KR20170089729A - Robot arm with gravity compensation mechanism - Google Patents

Robot arm with gravity compensation mechanism Download PDF

Info

Publication number
KR20170089729A
KR20170089729A KR1020160010345A KR20160010345A KR20170089729A KR 20170089729 A KR20170089729 A KR 20170089729A KR 1020160010345 A KR1020160010345 A KR 1020160010345A KR 20160010345 A KR20160010345 A KR 20160010345A KR 20170089729 A KR20170089729 A KR 20170089729A
Authority
KR
South Korea
Prior art keywords
arm
pulley
unit
string
spring unit
Prior art date
Application number
KR1020160010345A
Other languages
Korean (ko)
Other versions
KR101790863B1 (en
Inventor
서태원
박정환
이동규
이상호
Original Assignee
영남대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 영남대학교 산학협력단 filed Critical 영남대학교 산학협력단
Priority to KR1020160010345A priority Critical patent/KR101790863B1/en
Publication of KR20170089729A publication Critical patent/KR20170089729A/en
Application granted granted Critical
Publication of KR101790863B1 publication Critical patent/KR101790863B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/002—Arms comprising beam bending compensation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia

Abstract

The present invention provides a robot arm having a gravity compensation mechanism. A first arm installed to be rotatable with respect to the base part at one end with respect to the first rotation shaft and one end rotatable relative to the other end of the first arm with respect to a second rotation axis different from the first rotation axis A first spring unit installed in an inner space of the first arm along the longitudinal direction of the first arm and compressible in the longitudinal direction of the first arm, at least a part of which is installed in the first arm A first string fixed to the first spring unit and the other end connected to the first pulley unit so as to be spaced apart from the first rotation shaft; And a second spring unit installed in the inner space of the first arm and compressible in the longitudinal direction of the first arm by a second string different from the first string.

Description

[0001] Robot arm with gravity compensation mechanism [0002]

And more particularly to a robot arm having a mechanism for compensating for the gravity of the robot arm.

2. Description of the Related Art Recently, various robots have been developed for facilitating the living environment of a human being or for assisting work in an industrial field. Particularly, the application is spreading not only for industrial use such as painting and welding but also for medical industry. It is very important that such an articulated articulated robot arm can transmit high torque because it is required to transfer and support heavy workpieces.

Such a jointed-arm robot arm receives a load torque due to its own weight or the weight of the workpiece, and such a load torque directly affects the design of the capacity of the actuator such as the drive motor. Particularly, the weight of the torque component generated by the self weight of the robot arm among the loads acting on the drive motor is very high.

Conventionally, when determining the capacity of the actuator of the robot arm, it is necessary to take into account not only the torque generated by the workpiece but also the gravity torque generated by the self weight of the robot arm itself, so that the capacity of the power source for driving the robot arm must be increased .

Conventionally, the balance weight can be used to compensate for the gravity generated by the self weight of the robot arm. However, the weight of the robot itself increases due to the addition of the balance weight, and new weight can be generated. In addition, the center of gravity due to a change in load may be varied to reduce the effect of energy saving.

Conventionally, a spring can be used to compensate for the gravity generated by the self weight of the robot arm. However, the compensation torque may change due to the deformation of the spring or the wire, and a spring may be added to each link to increase the weight of the robot itself. In addition, an actuator may be installed in the joint provided between the link and the link to increase the weight.

Conventionally, theoretically, a simple idea of a concept of compensating gravity due to its own weight of a robot arm or the like has been proposed, but there are limitations in a practically applicable apparatus.

Embodiments of the present invention aim to provide a robot arm that effectively compensates for torque generated by gravity of a robot arm.

One aspect of the present invention is a method of manufacturing a semiconductor device, comprising a base, a first arm provided at one end of the base to rotate with respect to the first axis of rotation, and a second arm, A first spring unit installed in the inner space of the first arm along the longitudinal direction of the first arm and compressible in the longitudinal direction of the first arm; A first string fixed to the first spring unit and the other end connected to the first pulley unit so as to be separated from the first rotation shaft; And a second spring unit installed in the inner space of the first arm adjacent to the first arm and being compressible in the longitudinal direction of the first arm by a second string different from the first string, Provide a robot arm with the mechanism.

