KR20190072338A - Delta Robot having an Interval Holding Device - Google Patents

Abstract

Provided is a delta robot with a link arm spacing unit. The delta robot with a link arm spacing unit according to the present invention comprises: a plurality of motors for providing rotational driving force by being arranged at regular intervals in a circumferential direction on a lower surface of an upper base; a robot arm having one end connected to a driving shaft of the motor and extending to the outside of the upper base; link arms having a pair of link members rotatably assembled to one end and the other end of the robot arm and extending in parallel in a downward direction; a lower base rotatably assembled with the other end of each link member of the link arm; and a link arm spacing portion for maintaining a constant interval between the pair of link members. The link arm spacing portion includes a first support member in which a first coupling hole coupled to the link member of one side is formed therethrough and a second support member in which a second coupling hole coupled to the link member of the other side is formed therethrough. The link arm spacing portion includes a connecting rod which has a certain length and of which a first spherical body of one end is rotatably assembled to a first rotary hole formed in the first support member and a second spherical body of the other end is rotatably assembled to a second rotary hole formed in the second support member. Thus, the link structure′s rigidity can be stably secured.

Description

[0001] Delta Robot having an Interval Holding Device [

The present invention relates to a delta robot having a device for maintaining the spacing of a link arm, and more particularly, to a delta robot having a pair of link arms, which prevent a pair of link arms from spreading outward while increasing the coupling force between the ball link and the holder, And a robot arm link spacing maintenance apparatus.

In general, a delta robot (also called a spider robot) is an intelligent robot that picks up objects on the conveyor by self-sensing and moves them to another conveyor or other location. These delta robots are driven by three or more axes that are continuously synchronized and moving.

These delta robots are suitable for pick and place robots with small, high-speed Pick & Place operations and small surface mount surface mount technology (SMT) installations.

1, the conventional delta robot includes three robot arms 3 connected on a plate-shaped base 1 and whose angle is controlled by a drive motor 2, A pair of link arms 4 rotatably coupled to both sides by a universal joint, and an effector 5 to which the pair of link arms are coupled.

In order to reduce the size and weight of the conventional delta robot, the universal joint uses the ball link to realize the degree of freedom of rotation of the link arm including the robot arm.

Here, the ball link is composed of a ball formed at one end of the first link and a holder in the form of a pocket formed at one end of the second link to receive the ball, so that the ball is received in the holder so that the first link and the second link are connected Structure. At this time, if the ball contained in the holder is released, it can not serve as a joint, so that the holder is configured to cover at least 50% of the surface area of the ball to prevent the ball from being detached.

However, the ball link implementing the rotational freedom of the delta robot is disadvantageous in that the ball can be separated and separated from the holder by an external force, and an equipment accident is caused when the ball link is separated and released.

In addition, the link arms connecting the robot arm and the effector are formed in a pair so as to be parallel to each other. When the link arm is rotated, the gap between the robot arms and the effector is widened to cause vibration, There was a problem of weighting.

(Patent Document 1) KR10-2008-0107039 A

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a link arm which is capable of increasing a coupling force between a ball link and a holder while preventing a pair of link arms from spreading outward, To provide a delta robot having a device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

As a specific means for accomplishing the above object, a preferred embodiment of the present invention provides a motor comprising: a plurality of motors arranged at regular intervals in a circumferential direction on a lower surface of an upper base to provide a rotational driving force; A robot arm connected to one end of the driving shaft of the motor and extending to the outside of the upper base; A link arm having a pair of link members that are rotatably assembled to one end of the robot arm and extend in a downward direction; A lower base rotatably assembled with the other end of each link member of the link arm; And a link arm spacing portion for keeping a distance between the pair of link members constant, wherein the link arm spacing portion includes a pair of link members, 1 support and a second support member passing through a second engagement hole correspondingly coupled to the other link member, wherein a first one of the first spheres is rotatably assembled in a first rotation hole formed in the first support member, And a connecting bar having a predetermined length in which the second spherical body at the other end is rotatably assembled to the second rotating hole formed in the second support body.

