KR20090116072A - Actuator type robot arm - Google Patents

Abstract

PURPOSE: An actuator type robot arm is provided to change the size and driving force according to use by adding or reducing a module and an actuator according to the load. CONSTITUTION: An actuator type robot arm comprises a joint assembly(110), an actuator assembly(120) and a frame assembly(130). The joint assembly freely rotates the robot arm. The actuator assembly includes a connection shaft(121) and an actuator(122) and is connected to the joint assembly and the frame assembly with a connecting part. The frame assembly has front and rearward base plates(132,133) in the both ends of a frame(131). A fixing bracket(135) and a joint hole(136) are formed in a backward base plate.

Description

Actuator Type Robot Arm {ACTUATOR TYPE ROBOT ARM}

The present invention relates to an actuator-type robot arm, and more specifically, it can be made in units of modules to connect and use as many modules as necessary, thereby making it possible to change the size and power according to the purpose of use and to operate according to the purpose of use. The present invention relates to a modular actuator-type robotic arm that allows the range to be enlarged to greatly expand the work area.

In general, conventional robots are mainly used in the industrial field to replace simple repetitive tasks and dangerous tasks, and various robots such as scara type or articulated type articulated robots are used. have.

By the way, the existing robot is developed only for a specific purpose, it is difficult to change the function when changing the working environment, and various types of robots have been developed and operated, but due to technical limitations and high price, it has not been universalized and commercialized.

In addition, since most of them are designed to repeat only the vertical movement of the upper and lower sides or the left and right, it is difficult to perform difficult tasks and atypical tasks, and free joints, which will play a very important role in humanoid robots and military robots in particular. The development of is urgently needed.

The present invention can be used to connect as many modules as necessary to produce a module unit, through which it is possible to change the size and power according to the work purpose and to increase the operating range according to the purpose of use to greatly expand the work area It is an object of the present invention to provide an actuator type robotic arm.

The present invention is to provide an actuator-type robotic arm that can double the operating radius by connecting the two in series, and expand the multi-joint work area by connecting in parallel.

In the present invention constitutes a robot arm,

A joint assembly allowing a 360 degree free rotation of the robot arm with a ball joint structure; A connecting shaft having one end connected to the joint assembly and the other end connected to the skeleton assembly described below, and a connecting shaft formed at both ends thereof, and being positioned and coupled to the connecting shaft and having a configuration of a servo motor or a hydraulic or pneumatic cylinder. An actuator assembly by an actuator; It is connected to the joint assembly and the actuator assembly side, the front base plate and the rear base plate is provided at both ends of the frame frame of the pipe type is provided with a connecting portion in the front center of the front base plate and the fixed bracket on the rear base plate And a skeletal assembly provided with a fastening hole.

The present invention can be used by connecting as many modules as necessary by manufacturing in a module unit and the number of modules and actuators can be added or subtracted according to the weight of the load can be easily and easily change the size and power according to the purpose of use Of course, the operating radius and the operating range can be changed and increased according to the purpose of use, thereby greatly expanding the working area.

The present invention is light in weight, there is little restriction on the selection of mounting and can be manufactured in various sizes, the application is free, the structure is simple, easy to control, and can be freely changed for various purposes, use of a parallel connection This has a useful effect in terms of structure that can secure a wide range of working areas.

The present invention can provide a cost-effective effect to reduce the maintenance and operation costs because the structure is simple, fewer failures, less maintenance costs, easy to change the use, and simple installation and movement, and difficult operation Since it can be performed, there is a useful effect to increase the replacement scope.

The present invention can be operated at a wide range of angles, easy to add and remove modules and actuators, as well as can be used for a variety of tasks to broaden the application range, to apply a variety of power as well as to minimize the operating error It has a useful effect.

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

As shown in Figures 1 to 3, the actuator type robot arm 100 according to the present invention comprises a joint assembly 110, an actuator assembly 120, and a skeleton assembly 130.

The joint assembly 110 enables connection and assembly of the actuator assembly 120 and the skeletal assembly 130, as well as the serial and parallel connection of the arm 100, which is a modular type, and allows free rotation of the arm 100 by 360 degrees. Make it possible.

