KR20130020471A - Two degree-of-freedom positioning robot manipulator using single servo motor - Google Patents

Two degree-of-freedom positioning robot manipulator using single servo motor Download PDF

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Publication number
KR20130020471A
KR20130020471A KR1020110083127A KR20110083127A KR20130020471A KR 20130020471 A KR20130020471 A KR 20130020471A KR 1020110083127 A KR1020110083127 A KR 1020110083127A KR 20110083127 A KR20110083127 A KR 20110083127A KR 20130020471 A KR20130020471 A KR 20130020471A
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South Korea
Prior art keywords
gear
worm gear
rack
coupled
shaft
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KR1020110083127A
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Korean (ko)
Inventor
양지웅
Original Assignee
엘지디스플레이 주식회사
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Priority to KR1020110083127A priority Critical patent/KR20130020471A/en
Publication of KR20130020471A publication Critical patent/KR20130020471A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/045—Polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A two degree-of-freedom robot manipulator using a single servo motor is provided to directly connect a worm gear and a link through shaft and transmit the driving force of the worm gear to the link originally, thereby secure enough torque. CONSTITUTION: A two degree-of-freedom robot manipulator(300) comprises one servo motor(310), the first shaft, a worm gear(330), the second shaft, a rack gear(345), and a fixed rack(355). The first shaft transmits the driving force of the servo motor. The worm gear is combined with the first shaft. The second shaft is combined with the worm gear and rotates link according to the rotation. The rack gear is fixed with the worm gear and varies the fixed angle of a controlled object member combined to the link through the cylinder movement. The fixed rack faces to the rack gear around the worm gear. The gear determines the disposition of the rack gear by the angle of the spiral wire. The worm gear is separated in a constant distance with the worm gear.

Description

Two Degree-of-freedom Positioning robot manipulator using single servo motor}

The present invention relates to a two degree of freedom robot manipulator, and to a two degree of freedom robot manipulator for implementing one rotational motion and one linear motion using one servomotor.

The position adjusting device used in the conventional conveying device and the measuring device or the like generally requires an actuator such as two servomotors to realize two degrees of freedom. However, the use of two expensive servomotors is difficult to satisfy the conditions of low cost, miniaturization and light weight, and accordingly, a two degree of freedom position adjustment device using various types of single servomotors has been proposed.

1 is a view showing an example of a two-degree-of-freedom position adjusting device using a conventional single servomotor.

As shown, the conventional position adjusting device is provided with one servo motor 12 into the housing as shown, and the drive gear and the center gear 16 are coupled to the servo motor 12 extending downwards. have. In addition, the inside of the housing 10 is provided with a center gear 20 to be separated from the drive gear 16, the center gear 20 is a variety of bearings are coupled to the bottom.

In addition, the inner peripheral surface of the housing 10 is provided with a revolving gear 30, the revolving gear 30 is coupled to the center of the lower worm gear 34, the worm gear 34 is formed on the lower portion of the revolving shaft. The worm gear 34 is meshed with the worm wheel 38, and the position adjustment control target member 40 for holding the control target member together with the rotation thereof is coupled.

According to this structure, in the conventional position adjusting device, when the servo motor 12 operates, the driving gear and the center gear 16 of the servo motor 12 rotate, and thus the idle gear 30 coupled to various bearings. ) Will be rotated at the same time as the orbital movement.

In addition, due to the rotational motion of the orbiting gear 30, the worm 34 and the worm 34 and the bite worm wheel 38 is meshed with each other to rotate. As a result, the vacuum cup 40 fixedly coupled to the shaft of the worm wheel 36 is turned upward at a predetermined angle with respect to the central axis of the housing, and the vacuum cup 40 is rotated and the worm wheel 38 is rotated. The rotational motion by the rotation of) is combined to actually move up and down in a spiral trajectory.

However, the above-described conventional position adjusting device implements the first rotational motion (a) and the second rotational motion (b), and is easy to apply to the stirrer of the compound, but the robotic manipulator must implement both the rotational motion and the linear motion. It is not suitable for robot manipurator.

In addition, the conventional position adjusting device rotates the vacuum cup 40 by the idle motion of the idler gear 30, and the torque is insufficient than the size required for the robot manipulator.

An object of the present invention is to provide a two-degree-of-freedom robot manipulator for implementing one rotational motion and one linear motion by using a single servomotor.

Another object of the present invention is to provide a two-degree-of-freedom robot manipulator for implementing a link having a large torque during rotational motion.

In order to achieve the above object, two degrees of freedom robot manipulator according to a preferred embodiment of the present invention, one servo motor; A first shaft transmitting a driving force of the servomotor; A worm gear coupled with the first shaft; A second shaft coupled to the worm gear to rotate a link according to rotation; A rack gear that is engaged with the worm gear and varies a fixed angle of a control target member coupled to the link through forward and backward movements; And a fixed rack facing the rack gear about the worm gear.