The first pulley unit includes a first base pulley centered on the first rotation shaft, a first reference pulley installed on one side of the first base pulley, and a first guide pulley disposed on one side of the first arm, A pulley may be provided.

Further, when the first arm is rotated, the distance between the first reference pulley and the first moving pulley may change.

In addition, the first string may be wound at least once between the first reference pulley and the first moving pulley.

Further, the first spring unit may be compressed toward the base portion, and the second spring unit may be compressed toward the second arm.

In addition, the first spring unit and the second spring unit may be arranged side by side.

In addition, at least a part of the second string may be installed on the second arm, and the second pulley unit may guide the movement of the second string.

The third arm is installed in the inner space of the third arm along the longitudinal direction of the third arm. The third arm is provided in the inner space of the third arm, A third spring unit that is compressible in the longitudinal direction, and a third pulley unit that is installed at one end of the third arm and guides the movement of the third string.

In addition, a first belt connecting the first pulley unit and the second pulley unit,

And a second belt connecting the second pulley unit and the third pulley unit.

The apparatus may further include an actuator that generates a driving force to rotate at least one arm of the first arm, the second arm, and the third arm.

According to another aspect of the present invention, there is provided a portable terminal comprising: a base; a first arm provided at one end of the base to be rotatable with respect to the first axis of rotation; A first spring unit installed in the first arm and capable of being compressed in the longitudinal direction of the first arm, a first pulley unit at least a part of which is provided in the first arm, one end fixed to the first spring unit, And a first string connected to the first pulley unit so as to be separated from the rotation shaft, wherein the first pulley unit includes a first base pulley having a center on the first rotation shaft, and a second base pulley disposed on a side of the first base pulley A robot arm having a gravity compensation mechanism, comprising a first reference pulley and a first moving pulley installed on one side of the first arm.

Further, when the first arm is rotated, the distance between the first reference pulley and the first moving pulley may change.

In addition, the first spring unit can be compressed toward the first pulley unit when the first arm is rotated.

In an embodiment of the present invention, a robot arm having a gravity compensation mechanism is lightweight, thereby reducing energy consumption and effectively compensating for gravity. The second spring unit for compensating the gravity of the second arm may be installed inside the first arm to minimize the weight of the second arm to effectively compensate for gravity.

In addition, the robot arm having the gravity compensation mechanism can prevent the string from sagging by changing the number of times the string is wound, and can effectively compensate gravity. It is possible to easily compensate the gravity force of the robot arm by increasing the number of wound strings and increasing the gravity compensation force of the arm.

1 is a perspective view illustrating a robot arm having a gravity compensation mechanism according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view of the robot arm with the gravity compensation mechanism of Fig. 1;
Figure 3 is a top view of a robot arm with the gravity compensation mechanism of Figure 1;
4 and 5 are conceptual diagrams showing the operation of a robot arm having a gravity compensation mechanism.
6 is a plan view showing a robot arm having a gravity compensation mechanism according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning.

In the following examples, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

In the following embodiments, terms such as inclusive or possessive are intended to mean that a feature, or element, described in the specification is present, and does not preclude the possibility that one or more other features or elements may be added.

In the following embodiments, when a part of a film, an area, a component or the like is on or on another part, not only the case where the part is directly on the other part but also another film, area, And the like.

In the drawings, components may be exaggerated or reduced in size for convenience of explanation. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

If certain embodiments are otherwise feasible, the particular process sequence may be performed differently from the sequence described. For example, two processes that are described in succession may be performed substantially concurrently, and may be performed in the reverse order of the order described.