The joint assembly 110 has a ring-shaped body but has a main housing 111 having two or more extension protrusions 111a on the outer surface thereof, and a ring-shaped first race disposed inside the main housing 111 in front of the main housing 111. It is located between the housing 112, the second race housing 113 of the circular plate disposed in the rear of the main housing 111, and the first race housing and the second race housing, the outer periphery is supported and a plurality of A ball bearing housing 114 having a ball bearing therein, a spherical body 115 having a spherical portion 115a inserted into the ball bearing housing 114 and a pipe-shaped protrusion 115b extending to the rear of the spherical portion, and , Used for fastening between the second race housing 113 disposed at the rear of the main housing and the first race housing 112 arranged in the forward direction, and the main housing 111 to the sphere body 115 described above are integrated. Locking bolt 116 and lock for mating Consists of a nut 117 and a connecting bracket 118 is fastened to the extension protrusion (111a) of the main housing (111).

At this time, it is structurally preferable that two to four extension protrusions 111a of the main housing 111 are formed, and are formed by maintaining a constant interval.

The arm 100 at the time of operation of the actuator 121 in the components of the actuator assembly 120 described below by the action of the ball bearing housing 114 and the sphere body 115 provided inside the main housing 111. Can rotate 360 degrees and operate at a free angle within that range.

The actuator assembly 120 is a part for the operation execution and position control of the arm 100, one end is fastened to the connection bracket 118 is fastened to the main housing 111 and the other end is the skeleton assembly ( 130 is also simultaneously fastened, the connecting shaft 121 and the coupling shaft formed on both ends so as to be fastened to the main housing 111 and the skeletal assembly 130, respectively, are located on the connecting shaft 121 and coupled to the servo It consists of the actuator 122 which has a structure of a motor or a hydraulic or pneumatic cylinder.

The actuator 122 is preferably provided with a displacement sensor for position control according to the operation of the arm 100, the displacement sensor for the position control, even if the actuator 122 is not part of the main housing 111 or skeletal assembly It will be apparent that it may be installed on the 130 and the like, and may be further mounted as necessary.

The skeletal assembly 130 is a portion arranged in the center of the arm 100 to form a skeleton, the front base plate 132 and the rear base plate 133 is formed at both ends of the pipe frame skeleton frame 131 Is connected to, the front center of the front base plate 132 is provided with a connecting portion 134 is inserted into the protrusion (115a) of the spherical body 115, the fastening portion on the inner surface of the rear base plate 133 The fixing bracket 135 having is provided.

In this case, the fixing bracket 135 is formed in a position and the number corresponding to the connecting bracket 118 of the joint assembly 110, the fastening hole 136 is formed in the rear base plate 133.

The skeletal frame 131 is a structural arrangement of the pipe type to absorb the vibration and increase the rigidity when the robot arm 100 operates.

Actuator-type robot arm 100 according to the present invention having such a configuration is fastening bolt 101 and the nut 102 to one side of the two to four actuator assembly 120 to the connecting bracket 118 of the joint assembly 110 The fastening means of the fastening bolt 101 and the nut 102 to the fixing bracket 135 formed on the rear base plate 133 of the skeleton assembly 130 on the other side of the actuator assembly 120 in the state of fastening through the fastening means of When tightened through it is completed.

At this time, one end of the joint assembly 110 and the actuator assembly 120 are coupled to each other by matching one end of the connecting bracket 118 and the connecting shaft 121 to each other, and is connected to the fastening part of the fixing bracket 135. The other end of the actuator assembly 120 and the skeletal assembly 130 are coupled to each other by matching the other ends of the shafts 121 and the skeletal frame 131 of the skeletal assembly 130 is disposed outside of the actuator assembly. It is located between and inside the center (120).

As described above, when the assembly of the joint assembly 110, the actuator assembly 120 and the skeletal assembly 130 is completed, the robot arm 100 of a modular type having a single joint is formed, and the purpose of use and work purpose. The two to four actuators 122 are precisely controlled by the controller of the automatic control programmed according to the above, and operate at 360 degrees of rotation and free angle, including position movement of up, down, left and right.

That is, the main housing 111 is operated in a desired direction by controlling and modifying target values of position, speed, azimuth, and posture of each actuator 122 connected to the main housing 111 of the joint assembly 110. It is possible to, and unlike the hinge-shaped joints that move around the existing axis in the ball (ball) joint structure can operate the robot arm 100 at a free angle in the absence of gears and shafts.

At this time, each actuator 122 for the operation of the robot arm 100 is connected to the main housing 111 of the joint assembly 110 or the independent control is made to each of the movement of the main housing 111 The operation error can be minimized.

