WO2013103210A1

WO2013103210A1 - Manipulator and robot having same

Info

Publication number: WO2013103210A1
Application number: PCT/KR2012/011521
Authority: WO
Inventors: 이춘우
Original assignee: Lee Chun-Woo
Priority date: 2012-01-06
Filing date: 2012-12-27
Publication date: 2013-07-11

Abstract

The present invention includes: a joint ball rotatably mounted on a first base; a control unit mounted on the joint ball; a rod extending in a direction facing away from the control unit; a first driving unit enabling a three-dimensional movement of the rod and driving the rod in a first direction; a second driving unit selectively driving the first driving unit in a second direction; and a second base fixing the second driving unit, and applies two motors for exercising an arm along a three-dimensional trajectory, in order to reduce the driving cost and manufacturing cost of a manipulator of the prior art.

Description

Manipulators and robots equipped with them

The present invention relates to a manipulator and a robot provided with the manipulator.

A person's arm can be turned up and down, left and right, and back and forth, and has a function of being able to be rotated in a large radius or a small radius at any position turned up and down, left and right, or back and forth.

Arms with this function are very easy to use in delicate manipulations, for example when drawing, painting, bolting, or performing welding tasks.

In order to apply such a function to an industrial robot, the robot is applied to the robot with the arm having the above function as a manipulator.

In order for the arm to perform the function, a plurality of joint parts are required, and a driving part for driving the joint part is required.

The manipulator known so far includes a rotary motor that rotates in the X axis, a Y axis, and a Z axis, and a translational motor that translationally moves the rotary motor as a joint part and a driving part, thereby realizing a trajectory similar to an arm.

In such a manipulator, at least three of the rotating motor and the translating motor are required to move the arm along the three-dimensional trajectory, thereby increasing the driving cost and manufacturing cost of the manipulator.

The present invention has a problem in solving the above-mentioned problems.

The present invention relates to an articulated robot comprising a joint ball rotatably mounted on a first base, an operation part mounted on the joint ball, a rod extending in a direction in which the operation part and the like extend, A second driving unit selectively driving the first driving unit in a second direction, and a second base fixing the second driving unit.

According to the present invention, two motors are used to move the arm along a three-dimensional trajectory, thereby lowering the driving cost and manufacturing cost of the conventional manipulator.

1 is a conceptual diagram of Embodiment 1 according to the present invention,

Fig. 2 is a view showing the locus of the operating portion of Fig. 1,

3 is a conceptual diagram of Embodiment 2 according to the present invention,

Fig. 4 is a view showing the trajectory of the operation portion of Fig. 2,

FIG. 5 is a view showing a state where the manipulator of FIG. 1 is applied to a joint of a robot;

FIG. 6 is a view showing a state where the manipulator of FIG. 3 is applied to a joint of a robot;

FIG. 7 is a conceptual diagram of Embodiment 3 according to the present invention,

Fig. 8 is a side view of Fig. 1,

FIG. 9 is a view showing a state where the joint ball of FIG. 1 is applied to a joint of a robot,

FIG. 10 is a conceptual diagram of Embodiment 4 according to the present invention,

Fig. 11 is a side view of Fig. 4,

Fig. 12 is a conceptual diagram of an alternative embodiment of the third embodiment of Fig. 7,

Fig. 13 is a conceptual view of a modified embodiment of the fourth embodiment of Fig. 10,

14 is a conceptual diagram of Embodiment 5 according to the present invention,

Fig. 15 is a view showing a state when the first rotating portion of Fig. 14 is rotated,

Fig. 16 is a view showing a state when the second rotating portion of Fig. 14 is rotated, and Fig.

Fig. 17 is a view of a modified embodiment of the guide portion of Fig. 14; Fig.

In an embodiment of the present invention, a ball having an operating portion such as an arm mounted on the first fixed base is rotatably mounted at the center of the ball, and a second fixed base spaced apart from the first fixed base in the Y- And a first translating unit mounted on the second fixing base to rotate about the Y axis which is the center axis of the ball and to translate in the X axis direction to the rotating unit, A rod extending in the Y axis direction as the center axis is attached to a portion of the ball which is turned against the portion of the ball, and the rod is mounted to the translating portion via the guide portion, Thereby permitting rotation or pivotal motion of the rod at the center of the ball in response to translational motion of the translating portion (see Figure 1).

In another embodiment of the present invention, a ball having an operating portion such as an arm mounted on the first fixed base is rotatably mounted at the center of the ball, and a second fixed base spaced apart from the first fixed base in the Y axis direction is provided And a second translating portion mounted on the second fixing base for translating in the X-axis direction and translationally moving in the Z-axis direction on the first translating portion, A rod extending in the Y axis direction as the center axis is attached to a portion of the ball which is inclined with respect to the ball and the rod is mounted to the second translating portion via the guide portion, Thereby permitting rotation or pivotal motion of the rod at the center of the ball in response to translational motion (see Figure 3).

