KR20160010020A - Flying Parallel manipulator system - Google Patents

Flying Parallel manipulator system Download PDF

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Publication number
KR20160010020A
KR20160010020A KR1020140090730A KR20140090730A KR20160010020A KR 20160010020 A KR20160010020 A KR 20160010020A KR 1020140090730 A KR1020140090730 A KR 1020140090730A KR 20140090730 A KR20140090730 A KR 20140090730A KR 20160010020 A KR20160010020 A KR 20160010020A
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KR
South Korea
Prior art keywords
coupled
robot arm
support member
flying
manipulator
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KR1020140090730A
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Korean (ko)
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양국진
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양국진
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Priority to KR1020140090730A priority Critical patent/KR20160010020A/en
Publication of KR20160010020A publication Critical patent/KR20160010020A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Abstract

A parallel manipulator having a flying function is disclosed. The parallel manipulator having a flying function comprises: a support member; one or more flying modules which are coupled to the support member; multiple actuators which are coupled to the support member; robot arm modules which are coupled to the actuators, respectively; and moving members which are hinged to the ends of the robot arm modules, wherein the moving members are coupled to an object, and wherein the flying modules provide climbing power required for flying.

Description

비행할 수 있는 병렬형머니퓰레이터{Flying Parallel manipulator system}Flying parallel manipulator system [0002]

본 발명은 병렬형머니퓰레이터에 관한 것으로서, 산업적으로 활용되며, 물체를 공간적으로 이동시킬 수 있도록 하는 장치이다.[0001] The present invention relates to a parallel-type manipulator, which is industrially used, and is a device for allowing an object to move spatially.

병렬형머니퓰레이터는식품, 제약등의 산업에사용되는장비이다. 물체를 A공간에서 B공간으로옮겨주는역할을한다. 도 1과같이, 종래의병렬형머니퓰레이터(10)는복수의액추에이터(13)와, 액츄에이터(13)에 결합된로보암모듈(14)과, 로봇암모듈(14)의 말단에 결합된 이동부재(15)를이용하여, 물체를이동부재(15)에결합한후이동시킨다.Parallel type manipulators are used in food, pharmaceutical, and other industries. It moves the object from A space to B space. 1, a conventional parallel type manipulator 10 includes a plurality of actuators 13, a robot arm module 14 coupled to the actuator 13, a movable member 14 coupled to a distal end of the robot arm module 14, (15), the object is moved to the moving member (15).

병렬형머니퓰레이터(10)는 이동부재(15) 및 로봇암모듈(14)에 가해지는 충격이 효율적으로 분산되는 구조를 지니고 있기 때문에 다른 형태의 머니퓰레이터와 비교하여 충돌이나 추락에 강인한 특성을 지니고 있다.Since the parallel type manipulator 10 has a structure in which the impact applied to the moving member 15 and the robot arm module 14 is efficiently dispersed, the parallel type manipulator 10 is more resistant to collision and fall than other types of manipulators.

상기한 병렬형머니퓰레이터의 특성으로 인하여 비행할 수 있는 병렬형머니퓰레이터에 대한 수요가 늘어나고 있다.Due to the characteristics of the above-described parallel type manipulator, there is an increasing demand for a parallel type manipulator that can fly.

본 발명은 비행할 수 있는 병렬형머니퓰레이터를 제공하고자 한다.The present invention seeks to provide a parallel type manipulator that can fly.

본 발명의 일 측면에 따르면,According to an aspect of the present invention,

지지부재와;A support member;

상기 지지부재에 결합된 하나이상의 비행모듈과;At least one flight module coupled to the support member;

상기 지지부재에 결합된 복수의 액츄에이터와;A plurality of actuators coupled to the support member;

상기 복수의 액츄에이터에각각 결합된 로봇암모듈과;A robot arm module coupled to each of the plurality of actuators;

상기 로봇암모듈의 말단에 힌지결합된이동부재를 포함하되,And a moving member hinged to a distal end of the robot arm module,

상기 이동부재는,The moving member includes:

대상물과 결합할 수 있고,Can be combined with the object,

상기 비행모듈은,The flight module comprising:

비행에 필요한 상승력을 제공하는 병렬형머니퓰레이터가 제공된다.A parallel manipulator is provided that provides the lift required for flight.

또한, 상기 하나이상의 비행모듈이 프로펠러를 포함하는 것을 특징으로 하는 병렬형머니퓰레이터가 제공된다.The parallel manipulator is further characterized in that the at least one flight module includes a propeller.

이상과 같이, 본 발명은 비행할 수 있는 병렬형머니퓰레이터를 제공하고자 한다.As described above, the present invention provides a parallel type manipulator that can fly.

도 1은 본 발명의 일 실시예에 따른 병렬형머니퓰레이터의 사시도.
도 2는 본 발명의 일 실시예에 따른 병렬형머니퓰레이터의정면도.1 is a perspective view of a parallel type manipulator according to an embodiment of the present invention;
2 is a front view of a parallel manipulator according to an embodiment of the present invention.

이하에는, 본 발명의 바람직한 실시예를 첨부도면을 참조로 상세하게 설명하되, 이는 본 발명에 속하는 기술분야에서 통상의 지식을 가진 자가 본 발명을 용이하게 실시할 수 있을 정도로 상세하게 설명하기 위한 것이지, 이로써 본 발명의 사상 및 범주가 한정되는 것을 의미하지는 않는다.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.