Fig. 1 is a perspective view showing a robot arm 1 having a gravity compensation mechanism according to an embodiment of the present invention, Fig. 2 is a sectional view showing a robot arm 1 having a gravity compensation mechanism of Fig. 1, 3 is a plan view of the robot arm 1 having the gravity compensation mechanism of Fig.

1 to 3, a robot arm 1 having a gravity compensation mechanism may have a base portion 5, a first arm 10, a second arm 20 and a third arm 30 have. The gravity of the first arm 10 is compensated by the first spring unit 16 and the first pulley unit 18 and the gravity of the second arm 20 is compensated by the second spring unit 26 and the second pulley unit 18, And the gravity of the third arm 30 is compensated by the third spring unit 37 and the third pulley unit 38. [

The base 5 may include a first body 6 and a second body 7 rotatable with respect to the first body 6. The base portion 5 may be provided with a plurality of actuators.

The base unit 5 is provided with a first actuator 41 for transmitting a turning force to the first arm 10 and a second actuator 42 and a third arm 30 for transmitting a turning force to the second arm 20, And a third actuator 43 for transmitting a rotational force to the first and second actuators. The first to third actuators may be connected to the drive belt to transmit the driving force to each arm. The first actuator 41 and the second actuator 42 may be installed to face each other.

Referring to FIG. 3, the first actuator 41 is connected to the first arm 10 to rotate the first arm 10. The second actuator 42 may transmit the driving force to the second arm 20 through the first driving belt V1 connecting between the first connecting portion 51 and the second connecting portion 52. [ The third actuator 43 transmits the driving force to the third arm 30 through the second driving belt V2 connecting the first connecting portion 51, the second connecting portion 52 and the third connecting portion 53 .

Although not shown in the figure, one actuator may be installed in the base part 5. [ The actuator may be connected to a gear unit (not shown) to transmit the driving force generated by the actuator to the first arm 10, the second arm 20, and the third arm 30, respectively.

Since the actuators are provided on the base portion 5, the robot arm can be made lighter. In the related art, the actuator is provided at the connecting portion of each arm. However, according to the embodiment, all the actuators may be installed in the base portion 5 to reduce the weight of the robot arm.

The first arm 10 may be installed between the base portion 5 and the second arm 20. One end of the first arm 10 can rotate with respect to the base portion 5 with respect to the first rotation shaft. The other end of the first arm 10 can be rotated with respect to the second arm 20 with respect to the second rotation axis.

The first spring unit 16 may include a first spring block 14 and a first flange 15. The first spring unit 16 can be installed in the inner space of the first arm 10 and can be compressed in the longitudinal direction of the first arm 10.

One end of the first spring block 14 is fixed to one side of the first arm 10, and the other end thereof is movable. The other end of the first spring block 14 can move toward the base portion 5 and be compressed. The first flange 15 is connected to the other end of the first spring block 14, and the first string S1 can be fixed.

The first pulley unit 18 may be installed at one end of the first arm 10. The first pulley unit 18 may have a first base pulley 11, a first moving pulley 12, and a first reference pulley 13.

The first base pulley 11 may be centered on the first rotational shaft. The first base pulley 11 may be installed adjacent to one end of the first arm 10. The first reference pulley 13 may be installed on one side of the first base pulley 11. The first base pulley 11 and the first reference pulley 13 are installed to be fixed to the base portion 5 so as to be able to move relative to the first arm 10.

The first moving pulley 12 is installed on the first arm 10 and can rotate and move according to the rotation of the first arm 10. [ That is, when the first arm 10 rotates, the distance between the first reference pulley 13 and the first moving pulley 12 can vary.

The first string S1 can connect the first spring unit 16 and the first moving pulley 12. One end of the first string S1 is connected to the first flange 15 and can be wound on the first base pulley 11, the first reference pulley 13 and the first moving pulley 12. [ The other end of the first string S1 is connected to the first moving pulley 12 so that the first spring unit 16 can be compressed when the first arm 10 rotates.

