KR102538799B1 - Scara robot arm that can be fixed in position by a single fixture - Google Patents

Abstract

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and includes a first rotary arm 100 capable of rotating with respect to a base 10; a second rotary arm 200 capable of rotating with respect to; and a fixing module 400 controlling rotation of the first rotary arm 100 and the second rotary arm 200; It consists of a configuration that includes.

Description

Scara robot arm that can be fixed in position by a single fixture}

The present invention relates to a scara robot arm capable of simultaneously fixing a plurality of rotary arms and a machine mount by a single fixing device called a knob. In general, a surgical device can be installed on a machine mount, and the horizontal position and direction of the surgical device can be freely adjusted and fixed through the scara robot arm of the present invention.

Patent Document 001 relates to a hollow SCARA robot, the first and second axes are configured in a hollow type so that easy wiring can be provided, and the configuration of the drive shaft to which the tool is coupled is improved so that no dust is generated during operation and external It is intended to provide a hollow scara robot that can be used hygienically and safely by proposing a configuration that can fundamentally block the inflow of moisture from the food and beverage manufacturing process to have performance higher than IP65 protection level. This patent document is fixed to the base and the base; a first arm coupled to a first shaft of a first driving means including a hollow first shaft rotated by a first drive motor installed in the base for normal and reverse driving; A second shaft installed on the opposite side of the first shaft that drives the first arm and coupled to the hollow second shaft rotated by a second driving motor installed at the top of the base to be positioned coaxially with the first shaft and driven in reverse direction. arm; A fourth drive including a third drive means including a third drive motor built into the second arm and driven forward and backward for rotating a drive shaft on which a tool is installed at the lower end and a fourth drive motor for forward and reverse drive for lifting and lowering the drive shaft In a hollow scara robot composed of means; The drive shaft is presented in a configuration including an upper member of a ball spline structure lifted by the fourth driving means and a lower member of a round bar configuration and interconnected by a coupling as a connecting means.

Patent Document 002 relates to a drive shaft power transmission device for a scara robot, and the drive shaft power transmission device for a scara robot according to the present invention is a drive shaft power transmission device for a scara robot, a driving means for applying a rotational force to a drive gear; and, scara A drive shaft on which a work tool of the robot is installed; And, a scissor gear installed on the drive shaft and engaged with the drive gear; including, wherein the scissor gear is composed of a main gear and a support gear, and the teeth of the drive gear are engaged between the teeth of the main gear and the support gear presents a configuration that

Patent Document 003 relates to an automatic bolt fastening device, and the process of picking up a bolt from a bolt feeder using a double-armed scara robot and the process of fastening a bolt to a workpiece are performed independently and simultaneously, so that the bolt is stably fastened while bolting It is to be able to significantly reduce the time required for, the body frame; a lower arm rotatably installed in the left and right directions on the body frame; a gripper installed at the distal end of the lower arm to pick up bolts from the bolt feeder; an upper arm rotatably installed in the left and right directions on the body frame at an upper side of the lower arm; A bolt fastener installed at the front end of the upper arm to be able to move up and down and moving the bolt picked up by the gripper to the assembly line in a state of vacuum adsorption and then fastening the bolt to the workpiece located on the assembly line; Including, the process of picking up the bolt from the bolt feeder by the gripper and the process of fastening the bolt to the workpiece by the bolt fastener are independently and simultaneously progressed.

Patent Document 004 relates to an engine treatment device, which includes a frame; a first scara arm connected to the frame at a shoulder axis, the first scara arm having a first upper arm, a first forearm and at least one substrate holder connected in series rotatably relative to each other; Scara arm; A second scara arm connected to the frame at a shoulder axis, wherein the rotation axes of the shoulder of the first and second scara arms are substantially coincident, and the second scara arm comprises a second upper arm, a second scara arm, and a second scara arm. a second scara arm having a forearm and at least one substrate holder connected in series rotatably relative to each other; A drive section connected to the frame and coupled to the first and second scara arms, the drive section to independently extend and rotate the first and second scara arms, The extension axis of the arm is formed at a respective angular position of at least one of the first or second scara arm substantially at an angle with respect to the extension axis of the second scara arm.

KR 10-1810878 (registration date: December 14, 2017) KR 10-1395618 (registration date: May 09, 2014) KR 10-2182094 (registration date: November 17, 2020) KR 10-2060544 (registration date: December 23, 2019)

An object of the present invention is to provide a scara robot arm capable of simultaneously fixing a plurality of rotary arms and a machine mount by a single fixing device.

