, and by separating and installing a plurality of actuators, which are driving sources of each link, the load is minimized. It is to provide a parallel robot equipped with a rotational motion transmission mechanism capable of improving the speed of the drive frame and performing the transfer speed of the drive frame at a higher speed.

In order to achieve the above object, a first embodiment of a parallel robot equipped with a rotational motion transmission mechanism according to the present invention includes a reference frame in which a reference origin of a reference coordinate system consisting of three axes of XYZ is defined, and from the reference frame. It is installed to be movable apart from each other, and the driving origin of the driving coordinate system of xyz is defined, the driving frame equipped with an end effector, and the reference frame and the driving frame are connected, each of which is relative to the reference frame. A plurality of driving link units including a main link having one degree of freedom and a pair of parallel manual links connecting the main link and the driving frame, and each of the driving link units installed on the reference frame, and each of the driving link units A plurality of first actuators that transmit power to the drive frame, and a rotational motion transmission unit installed on at least one of the driving link units to transmit a rotational movement of more than one degree of freedom to the end effector provided in the driving frame, The rotational motion transmission unit includes a second actuator fixedly installed inside the main link of the driving link unit, and a main rotating shaft rotatably installed inside the main link of the driving link unit, and one end is rotated by receiving rotational force from the second actuator. And, while being positioned in parallel between a pair of parallel manual links among the driving link units, a parallel link motion is performed with the pair of manual links, and one end rotates by receiving a rotational force from the other end of the main rotating shaft. A motion transmission link, a first power transmission means installed inside the main link of the driving link unit and transmitting a rotational force to one end of the rotational motion transmission link from the other end of the main rotation shaft, and installed on the drive frame, the rotation It characterized in that it comprises a second power transmission means for transmitting the rotational force to the end effector from the other end of the motion transmission link.

In addition, the first power transmission means is provided with a first main bevel gear coupled to the other end of the main rotating shaft and rotating together, and a first driven bevel gear engaged with the first main bevel gear to rotate at one end, And a first bevel gear shaft having the other end protruding out of the main link and coupled to one end of the rotational motion transmission link through a first universal joint.

In addition, the second power transmission means has one end coupled to the other end of the rotational motion transmission link through a second universal joint, and a second driven bevel gear provided at the other end is inserted into the drive frame to be rotated. A second bevel gear shaft supported so as to be rotatably installed inside the drive frame, a third driven bevel gear engaged with the second driven bevel gear to rotate, and a rotational force of the third driven bevel gear. It characterized in that it comprises a gear connection mechanism for transmitting the rotational motion to the end effector provided in the drive frame.

In addition, the driving link unit is of three delta-type structures, and the rotational motion transmission unit is installed on each of the driving link units to transmit a rotational movement of 3 degrees of freedom to the end effector provided in the driving frame. .

On the other hand, the second embodiment of the parallel robot equipped with the rotational motion transmission mechanism according to the present invention is a pair of first and second fixed bases fixedly installed to face each other, and the first and second ends respectively A long ball screw that is rotatably coupled to the fixed base and rotates by receiving power from a linear actuator, and both ends of each are rotatably coupled to the first and second fixed bases, each of which is driven by a plurality of rotations. A plurality of ball spline guide rods in which a ball spline is recessed along a longitudinal direction on each outer circumferential surface and a ball nut coupled to the ball screw are fixedly coupled, and each of the ball spline guide rods and A plurality of ball spline nuts to be coupled are rotatably coupled, and a reference frame that linearly moves between the first and second fixed bases by receiving the rotational motion of the ball screw, and a reference frame that is spaced apart from the reference frame to enable movement. A driving frame installed and provided with an end effector, a main driving link that connects the reference frame and the driving frame, and performs rotational motion by receiving rotational force from each ball spline nut provided in the reference frame, and the A plurality of driving link units having a pair of parallel manual links connecting the main link and the driving frame, and one of the driving link units to transmit a rotational motion of at least one degree of freedom to the end effector provided in the driving frame. It comprises a rotational motion transmission unit installed on at least one or more.