According to another aspect of the present invention, a joint ball having an operation portion such as an arm mounted on a first fixed base is rotatably mounted at the center of the joint ball, and a second A first rotating part mounted on the second fixing base and rotating about a Y axis which is a center axis of the ball is mounted on the second rotating base, a second rotating part rotating around the X axis is mounted on the first rotating part, Wherein a rod is attached to a portion of the ball of the back which is against the portion of the ball on which the operating portion is mounted and the other end of the link whose one end is linked to the distal end of the rod is fixed to the rotational axis of the second rotating portion And is linked to the tip of the bar (see Fig. 7).

(Example 1)

Hereinafter, a first embodiment according to the present invention will be described in detail with reference to FIGS. 1 and 2. FIG.

In Fig. 1, the manipulator of the first embodiment is indicated by reference numeral 100-1.

The manipulator 100-1 includes a first fixing base 10; And a joint ball 20 rotatably inserted in the first fixing base 10 in a state in which the operating unit 11 such as an arm is mounted on one side and the upper half and the lower half are exposed.

The manipulator 100-1 includes a second fixed base 30 spaced apart from the first fixed base 10 by a predetermined distance in the direction of the Y center axis; And a first rotating part 40 mounted on the second fixed base 30 so as to rotate around a Y center axis Y which is a center axis of the joint ball 20. [

The manipulator 100-1 is mounted on the first rotating portion 40 so as to be rotated with a concentricity with the rotational center of the first rotating portion 40 and rotates in the direction perpendicular to the Y central axis Y And a first translating part 50 movable in a direction transverse to the Y center axis.

The manipulator 100-1 has a base end fixedly attached to the joint ball 20 on the back of the joint ball 20 on which the manipulation unit 11 is mounted, A rod 80 extending in the direction of the axis; And a guide portion interposed between the first translating portion and the rod to transmit movement of at least one of the first rotating portion and the second translating portion to the rod, (90).

The guide portion 90 is translated by the translational movement of the first translating portion 50 and is rotated and swiveled by the rotation of the first rotating portion 40. The rod 80 mounted on the joint ball 20 is mounted on the first fixed base 10 such that the joint ball 20 can move three-dimensionally at the center of the joint ball 20 The rod 80 moves three-dimensionally from the center of the joint ball 20 by the translational motion and the rotation or the swiveling movement of the guide portion 90. [ Accordingly, the guide portion 90 has a size and a shape for accommodating the three-dimensional movement of the rod, and receives the rod through the rod. In other words, the rod is rotatably or pivotably and tiltably mounted in the guide portion with the center of the joint ball 20 being radially and radially projected from the center of the joint ball 20 with respect to the guide portion in the guide portion As shown in Fig. Therefore, the guide portion 90 is, for example, an hourglass shape.

1 and 2, instead of the guide portion 90, the rod 80 and the first translating portion 50 are linked to each other in the first embodiment, It is also possible to link the first rotary part 50 and the first rotary part 40 so that the first rotary part 50 is inclined according to the increase or decrease of the Y direction component due to the posture change of the rod 80.

The first rotary part 40 may be a known rotary motor, and the second rotary part 50 may be a known linear motor including a linear stator and a linear rotor, a cylinder, a ball screw, and the like.

The coupling between the first rotary part 40 and the first translating part 50 is achieved by coupling the drive shaft 41 of the rotary motor corresponding to the rotary part 40 to the first translating part 50 By allowing the linear stator 51 of the corresponding linear motor to be fixed and the linear rotor 52 to be arranged linearly on the stator 51. [

In particular, the linear stator 51 extends across the Y-axis Y.

The coupling between the first translating portion 50 and the rod 80 is achieved by connecting the linear rotator 52 of the linear motor corresponding to the first translating portion 50 to the linear rotator 52 Clockwise guide part 90 having a central axis parallel to the Y center axis Y or having a central axis on the Y center axis according to the position of the guide part 90, It is possible to penetrate the rod 80.

That is, the guide portion 90 is translated by the translation of the first translating portion 50, and is rotated or revolved by the rotation or pivoting motion of the first rotation portion 40. The rod 80 mounted on the joint ball 20 is mounted on the first fixed base 10 such that the joint ball 20 can move three-dimensionally at the center of the joint ball 20 The rod is moved three-dimensionally at the center of the joint ball 20 by the translational motion and the rotation or pivotal movement of the guide portion 90. [ Therefore, the rod inserted into the hourglass-shaped guide portion 90 is rotatably and pivotably and tiltably supported by the center of the joint ball 20 in the guide portion, And is movable in the radial direction from the center of the joint ball 20 with respect to the guide portion.

