KR20230114504A - Robot arm driven by chain - Google Patents

Abstract

The present invention relates to a chain-driven robot arm, comprising: a rotational frame including a base frame connected to a predetermined structure and a first rotational shaft connected to the base frame to rotate; and a first chain that rotates the rotational frame from the base frame and generates a driving force, and a first chain that transmits the driving force to the first rotational axis.

Description

Chain drive robot arm {ROBOT ARM DRIVEN BY CHAIN}

The present invention relates to a chain driven robot arm.

In general, robots such as servo manipulators, multi-joint actuators, manipulators, etc. have a form in which hydraulic pressure is provided or a motor is mounted to provide power to each joint in order to independently drive a plurality of joints. In this structure, in the operation of handling heavy objects with a large movable range, there is a problem that it is difficult to drive due to the burden of the load, the volume of the device increases to overcome this, and the cost increases in the design process. In order to improve this, in case of using lightweight materials or handling heavy objects, there are cases in which a structure for the purpose of supporting the load is auxiliaryly prepared by fixing it to a rail on the ceiling and driving an arm, but in the case of the former, depending on the material There are limitations, and the latter may cause additional problems such as space, equipment, and cost according to the installation of the structure.

Therefore, in order to solve the above-mentioned problems, it is a reality that avoids the design of servomotors mounted on multiple joints and has improved degrees of freedom by independently operating a plurality of joints.

Republic of Korea Patent Publication No. 10-2017-0075971 (2017. 07. 04)

An object of one embodiment of the present invention is to independently drive a plurality of joints formed in the extending direction of an arm by driving through a chain.

The present invention relates to a chain-driven robot arm, comprising: a rotational frame including a base frame connected to a predetermined structure and a first rotational shaft connected to the base frame to rotate; and a first chain that rotates the rotational frame from the base frame and generates a driving force, and a first chain that transmits the driving force to the first rotational axis.

In addition, a first driving gear positioned coaxially with the rotating shaft of the first motor, a first driving gear meshed with the first driving gear and freely rotating on a drive shaft connected to the base frame, and coupled with the first driven gear to rotate at the same rotational speed. It may include a 1-1 sprocket that rotates and a 1-2 sprocket that is connected to the 1-1 sprocket and the first chain through a first chain and rotates while being fixed to the first pivot shaft.

In addition, an agent coupled to the first driven gear and the 1-1 sprocket and positioned between the first driven gear and the 1-1 sprocket and the drive shaft allows the first driven gear and the 1-1 sprocket to freely rotate. 1-1 bearings may be further included.

In addition, the rotational frame includes a first frame coupled directly to the base frame through a first rotational axis and a second frame coupled to rotate through the first frame and the second rotational axis, and the second rotational axis from the first frame. It may include a second motor for generating power so that the second frame rotates through and a chain for transmitting power to the second pivot shaft.

In addition, the chain includes a 2-1 chain and a 2-2 chain, and freely rotates on a second driving gear positioned coaxially with the rotational axis of the second motor and a driving shaft meshed with the second driving gear and connected to the base frame. 2nd driven gear, 2-1 sprocket combined with 1st driven gear and rotated at the same number of revolutions, 2-1 sprocket connected through 2-1 chain and fixed to 1st rotating shaft and rotated The 2-2 sprocket, the 2-3 sprocket coaxially connected to the 2-2 sprocket, and the 2-4 sprocket connected through the 2-2 chain and fixed to the 2 rotation shaft can include

In addition, an agent coupled to the second driven gear and the 2-1 sprocket and positioned between the second driven gear and the 2-1 sprocket and the drive shaft allows the second driven gear and the 2-1 sprocket to freely rotate. It may further include 1-2 bearings.

In addition, the first insertion part coupled to the 2-2 sprocket, the second insertion part coupled to the 2-3 sprocket, and at least a part of the first insertion part and the second insertion part are inserted and coupled to each other, and the second insertion part is coupled by an interlocking pin. -Further comprising a dual bearing penetrated between the 2-3 sprocket and the 2-3 sprocket, and the dual bearing is free from the rotational speed interlocking of the 2-2 sprocket and the 2-3 sprocket and the first rotational axis by an interlocking pin. can be made to rotate.

In addition, the 2-4 sprocket interlocked with the 2-3 sprocket by the 2-2 chain is fixed to the second rotation shaft so that the number of revolutions may be the same.

