KR20100097312A - Hybrid manipulator for multi-purpose - Google Patents

Abstract

PURPOSE: A multi-purpose hybrid manipulator, which performs a motion similar to arms or legs of a human being body by combining serial mechanism and parallel mechanism, is provided to lift up a target object by steadily generating the large force of an upper arm part. CONSTITUTION: A multi-purpose hybrid manipulator has more than three degrees of freedom by combining serial mechanism and parallel mechanism. A first actuators(313) is arranged parallel in the parallel mechanism. The first actuators move in the directions of two axes by performing antagonism. The serial mechanism is connected to the other end part of a connector to form more than three degrees of freedom.

Description

Hybrid manipulator for multi-purpose

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot, and more particularly, to a multipurpose hybrid manipulator capable of replacing various human labor such as gripping and moving a workpiece or loading or unloading a machine tool.

Robots are used to replace humans in various industrial sites for assembly work, welding or conveying objects. The robot industry is being considered as a growth engine of the future, and robots that are already cleaned are commercialized, and robots capable of bipedal walking have also been developed.

Robots, which are mainly used in industrial sites, are used in the form of moving parts at fixed positions. The most important part of the robot is the robot arm, and in particular, it has a large number of joints, and the carrying capacity of freely moving and moving heavy items is important.

In recent years, a robot capable of traveling autonomously has been introduced by moving away from a robot performing a work in a fixed state, and representatively, a "mobile robot having an arm mechanism" of Korean Patent Registration No. 780126 is known. 1 is a side view showing an operation of the mobile robot.

As shown, a moving mechanism 109 is formed on the robot body, and a plurality of arm parts 101, 102, and 132, which are folded and rotated to the side of the main body, are provided to move the workpiece while being movable according to the input program. It is configured to be transportable.

In addition, a large number of articulated robot arms are known, but specific robot arms that can stably transport heavy articles in an industrial site and load or load unloaded articles with a machine tool for processing have not been proposed.

Therefore, in the present invention, as a manipulator suitable for an industrial robot, it is basically a multi-joint but multi-purpose hybrid consisting of a combination of an upper arm with two degrees of freedom and a lower arm with four degrees of freedom to enable stable transportation, loading and unloading by lifting heavy items. The main task is to provide a manipulator.

That is, an object of the present invention is to provide a multi-purpose hybrid manipulator that can be provided as a robot arm in which the upper and lower portions having the parallel mechanism and the lower portion having the serial mechanism are combined to combine the advantages of the two mechanisms.

According to the present invention for achieving the above object, three or more degrees of freedom are realized by combining a parallel mechanism and a serial mechanism as a multi-joint manipulator, wherein the parallel mechanism includes two first actuators. It is arranged in parallel to antagonize each other to move the connector connected to the base member and one end of the cross joint in the up, down, left and right two-axis direction, the serial mechanism is connected to the other end of the connector to realize three or more degrees of freedom We propose a multipurpose hybrid manipulator.

Preferably the multi-purpose hybrid manipulator is composed of an upper arm with a parallel mechanism and a lower arm with a serial mechanism,

The upper arm portion, the fixing bracket is fixedly connected to the base member; A connector having one end connected to the lower part and the other end connected to the fixing bracket and the cross joint; A pair of first actuators installed to be parallel to each other, one end of which is coupled to the fixing bracket and the other end of which is connected to the connector so that the connector can be moved up and down or left and right with respect to the fixing bracket; And a second actuator connected to the connector at one end thereof and connected to the first elbow forming the lower part to rotate the first elbow with respect to the upper part.

The lower thin portion may include: a first elbow connected to the connector and pivoted up and down based on a horizontal axis; A second elbow connected to the first elbow and pivoted up and down on a horizontal axis; A third elbow connected to the second elbow and rotated from side to side based on a vertical axis; It is connected to the third elbow is rotated about the center axis and fingers that can pick up objects; proposes a multi-purpose hybrid manipulator characterized in that consisting of.

More preferably, the connector proposes a multipurpose hybrid manipulator, which moves up and down when a pair of first actuators are operated in the same direction, and moves left and right when operated in a different direction.

The multi-purpose hybrid manipulator according to the present invention has an overall combination of six degrees of freedom with an appropriate combination of parallel and serial mechanisms, so that a complex movement similar to a human arm is possible, and the work area can be maximized and stable at the upper arm. As it can exert heavy force to lift heavy objects, it is very suitable for industrial robots.