The manipulator 100-1 configured as described above can be operated as follows.

1, in a state where both the first translating portion 50 and the guide portion 90 are disposed on the Y-axis axis Y, even when the first rotating portion 40 is rotated, (20) is not rotated. This is because the rotation center of the first rotation part 40 and the rod 80 are located on the Y center axis line Y. [

In this state, the rotation axis 41 of the first rotation unit 40 is rotated to set the direction in which the linear rotator 52 of the first rotation unit 50 moves, and then the first rotation unit 50 The rod 80 is moved in the X axis direction or the Z axis direction to position the linear rotor 52 at an arbitrary position as shown in FIG. To an attitude having an arbitrary acute angle.

In this state, when the first rotary part 40 is rotated, as shown in FIG. 2, the rod 80 is rotated about the Y center axis Y with the arbitrary sharp angle with respect to the Y center axis Y, And is rotated together with the joint ball 20 in a conical shape.

When the first rotation part 40 and the first rotation part 50 are driven at the same time, it is possible to make the manipulation part 11 move in three-dimensional locus with lower manufacturing cost and driving cost than the conventional manipulator do.

(Example 2)

Hereinafter, a second embodiment according to the present invention will be described in detail with reference to FIG. 3 and FIG.

3, the manipulator of the second embodiment is indicated by reference numeral 100-2.

The manipulator 100-2 includes, as in the first embodiment, a first fixed base 10; And a joint ball 20 in which the upper and lower halves are exposed while the periphery is rotatably inserted into the first fixing base 10 in a state where the operating portion 11 such as an arm is mounted on the lower portion.

The manipulator 100-2 includes a second fixed base 30 spaced apart from the first fixed base 10 by a predetermined distance in the direction of the Y center axis; A first translating unit 50 mounted to the second fixing base 30 to translate in the X-axis direction; A second translating part 70 mounted to the first translating part 50 so as to translate in the Z-axis direction; A rod 80 having a proximal end fixedly mounted on a part of the joint ball 20 on the back of the joint ball 20 on which the manipulation part 11 is mounted and having a distal end extending in the Y axis direction; And a guide portion (90) interposed between the second translating portion (70) and the rod (80) for transmitting movement of at least one of the first and second translating portions (50, 70) ).

Since the guide portion 90 is the same as the guide portion of the first embodiment, further detailed description is omitted.

The first and second translating

portions

50 and 70 may be a known linear motor, a cylinder, a ball screw, or the like, including a linear stator and a linear rotor.

The coupling between the first translating portion 50 and the second translating portion 70 may be achieved by coupling the linear translator 52 of the linear motor to the first translating portion 50, And the linear stator 71 of the linear motor corresponding to the translating portion 70 is fixed.

Particularly, the straight stator 51 of the first translating part 50 and the straight stator 71 of the second translating part 70 are arranged in a cross shape.

The coupling between the second translating portion 70 and the rod 80 is the same as the coupling between the rod of the first embodiment and the first translating portion.

The manipulator 100-2 configured as described above can be operated as follows.

3, in a state in which the guide portion 90 and the first and second translating

portions

50 and 70 are all disposed on the Y central axis Y, the first and second translating

portions

50 and 70, When either one of the

linear motors

50 and 70 is operated to move the linear rotator 72 in the X axis direction or the Z axis direction to be positioned at an arbitrary position, Is converted into an attitude having an arbitrary acute angle with respect to the Y central axis Y. [

In this state, when the first and second translating

portions

50 and 70 are simultaneously operated to cause the linear rotator 72 to move in the circle locus about the Y central axis Y, As shown, the rod 80 is rotated with the articulation ball 20 conically about the Y centric axis Y with the arbitrary acute angle with respect to the Y centric axis Y. As shown in FIG.

Even when the first and second translating

portions

50 and 70 are simultaneously operated to cause the linear rotator 72 to move in a locus other than the circular locus around the Y central axis Y, It becomes possible to draw the three-dimensional trajectory of the operating portion 11 with a lower manufacturing cost and operating cost than the conventional manipulator.

(Example 3)

Hereinafter, a third embodiment according to the present invention will be described in detail with reference to FIGS. 7 and 8. FIG.

In Fig. 7, the manipulator of the third embodiment is indicated by reference numeral 100-3.

The manipulator 100-3 includes a first fixed base 10, an operating portion 11, a joint ball 20, a second fixed base 30, and a second fixed base 30 as in the first embodiment. And includes a first rotating portion 40 and a rod 80.