In addition, the rotational motion transmission unit includes a second actuator fixedly installed inside the main link of the driving link unit, and rotatably installed inside the main link of the driving link unit, and one end rotates by receiving a rotational force from the second actuator. A parallel link motion is performed with the pair of manual links while being positioned in parallel between the main rotating shaft and the pair of parallel manual links among the driving link parts, and one end is rotated by receiving rotational force from the other end of the main rotating shaft. A rotational motion transmission link and a first power transmission means installed inside the main link of the driving link unit and transmitting a rotational force from the other end of the main rotational shaft to one end of the rotational movement transmission link, and installed in the drive frame, It characterized in that it comprises a second power transmission means for transmitting the rotational force to the end effector from the other end of the rotational motion transmission link.

In addition, the first power transmission means is provided with a first main bevel gear coupled to the other end of the main rotating shaft and rotating together, and a first driven bevel gear engaged with the first main bevel gear to rotate at one end, And a first bevel gear shaft having the other end protruding out of the main link and coupled to one end of the rotational motion transmission link through a first universal joint.

In addition, the second power transmission means has one end coupled to the other end of the rotational motion transmission link through a second universal joint, and a second driven bevel gear provided at the other end is inserted into the drive frame to be rotated. A second bevel gear shaft supported so as to be rotatably installed inside the drive frame, a third driven bevel gear engaged with the second driven bevel gear to rotate, and a rotational force of the third driven bevel gear. It characterized in that it comprises a gear connection mechanism for transmitting the rotational motion to the end effector provided in the drive frame.

In addition, the driving link unit is of three delta-type structures, and the rotational motion transmission unit is installed on each of the driving link units to transmit a rotational movement of 3 degrees of freedom to the end effector provided in the driving frame. .

A parallel robot equipped with a rotational motion transmission mechanism according to the present invention has a rotational motion transmission mechanism to enable rotational movement to an end effector through a rotational motion transmission unit, and the rotational movement transmission unit is driven like a main rotation shaft and a rotational movement transmission link. By grafting a new structure into the link part, it is easy to assemble or install, and precise control can be achieved without deteriorating the acceleration/deceleration performance of the drive frame.

In particular, through the first power transmission means and the second power transmission means of the rotational motion transmission unit, the rotational movement can be transmitted from the main rotational shaft to the end effector through the rotational movement transmission link, and the rotational movement transmission link is a pair of manual driving link units The first main and second to third bevel gears while the first and second universal joints are interposed at both ends of the rotational motion transmission link, respectively, to the first power transmission means and the second power transmission means to enable parallel link movement with the link. By allowing the transmission of rotational force to the main rotation shaft and the gear connection mechanism of the end effector, there is an effect of transmitting the desired rotational motion to the final end effector.

Moreover, while having an extended working area in a linear direction, the reference frame is not fixed, and a plurality of first actuators, which are driving sources of each driving link unit, are separated from the reference frame, while the reference frame is not fixed. It has the effect of improving precision by minimizing the load by installing it as a rotational actuator on the fixed base, and performing the transfer speed of the driving frame at a higher speed.

1 is a perspective view schematically showing a parallel robot according to the prior art,
2 is a perspective view showing a first embodiment of a parallel robot equipped with a rotational motion transmission mechanism according to the present invention,
Figure 3 is a side view of the embodiment of Figure 2,
4 is a perspective view of a main part showing a single driving link part, a first actuator, and a rotational motion transmission part in the embodiment of FIG. 2;
5 is a perspective view of a main part showing a single driving link part and a rotational motion transmission part in the embodiment of FIG. 2;
6 is a cut-away perspective view of a main part showing a first power transmission means installed inside the main link among the driving link parts in the embodiment of FIG. 5;
7 is a perspective view of a main part showing a rotational motion transmission part excluding a driving link part in the embodiment of FIG. 5;
8 is a link connection diagram schematically showing a link connection relationship between a single driving link unit and a rotational motion transmission unit in the embodiment of Fig. 5;
9 is a perspective view of a main part showing a driving frame in the embodiment of FIG. 2,
10 to 12 are cross-sectional views showing the operation of the second power transmission means among the rotational motion transmission units in order to express each of the three degrees of freedom rotational movement of the end effector provided in the driving frame in the embodiment of FIG. 9,
13 is a perspective view showing a second embodiment of a parallel robot equipped with a rotational motion transmission mechanism according to the present invention,
14 is a plan view of the embodiment of FIG. 13.

