WO2010002043A1 - Robot ayant un bras rotatif - Google Patents

Robot ayant un bras rotatif Download PDF

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Publication number
WO2010002043A1
WO2010002043A1 PCT/KR2008/003831 KR2008003831W WO2010002043A1 WO 2010002043 A1 WO2010002043 A1 WO 2010002043A1 KR 2008003831 W KR2008003831 W KR 2008003831W WO 2010002043 A1 WO2010002043 A1 WO 2010002043A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
arm body
robot
elevating
plate
Prior art date
Application number
PCT/KR2008/003831
Other languages
English (en)
Inventor
Kyu-Yeul Lee
Jong-Won Kim
Tae-Wan Kim
Dong-Hun Lee
Young-Il Shin
Nam-Kug Ku
Original Assignee
Seoul National University Industry Foundation
Daewoo Shipbuilding & Marine Engineering Co., Ltd.
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 Seoul National University Industry Foundation, Daewoo Shipbuilding & Marine Engineering Co., Ltd. filed Critical Seoul National University Industry Foundation
Priority to PCT/KR2008/003831 priority Critical patent/WO2010002043A1/fr
Publication of WO2010002043A1 publication Critical patent/WO2010002043A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • 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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots

Definitions

  • the present invention relates to a robot having a rotatable arm, and more particularly, to a robot which can perform a blasting or painting work inside a ship when the ship is manufactured.
  • a double hull structure can prevent water from entering the ship. Further, the double hull structure can enhance the strength of the bottom hull and increase space availability. Further, since the center of gravity of the ship is lowered, the stability of the ship is improved.
  • FIG. 1 is a perspective view of an inner bottom block constituting a double hull structure.
  • the inner bottom block 1 constituting a double hull structure has a structure in which a plurality of longis 2 having a T-shaped cross-section are welded on a bottom plate 3 formed of a wide steel plate and are installed in parallel to each other so as to be spaced at a predetermined interval from each other. Further, a web floor 5 and a girder 4 which are formed of a steel plate are installed vertically on the bottom plate 3.
  • the bottom plate 3, the longis 2, the web floors 5, and the girder 4 are provisionally welded so as to form the entire shape, first. Then, a main welding work is performed. Conventionally, the welding process has been performed while an automatic welding device is moved by a crane.
  • FIG. 2 is a perspective view of a double bottom block in which an upper plate is coupled to the inner bottom block shown in FIG. IA.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a robot, which has a wide operation range in a space in which obstacles are installed, such as a double hull structure, without interfering with obstacles.
  • a robot comprising: a transfer unit positioned in a horizontal direction over a plurality of obstacles arranged in parallel to each other; a first arm that is installed on the transfer unit so as to ascend or descend in a vertical direction; and a second arm installed on the first arm rotatably and extensibly.
  • the rotation axis of the second arm is perpendicular to both the horizontal and vertical directions.
  • the first arm may include a vertical plate fixed to the transfer unit; a first arm body extending in the vertical direction and coupled to the vertical plate so as to ascend or descend; and a first arm elevating motor for lifting or lowering the first arm body.
  • the first arm may further include a driving sprocket rotatably installed at the upper end of the first arm body; a driven sprocket rotatably installed at the lower end of the first arm body; and a chain wound around the driving sprocket and the driven sprocket.
  • the driving sprocket is connected to the first arm elevating motor, and one side of the chain is connected to the vertical plate.
  • the second arm may include a second arm body vertically extending in parallel to the first arm; a rotation motor fixed to the first arm and connected to the second arm body so as to rotate the second arm body; and a second arm elevating motor for lifting or lowering the second arm body.
  • the second arm may further include an elevating plate coupled to the rear surface of the second arm body so as to move linearly with respect to the second arm. As the rotation motor is connected to the elevating plate and rotates the elevating plate, the second arm body is rotated along with the elevating plate.
  • the second arm may further include a rack installed on the second arm body so as to extend in a length direction of the second arm body; and a pinion engaged with the rack and rotated by the second arm elevating motor.
  • the second arm elevating motor is fixed to the elevating plate.
  • the robot may further comprise an extensible arm that is installed on the second arm so as to extend or retract.
  • the second arm may further include a chain installed so as to enclose the front and rear surfaces of the second arm body along the length direction of the second arm body.
  • the extensible arm is coupled to a portion of the chain which is positioned at the front surface of the second arm body, and the elevating plate is coupled to a portion of the chain which is positioned at the rear surface of the second arm body.
  • the robot can have a wide operation range without interference with the obstacles when performing a blasting or painting work.
  • FIG. 1 is a perspective view of an inner bottom block constituting a double hull structure
  • FIG. 2 is a perspective view of a double bottom block constituting a double hull structure
  • FIG. 3 is a front perspective view of a robot according to the present invention
  • FIG. 4 is a rear perspective view of a first arm, showing a state where the first arm is partially disassembled;
  • FIG. 5 is a rear perspective view of a second arm
  • FIG. 6 is a perspective view of the second arm, showing a state where the second arm is partially disassembled
  • FIG. 7 is a side cross-sectional view of the second arm.