The manipulator 100-3 is mounted on the rotary shaft 41 of the first rotary part 40 so as to be rotated with a concentricity with the rotation center of the rotary shaft 41 of the first rotary part 40, And a second rotation part 60 having a rotation axis 61 capable of rotating or pivoting about an X axis perpendicular to the axis Y. [

Further, the manipulator (100-3) is, via an axis of rotation extending parallel to the pin (61) (P1) of one end of the second rotation part 60 to the front end of the rod 80 and the second coupling link The other end of the bar 63 is fixed to the rotary shaft 61 of the rotary part 60 via a pin P2 extending in parallel with the rotary shaft 61 of the second rotary part 60, Lt; RTI ID = 0.0 > 95 < / RTI >

The rod 80, the bar 63 and the link 95 constitute a known lever crank mechanism, and the lever crank mechanism is provided with the guide 80 of the first embodiment which permits the three- (90).

The rod (80) and the bar (63) are positioned such that their rotation or pivot center is on the Y center axis (Y).

The rod 80 rotates or pivots about the Y center axis Y by the rotation or pivotal motion of the first rotation part 40. The rotation of the second rotation part 60 causes the rod 80 to rotate, Exercise.

Therefore, the manipulation part 11 mounted on the joint ball 20 on which the rod 80 is mounted is configured such that the joint ball 20 is inserted into the first fixing base 10 so that the center of the joint ball 20 Dimensional motion from the center of the joint ball 20 due to the link movement and the rotation or pivot movement of the rod 80. [

The first and second

rotating parts

40 and 60 may be known rotating motors.

7, the second rotary part 60 is illustrated as being eccentric on the Y central axis Y. However, the third embodiment is not limited to this, and as shown in FIG. 12, the second rotary part The second rotation part 60 is fixed to the rotation axis 41 of the first rotation part 40 so that the center of the second rotation part 60 is disposed on the Y center axis Y, (61) is protruded from the second rotary part (60) to the outside of the X axis of the second rotary part (60), and both ends of the protruded rotary shaft (61) As shown in Fig.

The manipulator 100-3 configured as described above can be operated as follows.

8, the rod 80 may take an attitude along the Y-axis axis Y according to the rotation angle of the rotation axis 61 of the second rotation unit 60, or may take a posture along the Y-axis axis Y Y may be inclined up and down by varying the inclination angle. The tilting direction of the rod 80 can be changed in all directions according to the rotation angle of the rotation axis 41 of the first rotation unit 40. When the rotation axis 41 of the first rotation unit 40 is rotated The rod 80 and the operating portion 11 are rotated with the joint ball 20 in a conical shape about the Y center axis Y at an arbitrary angle with respect to the Y center axis Y. [

The distal end of the operating portion 11 can draw a locus having various radii by the rotational axis 41 of the first rotating portion 40 according to the rotational angle of the rotational axis 61 of the second rotational portion 60 .

When the first and second

rotary parts

40 and 60 are simultaneously driven, it is possible to cause the operating part 11 to move in a three-dimensional locus with lower manufacturing cost and driving cost than the conventional manipulator.

(Example 4)

Hereinafter, a fourth embodiment according to the present invention will be described in detail with reference to FIGS. 10 and 11. FIG.

In Fig. 10, the manipulator of the fourth embodiment is indicated by reference numeral 100-4.

The manipulator 100-4 includes a first fixing base 10; And a joint ball 20 rotatably mounted on the first fixed base 10 in a state in which an operating portion 11 such as an arm is mounted and both ends of the joint ball 20 are exposed in the Y axis direction.

The manipulator 100-4 includes a second fixing base 30 spaced apart from the first fixing base 10 by a predetermined distance in the Y axis direction, And a rotary shaft 41 is rotatably mounted on the second fixing base 30 so as to be rotatable about a Y center axis Y which is a center axis of the joint ball 20, And a first rotating part 40 mounted on the rail 31 so as to be slidable in the direction of the Y center axis Y. [

The manipulator 100-4 is mounted on the rotation axis 41 of the first rotation part 40 so as to be rotated with a concentricity with the rotation center of the rotation axis 41 of the first rotation part 40, And a second rotary part 60 having a rotary shaft 61 capable of rotating or pivoting about an X axis perpendicular to the axis Y. [

The manipulator 100-4 is fixedly mounted at the base of the articulation ball 20 on the part of the articulation ball 20 on which the manipulation part 11 is mounted, A rod 80 extending in the backward direction with respect to the supporting member 80; And one end of the rod 80 is linked to the tip of the rod 80 via a pin P1 extending in parallel to the rotation axis 61 of the second rotation part 60 and connected to the rotation axis 61 of the second rotation part 60 And a link 95 in which the other end is fixedly circumscribed.