The worm gear is characterized by determining the displacement of the rack gear by the angle of the thread.

The worm gear may be spaced apart from the fixed rack at a predetermined distance.

The rack gear and the fixed rack, characterized in that coupled to the first auxiliary plate and the second auxiliary plate, respectively.

The said 1st and 2nd auxiliary board is a hollow semi-cylindrical shape, It is characterized by the above-mentioned.

Between the first and second auxiliary plate, characterized in that the bearing is provided to prevent the departure of the movement path.

Any one of the first auxiliary plate and the second auxiliary plate may be connected to the control object coupled to the link through white paper.

The fixed rack is characterized in that fixed to the servomotor.

In order to achieve the above object, a two degree of freedom robot manipulator according to a preferred embodiment of the present invention, one servo motor; A first gear rotating the control target member corresponding to the rotational direction of the central axis of the servomotor; And a second gear for turning the control object member in a direction orthogonal to the central axis by the rotation of the first gear.

The first gear may be a worm gear, and the second gear may be a rack gear that is reciprocated with the worm gear.

According to an embodiment of the present invention, the two-degree-of-freedom robot manipulator of the present invention has a link that is directly connected to a rotating shaft so that the link rotates according to the rotation of the worm gear, and the first and second rack gears are meshed with the worm gear. By performing the linear motion of the link up and down, by using a single servo motor it is possible to implement one rotational motion and one linear motion.

In addition, since the worm gear and the link are directly connected through the shaft, the driving force of the worm gear is still transmitted to the link, thereby securing sufficient torque.

Therefore, there is an effect of providing a structure of a robot manipulator that is easy to apply to robot arms, legs and the like.

1 is a view showing an example of a two-degree-of-freedom position adjusting device using a conventional single servomotor.
FIG. 2 is a view for explaining an example to which a two degree of freedom robot manipulator using a single servomotor according to the present invention is applied.
3A and 3B are cross-sectional views and front views illustrating an example of a two degree of freedom robot manipulator driving module using a single servomotor according to an embodiment of the present invention.
4A and 4B are diagrams illustrating a worm gear provided in the robot manipulator according to the embodiment of the present invention.
5A and 5B are cross-sectional views illustrating a method of driving a two degree of freedom robot manipulator using a single servomotor according to an embodiment of the present invention.

Hereinafter, a two degree of freedom robot manipulator using a single servomotor according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a view for explaining an example in which a two degree of freedom robot manipulator using a single servomotor of the present invention is applied.

As shown, the robot manipulator of the present invention may be provided for each joint of the robot body 100 in the articulated robot, and may be included in all parts requiring movement in multiple directions. In particular, when applied to the arm (arm) or leg of the humanoid robot (humanoid) similar to the human body, it may be provided in the joint portion corresponding to the shoulder and elbow, drive modules (200, 300) of each joint portion The single servo motor implements one rotational motion and one linear motion.

Here, one drive module 300 is composed of one servomotor, a worm gear for implementing a rotational movement for the coupled link 400 and a rack gear for implementing a linear movement and a fixed rack, such a drive module 300 Detailed description of the structure of the) will be described later.

3A and 3B are cross-sectional views and front views illustrating an example of a two degree of freedom robot manipulator driving module using a single servomotor according to an embodiment of the present invention.

As shown, the two degrees of freedom robot manipulator of the present invention is provided with one servo motor 310 inside the hollow housing 305, the servo motor 310 of which is a motor shaft. , 320). The motor shaft 320 transmits the driving force of the servo motor 310 to the worm gear 330 coupled to the other end.

The worm gear 330 rotates the link 370 coupled to one end according to the rotation of the motor shaft 320, and performs one rotational movement with respect to the control target member (not shown) coupled to the other end of the link 370. Will be implemented. At the same time, the worm gear 330 is to move forward or backward in the direction orthogonal to the central axis of the rack gear 345, which is bitten by a thread.

In particular, the rotational movement of the link 370 by the worm gear 330 is implemented by connecting the worm gear 330 and the link 370 directly through the worm shaft to ensure sufficient torque due to rotation. It becomes possible.

The above-described rack gear 345 is coupled to the inside of the semi-cylindrical first auxiliary plate 341 to form a single moving member 340, and abuts the above-described moving member 340 around the worm gear 330. A balanced fixing member 350 is disposed. The fixing member 350 has a fixing rack 355 fixed to the inside of the semi-cylindrical second auxiliary plate 351 facing the rack gear 345 described above.