  • FIGS. 8 through 11 are diagrams sequentially showing the operation of the robot according to the invention. Best Mode for Carrying out the Invention
  • a robot having a rotatable arm has a transfer unit 100 which is disposed over a plurality of longis 2a and 2b, a first arm 10 which is installed on the transfer unit 100 so as to move linearly and to ascend or descend, and a second arm 20 which is rotatably installed on the first arm 10 so as to extend or retract.
  • the second arm 20 has a multi-joint manipulator 50 connected to an end thereof, the multi-joint manipulator 50 being provided for a blasting or painting work.
  • the transfer unit 100 has a lower body 110 disposed on the plurality of longis 2a and
  • the first arm 10 is coupled to the upper body 120 so as to move linearly in the horizontal direction and to ascend or descend in the vertical direction (Z-axis direction).
  • the upper body 120 has a base plate 121 installed on the top surface thereof such that the base plate 121 can move linearly in the horizontal direction.
  • the first arm 10 is coupled to the base plate 121 so as to ascend or descend.
  • the base plate 121 is moved linearly on the upper body 120 as a motor 122 is driven by a power transmission system well known to those skilled in the art, such as a power transmission system using a rack and a pinion or a power transmission system using a ball screw and a ball nut.
  • a power transmission system well known to those skilled in the art, such as a power transmission system using a rack and a pinion or a power transmission system using a ball screw and a ball nut.
  • the first arm 10 has a vertical plate 13 which is coupled to a side surface of the base plate 121, a first arm body 11 which extends in the vertical direction and is coupled so as to move linearly (ascend or descend) with respect to the vertical plate 13, and a first arm elevating motor 15 which moves linearly the first arm body 11 with respect to the vertical plate 13.
  • the first arm body 11 has a driving sprocket 16 and a driven sprocket 17 installed at the upper and lower ends thereof, respectively.
  • a chain 18 is wound around the driving and driven sprockets 16 and 17, a chain 18 is wound.
  • the driving sprocket 16 is driven by the first arm elevating motor 15 connected thereto.
  • the vertical plate 13 is connected at one side of the chain 18.
  • a guide rail 19 is installed in the first arm body 11, and a guide block (not shown) which is coupled to the guide rail 19 is installed in the vertical plate 13.
  • the second arm 20 has a second arm body 21 which extends in the vertical direction, a rotation motor 22 which rotates the second arm body 21 about a direction (Y-axis direction) perpendicular to the horizontal and vertical directions, respectively, and a second arm elevating motor 23 which lifts or lowers the second arm body 21 with respect to the first arm 10.
  • the second arm body 21 has an elevating plate 25 installed on the rear surface thereof (facing the first arm) such that the elevating plate 25 can move linearly along the second arm body 21.
  • the rotation motor 22 is connected to the elevating plate 25 via a decelerator 24, and the decelerator 24 is coupled to the upper end of the first arm 10. That is, the rotation motor 22 is fixed to the first arm 10 via the decelerator 24.
  • the second arm body 21 has a rack 41 which is installed so as to extend along the length direction of the second arm body 21, and the second arm elevating motor 23 is connected to a pinion 42 engaged with the rack 41. Therefore, when the second arm elevating motor 23 is driven, the rack 41 is rotated so as to move the pinion 42 in the vertical direction. Accordingly, the whole of the second arm 20 moves linearly (lifted and lowered) with respect to the first arm 10.
  • the robot according to this embodiment also has an extensible arm 30 which is installed on the second arm 20 so as to extend or retract.
  • the extensible arm 30 extends or retracts from the second arm 20, as the second arm elevating motor 23 is driven.
  • the second arm body 21 has two sprockets 43 installed at the upper and lower ends thereof, respectively, so as to be spaced with a predetermined interval from each other.
  • Two chains 45 are coupled to the sprockets 43 so as to enclose the front and rear surfaces of the second arm body 21 in the length direction of the second arm body 21.
  • the elevating plate 25 is coupled to a portion of the chain 45 which is positioned at the rear surface of the second arm body 21, and the extensible arm 30 is coupled to a portion of the chain 45 which is positioned at the front surface of the second arm body 21.
  • the manipulator 50 is installed at the end of the extensible arm
  • the manipulator 50 is not limited thereto, and the manipulator 50 may have a larger number of joints, if necessary.
  • the upper and lower positions of the manipulator 50 are changed while the second arm 20 rotates about the first arm 10, and the second arm 20 extends or retracts while being lifted or lowered with respect to the first arm 10. Therefore, it is possible to perform a blasting or painting work smoothly without any interference with neighboring structures within a confined space.
  • the present invention can be used for manufacturing a ship having a double hull structure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention porte sur un robot qui comprend une unité de transfert positionnée horizontalement sur une pluralité d'obstacles disposés en parallèle les uns par rapport aux autres, un premier bras installé sur l'unité de transfert afin de monter ou de descendre dans une direction verticale, un second bras installé sur le premier bras de manière rotative et extensible, et un bras extensible installé sur le second bras afin de se déployer ou de se rétracter. L'axe de rotation du second bras est perpendiculaire à la fois dans la direction horizontale et dans la direction verticale.
PCT/KR2008/003831 2008-06-30 2008-06-30 Robot ayant un bras rotatif WO2010002043A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2008/003831 WO2010002043A1 (fr) 2008-06-30 2008-06-30 Robot ayant un bras rotatif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2008/003831 WO2010002043A1 (fr) 2008-06-30 2008-06-30 Robot ayant un bras rotatif