The rail 31 and the link 95 act in the same way as the guide portion 90 of Embodiment 1 which allows three-dimensional movement of the rod 80. [

The rod (80) and the link (95) are positioned so that their rotation or pivot center is on the Y center axis (Y).

The rod 80 rotates or pivots about the Y center axis Y by the rotation or pivotal movement of the first rotation part 40. The rotation of the second rotation part 60 causes the rod 80 to rotate, The ball 20 rotates about its center.

The manipulation part 11 mounted on the joint ball 20 on which the rod 80 is mounted is inserted into the first fixing base 10 so that the joint ball 20 is inserted into the center of the joint ball 20 Dimensional motion from the center of the joint ball 20 due to the rotation or pivotal movement of the rod 80. [

10, the second rotation part 60 is illustrated as being eccentric with respect to the Y center axis Y. However, the present invention is not limited to this, and as shown in FIG. 13, The second rotation part 60 is fixed to the rotation axis 41 of the first rotation part 40 so that the center of the second rotation part 60 is disposed on the Y center axis Y, The rotation shaft 61 protrudes from the second rotation part in the X axis outward direction of the second rotation part 60 and both ends of the protruded rotation axis 61 are fixedly attached to the leg parts of the Y- .

The manipulator 100-4 configured as described above can be operated as follows.

10 and 11, the rod 80 may take a posture along the Y-axis Y according to the rotation angle of the rotation axis 61 of the second rotation unit 60, And may be tilted to the left or to the right by varying the inclination angle with respect to the central axis Y. The tilting direction of the rod 80 can be changed in all directions according to the rotation angle of the rotation axis 41 of the first rotation unit 40. When the rotation axis 41 of the first rotation unit 40 is rotated , The rod 80 is rotated with the joint ball 20 in a conical shape about the Y center axis Y with an arbitrary acute angle with respect to the Y center axis Y. [

The distal end of the operating portion 11 can draw a locus having various radii by the rotational axis 41 of the first rotating portion 40 according to the rotational angle of the rotational axis 51 of the second rotational portion 50 .

When the first and second

rotating parts

40 and 50 are simultaneously driven, it is possible to cause the operating part 11 to move in a three-dimensional locus with lower manufacturing cost and driving cost than the conventional manipulator.

(Example 5)

Hereinafter, a fifth embodiment of the present invention will be described in detail with reference to Figs. 14 to 16. Fig.

In Fig. 14, the manipulator of the fifth embodiment is indicated by reference numeral 100-5.

The manipulator 100-5 includes a first fixed base 10, an operating portion 11, a joint ball 20, a second fixed base 30, a first rotating portion 40, And a translating unit 50.

The manipulator 100-5 includes a second rotating part 60 mounted on the first translating part 50 and selectively mounted on the Y center axis Y so as to rotate around the Y center axis Y; And a second translating part 70 mounted on the second rotating part 60 and capable of changing in a direction perpendicular to the Y center axis.

The distal end of the manipulator 100-5 is fixedly attached to a portion of the articulation ball 20 on the back of the joint ball 20 on which the manipulation unit 11 is mounted, A rod 80 extending in the direction of the axis; And at least one of the first and second rotating parts (40, 60) and the first and second translating parts (50, 70) interposed between the second translating part (70) To the rod (80).

When the first and second

rotary portions

40 and 60 and the first and second translating

portions

50 and 70 are both positioned on the Y central axis Y in the guide portion 90, And is fixed to the second translating portion 70 so as to be located on the Y center axis according to the positioning of the second translating portion 70. [

The first and second

rotating parts

40 and 60 may be known rotating motors and the first and second

rotating parts

50 and 70 may be known linear motors, cylinders, ball screws, have.

The coupling between the first rotating portion 40 and the first translating portion 50 and the coupling between the second rotating portion 60 and the second translating portion 70 can be achieved by, The driving

shafts

41 and 61 of the rotating motor corresponding to the

rotating parts

40 and 60 are provided with

bodies

51 and 71 corresponding to the first and second translating

parts

50 and 70, And the translating

parts

52 and 72 such as a linear rotor are disposed on the

bodies

51 and 71, for example.

In particular, the

body

51, 71 extends across the Y-axis Y.

The coupling between the first translating portion 50 and the second rotating portion 60 may be performed on the first rotating portion 60 on the translating portion 72 corresponding to the first translating portion 50, It is possible that a corresponding case 62 is mounted.