The present invention relates to a scara robot arm whose position can be fixed by a single fixing device, a first rotary arm capable of rotating with respect to a base; and a second rotary arm capable of rotating with respect to the first rotary arm. ; and a fixing module controlling rotation of the first rotary arm and the second rotary arm. It consists of a configuration that includes.

The present invention relates to a scara robot arm whose position can be fixed by a single fixing device. a knob located at one end of the first rotating shaft and capable of providing a driving force; and a first friction pad positioned at the other end of the first rotating shaft and generating displacement by rotation of the knob.

The present invention relates to a scara robot arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module includes a first fixing block whose displacement is generated by rotation of the knob; and a second fixing block whose displacement is generated by the driving force generated by the displacement of the first fixing block.

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module is a first shaft to which one end is fastened with the first fixing block in a lock-and-pinion method. and a configuration in which the first shaft rotates by displacement of the first fixing block.

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module is a second rotary shaft connecting the first rotary arm and the second rotary arm. ; and a second friction part integrally formed with the second rotary arm to which frictional force is provided by coming into contact with the second fixing block by displacement of the second fixing block.

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the above-described invention, the fixing module is integrally formed with the second friction part by the second rotating shaft. 3 fixed blocks; and a second shaft whose displacement is generated by displacement of the third fixing block.

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the above-described invention, the third fixing block and the second shaft are configured such that the contact surface is formed as an inclined plane. .

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the above-described invention, a mechanical mount capable of rotating with respect to the second rotary arm; and a second friction pad contacting the machine mount by displacement of the second shaft.

The present invention is an invention for a scara robot arm whose position can be fixed by a single fixing device, and in the above-described invention, the mechanical installation includes a cylindrical third friction part; and a coupling portion located inside the third friction portion and to which a mechanical device can be installed, wherein the second friction pad provides frictional force while being in contact with the third friction portion by displacement.

The scara robot arm of the present invention provides a structure and effect capable of simultaneously fixing a plurality of rotary arms and a mechanical mount by a single fixing device.

1 is a perspective view of a scara robot arm according to an embodiment of the present invention.
2 is a cross-sectional view of a scara robot arm according to an embodiment of the present invention.
3 is a perspective view of a detailed configuration of a scara robot arm according to an embodiment of the present invention.
4 is a configuration diagram showing a fixing principle of a first rotary arm according to an embodiment of the present invention.
5 is a plan view of a scara robot arm according to an embodiment of the present invention.
6 is a configuration diagram showing a fixing principle of a second rotary arm according to an embodiment of the present invention.
7 is a configuration diagram showing a fixing principle of a machine mount according to an embodiment of the present invention.

Hereinafter, the most preferred embodiment of the present invention will be described in detail in order to explain the present invention in detail to the extent that those skilled in the art can easily practice the present invention.

Numbers cited in the examples below are not limited to the referenced subject and can be applied to all examples. An object that exhibits the same purpose and effect as the configuration presented in the embodiment corresponds to an equivalent replacement object. The high-level concept presented in the examples includes sub-concept objects that are not described.

(Example 1-1) In the Scara robot arm whose position can be fixed by a single fixing device, the first rotary arm 100 capable of rotating with respect to the base 10; ); and a fixing module 400 for controlling the rotation of the first rotary arm 100 and the second rotary arm 200;

The present invention relates to a scara robot arm whose position can be fixed by a single fixing device, and may include a first rotary arm 100, a second rotary arm 200, and a fixing module 400. The first rotary arm 100 may be configured to rotate with respect to the base 10 fixed to the outside. The second rotary arm 200 may be configured to rotate with respect to the first rotary arm 100 . One end of the first rotary arm 100 may be connected to the base 10 and the other end may be connected to the second rotary arm 200 . The fixing module 400 may be configured to control rotation of the first rotary arm 100, the second rotary arm 200, and a machine mount 300 to be described later. Details are described below.

(Example 1-2) In Example 1-1, the base 10 is installed on a fixed support and can move up and down.

(Embodiment 1-3) In Embodiment 1-1, the first rotary arm 100 and the second rotary arm 200 are formed in a structure capable of rotational movement in a plane parallel to the ground.

The base 10 of the present invention is a configuration coupled to one end of the first rotary arm 100, and the base 10 may be fixedly installed on a fixed support, but may be movable up and down as needed. there is. If the scara robot arm of the present invention has a variable position in the horizontal direction with respect to the ground, the base 10 may be configured to have a variable position in the vertical direction.