Also, the connection with the predetermined structure may be a rotatable connection on a plane.

In addition, a first reducer connected to the first motor and a second reducer connected to the second motor may be further included.

According to one embodiment of the present invention, it is possible to provide a chain-driven robot arm in which a plurality of joints formed in the extending direction of the arm are independently driven by driving through a chain.

1 is a perspective view showing a chain driven robot arm according to an embodiment of the present invention.
2 is a perspective view of a chain-driven robot arm excluding a reducer according to an embodiment of the present invention.
3 is a view showing components required to rotate the second pivot shaft according to an embodiment of the present invention.
Figure 4 shows the side of the first rotation shaft according to an embodiment of the present invention, Figure 4 (a) is a view showing a partial perspective view of the side of the first rotation shaft, Figure 4 (b) is a view of the first rotation shaft It is a drawing showing the front view.
5 is a diagram showing components required to rotate the first rotation shaft according to an embodiment of the present invention.
6 is an exploded perspective view in which a second rotational shaft and components connected thereto are disassembled according to an embodiment of the present invention.
7 is an exploded perspective view showing a configuration connected to a dual bearing according to an embodiment of the present invention.
8 is an exploded perspective view showing a configuration connected to a first pivot shaft according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, this is only an example and the present invention is not limited thereto.

In describing the present invention, if it is determined that a detailed description of the known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, the definition should be made based on the contents throughout this specification.

The technical spirit of the present invention is determined by the claims, and the following examples are only one means for efficiently explaining the technical spirit of the present invention to those skilled in the art to which the present invention belongs.

1 is a perspective view showing a chain driven robot arm 10 according to an embodiment of the present invention.

Referring to FIG. 1, a chain-driven robot arm 10 according to an embodiment of the present invention includes a base frame 101 connected to a predetermined structure and a first rotation shaft 120 connected to rotate with the base frame 101. The first motor 220 for rotating the rotation frame and generating driving force from the rotation frame and the base frame 101 including the rotation frame and the driving force may be transmitted to the first rotation shaft 120 .

Here, the rotation frame refers to one or more frames connected to the base frame so as to be rotated, and in this example, the first frame 102 and the second frame 103 will be described. The first frame 102 and the second frame 103 are connected through a second rotation shaft 130 so as to rotate with each other, which can be driven by a driving unit. That is, in the illustrated example, the first rotation axis 120 and the second rotation axis 130 may be used as joints to enable independent rotation.

Furthermore, the base frame 101 may be rotatably connected on a plane in connection with the predetermined structure. The base frame 101 may function as the robot arm 10 by being coupled to a fixed support structure or a movable support structure. Here, the movable support structure may be a vehicle, and rotation of the first frame 102 and the second frame 103 may be driven by a user according to the movement of the vehicle. This is, for example, since the rotational axis between the structure and the base frame 101 may be in the Z direction, and the rotational axis between the rotational frame and the base frame 101 is in the X or Y direction, each rotational axis is formed in a different direction. Thus, the degree of freedom of the robot arm 10 can be increased.

Meanwhile, a first reduction gear 210 connected to the first motor 220 and a second reduction gear 310 connected to the second motor 320 may be further included. The first reducer 210 and the second reducer 310 intervene in the first motor 220 and the second motor 320 to decrease the number of rotations and increase the torque, thereby increasing the traction force realized through the frame. there is.

2 is a perspective view of the chain-driven robot arm 10 excluding the reducer according to an embodiment of the present invention.

Referring to FIG. 2, it shows the driving part of the robot arm 10 driven inside the frame. The driving unit may include components that transmit power generated from motors (the first motor 220 and the second motor 320 ) to the first frame 102 or the second frame 103 . The driving unit for rotating the first frame 102 includes a first motor 220, a first reducer 210, a first motive gear 221, a first driven gear 230, a 1-1 sprocket 240, It includes the first chain 250 and the 1-2 sprockets 260 and the like. In addition, the driving unit for rotating the second frame 103 includes a second motor 320, a second reducer 310, a second motor, a second driven gear 330, a 2-1 sprocket 340, a second -1 chain 350, 2-2 sprocket 360, 2-3 sprocket 370, 2-2 chain 380, 2-4 sprocket 390, etc. are included.