Module type robot arm 100 according to the present invention can be used to connect the two arms in series can double the change angle for the range of motion and rotation can be widened the operating radius, and also the two arms in parallel When connected, a multi-joint system can secure a wide range of work areas and provide the usefulness of using a variety of power as a driving means.

At this time, the serial connection of the robot arm 100, as shown in the example of Figure 4, indicates that the robot arm 100 having the above configuration as a module 1 and a module 2, but the main housing of the joint assembly are interconnected, Direct fastening or interlocking devices such as structures or rotating tools can be inserted.

In addition, parallel connection of the robot arm 100 indicates that the robot arm 100 having the above-described configuration is provided as a module 1 and a module 2 as shown in FIG. 5, but the rear base plate of the skeleton assembly is interconnected. Direct coupling, or a device such as a structure or a rotating tool can be coupled in the inserted state.

Sometimes, as shown in Figure 6, the robot arm 100 is provided with a module 1 and a module 2 can be used as a parallel connection connecting the main housing of the joint assembly and the rear base plate of the skeletal assembly, even in this case directly Fastening or intermediary devices such as structures or rotating tools can be coupled in the inserted state.

And, it has a structure that can be used simply and easily connected to the existing robot base.

As described above, the robot arm 100 of the present invention can be used in series or parallel connection as a module type, and is suitable for a work requiring a deep angle due to its compact structure, and enables independent control of the actuator 1 and the actuator 2 so that the upper and lower modules can be used. Each of them has separate up, down, left and right work areas, and depending on how the robot arm is connected, various types of trajectories (work areas) can be used to secure changes and work areas, increase the angle of displacement, and simplify complex work. It becomes possible.

In particular, the robot arm 100 of the present invention can be immediately assembled and used in the required configuration of the required configuration, and provides the usefulness to easily change the work area as needed.

1 is an assembled perspective view showing an actuator-type robot arm according to the present invention.

Figure 2 is an exploded perspective view showing the configuration of an actuator type robot arm according to the present invention.

Figure 3 is an exploded perspective view showing a joint assembly in the present invention.

Figure 4 is an exemplary view showing a serial connection of the robot arm in the present invention.

5 and 6 is an exemplary view showing a parallel connection of the robot arm in the present invention.

Explanation of symbols on the main parts of the drawings

100: robot arm 110 of the present invention: joint assembly

111: main housing 112: first race housing

113: second race housing 114: ball bearing housing

115: spherical body 118: connecting bracket

120: actuator assembly 121: connecting shaft

122: actuator 130: skeletal assembly

131: skeleton frame 132: front base plate

133: rear base plate 134: connecting portion

135: fixing bracket

Claims (2)

In constructing the robot arm, A joint assembly 110 which allows a 360 degree free rotation of the robot arm with a ball joint structure; A connection shaft 121 having a coupling part formed at both ends thereof so as to connect one side to the joint assembly 110 and the other side to be connected to the skeleton assembly 130 described below, and being located on the connection shaft 121 to be coupled. An actuator assembly 120 by an actuator 122 having a configuration of a servo motor or a hydraulic or pneumatic cylinder; It is connected to the joint assembly 110 and the actuator assembly 120 side, the front base plate 132 and the rear base plate 133 is provided at both side ends of the frame frame 131 of the pipe type, the front base Actuator type, characterized in that the connecting portion 134 is provided at the center of the front surface of the plate 132 and the rear base plate 133 is composed of a skeleton assembly 130 having a fixing bracket 135 and a fastening hole 136. Robotic arm. The method of claim 1, The joint assembly 110 includes a main housing 111 having a ring-shaped body and having at least two extension protrusions 111a on its outer surface; A first race housing 112 having a ring shape disposed inside the front housing 111 in a forward direction; A second race housing 113 of a circular plate disposed at the rear of the main housing 111; A ball bearing housing 114 positioned between the first race housing and the second race housing to receive an outer periphery and having a plurality of ball bearings therein; A spherical body 115 having a spherical portion 115a inserted into the ball bearing housing 114 and a pipe-shaped protrusion 115b extending to the rear of the spherical portion; It is used for fastening between the second race housing 113 disposed in the rear of the main housing and the first race housing 112 disposed in the forward direction, and the integral coupling of the main housings 111 to the spheres 115 described above is performed. Locking bolt 116 and the lock nut 117 for; Actuator-type robot arm, characterized in that it comprises a connecting bracket 118 is fastened to the extension protrusion (111a) of the main housing (111).

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