The second arm 20 may be installed between the first arm 10 and the third arm 30. One end of the second arm 20 can rotate with respect to the first arm 10 with respect to the second rotation axis. The other end of the second arm 20 can be rotated with respect to the third arm 30 on the basis of the third rotation axis.

A second pulley unit 26 may be installed in the second arm 20. A second pulley unit 26 may be installed at one end of the second arm 20 and connected to the second string S2. A second coupling portion 52 is provided to face the second pulley unit 26 to receive a driving force from the second actuator 42 or the third actuator 43.

The second spring unit 26 can be installed in the inner space of the first arm 10. The second spring unit 26 may be installed parallel to the first spring unit 16. The second spring unit 26 can be compressed in the longitudinal direction of the first arm 10 by the second string S2. Since the second spring unit 26 is disposed in the inner space of the first arm 10, the bending force generated when the robot arm 1 is driven can be reduced. The second spring unit 26 is arranged so as to be adjacent to the base portion 5 so that the center of gravity of the robot arm 1 can be formed adjacent to the base portion 5 so that the torque generated at the time of driving the robot arm 1 Can be minimized.

The second spring unit 26 may include a second spring block 24 and a second flange 25. The second spring block 24 can be compressed toward the second arm 20. When the second arm 20 rotates, the second spring block 24 can be compressed by the second string S2.

The second pulley unit 26 may be installed at one end of the second arm 20. The second pulley unit 26 may have a second base pulley 21, a second moving pulley 22 and a second reference pulley 23.

The second base pulley 21 may be disposed at the center of the second rotation shaft. The second base pulley 21 may be installed adjacent to one end of the second arm 20. The second reference pulley 23 may be installed on one side of the second base pulley 21. The second base pulley 21 and the second reference pulley 23 are fixed to the first arm 10 and can move relative to the second arm 20.

The second moving pulley 22 is installed on the second arm 20 and can be rotated and moved according to the rotation of the second arm 20. [ That is, when the second arm 20 rotates, the distance between the second reference pulley 23 and the second moving pulley 22 may vary.

The third arm 30 may be installed at the other end of the second arm 20. One end of the third arm 30 can rotate with respect to the second arm 20 with respect to the third rotation axis. An instrument (not shown) may be installed at the other end of the second arm 20.

The third arm 30 may include a third spring unit 37 and a third pulley unit 38. The third spring unit 37 is installed in the inner space of the third arm 30 and has a third spring block 36 compressible in the longitudinal direction of the third arm 30, And a third flange 35 connected to the second flange 35. [

The third pulley unit 38 is installed at one end of the third arm 30 and can be connected to the third spring unit 37 by the third string S3. The third pulley unit 38 may include a third base pulley 31, a third moving pulley 32, a third reference pulley 33, and a diverting pulley 34. The third string S3 is connected to the third flange 35 and may be connected to the diverting pulley 34, the third base pulley 31, the third moving pulley 32 and the third reference pulley 33 .

Hereinafter, the gravity of the arm is compensated by the spring units and the pulley units. Since the gravity compensation of the second arm 20 and the third arm 30 is equal to the principle of compensating the gravity of the first arm 10, the first spring unit 16 and the first pulley unit 18 will compensate for the gravity of the first arm 10.

Figs. 4 and 5 are conceptual diagrams showing the operation of the robot arm 1 with the gravity compensation mechanism.

4A shows a case where the first arm 10 is rotated in a direction perpendicular to the paper surface, FIG. 4B shows a case where the first arm 10 is rotated at a predetermined angle, As shown in Fig.

4A, the first string S1 is connected to one end of the first spring unit 16 and is wound on a part of the first base part 5. [ And is wound on the first moving pulley 12 and the first reference pulley 13 and is fixed to the first moving pulley 12. [ The first moving pulley 12 and the first reference pulley 13 are disposed adjacent to each other.