Here, the first motive gear 221 and the second motive gear 321 are positioned coaxially with the driving shaft 110, and the 1-2 sprocket 260, the 2-2 sprocket 360, and the 2-3 sprocket The sprocket 370 may be positioned coaxially with the first rotation shaft 120 . Even when these components are located on the same axis, they are not all fixedly positioned on the drive shaft 110 or the first rotational shaft 120, and free rotation is possible through bearings, so that the first frame 102 rotates independently. And at least one of the second frame 103 can be selectively driven. In this regard, it will be described in detail below.

3 is a view showing components required for the rotation of the second rotation shaft 130 according to an embodiment of the present invention, and FIG. 4 shows the side of the first rotation shaft 120 according to an embodiment of the present invention. As shown, FIG. 4 (a) is a view showing a partial perspective view of the first pivot shaft 120 side, and FIG. 4 (b) is a view showing a front view of the first pivot shaft 120.

3 and 4, the rotational frame includes a first frame 102 directly coupled through a base frame 101 and a first rotational shaft 120, and a first frame 102 and a second rotational shaft 130. A second motor that includes a second frame 103 coupled to rotate through, and generates power so that the second frame 103 rotates from the first frame 102 through the second rotation shaft 130 ( 320) and a chain that transmits power to the second pivot shaft 130.

As described above, the chain includes the 2-1 chain 350 and the 2-2 chain 380, and the second motor gear 321 positioned coaxially with the rotational axis of the second motor 320, The second driven gear 330, which is meshed with the second driving gear 321 and freely rotates on the drive shaft 110 connected to the base frame 101, and the first driven gear 230 is coupled to rotate at the same number of revolutions. The 2-2 sprocket 360 connected through the 2-1 sprocket 340, the 2-1 sprocket 340 and the 2-1 chain 350 and fixed and rotated with the first rotational shaft 120, It is connected through the 2-3 sprocket 370 and the 2-3 sprocket 2-2 chain 380 coaxially connected to the 2-2 sprocket 360, and is fixed to the second rotation shaft 130 to rotate. It may include a 2-4 sprocket 390 to be.

Here, the 2-4 sprocket 390 interlocked with the 2-3 sprocket 370 by the 2-2 chain 380 is fixed to the second pivoting shaft 130, and the 2-4 sprocket 390 The number of rotations of may be the same as the number of rotations of the second rotational shaft 130. Of course, the second rotation shaft 130 may be fixed to the second frame 103 to cause the second frame 103 to rotate.

In addition, it is coupled to the second driven gear 330 and the 2-1 sprocket 340, and is positioned between the second driven gear 330 and the 2-1 sprocket 340 and the drive shaft 110, and the second driven gear A 1-2 bearing 341 allowing the gear 330 and the 2-1 sprocket 340 to freely rotate may be further included. The 1-2 bearing 341 can prevent the rotational force of the 1st pivoting shaft 120 from being transmitted to the 2-2 sprocket 360 and the 2-3 sprocket 370. With this configuration, since the 1-2 sprockets 260 that rotate the first frame 102 on the first rotation shaft 120 are coupled to the first cover portion 120a through the connection pin 261, The 2-2 sprocket 360 and the 2-3 sprocket 370 which rotate the second frame 103 can rotate independently of each other.

5 is a diagram showing components required to rotate the first rotation shaft 120 according to an embodiment of the present invention.

Referring to FIG. 5, as a configuration for rotating the first rotational shaft 120, the first driving gear 221 positioned coaxially with the rotational shaft of the first motor 220 is engaged with the first driving gear 221, The first driven gear 230 freely rotates on the drive shaft 110 connected to the base frame 101, the 1-1 sprocket 240 coupled with the first driven gear 230 and rotated at the same number of revolutions, and the first It may include a 1-2 sprocket 260 connected through the -1 sprocket 240 and the first chain 250 and fixed to the first rotational shaft 120 and rotated.

Here, through the gear ratio of the first driving gear 221 and the first driven gear 230, it is possible to increase the torque rather than the number of rotations in the direction of transmitting the power, and to transmit the first driving gear 221 coupled with the The 1-2 sprocket 260 is formed larger than the 1-1 sprocket 240 so that repeated torque increase can be realized. Of course, this can be set within a torque range required by design, and a configuration for increasing torque through a gear ratio or the like is selectively adjustable.