Hereinafter, a first embodiment and a second embodiment of a parallel robot equipped with a rotational motion transmission mechanism according to the present invention will be separately described in detail with reference to the accompanying drawings.

First, the first embodiment of the parallel robot equipped with the rotational motion transmission mechanism according to the present invention, as shown in Figs. 2 to 12, the reference frame 100, the driving frame 200, the driving link unit 300, A first actuator 400 and a rotational motion transmission unit 500 are included, and the rotational motion transmission unit 500 includes a second actuator 510, a main rotational shaft 520, a rotational motion transmission link 530, It includes a first power transmission means 540 and a second power transmission means 550.

In the reference frame 100, as shown in FIGS. 2 and 3, a reference origin 110 of a reference coordinate system having three axes of X-Y-Z is defined. Usually, the reference frame 100 is fixedly installed on the upper part of a predetermined work space, and it is preferable to install the reference frame 100 so as to match the origin of the work coordinate system with the reference origin 110 of the reference frame 100. In particular, the reference frame 100 in the first embodiment of the parallel robot equipped with the rotational motion transmission mechanism according to the present invention is a fixed frame that is fixedly installed.

As shown in Figs. 2 to 5, 7 and 9, the driving frame 200 is installed to be movable and spaced apart from the reference frame 100, and the driving origin 210 of the driving coordinate system consisting of three axes of xyz is defined. And, the end effector 220 is provided. The driving coordinate system of the driving frame 200 is a coordinate system expressed based on the reference coordinate system of the reference frame 100. That is, the reference coordinate system of the reference frame 100 must be defined in order to define the reference for the position movement of the driving origin 210 of the driving coordinate system, and the movement of the driving origin 210 of the driving coordinate system is performed based on the reference coordinate system. Can be checked to facilitate control.

The drive frame 200 is provided with an end effector 220, that is, the end effector 220 may be a working tool or a gripper that grips a product for transport. A mechanism for transmitting the rotational motion for driving the end effector 220 is required, and without installing the drive actuator directly on the end effector 220 itself, a drive actuator that generates the rotational motion of the end effector 220 is provided. It is an object of the present invention to implement a mechanism for transmitting the rotational motion from the drive actuator to the end effector 220 after being installed in the drive link unit 300 to be described later, and this is an object of the present invention. Can be achieved through

As shown in Figs. 2 to 5 and 8, the driving link unit 300 is provided with a plurality of connecting the reference frame 100 and the driving frame 200, each of which is 1 degree of freedom with respect to the reference frame 100 It includes a main link 310 having a and a pair of parallel manual links 320 connecting the main link 310 and the drive frame 200. At this time, a plurality of the first actuators 400 are also provided and installed on the reference frame 100, respectively, and transmit power to the main links 310 of each of the driving link units 300.

The driving link unit 300 shows three delta-type parallel robots in the drawing, but the number of the driving link units 300 may constitute 4 or 5 parallel robots. That is, the number of driving link units 300 may be determined according to the required number of degrees of freedom of rotational movement of the end effector 220 provided in the driving frame 200.

When looking at only the structures of the reference frame 100, the driving frame 200, the plurality of driving link units 300, and the plurality of first actuators 400, as shown in FIG. 1, a conventional parallel robot Therefore, a detailed description of the process of moving the three-axis position of the driving frame 200 relative to the reference frame 100 by driving the driving link unit 300 by the operation of the first actuator 400 will be omitted.

The present invention is to implement a mechanism for transmitting the rotational motion to the end effector 220 provided in the driving frame 200 in the parallel robot as described above, as salpin, the rotational motion transmission unit 500 It can be achieved through and looks at in more detail with respect to this rotational motion transmission unit 500.

The rotational motion transmission unit 500 is one of the driving link units 300 to transmit a rotational movement of more than one degree of freedom to the end effector 220 provided in the driving frame 200 as shown in FIGS. It is installed in at least one or more. As shown in Figs. 2 and 3, a delta-type parallel robot having three driving link units 300, and a rotational motion transmission unit 500 is installed in each driving link unit 300, respectively, to the end effector 220. It can transmit the rotational motion of 3 degrees of freedom. If, in the case of transmitting only the rotational motion of one degree of freedom to the end effector 220, it is sufficient to install the rotational motion transmission unit 500 only in one driving link unit 300 among the plurality of driving link units 300, in particular, the end If the effector 220 requires a rotational motion of 4 or 5 degrees of freedom, the number of driving link units 300 is 4 or 5, and the rotational motion transmission unit 500 is installed in each driving link unit 300 You will do it.