Here, the aforementioned first and second auxiliary plates 341 and 351 serve as housings of the worm gear 330, the rack gear 345, and the fixed rack 355. In addition, in the present exemplary embodiment, the first and second auxiliary plates 341 and 351 have been described as an example of a shape in which the semi-cylinders are combined in a cylindrical shape, respectively, but the present invention is not limited thereto. have.

In addition, the moving member 340 and the fixed member 350 is connected to the portion is provided with a bearing 360 to guide the moving member 340, the bearing 360 is coupled to the fixed member moving member 340 This facilitates the forward reversal and prevents path departure.

According to this structure, when the worm gear 330 is rotated, the rack gear 345 is bitten forward or backward and the first auxiliary plate 341 coupled with the rack gear 345 is moved together. At this time, since the second auxiliary plate 351 is fixed, the control target member (not shown) disposed at the ends of the first and second auxiliary plates 341 and 351 and coupled through the shaft and one end of the link 370 is upward. Or the angle is converted downward. Accordingly, one linear motion with respect to the control target member coupled to the other end of the link 370 is realized.

4A and 4B are diagrams illustrating a worm gear provided in the robot manipulator according to the embodiment of the present invention.

As shown, the worm gear 330 of the present invention is used to transmit rotation between two axes that do not intersect at right angles to each other, and the force is applied to a member which is decoupled in a direction orthogonal to the axis of the servomotor. To pass. Here, as the member to be entangled with the worm gear 330, a rack gear is used instead of a normal worm wheel gear, so that the member coupled to the rack gear in the front-rear straight direction rather than rotation is used. You exercise.

At this time, the groove of the worm gear 330 is inscribed at an angle, and the member entangled by the screw thread 331 is transferred, the displacement of the rack gear according to the degree of inclination of the screw line 331 with respect to the vertical line.

In detail, when the thread 331 is slightly inclined with respect to the vertical line (a1), that is, when the degree of inclination of the screw is small, the displacement difference of the rack gear according to the rotation of the worm gear 330 has a small value.

In addition, when the screw thread 331 is inclined with respect to the vertical line (a2), that is, when the inclination of the screw thread is large, the displacement difference of the rack gear according to the rotation of the worm gear 330 has a large value, and the worm gear 330 The combined link can be set to have a large radius of motion even by a small rotation of h). Hereinafter, the driving of the robot manipulator of the present invention using the above-described worm gear and rack gear will be described with reference to the accompanying drawings.

5A and 5B are cross-sectional views illustrating a method of driving a two degree of freedom robot manipulator using a single servomotor according to an embodiment of the present invention.

As shown, the two-degree-of-freedom robot manipulator of the present invention is provided with one servomotor 310 and a motor shaft 320 coupled with the servomotor 310 to transmit a driving force, and the motor shaft 320. The other end of the worm gear 330 for transmitting a driving force in a direction orthogonal to the central axis is coupled.

In addition, the worm gear 330 is mounted in the first auxiliary plate 341 and the second auxiliary plate 351 coupled in a semi-cylindrical direction in both directions, and the rack gear is respectively inside the first and second auxiliary plates 341 and 351. 345 and fixed rack 355 are combined. Here, the rack gear 345 is separated from the worm gear 330 described above, and is capable of moving forward or backward in a direction orthogonal to the rotation direction of the central axis of the worm gear 330. In addition, the fixed rack 355 disposed to face the rack gear 345 is spaced apart from the worm gear 330 by a predetermined distance and is fixed to the auxiliary plate 351. Although not shown, the first and second auxiliary plates 341 and 351 are guided by bearings (not shown).

The worm gear 330 is coupled to the link 400 to the opposite side of the motor shaft 320, and the link 400 is coupled to the predetermined control target member 500. Here, the coupling portion of the link 400 and the control target member 500 is connected so that the angle is freely variable.

In addition, the side surface of the control target member 500 is in contact with the first and second auxiliary plates 341 and 351, and the angle is determined according to the arrangement of the first and second auxiliary plates 341 and 351. In particular, the angle of the first auxiliary plate 341 is connected to one end of the hinge (380) by fluidly variable.

According to this structure, the driving of the two-degree-of-freedom robot manipulator of the present invention will be described first, when the servomotor 310 is driven, the motor shaft 320 is rotated and the worm gear 330 coupled thereto is in the same direction. Will rotate. The driving force of the worm gear 330 rotates the link 400 coupled to one end and implements one rotational movement with respect to the control target member 500 coupled to the other end of the link 400 (b).

At the same time, referring to Figure 5b, the worm gear 330 is to move forward or backward in the direction orthogonal to the rotational direction of the central axis of the rack gear 345, the threaded teeth. That is, the rotation of the worm gear 330 causes the rack gear 345 to move forward or backward and the first auxiliary plate 341 coupled with the rack gear 345 moves together.

