KR20150094801A - Delta robot - Google Patents

Delta robot Download PDF

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Publication number
KR20150094801A
KR20150094801A KR1020140014608A KR20140014608A KR20150094801A KR 20150094801 A KR20150094801 A KR 20150094801A KR 1020140014608 A KR1020140014608 A KR 1020140014608A KR 20140014608 A KR20140014608 A KR 20140014608A KR 20150094801 A KR20150094801 A KR 20150094801A
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KR
South Korea
Prior art keywords
fastened
rod
upper plate
spring
motor
Prior art date
Application number
KR1020140014608A
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Korean (ko)
Inventor
최종근
Original Assignee
순천대학교 산학협력단
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Priority to KR1020140014608A priority Critical patent/KR20150094801A/en
Publication of KR20150094801A publication Critical patent/KR20150094801A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

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

Abstract

The present invention relates to a delta robot, and more particularly, to a delta robot capable of precise movement while minimizing the number of parts using a link joint apparatus.
A delta robot according to the present invention includes: an upper plate formed in a disk shape; A plurality of motors arranged at regular intervals in the circumferential direction on the lower surface of the upper plate and providing rotational force; A motor mount supporting the motor and mounting the motor on the lower surface of the upper plate; A bar-shaped link whose one end is fastened to the motor and whose other end extends toward the outside of the upper plate; A pair of rod arms which are rotatably fastened on both left and right sides of the other end of the link and extend in parallel downward; A lower plate formed of a polygonal plate member and having a pair of rod arms pivotally coupled to each corner; And a spring which is fastened to the upper and lower portions of the rod arm so as to provide tension so that the pair of rod arms are spaced from each other by a predetermined distance. The relative position of the lower plate to the upper plate .

Description

Delta Robot {DELTA ROBOT}

The present invention relates to a delta robot, and more particularly, to a delta robot capable of precise movement while minimizing the number of parts using a link joint apparatus.

Generally, a delta robot is an intelligent robot that picks up objects on the conveyor by self-sensing function and moves them to another conveyor or other place. The three-point support type delta robot is provided with an upper plate and a lower plate, which are connected by three-point rod arms, and a motor for driving the rod arm is formed on the upper plate, The lower plate has an operating characteristic for adjusting the relative position of the lower plate relative to the lower plate. And a gripper for rotating the article to be picked up is formed at a lower portion of the lower plate.

On the other hand, the conventional delta robot has an upper central axis fixed to the upper plate and a lower central axis fixed to the lower plate, and the center axes are coupled to each other by male and female serration. As a result, the work for machining the center shaft is difficult, so that the manufacturing cost is increased, the number of parts is increased, and the time for assembling the center shaft is increased.

Further, due to the central axis supporting the lower plate relative to the upper plate, the driving radius for picking up the article by the gripper is limited by the driving of the rod arm, and the driving speed is lowered.

In addition, since the driving unit for rotating the gripper is mounted on the upper plate, vibration or the like is generated in the process of transmitting the rotational force from the driving unit to the gripper, thereby lowering the operating accuracy of the gripper. As a result, there is a problem in that the reliability of the product is deteriorated because the function of picking up an article such as an electronic device having a small size and delicately and accurately moving it to another place is deteriorated.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a delta robot capable of reducing the number of parts and minimizing the assembly time, thereby reducing manufacturing costs.

It is another object of the present invention to provide a delta robot which can simplify the structure and improve driving freedom and driving speed.

It is another object of the present invention to provide a delta robot that can operate precisely and accurately.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems to be solved by the present invention, which are not mentioned here, can be understood by referring to the following description to those skilled in the art It will be understood clearly.

A delta robot according to the present invention includes: an upper plate formed in a disk shape; A plurality of motors arranged at regular intervals in the circumferential direction on the lower surface of the upper plate and providing rotational force; A motor mount supporting the motor and mounting the motor on the lower surface of the upper plate; A bar-shaped link whose one end is fastened to the motor and whose other end extends toward the outside of the upper plate; A pair of rod arms which are rotatably fastened on both left and right sides of the other end of the link and extend in parallel downward; A lower plate formed of a polygonal plate member and having a pair of rod arms pivotally coupled to each corner; And a spring which is fastened to the upper and lower portions of the rod arm so as to provide tension so that the pair of rod arms are spaced from each other by a predetermined distance. The relative position of the lower plate to the upper plate .