The specific structure of this rotational motion transmission unit 500 is a new rotational motion transmission structure, and the second actuator 510, the main rotational shaft 520, the rotational motion transmission link 530, the first power transmission means 540 and the first It includes 2 power transmission means (550). The rotational force generated from the second actuator 510 is transmitted to the rotational movement transmission link 530 through the main rotational shaft 520, but the rotational movement transmission link 530 is a pair of parallel manuals of the driving link unit 300. The first power transmission means 540 and the second power transmission means so that the rotational motion is transmitted to the end effector 220 while excluding interference with the movement of the driving frame 200 while performing the parallel link movement with the link 320 It is to achieve through (550).

The second actuator 510 is fixedly installed inside the main link 310 of the driving link unit 300 as shown in FIGS. 5 to 8. The driving link unit 300 is composed of a main link 310 and a pair of parallel manual links 320, the main link 310 rotates by receiving a rotational force from the first actuator 400, and the main link ( As the manual link 320 is driven according to the rotation of 310), the driving frame 200 is moved. At this time, the main link 310 is manufactured in a long arm shape with a hollow inside as shown in Figs. 5 and 6, and the second actuator 510 is fixedly installed inside the main link 310. will be. The second actuator 510 provides an input rotational force as a power source of the rotational motion transmission unit 500 as shown in FIG. 8.

The main rotation shaft 520 is rotatably installed inside the main link 310 of the driving link unit 300 as shown in FIGS. 5 to 8, and one end receives rotational force from the second actuator 510 Rotate. That is, the second actuator 510 rotates the main rotation shaft 520. Here, since the second actuator 510 and the main rotation shaft 520 are installed inside the main link 310, they move together when the main link 310 is driven by the first actuator 400.

As shown in Figs. 5 to 8, the rotational motion transmission link 530 is positioned in parallel between a pair of parallel manual links 320 among the driving link units 300, and a pair of manual links 320 ) And the parallel link movement, one end is rotated by receiving a rotational force from the other end of the main rotation shaft 520. That is, the rotational motion transmission link 530 receives the rotational force from the main rotational shaft 520 rotating through the second actuator 510 and transmits the rotational movement to the end effector 220 provided in the final driving frame 200. In configuration, the rotational motion transmission link 530 must pass through a pair of manual links 320. At this time, since the driving frame 200 moves according to the operation of the driving link unit 300, the rotational motion transmission link 530 must be installed so as not to interfere with the operation of the driving link unit 300.

To this end, the rotational motion transmission link 530 is positioned in parallel between the pair of manual links 320 so as to perform a parallel link motion together with the pair of manual links 320. In this case, the first power transmission means 540 and the first power transmission means 540 and the first power transmission means 540 and the first power transmission means 540 and the first power transmission means 540 and the first power transmission means 540 and the second 2 The power transmission means 550 is provided.

First, the first power transmission means 540 is installed inside the main link 310 of the driving link unit 300 as shown in Figs. 6 to 8, and the rotational movement from the other end of the main rotary shaft 520 It transmits the rotational force to one end of the transmission link 530. Specifically, the first power transmission means 540 is coupled to the other end of the main rotation shaft 520, a first main bevel gear 541 that rotates together, and the first main bevel gear 541 at one end meshed with A first driven bevel gear (542a) is provided to rotate and the other end protrudes to the outside of the main link (310), and is coupled to one end of the rotational motion transmission link (530) and the first universal joint (542b) as a medium. It includes a first bevel gear shaft (542).

That is, the process of receiving the rotational force from the main rotational shaft 520 by the rotational motion transmission link 530 is that the first main bevel gear 541 coupled to the main rotational shaft 520 is at one end of the first bevel gear shaft 542. The first bevel gear shaft 542 is engaged with the first driven bevel gear 542a provided in the device to rotate the first bevel gear shaft 542, and the other end of the first bevel gear shaft 542 is connected to one end of the rotational motion transmission link 530 It is coupled through the universal joint 542b so that the first bevel gear shaft 542 rotates the rotational motion transmission link 530.