The coupling between the second translating portion 70 and the rod 80 can be achieved by providing the translating portion 72 corresponding to the second translating portion 70 and the second translating portion 70 depending on the position of the translating portion 72, A guide portion 90 having a central axis parallel to the Y center axis Y or having a central axis on the Y center axis is fixed and the rod 80 is passed through the guide portion 90 The rod 80 is rotatably or pivotably and tiltably mounted within the guide portion 90 about the center of the articulation ball 20 and in the guide portion 90 with respect to the guide portion 90, It is possible to move in the radial direction from the center of the ball 20.

Therefore, the guide portion 90 is translated by the translational motion of the first and second translating

portions

50 and 70, and is rotated by the rotational movement of the first and second

rotating portions

40 and 60. Accordingly, And pivot motion. The rod 80 mounted on the joint ball 20 is mounted on the first fixed base 10 such that the joint ball 20 can move three-dimensionally at the center of the joint ball 20 The rod 80 moves three-dimensionally from the center of the joint ball 20 by the translational motion and the rotation or the swiveling movement of the guide portion 90. [ The guide portion 90 has a size and shape for accommodating the three-dimensional movement of the rod, and has an hourglass-like shape capable of receiving the rod through the rod.

14 to 16, instead of the guide portion 90, the rod 80 and the second translating portion 70 are linked to each other in the fifth embodiment, It is also possible to link the second rotary part 50 and the second rotary part 60 so that the second rotary part 70 is inclined according to the increase or decrease in the Y direction component due to the posture change of the rod 80.

14, the guide portion 90 has an hourglass-shaped portion, the rod 80 penetrates through the through-hole 92 passing through the hourglass-shaped portion in the Y axis direction, A bracket 91 is interposed between the translating movement part 72 and the guide part 90 so as to prevent the rod 80 from being linearly moved, ).

This configuration is also applicable to the guide portion 90 of the first and second embodiments.

17, the guide portion 90 has a spherical upper portion formed with a through hole 92 penetrating in the Y axial direction, and the upper and lower halves of the spherical upper portion are exposed, The upper portion of the ring portion 93 is rotatably inserted into the ring seat portion 93 so that the rod 80 does not interfere with the straight movement, rotation and tilting movement of the rod 80 between the ring seat portion 93 and the translating portion 72 The bracket 91 is interposed between the ring portion 93 and the translating portion 72,

The manipulator 100-5 configured as described above can be operated as follows.

14, in a state where the first and second

rotary portions

40 and 60, the first and second

rotary portions

50 and 70 are all disposed on the Y central axis Y, The joint ball 20 is not rotated even if any one of the second

rotary portions

40 and 60 is rotated. This is because the center of rotation of the first and second

rotating parts

40 and 60 and the rod 80 are located on the Y center axis line Y. [

In this state, the rotation axis 41 of the first rotation part 40 is rotated to set the direction in which the translation part 52 of the first translation part 50 moves, and then the first and second rotation parts 40, When either one of the translating

portions

50 and 70 is operated to move the translating

portions

52 and 72 in the X axis direction or the Z axis direction to be positioned at an arbitrary position, (80) is converted into a posture having an arbitrary acute angle with respect to the Y center axis (Y).

In this state, when the first rotary part 40 is rotated, as shown in FIG. 15, the rod 80 is rotated about the Y center axis Y with the predetermined acute angle with respect to the Y center axis Y, And is rotated together with the joint ball 20 in a conical shape.

When the first rotation part 40 is stopped and the second rotation part 60 is rotated, the joint ball 20 is rotated in the direction of the arbitrary sharp angle as shown in FIG. 16, 60 and the central axis of the guide portion 90 is a turning radius, that is, a radius smaller than the radius of rotation of the first rotating portion 40, so that the rod 80 has a tapered conical shape And rotates together with the joint ball 20 about the central axis passing through the center of rotation of the second rotary part 60 and the center of the joint ball 20. [

Here, the size of the small radius can be adjusted by moving the translating portion 72 in the X-axis direction or the Z-axis direction by moving the second translating portion 70 and positioning the translating portion 72 at an arbitrary position .

In this manner, the movement locus of the operating portion 11 (for example, arm, foot, neck, industrial device, etc.) mounted on the joint ball 20 can be realized by a human shoulder joint, a thigh joint, or a neck joint The manipulator of the fifth embodiment can be applied to the joint part of the humanoid robot and provides a motion locus similar to a motion locus that a human's arm can implement, If applied to a robot, it can make it possible to implement a task that a person would perform manually.

The joint of the fifth embodiment can be provided on at least one joint of the shoulder joint, the neck joint, the femur joint, the ankle joint, the wrist joint, the elbow joint, the hip joint, and the hip joint of the hand, which are human lubrication joints.