(Example 2-1) In Example 1-1, the fixing module 400 includes a first rotary shaft 410 connecting the base 10 and the first rotary arm 100; A knob 401 located at one end of the rotating shaft 410 and capable of providing a driving force; a first friction pad located at the other end of the first rotating shaft 410 and generating displacement by the rotation of the knob 401 (411);

(Example 2-2) In Example 2-1, the distance between the knob 401 and the first friction pad 411 is narrowed by rotation of the knob 401 in one direction, and the distance is narrowed Accordingly, the first friction pad 411 comes into contact with the first friction part 412 integrally formed with the base 10 to provide frictional force.

The fixing module 400 of the present invention may include a first rotary shaft 410, a knob 401, and a first friction pad 411. The first rotary shaft 410 , the knob 401 , and the first friction pad 411 may be components for controlling rotation of the first rotary arm 100 with respect to the base 10 .

The first rotational shaft 410 may be configured to connect the base 10 and the first rotational arm 100, and the knob 401 is located at one end of the first rotational shaft 410 by rotating the knob 401. , It is possible to provide a driving force capable of rotating the first rotational shaft 410. The first friction pad 411 may be located on the opposite side of the knob 401 with respect to the first rotation axis 410, and displacement may occur by rotation of the knob 401.

Displacement generated in the first friction pad 411 by rotation of the knob 401 in one direction may be in a direction in which the gap with the knob 401 is narrowed. Referring to FIGS. 2 and 4 , the first friction pad 411 may come into contact with the first friction part 412 while moving upward. The first friction part 412 is integrally formed with the base 10 and may be fixed. The first friction part 412 and the first friction pad 411 may contact each other and be fixed by friction. Through this, rotation of the first rotary arm 100 may be restricted.

(Example 2-3) In Example 2-2, the first rotary arm 100 is fixed to the base 10 by the frictional force applied to the first friction pad 411 .

(Embodiment 2-4) In Embodiment 2-1, the rotation of the first rotary arm 100 and the second rotary arm 200 is simultaneously controlled by the rotation of the knob 401 .

When the knob 401 is sufficiently rotated in one direction, the distance between the knob 401 and the first friction pad 411 is sufficiently narrowed, and in this process, the first friction pad 411 and the first friction part 412 A sufficient frictional force can be provided. The first friction part 412 is integrally formed with the fixed base 10, and the knob 401 and the first rotary arm 100 may come into close contact with each other to generate friction. Through this, rotation of the first rotary arm 100 with respect to the base 10 may be restricted and fixed. In addition, the first rotary arm 100 and the second rotary arm 200 have a structure that can be simultaneously controlled by rotation of the knob 401, and a detailed structure will be described later.

(Embodiment 3-1) In Embodiment 2-1, the fixing module 400 includes a first fixing block 413 in which displacement is generated by rotation of the knob 401; the first fixing block ( 413) and a second fixing block 422 in which displacement is generated by the driving force generated by the displacement.

The fixing module 400 may include a first fixing block 413 and a second fixing block 422 . When the knob 401 is sufficiently rotated in one direction, it comes into contact with the first fixing block 413 and causes downward displacement of the first fixing block 413 . As the first fixing block 413 is moved downward, the second fixing block 422 is also structurally displaced.

(Embodiment 3-2) In Embodiment 3-1, the fixing module 400 includes a first shaft 415, one end of which is fastened to the first fixing block 413 in a lock-and-pinion manner; Rotation of the first shaft 415 by displacement of the fixing block 413; includes.

(Example 3-3) In Example 3-2, the other end of the first shaft 415 is fastened to the second fixing block 422 in a lock-and-pinion method, and the first shaft 415 rotates. As a result, displacement of the second fixing block 422 is generated.

The fixing module 400 may include a first shaft 415 . The first shaft 415 may be fastened to the first fixing block 413 and the second fixing block 422 in a lock and pinion method. When the first fixing block 413 is displaced downward, the first shaft 415 rotates in one direction, and the second fixing block 422 is also displaced downward due to the rotation of the first shaft 415. will occur The lock and pinion method is a device used to convert rotational motion into linear motion or linear motion into rotational motion by interlocking a rack and a pinion. Since it is considered a natural technique for those skilled in the art, detailed description is omitted. In addition, in the present invention, the lock-and-pinion method can be used as a means for converting linear motion and rotational motion to each other. As a conversion means, not only the lock-and-pinion method but also the capstone-wire method and the belt-pulley method can be employed by those skilled in the art. can be replaced with

(Example 3-4) In Example 3-1, the fixing module 400 includes a spring 414 providing elastic force to the first fixing block 413 in the direction of the knob 401. .