Here, the first universal joint 542b is for performing two functions together, and the first rotational motion transmission link 530 and a pair of manual links 320 of the driving link unit 300 perform parallel link motion together. When the second rotational motion transmission link 530 performs a parallel link movement, the rotation is limited, but the rotational movement transmission link 530 rotates only when the first bevel gear shaft 542 rotates. It is a function to connect to enable axis rotation.

In addition, the second power transmission means 550 is installed on the drive frame 200 as shown in FIGS. 7 to 12, and applies a rotational force to the end effector 220 from the other end of the rotational motion transmission link 530. Deliver. Specifically, the second power transmission means 550 has one end coupled to the other end of the rotational motion transmission link 530 via a second universal joint 551a, and a second driven bevel gear 551b provided at the other end. ) Is inserted into the drive frame 200 to be rotatably supported, the second bevel gear shaft 551 is rotatably installed in the drive frame 200, and the second driven bevel gear ( 551b) and the third driven bevel gear 552 that rotates while being engaged with, and the end effector provided in the drive frame 200 with the rotational force of the third driven bevel gear 552 as shown in FIGS. 9 to 12 It includes a gear connection mechanism 553 that transmits the rotational motion to 220.

That is, in the process of transmitting the rotational force from the rotational motion transmission link 530 to the end effector 220, one end of the second bevel gear shaft 551 is the other end of the rotational motion transmission link 530 and the second universal joint 551a. ), the rotational motion transmission link 530 rotates the second bevel gear shaft 551, and the second driven bevel gear 551b is a third driven at the other end of the second bevel gear shaft 551. It is engaged with the bevel gear 552 to rotate the third driven bevel gear 552, and the third driven bevel gear 552 transmits the rotational motion to the end effector 220 through the gear connection mechanism 553. will be.

Here, the second universal joint 551a also differs only in its position from the above-described first universal joint 542b, but has two functions identically, namely, a rotation limiting function during the parallel link movement of the rotational motion transmission link 530. It performs a rotation connection function when the second bevel gear shaft 551 is rotated with respect to the rotational motion transmission link 530.

In addition, the gear connection mechanism 553 includes not only a simple spur gear set, but also a well-known internal or external gear set or a worm gear set, and a Bendix wrist mechanism or a geared spherical wrist which is a complex gear connection mechanism It includes all of the geared spherical wrist mechanism. That is, the gear connection mechanism 553 collectively refers to a structure in which a plurality of gears are connected.

For example, if the end effector 220 requires only one degree of rotational motion, the third driven bevel gear 552 and the spur gear or bevel gear may be connected to transmit the rotational motion, but the end effector 220 ), a complex gear connection mechanism 553 may be required in order to transmit a rotational motion of 3 degrees of freedom in a narrow space between the driving frame 200 and the end effector 220.

That is, the driving link unit 300 has a three delta-type structure, and the rotational motion transmission unit 500 transmits a rotational movement of 3 degrees of freedom to the end effector 220 provided in the driving frame 200. It may be installed on each of the driving link units 300. At this time, in order to transmit the rotational motion of 3 degrees of freedom to the end effector 220, the gear connection mechanism 553 is implemented as a Bendix wrist mechanism as shown in FIGS. 10 to 12.

The three rotational motion transmission processes acting on the end effector 220 through the three rotational motion transmission units 500 will be described. That is, as shown in FIG. 10, it is a process of rotating the tool too of the end effector 220 by the operation of the first rotational motion transmission unit 500, and as shown in FIG. 11, the second rotational motion transmission unit 500 ) Is a process of rotating the end effector 220 back and forth by the operation, and shows a process of rotating the end effector 220 left and right by the operation of the third rotational motion transmission unit 500 as shown in FIG. 12.

Next, the second embodiment of the parallel robot equipped with the rotational motion transmission mechanism according to the present invention is shown in Figs. 13 and 14 to expand the work area by configuring the first embodiment to be linearly moved. As described above, a reference frame 100, a driving frame 200 based on a pair of the first fixed base 600 and the second fixed base 700, the ball screw 800 and the ball spline guide rod 900 , Including a driving link unit 300 and a rotational motion transmission unit 500.