Preferably, the first support and the second support include a pair of partition members formed with grooves to form an engaging hole having the same cross section as the link member when the first and second supports mate with each other, The first and second semicircular grooves may be respectively formed to form the first and second holes when assembling the first and second spheres so that the first and second spheres are rotatably assembled.

Preferably, each of the first and second support holes of the first and second support members may include an insertion member to prevent a slip phenomenon by generating a frictional resistance with an outer surface of the link member.

The present invention as described above has the following effects.

The first and second supports are provided between the link members of the link arm, one end of which is rotatably connected to the robot arm and the other end of the link arm is rotatably connected to the lower arm, It is possible to prevent the ball of the ball link from being separated and separated from the holder due to the widening of the link member to the outside, the rigidity of the link structure can be stably secured, and the durability can be increased with high rigidity .

In addition, a surface mounting technique that can minimize the shaking of the link structure by the gap holding part disposed between the link members, ensures precision in operation, and picks and places the parts precisely and delicately ( Surface Mount Technology (SMT) can be implemented.

1 is a perspective view showing a general delta robot.
2 is an overall perspective view showing a delta robot having a link arm spacing device for a delta robot according to an embodiment of the present invention.
3 is a plan view showing a delta robot having a link arm spacing device for a delta robot according to an embodiment of the present invention.
4 is a partial detail view showing a delta robot having a link arm spacing device for a delta robot according to an embodiment of the present invention.
5 is an exploded perspective view of a gap holding portion of a delta robot having a link arm gap holding device for a delta robot according to an embodiment of the present invention.
FIG. 6 is an assembled view showing a coupling state between a link arm and a gap holding part in a delta robot having a link arm gap holding device for a delta robot according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, a detailed description of known functions and configurations incorporated herein will be omitted when it may obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings.

In addition, in the entire specification, when a part is referred to as being 'connected' to another part, it may be referred to as 'indirectly connected' not only with 'directly connected' . Also, to include an element does not exclude other elements unless specifically stated otherwise, but may also include other elements.

2 to 5, the link arm delta robot according to the embodiment of the present invention includes an upper base 110, a motor 120, a motor mount 125, a robot arm 130, a link arm 140 , A lower base 150 and a link arm space retaining part 160 for maintaining a gap between a pair of link members 141 and 142 constituting a link arm 140 connecting between the robot arm and the lower base have.

Since the delta robot 100 has a high rigidity while maintaining a constant interval of the link members constituting the link arm by the link arm interval holding unit 160, it is necessary to pick and place precise parts And can be applied to Surface Mount Technology (SMT).

The upper base 110 has a substantially disk shape and serves as a base for supporting a motor 120 or the like that provides a rotational driving force.

The motor 120 is installed in a motor mount 125 extending from an upper base and is disposed at a predetermined interval in a circumferential direction at a lower surface of the upper base 110. One end of the robot arm 130 is connected to a drive shaft Thereby providing a rotational force.

Specifically, in the delta robot according to the embodiment of the present invention, three link arms 140 are provided, and three motors 120 are provided to drive the link arms 140, respectively. In the delta robot, Respectively.

The motor 120 drives the robot arm 130 to actuate the link arm 140 to vary the position of the lower base 150.

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

One end of the robot arm 130 is connected to a drive shaft of the motor 120 and the other end of the robot arm 130 has a bar shape extending to the outside of the upper base 110. The robot arm 130 is connected to the motor 120, And the link arm 140 so as to transmit the driving force of the motor 120 to the link arm 140 and increase the degree of freedom of operation of the link arm 140. [

The upper ends of the link arms 140 formed of the pair of link members 141 and 142 are connected to the upper ends of the link arms 140 via the ball links 145 Assembled so as to be rotatable on both left and right sides of the other end of the robot arm 130, and extend in a downward direction.

The link arm 140 is formed in three pairs corresponding to the three motors 120 and the robot arm 130. The link arm 140 extends in the vertical direction to separate the upper and lower bases 110 and 150 from each other and transmits the driving force to the lower base 150.

The lower base 150 is formed of a polygonal plate member, and a pair of link members 141 and 142 are rotatably coupled through the ball links 145 for each corner.