The fixing module 400 may include a spring 414 that provides elastic force to the first fixing block 413 in the direction of the knob 401 . Referring to Figure 4, the spring 414, the first fixing block 413 can receive an upward force by the spring 414, the first fixing block 413 by the one-way rotation of the knob 401 As it moves downward, the spring 414 can be compressed. The spring 414 may be configured to provide a default external force upward when force is not applied to the first fixing block 413 through the knob 401 .

(Example 4-1) In Example 3-1, the fixing module 400 includes a second rotary shaft 420 connecting the first rotary arm 100 and the second rotary arm 200; a second friction part 421 formed integrally with the second rotary arm 200 that comes into contact with the second fixing block 422 by displacement of the second fixing block 422 and receives frictional force; includes

(Example 4-2) In Example 4-1, the second rotary arm 200 is fixed to the first rotary arm 100 by the frictional force applied to the second friction part 421 .

The fixing module 400 may include a second rotation shaft 420 and a second friction part 421 . The second rotary shaft 420 may be a shaft connecting the first rotary arm 100 and the second rotary arm 200 . The second friction part 421 may contact each other and receive frictional force by the displacement of the second fixing block 422 . The second friction part 421 is integrally formed with the second rotational shaft 420 , and the second rotational shaft 420 may be integrally coupled with the second rotational arm 200 . Therefore, when the second friction part 421 receives frictional force by the second fixing block 422, the rotation of the second rotary arm 200 can be restricted and fixed.

(Example 5-1) In Example 4-1, the fixing module 400 is a third fixing block 430 integrally formed with the second friction part 421 by the second rotation shaft 420. ); and a second shaft 431 in which displacement is generated by displacement of the third fixing block 430.

(Embodiment 5-2) In Embodiment 5-1, the contact surface of the third fixing block 430 and the second shaft 431 is formed as an inclined plane.

(Example 5-3) In Example 5-2, the displacement of the third fixing block 430 and the displacement of the second shaft 431 are orthogonal to each other.

The fixing module 400 may include a third fixing block 430 and a second shaft 431 . Referring to FIG. 6 , as the second friction part 421 is moved downward by the second fixing block 422 , the third fixing block 430 may be equally displaced downward. The second shaft 431 may be horizontally displaced by the downward displacement of the third fixing block 430 . The contacting surface of the third fixing block 430 and the second shaft 431 may be formed as an inclined plane, and thus the displacement of the third fixing block 430 and the second shaft 431 may be perpendicular to each other. . In addition, one end of the second shaft 431 may be in contact with the third fixing block 430, and the other end of the second shaft 431 may be in contact with a connecting link. The link may be displaced in the same direction as the horizontal displacement direction of the second shaft 431 .

(Example 6-1) In Example 5-1, the machine mount 300 rotatable with respect to the second rotary arm 200; by the displacement of the second shaft 431, the machine mount It includes; a second friction pad 432 in contact with (300).

(Example 6-2) In Example 6-1, the machine mount 300 is a cylindrical third friction part 310; located inside the third friction part 310, and the mechanical device It includes a coupling part 320 that can be installed; and the second friction pad 432 provides frictional force while contacting the third friction part 310 by displacement.

The present invention may include a machine mount 300 together with the first rotary arm 100 and the second rotary arm 200 . The machine mount 300 may be configured to install a machine such as a surgical tool. When the surgical tool is installed on the machine mount 300, the horizontal displacement of the surgical tool can be freely adjusted through the scara arm of the present invention. The machine mount 300 is positioned at the end of the second rotary arm 200 and may be configured to rotate with respect to the second rotary arm 200 .

The second friction pad 432 may come into contact with the machine mount 300 by displacement of the second shaft 431 .

The second friction pad 432 may be interlocked with the plunger 433 . The plunger 433 may apply a constant external force to the second friction pad 432 in the opposite direction to the machine mount 300 . When the second friction pad 432 is pushed toward the machine mount 300 by the displacement of the second shaft 431, the second friction pad 432 overcomes the external force caused by the plunger 433 and moves to the machine mount ( 300) may come into contact. In the present invention, the plunger 433 may serve to push the second friction pad 432 to its original position when the rotation of the machine mount 300 is not limited and fixed.

The machine mount 300 may include a third friction part 310 and a coupling part 320 . The third friction part 310 has a configuration in contact with the second friction pad 432 , and rotation thereof is limited and fixed by frictional force with the second friction pad 432 . The coupling part 320 is integrally formed with the third friction part 310, is located inside the third friction part 310, and may have a structure in which a mechanical device can be installed.