4B, the first arm 10 can be rotated at a predetermined angle. The first string S1 can compress the first spring unit 16 to a predetermined length. The first string S1 can transmit the compressive force generated by the first spring unit 16 to the first moving pulley 12. [

Referring to FIG. 4C, as the first arm 10 rotates, the first string S1 can compress the first spring unit 16 further. The compressive force generated by the first spring unit 16 can be increased by the rotation of the first arm 10 and the compressive force can be transmitted to the first moving pulley 12. [

5, the tension FLINK1 of the first string S1 formed in the first spring unit 16 is equal to the compressive force generated by the first spring unit 16. [ That is, the tension FLINK1 of the first string S1 is proportional to the moving distance of the first spring unit 16. [

The moving distance of the first spring unit 16 is related to the distance between the first moving pulley 12 and the first reference pulley 13. The distance between the first moving pulley 12 and the first reference pulley 13 is determined by C (?) Which is a function related to the rotation angle of the first arm 10. That is, when the first arm 10 rotates and the moving distance of the first spring unit 16 changes, the tension of the first string S1 also changes.

In addition, the tension of the first string S1 received by the first moving pulley 12 may be proportional to the number of turns N of the first string. The first string S1 can be wound at least once between the first moving pulley 12 and the first reference pulley 13. [ Accordingly, when the number of turns of the first string S1 increases, the tension of the first string S1 received by the first moving pulley 12 can increase. The gravitational compensation acting on the first arm 10 follows Equation (1).

[Equation 1]

Fs (?) = NFLINK1 = nkc (?)

alpha: rotation angle of the first arm

Fs (?): The tension of the first string acting on the first moving pulley

n: the number of first strings wound between the first moving pulley and the first reference pulley

FLINK1: tension of the first string generated by the first spring unit

k: Young's modulus of elasticity of the first spring block

c (?): Distance between the first moving pulley and the first reference pulley

The tension of the first string S1 received by the first moving pulley 12 can compensate for the gravity of the first arm 10. [ The gravity torque of the first arm 10 is generated at the T point but the torque of Fs (?) Is generated in the first moving pulley 12 in the direction opposite to the middle? You can compensate.

The gravity of the second arm 20 can be compensated for by the second string S2, the second spring unit 26 and the second pulley unit 26, The third spring S3, the third spring unit 37, and the third pulley unit 38, as shown in Fig.

The robot arm (1) with the gravity compensation mechanism can be lightweight, which can reduce energy consumption and can effectively compensate for gravity. The second spring unit 26 for compensating for the gravity of the second arm 20 can be installed inside the first arm 10 to minimize the weight of the second arm 20. When the weight of the second arm 20 is minimized, the entire center of gravity is formed adjacent to the base portion 5 to effectively perform gravity compensation.

 The robot arm 1 having the gravity compensating mechanism can prevent the string from sagging by changing the number of times of string winding, and can effectively compensate gravity. In a mechanism for compensating for gravity using a wire or the like, deflection of the wire is problematic. The robot arm 1 having the gravity compensation mechanism can prevent the string from sagging by adjusting the number of times of winding between the moving pulley and the reference pulley. Also, the number of times of winding can be increased to increase the gravity compensation force of the arm, thereby effectively compensating for the gravity of the robot arm.

6 is a plan view showing a robot arm having a gravity compensation mechanism according to another embodiment of the present invention.

6, the robot arm having the gravity compensation mechanism includes a first belt V3 connecting the first pulley unit 18 and the second pulley unit 26, a second pulley unit 26, And a second belt (V4) for connecting the unit (38).

The first belt V3 is connected to the first actuator 41 to rotate the second arm 20 by an angle at which the first arm 10 rotates. The second belt V4 is connected to the second pulley unit 26 and the third pulley unit 38 so that the third arm 30 can be rotated by the angle at which the second arm 20 rotates .

When the first arm 10 is rotated, the reference plane of the second arm 20 and the reference plane of the third arm 30 are also changed. Such a change in the reference plane complicates the angle control of the robot arm and limits the position of the robot arm quickly.