Meanwhile, since the 1-2 sprocket 260 is fixed to the first pivot 120, rotation of the 1-2 sprocket 260 can cause the first pivot 120 to rotate. Here, even when the first rotation shaft 120 is rotated, the 2-2 sprocket 360 and the 2-3 sprocket 370 may be non-rotated as described above.

6 is an exploded perspective view in which the second rotation shaft 130 and components connected thereto are disassembled according to an embodiment of the present invention.

Referring to FIG. 6, the components coupled to the first rotational shaft 120 include a first cover part 120a, a 1-2 sprocket 260, a 2-2 sprocket 360, and a 2-3 sprocket ( 370) and the second cover part 120b. Here, the 1-2 sprockets 260 may be fixed through the first rotation shaft 120 and the fixing pin 125. Therefore, the rotating shaft can be rotated through the rotation of the 1-2 sprocket 260 . On the other hand, the 2-2 sprocket 360 and the 2-3 sprocket 370 are coupled to each other, but are not fixedly coupled to the first rotational shaft 120 . Coupling can be made in the form of insertion and coupling on the shaft. This can be described in more detail in FIG. 7 below.

7 is an exploded perspective view showing a configuration connected to a dual bearing 361 according to an embodiment of the present invention.

Referring to FIG. 7 , the first insertion part 362 coupled to the 2-2 sprocket 360, the second insertion part 371 coupled to the 2-3 sprocket 370, and the first insertion part 362 ) And at least a part of the second insertion part 371 are inserted and coupled, respectively, and the dual bearing 361 is penetrated between the 2-2 sprocket 360 and the 2-3 sprocket 370 by an interlocking pin 370a. ), and the dual bearing 361 is free from the interlocking rotational speed of the 2-2 sprocket 360 and the 2-3 sprocket 370 and the first rotation shaft 120 by the interlocking pin 370a. can be made to rotate. That is, the dual bearing 361 is directly coupled to the first rotational shaft 120, and the dual bearing 361 is connected to the 2-2 sprocket through the first insertion part 362 and the second insertion part 371 ( 360) and the 2-3 sprocket 370,

Accordingly, the 2-2 sprocket 360 and the 2-3 sprocket 370 may be coupled to the dual bearing 361 through the first insertion portion 362 and the second insertion portion 371 . The 2-2 sprocket 360 and the 2-3 sprocket 370 are separately inserted from both sides of the dual bearing 361, but the first insertion part 362 and the second insertion part 371 are interlocking pins 370a. Since it is coupled by ), the same number of revolutions can be transmitted by the dual bearing 361. Therefore, the number of revolutions transmitted through the 2-2 sprocket 360 can be transmitted as the number of revolutions of the 2-3 sprocket 370.

8 is an exploded perspective view showing a configuration connected to the first rotation shaft 120 according to an embodiment of the present invention.

Referring to FIG. 8, it is coupled to the first driven gear 230 and the 1-1 sprocket 240, and is positioned between the first driven gear 230 and the 1-1 sprocket 240 and the drive shaft 110. It may further include a 1-1 bearing 241 that allows the first driven gear 230 and the 1-1 sprocket 240 to rotate freely.

Here, in the case of the drive shaft 110, it may be a support shaft that does not rotate separately and supports a rotating component in an upward direction. That is, the first driven gear 230 and the 1-1 sprocket 240 are coupled to each other, but not directly connected to the driving shaft 110, and may be connected through the 1-1 bearing 241. Similarly, the second driven gear 330 and the 2-1 sprocket 340 are coupled to each other, but not directly connected to the drive shaft 110, and may be connected through the 1-2 bearing 341. This connection allows the first driven gear 230 and the second driven gear 330 to rotate on the driving shaft 110 even when the driving shaft 110 is fixed to the base frame 101 and is non-rotating. Of course, the rotation of the sprocket may be accompanied by the rotation of the driven gear.

As described above, the first homogeneous gear is coupled to the 1-1 sprocket 240, and the second driven gear 330 is coupled to the 2-1 sprocket 340, so that each set of components is individually driven. can Through this configuration, power transmission for driving the first frame 102 and power transmission for driving the second frame 103 may occur independently.

Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications are possible to the above-described embodiments without departing from the scope of the present invention. . Therefore, the scope of the present invention should not be limited to the described embodiments and should not be defined, and should be defined by not only the claims to be described later, but also those equivalent to these claims.

10 : Robot Arm
101: base frame
102: first frame
103: second frame
110: drive shaft
111: fixed cover
120: 1st rotation axis
120a: first cover part
120b: second cover part
121: second bearing
125: fixing pin
130: 2nd rotation axis
210: first reducer
220: first motor
221: first motor gear
230: first driven gear
240: 1-1 sprocket
241: 1-1 bearing
250: 1st chain
260: 1-2 sprocket
310: second reducer
320: second motor
321: second motor gear
330: second driven gear
340: 2-1 sprocket
341: 1-2 bearing
350: Chain 2-1
360: 2-2 sprocket
361: dual bearing
362: first insertion part
370: 2-3 sprocket
370a: interlocking pin
371: second insertion part
380: 2-2 chain
390: 2-4 sprocket
R1: 1st rotation
R2: 2nd round

Claims (10)

A rotation frame including a base frame connected to a predetermined structure and a first rotation shaft connected to rotate with the base frame; and
A chain-driven robot arm comprising a first motor for rotating the rotational frame from the base frame and generating a driving force, and a first chain for transmitting the driving force to the first rotational axis.
The method of claim 1,
A first driving gear positioned coaxially with the rotating shaft of the first motor, a first driving gear meshed with the first driving gear and freely rotating on a driving shaft connected to the base frame, coupled with the first driven gear to rotate the same A chain-driven robot arm comprising a 1-1 sprocket that rotates in a number and a 1-2 sprocket that is connected to the 1-1 sprocket through the first chain and rotates while being fixed to the first pivot shaft.
The method of claim 2,
It is coupled to the first driven gear and the 1-1 sprocket, and is positioned between the first driven gear and the 1-1 sprocket and the drive shaft so that the first driven gear and the 1-1 sprocket rotate freely. A chain-driven robot arm further comprising a 1-1 bearing to enable it to be.
The method of claim 3,
The rotational frame includes a first frame directly coupled to the base frame through the first rotational axis and a second frame coupled to rotate through the first frame and a second rotational axis,
A chain-driven robot arm comprising a second motor generating power to rotate the second frame from the first frame through the second pivot shaft and a chain transmitting the power to the second pivot shaft.
The method of claim 4,
The chain includes a 2-1 chain and a 2-2 chain,
A second driving gear positioned coaxially with the rotating shaft of the second motor, a second driving gear meshed with the second driving gear and freely rotating on a driving shaft connected to the base frame, coupled with the first driving gear to rotate the same The 2-1 sprocket rotated by water, the 2-2 sprocket connected through the 2-1 sprocket and the 2-1 chain and fixed and rotated with the 1st pivot, the 2-2 sprocket and A chain-driven robot arm comprising a 2-3 sprocket connected coaxially and a 2-4 sprocket connected to the 2-3 sprocket through the 2-2 chain and fixed to and rotated with the second pivot shaft.
The method of claim 5,
It is coupled to the second driven gear and the 2-1 sprocket, and is positioned between the second driven gear and the 2-1 sprocket and the drive shaft so that the second driven gear and the 2-1 sprocket rotate freely. A chain-driven robot arm further comprising 1-2 bearings that enable it to be.
The method of claim 6,
The first insertion part coupled to the 2-2 sprocket, the second insertion part coupled to the 2-3 sprocket, and at least a part of the first insertion part and the second insertion part are inserted and coupled to each other by an interlocking pin. Further comprising a dual bearing penetrated between the 2-2 sprocket and the 2-3 sprocket,
The dual bearing is a chain-driven robot arm that allows the rotational speed of the 2-2 sprocket and the 2-3 sprocket to be interlocked and freely rotated from the first rotation axis by the interlocking pin.
The method of claim 7,
The chain-driven robot arm wherein the 2-4 sprocket interlocked with the 2-3 sprocket by the 2-2 chain is fixed to the second rotation shaft and has the same number of revolutions.
The method of claim 8,
The connection with the predetermined structure is a rotatable connection on a plane, a chain-driven robot arm.
The method of claim 4,
A chain-driven robot arm further comprising a first reducer connected to the first motor and a second reducer connected to the second motor.