KR20140019974A

KR20140019974A - Parallel manipulator with elastic module

Info

Publication number: KR20140019974A
Application number: KR1020120086198A
Authority: KR
Inventors: 양국진
Original assignee: 양국진
Priority date: 2012-08-07
Filing date: 2012-08-07
Publication date: 2014-02-18

Abstract

Disclosed is a parallel manipulator. The parallel manipulator comprises: a base plate; multiple motor devices coupled with the base plate; a robot arm module respectively coupled with the multiple motor devices; an elastic module coupled with the robot arm module; a supporting member hinge-coupled to the end of the robot arm module, wherein the elastic module has one end coupled with the robot arm module and the other end coupled with a fixed supporting part.

Description

Parallel manipulator with elastic module

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parallel manipulator, which is utilized industrially and is an apparatus that enables spatial movement of an object.

Parallel manipulators are used in the semiconductor industry and electronic components. It moves the object from space A to space B. The parallel manipulator uses a plurality of robot arms and a support portion attached to the end of the robot arm to move the object. An actuator is coupled to the plurality of robot arms, respectively.

Parallel manipulators must have a solid robot arm to move a high load. However, when the robot arm becomes rigid, the load of the robot arm itself increases, which puts a lot of burden on the actuator driving the robot arm. Therefore, there is an increasing demand for a parallel manipulator that cancels the load generated by the robot arm to the elasticity of the elastic module.

The present invention is to provide a parallel manipulator to cancel the load generated from the robot arm to the elasticity of the elastic module.

According to an aspect of the present invention,

A base plate;

A plurality of motor units coupled to the base plate;

A robot arm module coupled to each of the plurality of motor devices;

An elastic module coupled to each of the robot arm modules;

Including a support member hinged to the end of the robot arm module,

The motor device,

A motor and a gear module coupled to the motor,

The robot arm module,

An elastic arm unit which is coupled to the gear module and absorbs an external force to prevent outage of the gear module;

An upper arm unit hinged to the base plate and one end hinged to the elastic arm unit;

One end is hinged to the other end of the upper arm unit, the other end includes a lower arm unit hinged to the support member,

The elastic module is provided with a parallel manipulator that one end is coupled to the upper arm unit of the robot arm module and the other end is coupled to a fixed support.

In addition, a parallel manipulator is provided, wherein the elastic module includes a spring.

As described above, the present invention provides a parallel manipulator that cancels the load generated from the robot arm to the elasticity of the elastic module.

1 is a perspective view of a parallel manipulator according to an embodiment of the present invention.
Figure 2 is an enlarged perspective view of the elastic module portion in FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. , Thereby not limiting the spirit and scope of the present invention.

1 is a perspective view of a parallel manipulator according to an embodiment of the present invention.

The parallel manipulator 10 of this embodiment includes a base plate 11; A plurality of motor devices 12 coupled to the base plate 11; Robot arm modules 13 respectively coupled to the plurality of motor devices 12; An elastic module 15 coupled to each of the robot arm modules 13; And a support member 14 hinged to the end of the robot arm module 13, wherein the motor device 12 includes a motor 121 and a gear module 122 coupled to the motor. The robot arm module 13 includes an elastic arm unit 131 coupled to the gear module 122; An upper arm unit 132 hinged to the base plate 11 and one end hinged to the elastic arm unit 131; One end is hinged to the other end of the upper arm unit 132, the other end comprises a lower arm unit 133 hinged to the support member (14). One end of the elastic module 15 is coupled to the upper arm unit 132 of the robot arm module 13 and the other end is coupled to the fixed support.

The parallel manipulator 10 of this embodiment is a parallel manipulator that elastically cancels the load generated by the robot arm.

Parallel manipulators typically consist of three robotic arm modules. Accordingly, the present embodiment illustrates a parallel manipulator 10 composed of three robot arm modules. However, a parallel manipulator composed of two or more robot arm modules can also be applied to the technical principle of the present embodiment as it is.

The upper arm unit 132 is hinged to the base plate 11, one end is hinged to the elastic arm unit 132.

Lower arm unit 133, one end is hinged to the other end of the upper arm unit 132, the other end is hinged to the support member (14).

The support member 14 is hinged to the three lower arm units 133. According to the shape of the three lower arm unit 133, the support member 14 can move the space of the movable range in various forms. The support member 14 may be separately coupled to a device capable of holding an object, such as a vacuum absorber.

Since the upper arm unit 132, the lower arm unit 133 and the support member 14 can be seen in the conventional parallel manipulator, detailed description thereof will be omitted.

The elastic module 15 is coupled to the upper arm unit 132 of the robot arm module 122. The elastic module 15 may include a spring. The elasticity of the elastic module 15 may offset the load generated by the robot arm module 122.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Modifications and additions by those skilled in the art to an equivalent range based on the embodiments will also fall within the scope of the present invention.

Parallel Manipulators (10)
The base plate (11)
Motor Device (12)
Robot Arm Modules (13)
Support member 14
Elastic Modules (15)

Claims

A base plate;
A plurality of motor units coupled to the base plate;
A robot arm module coupled to each of the plurality of motor devices;
An elastic module coupled to each of the robot arm modules;
Including a support member hinged to the end of the robot arm module,
The elastic module has one end coupled to the robot arm module and the other end coupled to the fixed manipulator

The method of claim 1,
Parallel manipulator, characterized in that the elastic module comprises a spring.