Further, in the delta robot of the present invention, a first spring coupling hole is provided in a lateral direction or a vertically adjacent direction on a surface of one rod arm facing the other rod arm, and one end of the spring is connected to one of the first spring coupling holes A second spring coupling hole is provided in a lateral direction or in a vertically adjacent direction on the surface of the other rod arm which faces the one rod arm, And is inserted into one of the two spring coupling holes and drawn out to the other, and is fastened to the other rod arm.

Further, the delta robot of the present invention comprises a first through hole formed in the right and left direction of one of the rod arms, a first fastening bar inserted into the first through hole and projecting in the left and right direction, A first fastening wire which is fastened to both sides of the first fastening wire and which is annular in shape toward the other rod arm is further formed so that one end of the spring is fastened in the middle of the first fastening wire to prevent tilting in the left- A second fastening bar inserted into the second through hole and projecting in the left and right direction, both ends being fastened to both the right and left sides of the second fastening bar, And the other end of the spring is fastened in the middle of the second fastening wire to prevent the fastening wire from tilting in the left and right direction when a tensile force acts on the second fastening wire. .

Further, the delta robot of the present invention comprises a third through hole formed in the right and left direction of the other end of the link, and a pair of second through holes formed in the top of each of the rod arms, 1 joint hinge holder, and a first joint hinge inserted and fixed in an intermediate portion of the third through hole and each having both ends formed in a spherical shape and coupled to each of the first joint hinge holders so as to be rotatable in up, .

Further, the delta robot of the present invention comprises a fourth through hole formed in the left and right direction of each corner of the lower plate, and a pair of second through holes formed in the lower end of each of the rod arms, And a second joint hinge which is inserted and fixed in the fourth through hole and is formed into a spherical shape at both ends and is rotatably coupled to each of the second joint hinge holders in the up, .

According to the solution of the above problems, the delta robot of the present invention has the effect of reducing the number of parts and minimizing the assembling time, thereby reducing the manufacturing cost.

Further, the delta robot of the present invention has an effect of simplifying the structure, and improving the driving freedom and driving speed.

Further, the delta robot of the present invention has an effect of being able to operate precisely and accurately.

1 is a perspective view of a delta robot according to an embodiment of the present invention.
2 is a bottom view of a delta robot according to an embodiment of the present invention.
3 is an enlarged view of a lower portion of a delta robot according to an embodiment of the present invention.
4 is an enlarged view of an upper portion of a delta robot according to an embodiment of the present invention.
FIG. 5 is an exploded perspective view of a part of a delta robot according to an embodiment of the present invention.
6 is a view for explaining operation characteristics of a delta robot according to an embodiment of the present invention.
7 is an enlarged view of a lower part of a delta robot according to another embodiment of the present invention.

The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in more detail with reference to the accompanying drawings.

1 to 5 are views for explaining a delta robot according to an embodiment of the present invention. 1 is a perspective view of a delta robot according to an embodiment of the present invention, FIG. 2 is a bottom view of a delta robot according to an embodiment of the present invention, and FIG. 3 is a cross- 4 is an enlarged view of a top portion of a delta robot according to an embodiment of the present invention, and FIG. 5 is a view showing a part of a delta robot according to an embodiment of the present invention. Fig.

1 to 5, a delta robot according to an embodiment of the present invention includes an upper plate 110, a motor 120, a motor mount 125, a link 130, a rod arm 140, A lower plate 150, and a spring 160.

The upper plate 110 is formed in a disc shape and serves as a base for supporting the motor 120 and the like.

The plurality of motors 120 are disposed at predetermined intervals in the circumferential direction on the lower surface of the upper plate 110 and provide rotational force to the link 130. Specifically, the delta robot according to an embodiment of the present invention is provided with three pairs of rod arms 140, so that three motors 120 are provided for driving each of the three arm units, 120 degrees apart. The motor 120 drives the link 130 to actuate the rod arm 140 to move the position of the lower plate 150.