In addition, unlike the first auxiliary plate 341, since the lower second auxiliary plate 351 is fixed, the column positions of the respective ends of the first and second auxiliary plates 341 and 351 are changed and disposed at the end thereof. And the control target member 500 coupled to one end of the link 400 is the angle (h) is converted upward or downward. In particular, the first auxiliary plate 341 and the control target member 500 is coupled to the position of the variable position such as the white paper 380, the control target member 500 is turned downward when the first auxiliary plate 341 is advanced. (c1), when the first auxiliary plate 341 moves backward, the control target member 500 pivots in the opposite direction (c2).

Accordingly, the link 400 implements a linear motion in a direction perpendicular to the central axis of the servo motor with respect to the control target member 500 coupled to the other end.

Many details are set forth in the foregoing description but should be construed as illustrative of preferred embodiments rather than to limit the scope of the invention. Accordingly, the invention is not to be determined by the embodiments described, but should be determined by equivalents to the claims and the appended claims.

300: manipulator 310: servo motor
320: shaft shaft 330: worm gear
340: moving member 341: first auxiliary plate
345: rack gear 350: fixing member
351: second auxiliary plate 355: fixed rack
360: bearing 370: link

Claims (10)

One servo motor;
A first shaft transmitting a driving force of the servomotor;
A worm gear coupled with the first shaft;
A second shaft coupled to the worm gear to rotate a link according to rotation;
A rack gear that is engaged with the worm gear and varies a fixed angle of a control target member coupled to the link through forward and backward movements; And
A fixed rack facing the rack gear about the worm gear
2 degrees of freedom robot manifold including. The method of claim 1,
The worm gear is a two-DOF robot manipulator, characterized in that for determining the displacement of the rack gear by the angle of the thread. The method of claim 1,
The worm gear is
2 degrees of freedom robot manifold, characterized in that spaced apart from the fixed rack by a certain distance. The method of claim 1,
The rack gear and fixed rack,
2 degrees of freedom robot manifold, characterized in that coupled to the first and second auxiliary plate, respectively. The method of claim 4, wherein
And said first and second auxiliary plates are hollow semi-cylindrical shapes. The method of claim 4, wherein
Between the first and second auxiliary plate,
2 degrees of freedom robot manifold, characterized in that the bearing is provided to prevent the deviation of the movement path. The method of claim 4, wherein
Any one of the first auxiliary plate and the second auxiliary plate,
And a two-degree-of-freedom robot manipulator connected to the control object coupled to the link through white paper. The method of claim 1,
The fixed rack is a two-DOF robot manipulator, characterized in that fixed to the servomotor. One servo motor;
A first gear rotating the control target member corresponding to the rotational direction of the central axis of the servomotor; And
A second gear for turning the control target member in a direction orthogonal to the central axis by the rotation of the first gear;
2 degrees of freedom robot manipulator including. The method of claim 9,
The first gear is a worm gear,
And the second gear is a rack gear reciprocating with the worm gear.

KR1020110083127A 2011-08-19 2011-08-19 Two degree-of-freedom positioning robot manipulator using single servo motor KR20130020471A (en)

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KR1020110083127A KR20130020471A (en) 2011-08-19 2011-08-19 Two degree-of-freedom positioning robot manipulator using single servo motor

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105382850A (en) * 2015-12-16 2016-03-09 芜湖杰诺科技有限公司 Grabbing gripper for three-way valve bodies
TWI587968B (en) * 2015-10-08 2017-06-21 財團法人工業技術研究院 Support device, support unit system and support unit control system
CN111942622A (en) * 2020-07-02 2020-11-17 航天科工空间工程发展有限公司 Infrared heating cage
CN114589723A (en) * 2016-05-04 2022-06-07 X开发有限责任公司 Spring worm holder for robot device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI587968B (en) * 2015-10-08 2017-06-21 財團法人工業技術研究院 Support device, support unit system and support unit control system
US9776329B2 (en) 2015-10-08 2017-10-03 Industrial Technology Research Institute Supporting device, supporting unit system and supporting unit control system
CN105382850A (en) * 2015-12-16 2016-03-09 芜湖杰诺科技有限公司 Grabbing gripper for three-way valve bodies
CN114589723A (en) * 2016-05-04 2022-06-07 X开发有限责任公司 Spring worm holder for robot device
CN111942622A (en) * 2020-07-02 2020-11-17 航天科工空间工程发展有限公司 Infrared heating cage
CN111942622B (en) * 2020-07-02 2021-12-14 航天科工空间工程发展有限公司 Infrared heating cage

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