The reason for this is that the hand, head, or foot is capable of being turned or twisted by small radius with multi-directional degrees of freedom by the lubricating joint, ) Of the leading end side link can be turned or twisted to a small radius with multi-directional degrees of freedom, and it is possible to turn or twist the link to a large radius.

Therefore, the joint portion of the fifth embodiment provides a motion locus similar to a motion locus that can be realized by the human body's lubricating joint, thereby providing a humanoid robot closer to a human.

When the manipulator is applied to the joint part of the humanoid robot, the manipulation part 11 becomes the tip side link and the second manipulator The fixed base 30 becomes the base end side link, and the first fixed base 10 is fixed to the outer surface of the robot (not shown).

5 shows the joint part of Embodiment 1 as 1000-1, FIG. 6 shows the joint part of Embodiment 2 as 1000-2, and FIG. 9 shows the joint part of Embodiment 3 as 1000-3 As shown in Fig.

Here, the joint refers to a joint having a degree of freedom greater than biaxial degrees of freedom, and the joint is interposed between the two bones, so that one bone can move relative to the other bone, , And the base-end-side link means a bone that is not relatively moved.

Although the joint ball 20 is rotatably supported on the first fixed base 10 only in the direction of the X-axis in the description and the drawings of the first to fifth embodiments, the present invention is not limited to this, The intermediate circumferential front portion of the ball 20 may be rotatably supported by the first fixing base 10. [

Claims

A joint ball rotatably mounted on the first fixed base,

An operating portion mounted on the joint ball,

A rod extending in the direction in which the operating portion and the like are extended,

A first driver for driving the rod in a first direction while accommodating the three-dimensional movement of the rod,

A second driving unit selectively driving the first driving unit in a second direction,

And a second fixing base fixing the second driving unit.
The method according to claim 1,

Wherein the joint ball is rotatably inserted into the first fixing base in a state where the operation unit is mounted on one side so that the upper half and the lower half are exposed to be rotatable with respect to the center of the joint ball in the first fixing base,

And the first fixing base is spaced apart from the second fixing base by a predetermined distance in the Y central axis direction.
3. The method of claim 2,

The first driving unit is a first translating unit,

The second driving unit is a first rotating unit,

Wherein the first rotation part is mounted on the second fixing base so as to rotate around a Y center axis which is a center axis of the joint ball,

Wherein the first translating unit is mounted on the first rotating unit so as to be rotated with a concentricity with the rotation center of the first rotation unit and is movable in a direction transverse to the Y center axis in a direction perpendicular to the Y center axis,

Wherein a guide portion for transmitting rotation or swiveling motion of the first rotating portion and translational motion of the first translating portion to the rod is interposed between the first translating portion and the rod,

The guide portion is translationally moved by the translational movement of the first translating portion and is rotated or revolved by the rotation or pivotal motion of the first rotating portion,

The rod is three-dimensionally moved from the center of the joint ball by the three-dimensional movement of the joint ball at the center of the joint ball caused by the translation movement and the rotation and the pivot movement of the guide portion,

Wherein the manipulating portion is moved in a three-dimensional trajectory by three-dimensional movement of the rod.
3. The method of claim 2,

Wherein the first driving unit is a second translating unit,

The second driving unit is a first translating unit,

The first translating unit is mounted on the second fixing base so as to be translationally moved in the X-axis direction,

Wherein the second translating portion is mounted to the first translating portion in translation in the Z-axis direction,

Wherein a guide portion for transmitting at least one motion of the first and second translating portions to the rod is interposed between the second translating portion and the rod,

The guide portion is translated by the translation of the first and second translating portions,

The rod is three-dimensionally moved from the center of the joint ball by the three-dimensional movement of the joint ball at the center of the joint ball caused by the translational movement of the guide portion,

Wherein the manipulating portion is moved in a three-dimensional trajectory by three-dimensional movement of the rod.
3. The method of claim 2,

The first driving unit is a second rotating unit,

The second driving unit is a first rotating unit,

Wherein the first rotation part is mounted on the second fixing base so as to rotate around a Y center axis which is a center axis of the joint ball,

The second rotary part is mounted on the first rotary part so as to be rotated with a concentricity with the rotation center of the first rotary part and is rotatable or pivotable around an X axis perpendicular to the Y center axis,

Wherein a link is interposed between the second rotating portion and the rod, and a tip of the rod is linked to one end of the link via a pin extending parallel to the rotation axis of the second rotating portion, And the link is coupled to the tip of a bar whose base end is fixedly circumscribed to the rotation axis of the rotation part via a pin extending parallel to the rotation axis of the second rotation part,

Wherein the rod and the bar are positioned so that their rotational or pivotal center is on the Y centric axis,

