KR970058858A - Three-dimensional position and orientation control system for machining center and robot manipulator - Google Patents

Three-dimensional position and orientation control system for machining center and robot manipulator Download PDF

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Publication number
KR970058858A
KR970058858A KR1019960001755A KR19960001755A KR970058858A KR 970058858 A KR970058858 A KR 970058858A KR 1019960001755 A KR1019960001755 A KR 1019960001755A KR 19960001755 A KR19960001755 A KR 19960001755A KR 970058858 A KR970058858 A KR 970058858A
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South Korea
Prior art keywords
dimensional position
control device
dimensional
machining center
spindle
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KR1019960001755A
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Korean (ko)
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김종원
박종우
김태용
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김종원
박종우
김태용
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Priority to KR1019960001755A priority Critical patent/KR970058858A/en
Publication of KR970058858A publication Critical patent/KR970058858A/en
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Abstract

본 발명은 각 위치제어 모듈이 선형위치 드라이빙 유닛과 그에 연결된 슬라이등 포스트로 구성된 3개의 위치제어 모듈들을 포함하는 3차원 위치 및 자세 제어장치에 관한 것으로서, 모듈화 설계 및 양산에 의하여 장치의 제작 비용을 절감할 수 있을 뿐만 아니라, 3개의 선형위치 드라이빙 유닛들과 그에 연결된 3개의 슬라이딩 포스트들에 의하여 제어면이 수직방향으로 위치하도록 할 수 있어서 5면가공 또는 5면 조립이 가능하고, 머시닝센타에 사용되는 경우, 테이브를 회전시킬 수 있는 또 다른 주축모터를 테이블에 내장시킴에 의하여 수직선삭가공이 가능하도록 한 것을 특징으로 한다.The present invention relates to a three-dimensional position and orientation control device including three position control modules, each position control module including a linear position driving unit and a slice post connected to the linear position driving module. As well as being able to place the control surface in the vertical direction by means of three linear positioning driving units and three sliding posts connected to it, it is possible to make five-sided machining or five-sided machining, and to use it in a machining center A vertical spinning process is enabled by incorporating another spindle motor capable of rotating the tape on the table.

Description

머시닝센터 및 로봇매뉴플에이터를 위한 3차원 위치 및 자세 제어장치3-D Position and Position Control System for Machining Center and Robot Manipulator

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.

제1(가)도는 종래의 핵사포드형 위치 및 자세 제어 장치를 설명하기 위한 개념도,제1(나)도는 종래의 헥사 포드형 위치 및 자세 제어 장치를 사용한 머시닝센터의 사시도1 is a conceptual view for explaining a conventional nuclear pod type position and posture control apparatus, FIG. 1 (b) is a perspective view of a machining center using a conventional hexapod type position and posture control apparatus,

Claims (6)