The multipurpose hybrid manipulator according to the present invention can be applied to both a stationary robot and a robot capable of traveling, and will be described in detail below.

Reference is made to the accompanying drawings of the preferred embodiments as a means to help understanding of the technical features of the present invention, since the drawings themselves are only examples, modifications such as simple changes in structure are also within the scope of protection of the present invention. Should be understood to be included in.

The multi-purpose hybrid manipulator according to the present invention can be used for various purposes, and typically can be used for more complex intelligent robots from simple repetitive operations of product loading or unloading in relation to machine tools, and other human It is a technology that can be applied to various fields where labor is required. In addition, the present invention is characterized in that the manipulator is combined with a parallel mechanism and a serial mechanism in a hybrid type to achieve a multi-joint, have abundant degrees of freedom and increase the payload.

Figure 2 is a perspective view of a traveling robot showing a specific use of the multi-purpose hybrid manipulator according to a preferred embodiment of the present invention, as shown in the driving wheel 200 is installed on the lower surface of the main body 100 forming the basic appearance of the robot do. The traveling wheel 200 is preferably to be movable in all directions, in this embodiment is to use an omni-directional wheel with a motor (M) that is arranged in a triangle and driven independently. When the front wheel is used as a driving wheel, the robot can freely change direction even in a narrow space and can shorten the moving line to the minimum.

The main body 100 of such a traveling robot is equipped with a microprocessor, a communication means, a battery, etc. The traveling robot can move according to an input program, and receive various commands and communications through communication with the outside.

By installing the same hybrid manipulator 300 one by one on the left and right sides of the main body 100 to provide a traveling robot having a double arm, the robot of the double arm can carry the article more stably and transportable article Can also increase the weight.

It will be described with respect to the hybrid manipulator 300 installed in the traveling robot as shown.

3 is a schematic perspective view showing a configuration of a hybrid manipulator according to a preferred embodiment, and FIG. 4 is a partial perspective view showing a coupling relationship between a cross bracket connecting a fixing bracket and a connector. Manipulator 300 in the present invention is to be made of a combination of the upper and lower portions 310 and 320 to use as a robot arm in one embodiment. In particular, the present invention is to provide a manipulator having three or more degrees of freedom, in the present embodiment is configured to implement a total of six degrees of freedom. The upper arm is connected to the base member, the parallel mechanism is applied to the upper arm to increase the payload, and the serial mechanism is applied to the lower arm.

The parallel mechanism realizes two degrees of freedom in the biaxial direction, and the combination of the serial mechanism and the parallel mechanism achieves four degrees of freedom to achieve a total of six degrees of freedom. The parallel mechanism applied to the upper and lower portions of the robot arm is for moving the base member and the connector having one end connected to the cross joint in two axial directions up, down, left, and right, and the two first actuators are disposed parallel to the upper side of the connector. The antagonist mechanism allows two degrees of freedom to be realized and at the same time increases the payload. Here, the fact that two first actuators forming a parallel mechanism have an antagonistic relationship means that when the length of one of the first actuators increases, the length of the first actuator on the other side decreases, so that the connector is cross-joint. It means you can move left and right about. When the two first actuators constituting the parallel mechanism extend or contract in the same direction, the connector moves up and down.

The lower part of the hybrid manipulator is applied with a serial mechanism. The lower part is connected to the distal end of the connector and forms one degree of freedom at the connection part. Therefore, the hybrid manipulator of the present invention may be configured to have at least three degrees of freedom, and the lower portion may be connected to have a plurality of degrees of freedom in a serial manner.

In the preferred embodiment of the present invention is configured to achieve a total of six degrees of freedom as shown in the figure to increase the payload by the application of the parallel mechanism and to combine the serial mechanism to implement a more complex and precise movement in the lower part .

As a more specific component of the upper arm portion 310 to which the parallel mechanism is employed, it includes a fixing bracket 311, a connector 312, a first actuator 313, and a second actuator 314, and the fixing bracket 311. Is a part that is fixedly connected to the robot body 100 that is the base member can be said to correspond to the shoulder portion of the overall shape of the robot. As shown in the drawing, the fixing bracket 311 has a substantially C shape and a connector 312 is further connected to the fixing bracket 311.