The first and second belts V3 and V4 do not change the reference plane of the second arm 20 and the third arm 30 even if the first arm 10 rotates, have.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

1: Robot arm
5: Base portion
10: first arm
11: first base pulley
12: first moving pulley
13: first reference pulley
14: first spring block
15: 1st flange
16: first spring unit
18: First pulley unit
20:
26: second spring unit
28: Second pulley unit
30: third arm
37: third spring unit
38: Third pulley unit

Claims (13)

A base portion;
A first arm provided at one end of the first arm so as to be rotatable with respect to the base unit with respect to the first rotation axis;
A second arm having one end rotatable with the other end of the first arm based on a second rotation axis different from the first rotation axis;
A first spring unit installed in an inner space of the first arm along the longitudinal direction of the first arm and compressible in the longitudinal direction of the first arm;
A first pulley unit at least partially provided on the first arm;
A first string fixed to the first spring unit at one end and connected to the first pulley unit at the other end so as to be spaced apart from the first rotation shaft; And
And a second spring unit installed in the inner space of the first arm adjacent to the first spring unit and compressible in the longitudinal direction of the first arm by a second string different from the first string, Robot arm with compensation mechanism. The method according to claim 1,
The first pulley unit
A first base pulley having a center on the first rotation axis;
A first reference pulley installed at one side of the first base pulley; And
And a first moving pulley installed on one side of the first arm. 3. The method of claim 2,
Wherein a distance between the first reference pulley and the first moving pulley changes when the first arm is rotated. 3. The method of claim 2,
Said first string winding at least once between said first reference pulley and said first moving pulley. The method according to claim 1,
Wherein the first spring unit is compressed toward the base portion and the second spring unit is compressed toward the second arm. The method according to claim 1,
Wherein the first spring unit and the second spring unit are disposed side by side. The method according to claim 1,
And a second pulley unit at least partially mounted to the second arm for guiding movement of the second string. The method according to claim 1,
A third arm, one end of which is installed to rotate with the other end of the second arm;
A third spring unit installed in the inner space of the third arm along the longitudinal direction of the third arm and compressible in the longitudinal direction of the third arm by a third string;
And a third pulley unit installed at one end of the third arm for guiding movement of the third string. 9. The method of claim 8,
A first belt connecting the first pulley unit and the second pulley unit; And
And a second belt connecting the second pulley unit and the third pulley unit. 9. The method of claim 8,
Further comprising an actuator for generating a driving force such that at least one arm of the first arm, the second arm, and the third arm rotates. A base portion;
A first arm provided at one end of the first arm so as to be rotatable with respect to the base unit with respect to the first rotation axis;
A first spring unit installed in an inner space of the first arm along the longitudinal direction of the first arm and compressible in the longitudinal direction of the first arm;
A first pulley unit at least partially provided on the first arm; And
And a first string fixed to the first spring unit at one end and connected to the first pulley unit so as to be spaced apart from the first rotation shaft,
The first pulley unit
A first base pulley having a center on the first rotation axis;
A first reference pulley installed at one side of the first base pulley; And
And a first moving pulley installed on one side of the first arm. 12. The method of claim 11,
Wherein a distance between the first reference pulley and the first moving pulley changes when the first arm is rotated. 12. The method of claim 11,
The first spring unit
Wherein the first arm is compressed toward the first pulley unit when the first arm is pivoted.
KR1020160010345A 2016-01-27 2016-01-27 Robot arm with gravity compensation mechanism KR101790863B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020160010345A KR101790863B1 (en) 2016-01-27 2016-01-27 Robot arm with gravity compensation mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160010345A KR101790863B1 (en) 2016-01-27 2016-01-27 Robot arm with gravity compensation mechanism

Publications (2)

Publication Number Publication Date
KR20170089729A true KR20170089729A (en) 2017-08-04
KR101790863B1 KR101790863B1 (en) 2017-10-26

Family

ID=59654222

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020160010345A KR101790863B1 (en) 2016-01-27 2016-01-27 Robot arm with gravity compensation mechanism

Country Status (1)