The first fixed base 600 and the second fixed base 700 are fixedly installed to be spaced apart to face each other as shown in FIGS. 13 and 14. The first fixed base 600 and the second fixed base 700 are fixedly installed above a long working area, and a conveyor belt or a worktable is provided in the working area to carry or assemble parts or products. The reference frame 100 moves linearly along the first fixed base 600 and the second fixed base 700 to have a long working area, and the driving frame 200 moves based on the reference frame 100 A gripper or tool tool is mounted on the device to transfer or assemble parts or products located in the extended work area.

As shown in Figs. 13 and 14, the ball screw 800 has a long shape, and both ends are rotatably coupled to the first fixed base 600 and the second fixed base 700, respectively, from the linear drive actuator 810. It rotates by receiving power. Although reference numerals are not shown at both ends of the ball screw 800, bearings are provided so as to be rotatably coupled to the first fixed base 600 and the second fixed base 700.

This ball screw 800 has a helical groove formed on the outer circumferential surface along the longitudinal direction, and is combined with a ball nut 120 to be described later, so that the rotational motion of the ball screw 800 is fixedly coupled to the ball nut 120 It generates (100) linear motion. The linear drive actuator 810 rotates the ball screw 800, and is installed on the first fixed base 600 in the drawing, but may be installed on the second fixed base 700, and the linear drive actuator 810 The ball screw 800 may be driven to rotate through a speed reducer or a separate power transmission means for the power generated from ).

As shown in Figs. 13 and 14, the ball spline guide rod 900 is provided with a plurality so that both ends of each are rotatably coupled to the first fixed base 600 and the second fixed base 700, and each It rotates by receiving power from a plurality of rotation drive actuators 910, and a ball spline 920 is formed in recesses along the longitudinal direction on each outer circumferential surface. Each ball spline guide rod 900 is also provided with bearings at both ends and is rotatably coupled with respect to the first fixed base 600 and the second fixed base 700.

The rotation drive actuator 910 rotates the ball spline guide rod 900, and is installed on the first fixed base 600 in the drawing, but it may be installed on the second fixed base 700, and the rotary drive actuator It is also possible to rotate the ball spline guide rod 900 through a speed reducer or a separate power transmission means for the power generated from the 910.

The ball spline guide rod 900 has a straight ball spline 920 recessed in the longitudinal direction, and is coupled with a ball spline nut 130 to be described later to follow the ball spline guide rod 900. ) Is linearly moved while the ball spline guide rod 900 rotates, the ball spline nut 130 is configured to rotate together. That is, the ball spline guide rod 900 guides the linear movement of the reference frame 100 rotatably coupled through the ball spline nut 130 and the bearing, and when the ball spline guide rod 900 rotates Only the ball spline nut 920 can be rotated with respect to the reference frame 100.

The reference frame 500 is a plurality of ball splines that are fixedly coupled to a ball nut 120 coupled to the ball screw 800 as shown in FIGS. 13 and 14, and coupled to each of the ball spline guide rods 900 Each of the nuts 130 is rotatably coupled, and receives the rotational motion of the ball screw 800 to linearly move between the first fixing base 600 and the second fixing base 700.

That is, the rotational motion of the ball screw 800 moves the ball nut 120 linearly, thereby linearly moving the reference frame 100 fixedly coupled to the ball nut 120. At this time, since the plurality of ball spline nuts 130 coupled to each of the ball spline guide rods 900 are coupled to the reference frame 100, the reference frame 100 moves linearly along the ball spline guide rod 900 when moving linearly. While being guided. In addition, the ball spline nut 130 is not shown in the reference frame 100, but is rotatably coupled through a bearing, so when the ball spline guide rod 900 rotates, the reference frame 100 On the other hand, only the ball spline nut 130 is rotated.

As shown in FIGS. 13 and 14, the driving frame 200 is spaced apart from the reference frame 100 and is installed to be movable with respect to the reference frame 100. The drive frame 200 is provided with an end effector 220 for transferring or assembling a part or product, and the end effector 220 is a tool for assembly or processing or a gripper that grips the product for transportation ( gripper). The driving frame 200 may be moved in position with respect to the reference frame 100 through a driving link unit 300 which is a parallel link mechanism to be described later.