도 1은 본 발명의 일 실시예에 따른 병렬형머니퓰레이터의사시도이다.1 is a perspective view of a parallel manipulator according to an embodiment of the present invention.

본 실시예의 병렬형머니퓰레이터(10)는, 지지부재(11)와; 상기 지지부재(11)에 결합된 하나이상의 비행모듈(12)과; 상기 지지부재(11)에 결합된 복수의 액츄에이터(13)와; 상기 복수의 액츄에이터(13)에 각각 결합된 로봇암모듈(14)과;상기 로봇암모듈(14)의 말단에 힌지결합된이동부재(15)를 포함하되, 상기 이동부재(15)는, 대상물과 결합할 수 있고,상기 비행모듈(12)은,비행에 필요한 상승력을 제공하는 병렬형머니퓰레이터(10)가 제공된다.The parallel type manipulator 10 of this embodiment includes a support member 11; At least one flight module (12) coupled to said support member (11); A plurality of actuators (13) coupled to the support member (11); A robot arm module 14 coupled to each of the plurality of actuators 13 and a moving member 15 hinged to the distal end of the robot arm module 14, And the flight module 12 is provided with a parallel manipulator 10 that provides a lift force necessary for flight.

본 실시예의 병렬형머니퓰레이터(10)는 비행모듈(12)에서 제공하는 상승력을 이용하여 비행할 수 있는 병렬형머니퓰레이터이다.The parallel type manipulator 10 of this embodiment is a parallel type manipulator that can fly using the uplift force provided by the flight module 12.

병렬형머니퓰레이터는3개의 로봇암모듈로 이루어지는 것이 일반적이다. 따라서, 본 실시예에서는3개의 로봇암모듈로 구성된 병렬형머니퓰레이터(10)를 예시한다. 그러나 2개 이상의 로봇암모듈로 이루어진 병렬형머니퓰레이터도 본 실시예의 기술적 원리를 그대로 적용할 수 있다.The parallel type manipulator is generally composed of three robot arm modules. Therefore, in this embodiment, a parallel type manipulator 10 composed of three robot arm modules is illustrated. 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.

이동부재(15)에는 3개의 로봇암모듈(14)이 힌지결합된다. 3개의 로봇암모듈(14)이 운동하는 형태에 따라, 이동부재(15)는 다양한 형태로 가동 범위의 공간을 운동할 수 있다. 이동부재(15)에는 진공흡착기와 같이 물체를 파지할 수 있는 장치가 별도로 결합되어 있을 수 있다.Three robot arm modules (14) are hinged to the moving member (15). Depending on the manner in which the three robot arm modules 14 move, the movable member 15 can move in the movable range of space in various forms. The moving member 15 may be separately coupled to a device capable of holding an object such as a vacuum adsorber.

이상의, 로봇암모듈(14) 및 지지부재(15)는 종래에 병렬형머니퓰레이터에서도 볼 수 있는 것이므로, 상세한 설명을 생략한다.The robot arm module 14 and the support member 15 described above can be seen in conventional parallel type manipulators, and thus detailed description thereof will be omitted.

이상에서 본 발명의 실시예에 대해서 상세히 설명하였으나, 이는 하나의 실시예에 불과하며, 이로써 본 발명의 특허청구범위를 한정하는 것은 아니다. 본 실시예를 바탕으로 균등한 범위까지 당업자가 변형 및 추가하는 범위도 본 발명의 권리범위에 속한다 할 것이다.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.

병렬형머니퓰레이터(10)
지지부재(11)
비행모듈(12)
액츄에이터(13)
로봇암모듈(14)
이동부재(15)The parallel manipulator (10)
The support member (11)
Flying module (12)
The actuator (13)
The robot arm module (14)
The shifting member (15)

Claims (2)

지지부재와;
상기 지지부재에 결합된 하나이상의 비행모듈과;
상기 지지부재에 결합된 복수의 액츄에이터와;
상기 복수의 액츄에이터에각각 결합된 로봇암모듈과;
상기 로봇암모듈의 말단에 힌지결합된이동부재를 포함하되,
상기 이동부재는,
대상물과 결합할 수 있고,
상기 비행모듈은,
비행에 필요한 상승력을 제공하는 병렬형머니퓰레이터.A support member;
At least one flight module coupled to the support member;
A plurality of actuators coupled to the support member;
A robot arm module coupled to each of the plurality of actuators;
And a moving member hinged to a distal end of the robot arm module,
The moving member includes:
Can be combined with the object,
The flight module comprising:
A parallel manipulator that provides the lift required for flight. 제1항에 있어서,
상기 비행 모듈이 프로펠러를 포함하는 것을 특징으로 하는 병렬형머니퓰레이터.The method according to claim 1,
Characterized in that the flight module comprises a propeller.
KR1020140090730A 2014-07-18 2014-07-18 Flying Parallel manipulator system KR20160010020A (en)

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KR1020140090730A KR20160010020A (en) 2014-07-18 2014-07-18 Flying Parallel manipulator system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109987225A (en) * 2019-04-03 2019-07-09 阙文新 A kind of air rescue device and rescue mode

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109987225A (en) * 2019-04-03 2019-07-09 阙文新 A kind of air rescue device and rescue mode

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