Wherein the rod is rotated or pivoted about the Y center axis by the rotation or pivotal movement of the first rotary part, and the rod is moved by the pivotal movement of the second rotary part.
3. The method of claim 2,

The first driving unit is a second rotating unit,

The second driving unit is a first rotating unit,

Wherein the first rotation part is mounted on the second fixing base such that the rotation axis thereof rotates around a Y center axis which is a center axis of the joint ball and is slidably mounted on the second fixing base in a Y axis axial direction,

The second rotary part is mounted on the first rotary part so as to be rotated with a concentricity with the rotation center of the first rotary part and is rotatable or pivotable around an X axis perpendicular to the Y center axis,

Wherein a link is interposed between the second rotating portion and the rod, and a tip of the rod is linked to one end of the link via a pin extending parallel to the rotation axis of the second rotating portion, The rotary shaft of the rotary part is fixedly circumscribed,

Wherein the rod and the bar are positioned so that their rotational or pivotal center is on the Y centric axis,

Wherein the rod is rotated or pivoted about the Y center axis by the rotation or pivotal movement of the first rotary part, and the rod is moved by the pivotal movement of the second rotary part.
3. The method of claim 2,

The first driving unit is a first translating unit,

The second driving unit is a first rotating unit,

A second rotating portion and a second rotating portion are interposed between the first translating portion and the rod,

Wherein the first rotation part is mounted on the second fixing base so as to rotate around a Y center axis which is a center axis of the joint ball,

Wherein the first translating unit is mounted on the first rotating unit so as to be rotated with a concentricity with the rotation center of the first rotation unit and movable in a direction perpendicular to the Y center axis,

The second rotary part is mounted on the first translating part and is rotatably mounted around a Y center axis, which is a center axis of the joint ball 20,

The second translating unit is mounted on the second rotating unit 60 and is movable in a direction perpendicular to the Y center axis,

Wherein a guide portion for transmitting rotational or swinging motion of the first and second rotary portions and translational motion of the first and second translating portions to the rod is interposed between the second translating portion and the rod,

The guide portion is translationally moved by the translational movement of the first and second translational portions and is rotated or swiveled by the rotation or pivotal movement of the first and second rotary portions,

The rod is three-dimensionally moved from the center of the joint ball by the three-dimensional movement of the joint ball at the center of the joint ball caused by the translation movement and the rotation and the pivot movement of the guide portion,

Wherein the manipulating portion is moved in a three-dimensional trajectory by three-dimensional movement of the rod.
The method of claim 3,

Wherein the first rotating portion is a rotating motor and the first rotating portion is a linear motor,

A linear stator of a linear motor corresponding to the first translating portion is fixed to a rotary shaft of a rotary motor corresponding to the first rotary portion for coupling between the first rotary portion and the first translating portion, Self-aligning linear motion,

Wherein the linear stator extends across the Y center axis.
5. The method of claim 4,

Wherein the first and second translating portions are linear motors,

A linear stator of a linear motor corresponding to the second translating portion is fixed to a linear rotor of a linear motor corresponding to the first translating portion for coupling between the first translating portion and the second translating portion,

Wherein the linear stator of the first translating part and the linear stator of the second translating part are arranged in a cross shape.
8. The method of claim 7,

Wherein the first and second rotary parts are rotary motors and the eleventh and second rotary parts are linear motors,

The first and second rotary parts being rotatably connected to the rotary shaft of the rotary motor corresponding to each of the first and second rotary parts for coupling between the first rotary part and the first rotary part and between the second rotary part and the second rotary part, A linear stator corresponding to each of the second translation portions is fixed, a linear rotor is arranged on the linear stator,

And a case corresponding to the first rotating portion is mounted on a linear rotor corresponding to the first translating portion for coupling between the first translating portion and the second rotating portion.
The method according to claim 3, 4, or 7,

The guide portion has an hourglass shaped portion,

The rod passes through the through-hole penetrating the hourglass-shaped portion in the Y axis direction,

Wherein a bracket is interposed between the first or second translating portion and the guide portion so as not to obstruct movement of the rod.
The method according to claim 3, 4, or 7,

The guide portion has a spherical upper portion formed with a through hole penetrating in the Y axis direction,

The periphery of the spherical upper portion is rotatably inscribed on the ring seat portion in a state in which the upper half and the lower half of the spherical upper portion are exposed,

And a bracket is interposed between the ring seat portion and the translating portion so as not to hinder the motion of the rod.
A humanoid robot to which a manipulator according to any one of claims 3 to 7 is applied as a joint part,

The operating portion 11 is a leading end link,

The second fixing base 30 is a base end side link,

The first fixed base is fixed to the outer surface of the robot,

And the distal-end-side link moves relative to the proximal-end-side link.