The motor mount 125 supports the motor 120 and mounts the motor 120 on the lower surface of the upper plate 110. Further, the motor mount 125 has a case function for receiving and protecting the motor 120. Fig.

One end of the link 130 is fastened to the motor 120 and the other end of the link 130 has a bar shape extending toward the outside of the upper plate 110. The link 130 is formed between the motor 120 and the rod arm 140 so as to not only transmit the driving force of the motor 120 to the rod arm 140 but also increase the operating freedom of the rod arm 140 .

Each of the rod arms 140 is formed as a pair for each of the links 130. The upper ends of the pair of rod arms 141 and 142 are pivotally connected at both left and right sides of the other end of the link 130, . The rod arm 140 is formed of three pairs 140A, 140B, 140C corresponding to the three motors 120 and the links 130. [ The rod arm 140 extends in the vertical direction to separate the upper plate 110 and the lower plate 150 from each other and transmits the driving force to the lower plate 150.

The lower plate 150 is formed of a polygonal plate member, and a pair of rod arms 141 and 142 are rotatably fastened to each corner. In an embodiment of the present invention, the lower plate 150 has a rough triangular shape and the rod arms 140A, 140B and 140C are fastened to the three corners, respectively. On the lower surface of the lower plate 150, an apparatus for picking up an object on the conveyor is mounted.

The spring 160 is fastened to the upper and lower portions of the rod arms 141 and 142, respectively, so as to provide tension so that the pair of rod arms 141 and 142 are spaced apart from each other. Specifically, the spring 160 holds the load arms 141 and 142 so as not to be spaced apart by the tension, thereby preventing the joint hinge described later from being detached from the joint hinge hold.

The delta robot according to an embodiment of the present invention includes a first spring coupling hole 143 that is laterally or vertically adjacent to a surface of the one rod arm 141 facing the other rod arm 142 And one end of the spring 160 is inserted into one side of the first spring coupling hole 143 and is drawn out to the other side and is fastened to the one rod arm 141.

A second spring coupling hole 144 is provided on the other rod arm 142 so as to be laterally or vertically adjacent to the one surface of the rod arm 141. The other end of the spring 160 is connected to the second And can be inserted into one side of the spring coupling hole 144 and drawn out to the other, and can be fastened to the other rod arm 142. Accordingly, it is possible to simply fasten each of the upper and lower springs 160 to the rod arms 141, 142 without additional components.

4 and 5, in the upper structure of the delta robot according to an embodiment of the present invention, a third through hole 131 formed in the right and left direction of the other end of the link 130, A pair of first joint hinge holders 170 (171, 172) which are mounted on the upper ends of the respective first and second joint hinge holders 141, 142 and whose hemispherical grooves face each other, 131 and the first joint hinge 180 formed at both ends of the first joint hinge 180 and coupled to the first joint hinge holders 171, 172 such that the first joint hinge 180 and the first joint hinge holders 171, .

3 and 5, in the lower structure of the delta robot according to the embodiment of the present invention, a fourth through hole 151 formed in the left and right direction of each corner of the lower plate 150, A pair of second joint hinge holders 190 (191, 192) mounted on the lower ends of the rod arms 141, 142, respectively, the hemispherical grooves facing toward each other, And a second joint hinge 200 inserted into and fixed to the hole 151 and formed at both ends of the second joint hinge holder 191 and 192 so as to be rotatable up and down and left and right It is possible.

As described above, according to the embodiment of the present invention, the link fastening structure is provided on the upper portion of the rod arm, and the joint hinge and the joint hinge holder are used in the fastening structure of the lower plate at the lower portion of the rod arm, And universal joint structure can be applied to increase the degree of freedom and accuracy of motion. Here, the first joint hinge and the second joint hinge can be manufactured in the same structure and shape, and the first joint hinge holder and the second joint hinge holder can be used in the same manner. Accordingly, the delta robot according to the embodiment of the present invention can reduce the precision control and manufacturing cost by using the link joint device.

In addition, the number of parts can be minimized by the spring fastening structure and the joint hinge fastening structure.