That is, as shown in FIGS. 13 and 14, the driving link unit 300 is provided with a plurality of connecting the reference frame 500 and the driving frame 200, each of which is provided in the reference frame 100. Each ball spline nut 130 receives a rotational force from each of the main link 310 to perform a rotational movement, and a pair of parallel manual links 320 connecting the main link 310 and the drive frame 200 Equipped. That is, each of the driving link units 200 includes a single main link 310 and two manual links 320, and one end of the main link 310 is a ball spline nut provided in the reference frame 100 ( 130) to perform a rotational motion by receiving a rotational force, and each end of the two manual links 320 is a ball joint coupled to the other end of the main link 310, and each other end is a ball joint coupled to the drive frame 200 It has a parallelogram link structure. Accordingly, by driving the driving link unit 300, the driving frame 200 may be moved in the three-axis direction with respect to the reference frame 100.

In the structure according to the second embodiment of the present invention described above, the difference from the first embodiment of the present invention is that the first reference frame 100 is configured to be linearly moved, and the second embodiment is shown in FIGS. 2 to 4 Unlike the first actuator 400 for operating the driving link unit 300 is installed on the reference frame 100 as shown in the second embodiment, as shown in Figs. 13 and 14, the driving link unit ( The rotation drive actuator 910 that operates 300 is installed on the first fixed base 600, and this rotation drive actuator 910 is a driving link through the ball spline guide rod 900 and the ball spline nut 130 It is to rotate the main link 310 of the part 300. Through this, since the rotational actuator 910 is installed separately from the reference frame 100, the load can be minimized when the reference frame 100 is moved linearly, so that the work area can be expanded while allowing quick and precise work. have.

In the second embodiment of the present invention as described above, as shown in FIGS. 13 and 14, a rotational motion transmission unit 500 for transmitting rotational movement of the end effector 220 is provided, and the rotational movement transmission unit 500 is In the same manner as in the first embodiment of the present invention described above, at least one or more of the driving link units 300 are provided to transmit a rotational motion of more than one degree of freedom to the end effector 220 provided in the driving frame 200. Installed.

Since the specific configuration and coupling relationship or operation process of the rotational motion transmission unit 500 according to the second embodiment of the present invention is the same as the first embodiment of the present invention described above, the specific configuration, coupling relationship and operation process are redundant and thus omitted. do.

As described above, the parallel robot equipped with the rotational motion transmission mechanism according to the present invention has a rotational motion transmission mechanism to enable rotational motion to the end effector 220 through the rotational motion transmission unit 500, but the rotational motion transmission It is easy to assemble or install the unit 500 by grafting a new structure to the driving link unit 300, such as the main rotation shaft 520 and the rotational motion transmission link 530, and acceleration/deceleration performance of the driving frame 200 Precise control can be achieved without deteriorating the value.

In particular, through the first power transmission means 540 and the second power transmission means 550 of the rotational motion transmission unit 500 from the main rotation shaft 520 through the rotational motion transmission link 530 to the end effector 220 The first power transmission means 540 and the second power so that the rotational movement can be transmitted, and the rotational movement transmission link 530 is capable of a parallel link movement together with the pair of manual links 320 of the driving link unit 300. The main rotation shaft 520 and the end effector 220 by the first main and second to third bevel gears while interposing the first and second universal joints to the transmission means 550 at both ends of the rotational motion transmission link 530, respectively. ), there is an effect of transmitting the desired rotational motion to the final end effector 220 by enabling the transmission of the rotational force to the gear connection mechanism 553.

Moreover, while having an extended working area in a linear direction, the reference frame 100 is not fixed, and a plurality of first actuators 400, which are driving sources of each driving link unit 300, are referenced while configuring to be linearly movable. Separated from 100 and installed on the first fixed base 600 or the second fixed base 700 as a rotation drive actuator 910 to minimize the load, the precision is improved, and the transfer speed of the drive frame 200 is increased. There is an effect that can be performed at high speed.

Embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The protection scope of the present invention is limited only by the matters described in the claims, and those of ordinary skill in the technical field of the present invention can improve and change the technical idea of the present invention in various forms. Therefore, such improvements and changes will fall within the scope of the present invention as long as it is apparent to those of ordinary skill in the art.