3차원 공간상에서 제어면의 위치 및 자세를 제어하는 장치에 있어서, 제어면에 이르는 길이를 변화시킬 수 있는 슬라이딩 포스트; 및 상기 슬라이딩 포스트에 연결되어 있고, 상기 슬라이딩 포스트의 선형적인 위치를 결정하는 선형위치 드라이빙 유닛으로 구성된 2자유도를 가지는 위치제어 모듈 3개가 연뎔되어, 젠체 3개의 슬라이딩 포스트와 3개의 선형위치 드라이빙 유닛에 의하여 3차원 공간사이에 제어면의 위치 및 자세를 제어하는 것을 특징으로 하는 3차원 위치 및 자세 제어 장치An apparatus for controlling a position and an attitude of a control surface on a three-dimensional space, comprising: a sliding post capable of changing a length to a control surface; And a linear position driving unit connected to the sliding post and configured to determine a linear position of the sliding post, are connected to the three sliding posts and three linear position driving units Dimensional position and posture of the control surface between the three-dimensional space, 청구항 1항에 있어서, 상기 선형위치 드라이빙 유닛은 가로방향으로 놓인 이송모터와 볼스크류에 의하여 구현되고, 사익 슬라이딩 포스트는 상기 선형위치 드라이빙 유닛에 연결되어 있고 역시 이송모터와 볼스큐에 의하여 구형되는 것임을 특징으로 하는 3차원 위치 및 자세 제어 장치The linear position driving unit according to claim 1, wherein the linear position driving unit is implemented by a transverse feeding motor and a ball screw, and a sliding sliding post is connected to the linear position driving unit and is also spherical by a feed motor and a ball skew The three-dimensional position and posture control device 청구항 2항에 있어서, 상기 3차원 위치 및 자세 제어장치는 테이블에 위치한 가공대상물체와 주축계에 장착된 공구의 상대적인 운동에 의하여 가공대상물체를 가공하는 머시닝센타에 사용되기 위하여, 제어면에 위치한 공구가 장착된 주축계; 및 상기 주축계에 직결식으로 장착되어 공구를 회전시키는 주축모터를 포함하여, 사용된 머시닝센타에서 가공대상물체의 저면을 제외한 5면가공이 가능하도록 하는 것임을 특징으로 하는 3차원 위치 및 자세 제어장치[3] The apparatus as claimed in claim 2, wherein the three-dimensional position and posture control device is disposed on the control surface in order to be used in a machining center for machining an object by relative movement of a workpiece placed on a table and a tool mounted on a spindle Spindle system with tools; And a spindle motor mounted directly on the spindle and rotating the tool so that the machining center can be machined on five sides excluding the bottom surface of the object to be machined. 청구항 3항에 있어서, 상기 3차원 위치 및 자세 제어장치가 사용된 머시닝센타의 테이블은 테이블을 회전시킬 수 있는 또 다른 주축모터를 내장하고 있어서 수직선삭가공이 가능하도록 하는 것임을 특징으로 하는 3차원 위치 및 자세 제어장치[Claim 4] The method according to claim 3, wherein the table of the machining center in which the three-dimensional position and orientation control device is used includes another spindle motor capable of rotating the table, And posture control device 청구항 4항에 있어서, 상기 3차원 위치 및 자세 제어장치가 사용된 머시닝센타는 주축계의 무게를 지탱하는 배압실린더를 더 포함하고 있는 것임을 특징으로 하는 3차원 위치 및 자세 제어장치5. The three-dimensional position and orientation control apparatus according to claim 4, wherein the machining center in which the three-dimensional position and orientation control apparatus is used further comprises a back pressure cylinder for supporting the weight of the spindle system. 청구항2항에 있어서, 상기 3차원 위치 및 자세 제어장치는 물체의 조립, 운반 등의 3차원 작업을 하는 로봇매니플레이터에 사용되기 위하여 제어면에 작업손을 장착하여, 사용된 로봇매니플레이터에서 5면조립이 가능하게 하는 것임을 특징으로 하는 3차원 위치 및 자세 제어장치[2] The apparatus of claim 2, wherein the three-dimensional position and posture control device includes a work hand mounted on a control surface for use in a robot manipulator for three-dimensional work such as assembling and transporting an object, Dimensional position and posture control device according to claim 1, wherein the three-dimensional position and posture control device ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is disclosed by the contents of the first application.
KR1019960001755A 1996-01-26 1996-01-26 Three-dimensional position and orientation control system for machining center and robot manipulator Ceased KR970058858A (en)

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KR1019960001755A KR970058858A (en) 1996-01-26 1996-01-26 Three-dimensional position and orientation control system for machining center and robot manipulator

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KR1019960001755A KR970058858A (en) 1996-01-26 1996-01-26 Three-dimensional position and orientation control system for machining center and robot manipulator

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160094104A (en) 2015-01-30 2016-08-09 전자부품연구원 combinED ROBOT CONTROL APPARATUS

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160094104A (en) 2015-01-30 2016-08-09 전자부품연구원 combinED ROBOT CONTROL APPARATUS

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