Country Link
KR (1) KR101790863B1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107972021A (en) * 2017-12-14 2018-05-01 杭州娃哈哈精密机械有限公司 A kind of Multi-shaft mechanical arm
CN107984491A (en) * 2017-11-28 2018-05-04 广东工贸职业技术学院 Automatic change mechanical clamping jaw
CN109333530A (en) * 2018-10-08 2019-02-15 浙江工业大学 A kind of six articulated mechanical arm Study on Contact Force Control based on elastic actuator of connecting
CN109623789A (en) * 2019-01-04 2019-04-16 电子科技大学中山学院 A kind of gravity-compensated device and robot
KR20220101985A (en) * 2021-01-12 2022-07-19 고려대학교 산학협력단 Joint positioning device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102031546B1 (en) * 2018-03-13 2019-10-14 한국기계연구원 Counterbalance manipulator with a hollow shaft
KR102203728B1 (en) 2019-07-23 2021-01-15 중앙대학교 산학협력단 Apparatus for variable gravity compensation for rotation and linear motion joint
KR20210017686A (en) 2019-08-09 2021-02-17 엘지전자 주식회사 Robot arm

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101332694B1 (en) * 2011-05-18 2013-11-25 레드원테크놀러지 주식회사 a haptic device with weight compensation function

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107984491A (en) * 2017-11-28 2018-05-04 广东工贸职业技术学院 Automatic change mechanical clamping jaw
CN107972021A (en) * 2017-12-14 2018-05-01 杭州娃哈哈精密机械有限公司 A kind of Multi-shaft mechanical arm
CN109333530A (en) * 2018-10-08 2019-02-15 浙江工业大学 A kind of six articulated mechanical arm Study on Contact Force Control based on elastic actuator of connecting
CN109623789A (en) * 2019-01-04 2019-04-16 电子科技大学中山学院 A kind of gravity-compensated device and robot
CN109623789B (en) * 2019-01-04 2023-10-17 电子科技大学中山学院 Gravity compensation device and robot
KR20220101985A (en) * 2021-01-12 2022-07-19 고려대학교 산학협력단 Joint positioning device

Also Published As

Publication number Publication date
KR101790863B1 (en) 2017-10-26

Similar Documents

Publication Publication Date Title
KR101790863B1 (en) Robot arm with gravity compensation mechanism
KR101270031B1 (en) Weight compensation mechanism and robot arm using the same
KR101338044B1 (en) Manipulator with weight compensation mechanism and face robot using the same
KR101284987B1 (en) Torque-free robot arm using multi-DOF counterbalance mechanism based on double parallelogram mechanism
JP3984641B2 (en) Joint drive device
KR101638695B1 (en) Torque-free linkage unit having multi-degree of freedom
KR101683526B1 (en) Counter-balancing linkage unit
US9895798B2 (en) Device for movement between an input member and an output member
DE502008000309D1 (en) Robotic manipulator arm joint drive with torque arm
JP2015027722A (en) Industrial robot
US20130180353A1 (en) Robot arm having a weight compensation mechanism
KR102206699B1 (en) Industrial robot
JP2010094749A (en) Articulated robot and robot system
JP2003181789A (en) Mechanical weight compensation apparatus
US20200206910A1 (en) Driving assembly and robotic hand having the same
JP4603388B2 (en) Robot arm
KR101332694B1 (en) a haptic device with weight compensation function
JP4607756B2 (en) Robot hand and substrate transfer robot
KR101649108B1 (en) A joint structure and a robot having the same
WO2020052724A1 (en) A reconfigurable compliant revolute joint mechanism with nonlinear stiffness
US11339856B2 (en) Power transmission drive for robotic applications
KR102031546B1 (en) Counterbalance manipulator with a hollow shaft
KR20210063113A (en) Gripper apparatus for robot arm
JP2017013168A (en) Robot arm device
JP2014054705A (en) Multi-joint mechanism and method for generating arrangement pattern by multi-joint mechanism

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
GRNT Written decision to grant