Since the coupling portion 320 and the third friction portion 310 are integrally formed, when the third friction portion 310 is fixed by frictional force by the second friction pad 432, the rotation of the coupling portion is similarly restricted. can be fixed

(Example 6-3) In Example 6-2, the second friction pad 432 is formed concavely in a shape corresponding to the side surface of the third friction part 310 .

The second friction pad 432 can provide sufficient frictional force to the third friction part 310 only when the contact area of the third friction part 310 is sufficiently secured. To this end, the surface of the second friction pad 432 in contact with the third friction part 310 may have a shape corresponding to the contact surface of the third friction part 310 . For example, referring to FIG. 7 , the contact surface of the third friction pad may be formed in a concave shape to correspond to the contact surface with the third friction part 310 . As a result, according to the present invention, the first fixing block 413, the first friction pad 411, the first friction part 412, the first shaft 415, and the second fixing block are formed by rotation of the knob 401 in one direction. 422, the second friction part 421, the third fixing block 430, the second shaft 431, the second friction pad 432, and the third friction part 310 through the first rotary arm 100 ), the second rotary arm 200 and the machine mount 300 may be fixed at the same time.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is common in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications and implementations are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

10: base 100: first rotary arm
200: second rotary arm 300: machine mounting table
310: third friction part 320: coupling part
400: fixed module 401: knob
410: first rotation shaft 411: first friction pad
412: first friction part 413: first fixing block
414: spring 415: first shaft
420: second rotation shaft 421: second friction part
422: second fixed block 430: third fixed block
431: second shaft 432: second friction pad
433: Flinger

Claims (9)

In the scara robot arm whose position can be fixed by a single fixing device,
a first rotary arm 100 capable of rotating with respect to the base 10;
a second rotary arm 200 rotatable with respect to the first rotary arm 100; and
a fixing module 400 controlling rotation of the first rotary arm 100 and the second rotary arm 200; including,
The fixing module 400 includes a first rotary shaft 410 connecting the base 10 and the first rotary arm 100;
a knob 401 located at one end of the first rotation shaft 410 and capable of providing a driving force;
a first friction pad 411 located at the other end of the first rotating shaft 410 and generating displacement by the rotation of the knob 401;
a first fixing block 413 in which displacement is generated by rotation of the knob 401;
a second fixing block 422 whose displacement is generated by the driving force generated by the displacement of the first fixing block 413; and
A first shaft 415 having one end fastened to the first fixing block 413 in a lock-and-pinion manner;
A scara robot arm in which the first shaft 415 rotates by displacement of the first fixing block 413. delete delete delete In the scara robot arm whose position can be fixed by a single fixing device,
a first rotary arm 100 capable of rotating with respect to the base 10;
a second rotary arm 200 rotatable with respect to the first rotary arm 100; and
a fixing module 400 controlling rotation of the first rotary arm 100 and the second rotary arm 200; including,
The fixing module 400 includes a first rotary shaft 410 connecting the base 10 and the first rotary arm 100;
a knob 401 located at one end of the first rotation shaft 410 and capable of providing a driving force;
a first friction pad 411 located at the other end of the first rotating shaft 410 and generating displacement by the rotation of the knob 401;
a first fixing block 413 in which displacement is generated by rotation of the knob 401;
a second fixing block 422 whose displacement is generated by the driving force generated by the displacement of the first fixing block 413;
a second rotary shaft 420 connecting the first rotary arm 100 and the second rotary arm 200; and
A second friction part 421 integrally formed with the second rotary arm 200 that comes into contact with the second fixing block 422 and receives frictional force by displacement of the second fixing block 422; The scara robot arm that does it. The method of claim 5,
The fixing module 400 includes a third fixing block 430 integrally formed with the second friction part 421 by the second rotating shaft 420; and
A scara robot arm comprising a; second shaft 431 whose displacement is generated by displacement of the third fixing block 430.
The method of claim 6,
The scara robot arm in which the third fixing block 430 and the second shaft 431 are formed as an inclined plane.
The method of claim 6,
a machine mount 300 capable of rotating with respect to the second rotary arm 200; and
A scara robot arm including a second friction pad 432 contacting the machine mount 300 by displacement of the second shaft 431.
The method of claim 8,
The machine mount 300 includes a cylindrical third friction part 310; and
A coupling part 320 located inside the third friction part 310 and in which a mechanical device can be installed; includes,
The second friction pad 432 is a scara robot arm that provides frictional force while contacting the third friction part 310 by displacement.

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