The lower portion of the joint hinge holder is coupled to the rod arm, the spring is coupled to the hole formed in the rod arm, and the joint hinge is coupled to the hole formed in the lower plate. The joint hinge holder is coupled to both sides of the joint hinge and the spring hinge spring is coupled to the rod arm so as to prevent the joint hinge holder from being dislodged so that the three joints are constructed in the same manner.

Further, the upper part is joined to the link with the joint hinge, the link is coupled with the motor, the motor is coupled with the motor mount, and the motor mount is combined with the upper plate to constitute the delta robot.

6 is a view for explaining operation characteristics of a delta robot according to an embodiment of the present invention.

6, the delta robot according to an embodiment of the present invention is capable of moving the relative position of the lower plate 150 relative to the upper plate 110 by the operation of the motor 120. FIG. Specifically, referring to FIG. 1, FIG. 6A shows a state in which the lower plate is operated downward, and when the load arms 140A, 140B and 140c are operated downward, the lower plate is operated downward.

6 (b), when the rod arm 140A rises and the rod arms 140B and 140C descend, the lower plate moves to the left.

7 is an enlarged view of a lower part of a delta robot according to another embodiment of the present invention.

7, the delta robot according to another embodiment of the present invention includes a first through hole 243 formed in the right and left direction of one of the rod arms 241 and a second through hole 243 formed in the first through hole 243 A first fastening bar 245 which is inserted into the first fastening bar 245 and projects in the left and right direction and a first fastening wire 245 which is fastened to both the left and right sides of the first fastening bar 245, 247 are further formed so that one end of the spring 260 can be fastened in the middle of the first fastening wire 247. With this configuration, it is possible to prevent the tilting in the left and right direction due to the use of only one spring when the tension acts.

A second through hole 244 formed in the right and left direction of the other rod arm 242, a second fastening bar 246 inserted in the second through hole 244 and projecting in the left and right direction, A second fastening wire 248 fastened to both right and left sides of the second fastening bar 246 and annular toward one of the rod arms 241 is further formed so that the other end of the spring 260 is connected to the second fastening wire 248. [ It is possible to fasten it in the middle of the opening 248. With this configuration, it is possible to prevent the tilting in the left and right direction due to the use of only one spring when the tension acts.

Here, the first fastening bar 245 and the second fastening bar 246 may be provided in a bolt shape to facilitate fastening and fixing to the first through holes 243 and the second through holes 244.

As described above, in the embodiment of the present invention, it is possible to reduce the number of parts, minimize the assembly time and reduce the manufacturing cost, and simplify the structure, and improve the driving freedom and the driving speed.

Further, the delta robot according to the embodiment of the present invention has an advantage that it can operate precisely and accurately.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, All changes or modifications that come within the scope of the equivalent concept are to be construed as being included within the scope of the present invention.

110: upper plate
120: motor
125: Motor mount
130: Link
131: Second through hole
140, 140A, 140B, 140C, 141, 142, 240, 241, 242:
143: First spring engagement hole
144: Second spring engagement hole
150: Lower plate
151: Fourth through hole
160, 260: spring
170, 171, 172: first joint hinge holder
180: first joint hinge
190, 191, 192: a second joint hinge holder
200: second joint hinge
243: First through hole
244: Second through hole
245: first fastening bar
246: second fastening bar
247: first fastening wire
248: second fastening wire

Claims (5)

