WO2013036054A3 - 토크 프리 로봇 팔 - Google Patents

토크 프리 로봇 팔 Download PDF

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Publication number
WO2013036054A3
WO2013036054A3 PCT/KR2012/007198 KR2012007198W WO2013036054A3 WO 2013036054 A3 WO2013036054 A3 WO 2013036054A3 KR 2012007198 W KR2012007198 W KR 2012007198W WO 2013036054 A3 WO2013036054 A3 WO 2013036054A3
Authority
WO
WIPO (PCT)
Prior art keywords
link
joint
torque
robot arm
free robot
Prior art date
Application number
PCT/KR2012/007198
Other languages
English (en)
French (fr)
Other versions
WO2013036054A2 (ko
Inventor
송재복
김휘수
Original Assignee
고려대학교 산학협력단
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 고려대학교 산학협력단 filed Critical 고려대학교 산학협력단
Priority to US14/343,858 priority Critical patent/US9610686B2/en
Publication of WO2013036054A2 publication Critical patent/WO2013036054A2/ko
Publication of WO2013036054A3 publication Critical patent/WO2013036054A3/ko

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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/002—Arms comprising beam bending compensation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate 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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

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

Abstract

본 발명은, 베이스부; 및 상기 베이스부에 일단이 회동 가능하게 연결 배치되어 지면에 수평한 회전축인 제1관절을 형성하고 무게중심이 상기 제1관절로부터 이격되는 제1링크;를 구비하고, 상기 제1링크는, 일단이 상기 제1관절에 배치되고 타단이 상기 제1링크의 길이 방향을 따라 배치되어 상기 제1링크가 상기 제1관절을 중심으로 회동하는 경우 상기 제1링크의 중력을 보상하는 제1카운터밸런서를 구비하는 토크 프리 로봇 팔을 제공한다.
PCT/KR2012/007198 2011-09-09 2012-09-06 토크 프리 로봇 팔 WO2013036054A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US14/343,858 US9610686B2 (en) 2011-09-09 2012-09-06 Torque-free robot arm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0092171 2011-09-09
KR1020110092171A KR101284987B1 (ko) 2011-09-09 2011-09-09 토크 프리 로봇 팔

Publications (2)

Publication Number Publication Date
WO2013036054A2 WO2013036054A2 (ko) 2013-03-14
WO2013036054A3 true WO2013036054A3 (ko) 2013-05-10

Family

ID=47832717

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/007198 WO2013036054A2 (ko) 2011-09-09 2012-09-06 토크 프리 로봇 팔

Country Status (3)

Country Link
US (1) US9610686B2 (ko)
KR (1) KR101284987B1 (ko)
WO (1) WO2013036054A2 (ko)

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WO2015060629A1 (ko) * 2013-10-22 2015-04-30 고려대학교 산학협력단 토크 프리 링키지 유니트
WO2015060626A1 (ko) * 2013-10-22 2015-04-30 고려대학교 산학협력단 다자유도 토크 프리 링키지 유니트
KR20150047076A (ko) 2013-10-22 2015-05-04 고려대학교 산학협력단 토크 프리 링키지 유니트
KR101510020B1 (ko) * 2013-12-18 2015-04-07 현대자동차주식회사 로봇팔
JP6276090B2 (ja) * 2014-03-31 2018-02-07 株式会社ダイヘン 搬送装置、搬送システム
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CN104742150B (zh) * 2015-04-08 2016-08-17 四川阿泰因机器人智能装备有限公司 一种用于移动机器人功能拓展用机械手臂的连接机构
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CN108814890B (zh) * 2018-03-12 2020-07-07 南京航空航天大学 重力平衡末端牵引式上肢康复机器人及工作方法
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CN108748255A (zh) * 2018-07-16 2018-11-06 上海元心智能机器人有限公司 机器人腕关节结构及码垛机器人
CN109157170B (zh) * 2018-09-19 2023-08-25 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 智能型保姆机器人
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CN109968390B (zh) * 2019-04-11 2022-03-08 江苏科技大学 一种冗-欠驱动结合的机械手装置
CN110327179B (zh) * 2019-04-21 2023-10-03 上海健康医学院 一种用于手部抓握及腕部两自由度的康复训练机构
CN110397253B (zh) * 2019-07-26 2021-03-16 广东博智林机器人有限公司 墙板安装机器人
KR20210017686A (ko) * 2019-08-09 2021-02-17 엘지전자 주식회사 로봇 암
CN110539322A (zh) * 2019-08-12 2019-12-06 昆山艾博机器人股份有限公司 一种自调平型机械手
CN110744537A (zh) * 2019-10-17 2020-02-04 尔智机器人(珠海)有限公司 一种三关节机器人
CN110893615B (zh) * 2019-12-24 2024-06-11 安徽数研智能科技有限公司 一种基于非圆形恒定中心线长度关节的补偿控制滑轮
CN113944307B (zh) * 2020-07-16 2022-12-13 广东博智林机器人有限公司 板材安装装置、板材安装机器人及板材安装方法
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KR102609031B1 (ko) * 2021-10-27 2023-12-04 두산로보틱스 주식회사 로봇팔 중력 보상 구조 및 이를 포함하는 로봇팔
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CN114789466B (zh) * 2022-05-16 2023-06-30 浙江大学 用于提升软体机械臂承载能力的骨骼结构
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Also Published As

Publication number Publication date
US20140202276A1 (en) 2014-07-24
KR101284987B1 (ko) 2013-07-10
US9610686B2 (en) 2017-04-04
KR20130028542A (ko) 2013-03-19
WO2013036054A2 (ko) 2013-03-14

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