KR950017113A - Arm Structure of Vertical Articulated Robot - Google Patents

Arm Structure of Vertical Articulated Robot Download PDF

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Publication number
KR950017113A
KR950017113A KR1019930029982A KR930029982A KR950017113A KR 950017113 A KR950017113 A KR 950017113A KR 1019930029982 A KR1019930029982 A KR 1019930029982A KR 930029982 A KR930029982 A KR 930029982A KR 950017113 A KR950017113 A KR 950017113A
Authority
KR
South Korea
Prior art keywords
arm
wrist
drive motor
articulated robot
vertical articulated
Prior art date
Application number
KR1019930029982A
Other languages
Korean (ko)
Other versions
KR970010619B1 (en
Inventor
임생기
이병렬
김정
김상명
범진환
Original Assignee
김준성
고등기술연구원 연구조합
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 김준성, 고등기술연구원 연구조합 filed Critical 김준성
Priority to KR1019930029982A priority Critical patent/KR970010619B1/en
Priority to JP6326257A priority patent/JP2642319B2/en
Priority to CN94113447A priority patent/CN1053857C/en
Publication of KR950017113A publication Critical patent/KR950017113A/en
Application granted granted Critical
Publication of KR970010619B1 publication Critical patent/KR970010619B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

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

Abstract

본 발명은 수직다관절 로보트의 아암부구조를 개시한다.개시된 수직다관절 로보트의 아암부구조는, 아암하우징에 그 후단부가 베어링 결합되고 그 전단부에 손목부가 베어링 결합되는 아암과, 상기 아암의 후단과 상기 아암하우징에 각각 나란하게 설치되는 손목부 구동모터 및 아암부 구동모터와, 상기 손목부 구동모터의 동력을 손목부로 전달하기 위한 제1동력 전달수단과, 상기 아암부 구동모터의 동력을 아암으로 전달하기 위한 제2동력 전달수단을 포함한다. 따라서 로보트의 동역학적 특성 및 안정성이 향상됨과 동시에 베이스부의 소형화 및 경량화가 가능하게 된다.The present invention discloses an arm portion structure of a vertical articulated robot. The arm portion structure of the disclosed vertical articulated robot includes an arm having a rear end bearing coupled to the arm housing and a wrist portion bearing coupled to the front end thereof; A wrist drive motor and an arm drive motor installed in parallel to the rear end and the arm housing, a first power transmission means for transmitting power of the wrist drive motor to a wrist part, and power of the arm drive motor; And a second power transmission means for delivering to the arm. Therefore, the dynamic characteristics and stability of the robot are improved, and at the same time, the base portion can be reduced in size and weight.

Description

수직다관절 로보트의 아암부구조Arm Structure of Vertical Articulated Robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명에 따른 수직다관절 로보트의 아암부구조를 도시한 단면도이다.1 is a cross-sectional view showing the arm portion structure of the vertical articulated robot according to the present invention.

제2도는 제1도에 도시된 아암부의 후단을 발췌하여 도시한 확대단면도이다.FIG. 2 is an enlarged cross-sectional view showing the rear end of the arm portion shown in FIG.

제3도는 제1도에 도시된 아암부의 전단을 발췌하여 도시한 확대단면도이다.3 is an enlarged cross-sectional view showing the front end of the arm portion shown in FIG.

Claims (3)

아암하우징에 그 후단부가 베어링 결합되고 그 전단부에 손목부가 베어링 결합되는 아암과, 상기 아암의 후단과 상기 아암하우징에 각각 나란하게 설치되는 손목부 구동모터 및 아암부 구동모터와, 상기 손목부 구동모터의 동력을 손목부로 전달하기 위한 제1동력전달수단과, 상기 아암부 구동모터의 동력을 아암으로 전달하기 위한 제2동력전달수단을 포함하여 되는 수직다관절 로보트의 아암부구조.An arm bearing a rear end thereof to the arm housing and a wrist-bearing portion to the front end thereof, a wrist driving motor and an arm driving motor installed in parallel to the rear end of the arm and the arm housing, and the wrist driving Arm arm structure of a vertical articulated robot comprising a first power transmission means for transmitting the power of the motor to the wrist portion, and a second power transmission means for transmitting the power of the arm drive motor to the arm. 제1항에 있어서, 상기 제1동력전달수단은, 손목부 구동모터의 회전축과 커플링에 의해 연결되는 축과, 이 축의 단부와 상기 손목부에 각각 설치되는 한쌍의 베벨기어를 구비하여 구성되는 것을 특징으로 하는 수직다관절 로보트의 아암부구조.According to claim 1, wherein the first power transmission means, the shaft is connected to the rotational axis and coupling of the wrist drive motor, and a pair of bevel gears respectively provided at the end of the shaft and the wrist portion Arm portion structure of the vertical articulated robot, characterized in that. 제1항에 있어서, 상기 제2동력전달수단은, 상기 아암의 외주면에 설치되는 제1풀리와, 상기 아암부 구동모터의 회전축에 설치되는 제2풀리와, 상기 제1, 제2풀리리를 연결하는 타이밍벨트를 구비하여 구성되는 것을 특징으로 하는 수직다관절 로보트의 아암부구조.The method of claim 1, wherein the second power transmission means, the first pulley provided on the outer peripheral surface of the arm, the second pulley provided on the rotating shaft of the arm drive motor, and the first, second pulley Arm portion structure of a vertical articulated robot, characterized by comprising a timing belt for connecting. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019930029982A 1993-12-27 1993-12-27 Arm of vertical multi-articulated robot KR970010619B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019930029982A KR970010619B1 (en) 1993-12-27 1993-12-27 Arm of vertical multi-articulated robot
JP6326257A JP2642319B2 (en) 1993-12-27 1994-12-27 Industrial robot
CN94113447A CN1053857C (en) 1993-12-27 1994-12-27 Industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930029982A KR970010619B1 (en) 1993-12-27 1993-12-27 Arm of vertical multi-articulated robot

Publications (2)

Publication Number Publication Date
KR950017113A true KR950017113A (en) 1995-07-20
KR970010619B1 KR970010619B1 (en) 1997-06-28

Family

ID=19372987

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930029982A KR970010619B1 (en) 1993-12-27 1993-12-27 Arm of vertical multi-articulated robot

Country Status (1)

Country Link
KR (1) KR970010619B1 (en)

Also Published As

Publication number Publication date
KR970010619B1 (en) 1997-06-28

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