An upper plate formed in a disk shape;
A plurality of motors arranged at regular intervals in the circumferential direction on the lower surface of the upper plate and providing rotational force;
A motor mount supporting the motor and mounting the motor on a lower surface of the upper plate;
A bar-shaped link whose one end is engaged with the motor and whose other end extends toward the outside of the upper plate;
A pair of rod arms which are rotatably fastened on both left and right sides of the other end of the link and whose upper ends extend in parallel downward;
A lower plate formed of a polygonal plate member and having a pair of the rod arms pivotally coupled to each other at each corner; And
A spring which is fastened to an upper portion and a lower portion of the rod arm, respectively, so as to provide a tension so that a pair of the rod arms are spaced apart from each other;
Wherein the relative position of the lower plate to the upper plate is moved by operation of the motor. The method according to claim 1,
A first spring coupling hole is provided in a lateral direction or in a vertical direction on a surface of one of the rod arms facing the other of the rod arms and one end of the spring is inserted into one of the first spring coupling holes, And is fastened to one of the rod arms,
A second spring coupling hole is provided in a lateral direction or in a vertical direction on a surface of the other rod arm facing the one of the rod arms and the other end of the spring is inserted into one of the second spring coupling holes, And is fastened to the other rod arm. The method according to claim 1,
A first fastening bar inserted into the first fastening hole and projecting in the left and right direction, and both ends fastened to both the left and right sides of the first fastening bar, A first fastening wire is formed in an annular shape toward the rod arm of the frame,
Wherein one end of the spring is fastened in the middle of the first fastening wire to prevent tilting in the left and right direction when tension is applied,
A second fastening bar inserted into the second fastening hole and projecting in the left-right direction, both ends being fastened to both the left and right sides of the second fastening bar, A second fastening wire is formed in an annular shape toward the rod arm of the second fastening member,
And the other end of the spring is fastened in the middle of the second fastening wire to prevent tilting in the left-right direction when tension is applied. The method according to claim 1,
A third through hole formed in the right and left direction of the other end of the link,
A pair of first joint hinge holders mounted on top of each of the rod arms and having hemispherical grooves facing toward each other,
Further comprising a first joint hinge which is inserted and fixed in the third through hole and has both ends formed into a spherical shape and which is coupled to each of the first joint hinge holders so as to be rotatable in the up, robot. The method according to claim 1,
A fourth through hole formed in a lateral direction of each corner of the lower plate,
A pair of second joint hinge holders mounted on the lower ends of the rod arms and having hemispherical grooves facing toward each other,
Further comprising a second joint hinge which is inserted and fixed in the fourth through hole and has both ends formed in a spherical shape and which is coupled to each of the second joint hinge holders so as to be pivotable in the up and down and left and right directions, robot.
KR1020140014608A 2014-02-10 2014-02-10 Delta robot KR20150094801A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105291091A (en) * 2015-11-11 2016-02-03 山东理工大学 Three-translation and one-rotation parallel robot with plane pair
CN105952842A (en) * 2016-06-28 2016-09-21 安庆市佰斯特电子科技有限公司 Damping device for charging base station of power line patrol unmanned aerial vehicle
CN106003149A (en) * 2016-06-28 2016-10-12 安庆市佰斯特电子科技有限公司 Sheltering device of power detecting robot in severe weather
CN106178369A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator
CN106178370A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment
CN106178360A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand
CN106178326A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of electric power transmission line fire-fighting unmanned plane
CN108161899A (en) * 2017-12-25 2018-06-15 武汉大学 A kind of biped climbs crusing robot
WO2022048112A1 (en) * 2020-09-03 2022-03-10 湖南大学 Aerial operation robot for power transmission line maintenance and automatic stability augmentation control method therefor

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105291091A (en) * 2015-11-11 2016-02-03 山东理工大学 Three-translation and one-rotation parallel robot with plane pair
CN105291091B (en) * 2015-11-11 2020-04-21 山东理工大学 Three-translation one-rotation parallel robot with plane pair
CN105952842A (en) * 2016-06-28 2016-09-21 安庆市佰斯特电子科技有限公司 Damping device for charging base station of power line patrol unmanned aerial vehicle
CN106003149A (en) * 2016-06-28 2016-10-12 安庆市佰斯特电子科技有限公司 Sheltering device of power detecting robot in severe weather
CN106178369A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator
CN106178370A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment
CN106178360A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand
CN106178326A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of electric power transmission line fire-fighting unmanned plane
CN106178370B (en) * 2016-06-28 2019-01-04 定远县众创科技服务有限公司 A kind of multifunctional fire-fighting intelligence equipment
CN108161899A (en) * 2017-12-25 2018-06-15 武汉大学 A kind of biped climbs crusing robot
WO2022048112A1 (en) * 2020-09-03 2022-03-10 湖南大学 Aerial operation robot for power transmission line maintenance and automatic stability augmentation control method therefor

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