The connector 312 corresponds to the basic skeleton constituting the upper thin portion 310 and one end thereof is connected to the lower thin portion 320 to be described later, and the other end is connected to the fixing bracket 311, and the fixing bracket 311 The connection of the connector 312 is connected to the cross joint (J) to form a structure that the connector 312 can move up, down, left and right with respect to the fixing bracket (311).

As shown in FIG. 4, the connector 312 connected to the fixing bracket 311 through the cross joint J rotates up and down with respect to the horizontal axis HA, and rotates left and right with respect to the vertical axis VA. You have two degrees of freedom. A first actuator 313 is provided as a driving source for the rotation of the connector 312, and two first actuators 313 may be installed in a pair and stretched in parallel. Preferably, the motor is built in to operate to increase or decrease the length according to the driving of the motor. More specifically, one end of each of the first actuators 313 is coupled to the upper portion of the fixing bracket 311, and the other end is to be connected to the connector 312. The connection point between the first actuator, the fixing bracket and the connector is suitable to be constrained by the pin (P) to enable rotation.

On the other hand, two pairs of the first actuator 313 is operated independently of each other, if the two at the same time in the same direction increases or decreases the length of the connector 312 to move up and down relative to the horizontal axis (HA) do. When the length of any one of the pair of first actuators 313 is increased and the other is reduced in length, the connector 312 is moved in the horizontal direction based on the vertical axis VA. In the manner described above, two degrees of freedom may be implemented in the upper arm 310, and each of the two pairs of first actuators 313 distributes the load evenly, thereby increasing the payload of the hybrid manipulator 300. The robot arm can be enlarged by constructing a robot arm similar to a human arm motion.

A second actuator 314 is further installed below the connector 312, and the second actuator 314 is formed in one piece, one end of which is connected to the connector 312, and the other end of which constitutes the lower portion 320. The first elbow is connected to the first elbow to be rotated with respect to the connector. That is, another degree of freedom is obtained between the connector and the first elbow by the second actuator.

Next, the lower part 320 constituting the hybrid manipulator 300 will be described, and is mainly composed of a first elbow 321, a second elbow 322, a third elbow 323, and a finger 324. . Two degrees of freedom are obtained from the upper thin portion 310, and the lower portion 320 is configured to obtain four degrees of freedom, thereby providing a hybrid manipulator 300 having a total of six degrees of freedom.

The lower portion 320 is to load the object to the machine tool or unload the finished product in a more precise and detailed operation bar, more freedom than the upper portion 310 is required.

First, the first elbow 321 is a portion that is connected to the connector 312 is a portion that is rotated up and down relative to the horizontal axis (HA), the first elbow 321 according to the driving of the second actuator 314 mentioned above ) Is moved. When one end of the second actuator 314 is connected to the lower side of the first elbow 321 and the length of the second actuator 314 is operated to be longer, the first elbow 321 rotates upwards up to 90 degrees. This is done.

The second elbow 322 is pivotally connected to the distal end of the first elbow 321 and the second elbow 322 also moves up and down based on the horizontal axis HA. Preferably, the second elbow 322 may be rotated up and down in a range of 100 ° to -100 ° based on the horizontal axis HA connected to the first elbow 321, and the second elbow 322 rotates. It is assumed that a motor is used as the driving source for the. In particular, the connection portion between the second elbow 322 and the first elbow 321 is a linear link structure, more specifically, the second elbow ( 322) is inserted so that it can be straightened.

Next, a third elbow 323 connected to the second elbow 322 and rotated left and right is provided, and the third elbow 323 and the second elbow 322 may be rotated based on the vertical axis VA. Is connected. The third elbow 323 may be rotated in a range of 90 ° to -90 ° to the left and right with respect to the vertical axis VA.

A finger 324 is installed at an end of the third elbow 323, and the finger 324 may be rotated based on the center axis CA and configured to pick up an object. That is, the object to be processed is picked up by the finger 324 and the picked object is rotated to come to a suitable position to be bitten at a place such as a chuck of a machine tool.