Publications (1)

Publication Number Publication Date
WO2010002043A1 true WO2010002043A1 (fr) 2010-01-07

Family

ID=41466115

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2008/003831 WO2010002043A1 (fr) 2008-06-30 2008-06-30 Robot ayant un bras rotatif

Country Status (1)

Country Link
WO (1) WO2010002043A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017193009A (ja) * 2016-04-20 2017-10-26 Ntn株式会社 作動装置および双腕型作動装置
WO2021035591A1 (fr) * 2019-08-28 2021-03-04 西门子（中国）有限公司 Dispositif de serrage
CN114347005A (zh) * 2022-03-18 2022-04-15 中国科学技术大学 一种能避障的绳索牵引并联机器人连续重构规划方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH091481A (ja) * 1995-06-01 1997-01-07 Samsung Electronics Co Ltd 直交ロボットの直線移動倍速装置
JPH10272570A (ja) * 1997-03-31 1998-10-13 Nkk Corp 大型構造物の溶接ロボット装置
KR20060008533A (ko) * 2004-07-21 2006-01-27 재단법인서울대학교산학협력재단 회전형 작업 유닛 이송장치
KR20060016661A (ko) * 2004-08-18 2006-02-22 재단법인서울대학교산학협력재단 승강이동형 작업유닛 이송장치
US20060059671A1 (en) * 2004-09-21 2006-03-23 Osamu Okafuji Shape member manufacturing apparatus and shape member manufacturing method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH091481A (ja) * 1995-06-01 1997-01-07 Samsung Electronics Co Ltd 直交ロボットの直線移動倍速装置
JPH10272570A (ja) * 1997-03-31 1998-10-13 Nkk Corp 大型構造物の溶接ロボット装置
KR20060008533A (ko) * 2004-07-21 2006-01-27 재단법인서울대학교산학협력재단 회전형 작업 유닛 이송장치
KR20060016661A (ko) * 2004-08-18 2006-02-22 재단법인서울대학교산학협력재단 승강이동형 작업유닛 이송장치
US20060059671A1 (en) * 2004-09-21 2006-03-23 Osamu Okafuji Shape member manufacturing apparatus and shape member manufacturing method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LEE, DONGHUN ET AL.: "Development and Application of a Novel Rail Runner Mechanism for Double Hull Structures of Ships.", 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 19 May 2008 (2008-05-19), pages 3985 - 3991 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017193009A (ja) * 2016-04-20 2017-10-26 Ntn株式会社 作動装置および双腕型作動装置
WO2017183505A1 (fr) * 2016-04-20 2017-10-26 Ntn株式会社 Dispositif de travail et dispositif de travail à double bras
US11154994B2 (en) 2016-04-20 2021-10-26 Ntn Corporation Work device and dual-arm work device
WO2021035591A1 (fr) * 2019-08-28 2021-03-04 西门子（中国）有限公司 Dispositif de serrage
CN114347005A (zh) * 2022-03-18 2022-04-15 中国科学技术大学 一种能避障的绳索牵引并联机器人连续重构规划方法

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