100: reference frame 110: reference origin
120: ball nut 130: ball spline nut
200: drive frame
210: drive origin 220: end effector
300: drive link part
310: main link 320: manual link
400: first actuator
500: rotational motion transmission unit
510: second actuator 520: main rotation shaft
530: rotational motion transmission link
540: first power transmission means
541: first main bevel gear 542: first bevel gear shaft
542a: first driven bevel gear 542b: first universal joint
550: second power transmission means
551: second bevel gear shaft
551a: second universal joint 551b: second driven bevel gear
552: 3rd driven bevel gear 553: gear connection mechanism
600: first fixed base
700: second fixed base
800: ball screw 810: linear actuator
900: Ball spline guide rod
910: rotational actuator 920: ball spline

Claims (9)

A pair of first and second fixed bases that are fixedly installed and spaced apart to face each other,
A long ball screw having both ends rotatably coupled to the first and second fixed bases, respectively, and rotating by receiving power from a linear drive actuator,
Each of both ends is rotatably coupled to the first and second fixed bases, each rotates by receiving power from a plurality of rotational actuators, and a plurality of ball splines are recessed along the longitudinal direction on each outer circumferential surface. Ball spline guide rod,
A ball nut coupled to the ball screw is fixedly coupled, a plurality of ball spline nuts coupled to each of the ball spline guide rods are rotatably coupled, respectively, and receiving the rotational motion of the ball screw, the first and second A reference frame that moves linearly between the fixed bases,
A drive frame spaced apart from the reference frame and movably installed and equipped with an end effector,
The reference frame and the driving frame are connected, each of which receives a rotational force from each ball spline nut provided in the reference frame to perform a rotational movement, and a pair of linking the main link and the driving frame A plurality of driving link units having parallel manual links,
A parallel robot with a rotational motion transmission mechanism including a rotational motion transmission unit installed on at least one or more of the driving link units to transmit a rotational motion of one or more degrees of freedom to the end effector provided in the driving frame.
The method of claim 1,
The rotational motion transmission unit,
A second actuator fixedly installed inside the main link of the driving link unit,
A main rotation shaft that is rotatably installed inside the main link of the driving link unit and rotates at one end by receiving a rotational force from the second actuator;
A rotational motion transmission in which one of the driving link units is positioned in parallel between the pair of parallel manual links and performs a parallel link movement with the pair of manual links, and one end receives rotational force from the other end of the main rotation shaft to rotate. With the link,
A first power transmission means installed inside the main link of the drive link unit and transmitting a rotational force from the other end of the main rotation shaft to one end of the rotational motion transmission link;
A parallel robot provided with a rotational motion transmission mechanism, which is installed on the drive frame and includes a second power transmission means for transmitting rotational force to the end effector from the other end of the rotational motion transmission link.
The method of claim 2,
The first power transmission means,
A first main bevel gear coupled to the other end of the main rotating shaft and rotating together,
At one end, a first driven bevel gear engaged with the first main bevel gear and rotated is provided, and the other end protrudes to the outside of the main link and is coupled to one end of the rotational motion transmission link through a first universal joint. 1 Parallel robot equipped with a rotational motion transmission mechanism, characterized in that it comprises a bevel gear shaft.
The method of claim 3,
The second power transmission means,
A second bevel gear shaft whose one end is coupled to the other end of the rotational motion transmission link through a second universal joint, and a second driven bevel gear provided at the other end is inserted into the drive frame to be rotatably supported,
A third driven bevel gear rotatably installed inside the driving frame and engaged with the second driven bevel gear to rotate,
A parallel robot with a rotational motion transmission mechanism, characterized in that it comprises a gear connection mechanism for transmitting the rotational force of the third driven bevel gear to the end effector provided in the drive frame as a rotational motion.
The method according to any one of claims 1 to 4,
The driving link unit,
It has three delta-type structures,
The rotational motion transmission unit,
A parallel robot provided with a rotational motion transmission mechanism, characterized in that it is installed on each of the driving link units to transmit a rotational motion of three degrees of freedom to the end effector provided in the drive frame. delete delete delete delete

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