In the embodiment of the present invention, the lower base 150 is formed in a substantially triangular shape, and link arms are connected to each of the three corners. On the lower surface of the lower base 150, an apparatus for picking up an object on the conveyor Can be mounted separately.

The link arm space retaining unit 160 includes a pair of link members 141 and 142 which are assembled to be rotatable via the ball link with one end of the robot arm and are rotatably assembled via the ball link The interval can be kept constant.

The link arm spacing unit 160 includes a first support body 161 through which a first engagement hole 163 is coupled to an outer surface of one of the pair of link members 141, And a second support body 162 that penetrates and forms a second engagement hole 164 corresponding to the outer surface of the member 142. [

A first steel ball 165a is rotatably assembled to a first rotation hole 166a formed on one side of the first support body 161 and a second rotation hole 165a formed on the second support body 162, And a connecting bar 165 having a predetermined length in which the second steel ball 165b at the other end is rotatably assembled to the second ball 166b.

The first and second support members 161 and 162 include a pair of partition members 162a, 162b, 163a, and 163b having grooves formed therein to form a coupling hole having the same cross section as the link member, And a hexahedral structure having a coupling hole to be engaged with the link member by a plurality of coupling members.

At this time, on one side of the pair of partition members 162a, 162b, 163a, and 163b, the first and second semi- Respectively.

Accordingly, the spherical first and second spheres provided at both ends of the connecting bar are connected to the first and second spherical members forming the first and second rotating members when assembling the pair of the divided members 162a, 162b, 163a, and 163b, Two semicircular grooves and assembled.

The first and second support holes 163 and 164 of the first and second supports 161 and 162 are provided with frictional resistance against the outer surfaces of the link members 141 and 142 having a substantially circular cross section to prevent the slip phenomenon It is preferable to dispose an insertion material made of a rubber material or a resin material.

Accordingly, the link arm spacing 160 is provided in the middle of the length of the link arm 140, which is a pair of link members, so that the distance between the link members is kept constant, And the other end of the pair of link members engaged with the lower base and the ball link can be prevented from spreading outwardly. Therefore, it is possible to prevent the ball of the ball link from being separated and separated from the holder It is.

Further, since the rigidity of the link arm is stably maintained by the gap holding portion assembled between the pair of link members, the connection structure between the robot arm and the link arm is secured by the operation of the motor, You can do it.

As a result, it is possible to implement a delta robot applied to Surface Mount Technology (SMT), which requires pick and place of precise parts as it has high rigidity without being restricted by the radius of rotation .

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. It will be apparent to those of ordinary skill in the art.

100: Delta robot
110: upper base
120: motor
130: Robot arm
140: Link arm
141, 142: Link member
150: Lower base
160: Link arm spacing retaining portion
161: first support
162: second support
163: first engaging hole
164: second engaging hole
165: Connection bar
165a: First Sphere
165b: second sphere

Claims (3)

A plurality of motors arranged at regular intervals in the circumferential direction on the lower surface of the upper base to provide a rotational driving force;
A robot arm connected to one end of the driving shaft of the motor and extending to the outside of the upper base;
A link arm having a pair of link members that are rotatably assembled to one end of the robot arm and extend in a downward direction;
A lower base rotatably assembled with the other end of each link member of the link arm; And
And a link arm spacing portion for keeping the interval between the pair of link members constant,
The link arm spacing portion includes a first support member that passes through a first engagement hole that is mated with one of the pair of link members and a second support member that passes through the second engagement hole that is mated with the other link member and,
Wherein a first spherical body of one end is rotatably assembled to a first rotational body formed on the first support body and a second spherical body of the other end is rotatably assembled to a second rotational body formed on the second support body And a link bar. ≪ RTI ID = 0.0 > 8. < / RTI > The method according to claim 1,
Wherein the first support and the second support include a pair of partition members each having a groove formed therein so as to form a coupling hole having the same cross section as the link member when the first and second support members are assembled on the surfaces facing each other, Wherein the first and second semicircular grooves forming the first and second major surfaces are respectively formed so that the first and second spheres can be rotatably assembled. The method according to claim 1,
Wherein the first and second support holes of the first and second support members include an insertion member for preventing frictional resistance with the outer surface of the link member to prevent a slip phenomenon Delta robot.

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