As described above, the hybrid manipulator 300 having a component and a coupling relationship therebetween is divided into upper and lower portions 310 and 320 as a hybrid type of a parallel mechanism and a serial mechanism. Two degrees of freedom are obtained in the upper portion 310 and four degrees of freedom in the lower portion 320. In particular, the upper arm 310 is arranged in parallel to form a pair of two first actuator 313 to increase the payload to form an antagonistic relationship by forming a closed link, each first actuator 313 Is independently driven is configured to be able to rotate in the vertical direction or left and right directions with respect to the fixing bracket 311 using the cross joint (J).

A limited range of the connector 312 that forms the basic skeleton of the upper arm 310 by connecting the fixing bracket 311 with a cross joint (J) to form a closed link so that the two first actuators 313 have an antagonistic relationship Make it free to move around. For example, when the length of the two first actuators 313 is stretched to the maximum length, the connector 312 can move up to 25 ° in the vertical direction with respect to the horizontal axis HA. By allowing the connector 312 to move from 20 ° to -20 ° with respect to the vertical axis VA, the upper and lower portions 310 may be freely positioned in a suitable space within a range of 25 ° up and down and 40 ° left and right.

The lower part 320 is connected to the upper part 310 in which two first actuators have a parallel mechanism to form an antagonistic relationship, and the lower part 320 is formed in series with the first elbow 321 and the first. The second elbow 322, the third elbow 323, and the fingers 324 are continuously connected to further secure four degrees of freedom. That is, in the hybrid manipulator 300 of the present invention, the upper thin portion 310 to which the parallel mechanism is applied and the lower thin portion 320 to which the serial mechanism is applied have six degrees of freedom.

On the other hand, in constructing the hybrid manipulator 300 of the present invention uses a plurality of motors for the operation of each joint portion, other known power transmission means such as gears or winding transmission means to receive the rotational motion of the motor other than It is enough to use it properly.

The hybrid manipulator according to the present invention has a large payload and has six degrees of freedom, enabling detailed work, which is a very high possibility of being used as a robot arm of various industrial robots.

In particular, the hybrid manipulator of the present invention is mounted on an autonomous robot and is expected to be utilized to equip a system for producing unmanned products using various machine tools.

1 is a side view showing the operation of a "mobile robot with arm mechanism" according to the prior art;

Figure 2 is a perspective view of a traveling robot showing a specific use of the robot arm according to a preferred embodiment of the present invention.

3 is a schematic perspective view showing the configuration of a robot arm according to a preferred embodiment;

Figure 4 is a partial perspective view showing the coupling relationship between the cross bracket connecting the fixing bracket and the connector.

                     <Description of Major Symbols Used in Drawings>

100: main body 200: driving wheel

300: hybrid manipulator 310: upper arm

311: fixing bracket 312: connector

313: First Actuator 314: Second Actuator

320 Habakkubu 321: First elbow

322: second elbow 323: third elbow

324 Finger J: Cross Joint

HA: Horizontal Axis VA: Vertical Axis

CA: Center Shaft P: Pin

Claims (3)

As an articulated manipulator, By combining a parallel mechanism and a serial mechanism, three or more degrees of freedom are realized. In the parallel mechanism, two first actuators are arranged in parallel to antagonize each other so that the base member and one end of the cross joint are cross-linked. Multi-purpose hybrid manipulator characterized in that the connector to be moved in the two axis direction up and down, left and right, and the serial mechanism is connected to the other end of the connector to implement three or more degrees of freedom. The method of claim 1, The multi-purpose hybrid manipulator is composed of an upper arm with a parallel mechanism and a lower arm with a serial mechanism. The upper arm, A fixing bracket fixedly connected to the base member; A connector having one end connected to the lower part and the other end connected to the fixing bracket and the cross joint; A pair of first actuators installed to be parallel to each other, one end of which is coupled to the fixing bracket and the other end of which is connected to the connector so that the connector can be moved up and down or left and right with respect to the fixing bracket; And a second actuator connected to the connector at one end thereof and connected to the first elbow forming the lower part to rotate the first elbow with respect to the upper part. The lower part, A first elbow connected to the connector and pivoted up and down on a horizontal axis; A second elbow connected to the first elbow and pivoted up and down on a horizontal axis; A third elbow connected to the second elbow and rotated from side to side based on a vertical axis; And a finger which is connected to the third elbow and rotates about a center axis to pick up an object. The method of claim 2, The connector, The multipurpose hybrid manipulator, characterized in that the pair of the first actuator is moved up and down when operated in the same direction, and moved left and right when operated in the other direction.

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