WO2015034334A1

WO2015034334A1 - Multi-joint phase maintaining apparatus

Info

Publication number: WO2015034334A1
Application number: PCT/KR2014/008434
Authority: WO
Inventors: 박순필; 박기연
Original assignee: Park Soon Pil; Park Ki Youn
Priority date: 2013-09-09
Filing date: 2014-09-05
Publication date: 2015-03-12
Also published as: KR101378736B1

Abstract

A multi-joint phase maintaining apparatus according to the present invention comprises: a phase maintaining means; an angle adjusting means; a phase maintaining part; and an operation means. The phase maintaining means comprises: a reference shaft fixed to one side of a frame; a revolving body which revolves about the reference shaft while maintaining a constant distance from the reference shaft; a first force transferring part, coupled to the revolving body and the reference shaft, for controlling the rotation of the revolving body; and a first support part which allows the revolving body to revolve about the reference shaft while maintaining the phase. The angle adjusting means comprises: an angle adjusting shaft which is concentrically located with the reference shaft and can rotate with respect to the frame; a first driven shaft which can rotate while being separated from the angle adjusting shaft in parallel; a second force transferring part coupled to interlock the angle adjusting shaft and the first driven shaft; and a second support part for separating the angle adjusting shaft and the first driven shaft to be rotatable. The phase maintaining part maintains the phase when the first driven shaft or the second support part rotates. The operation means is located between the phase maintaining part and the revolving body and guides the revolution of the phase maintaining part about the revolving body.

Description

Multi-joint phase holding device

The present invention relates to a multi-joint phase holding device provided with a plurality of links and shafts, and the phase holding unit positioned at the distal end is provided with phase holding means for maintaining a constant phase even when a rotational force is provided to any one of the plurality of links. It is possible to control the position of the phase holding part by selectively operating the phase holding means and the angle adjusting means by further providing an angle adjusting means for controlling the angle of the link while providing a rotational force to one axis while maintaining the phase of the phase holding part. It relates to a multi-joint phase holding device.

The present invention relates to a multi-joint phase holding device that enables the transfer of a transfer object at various positions within the rotation range of the link by spreading or overlapping a plurality of links.

The present invention relates to a multi-joint phase holding device capable of reducing power and manufacturing costs due to a reduction in the number of driving parts by having a phase holding function by mechanical coupling without providing a separate driving part for phase holding.

The present invention relates to a multi-joint phase holding device capable of reducing power by minimizing moments by placing the position of a driving unit at a lower portion, and reducing weight and minimizing foreign substances.

The present invention relates to a multi-joint phase holding device capable of selectively changing the phase.

In general, in order to transfer or load the objects to different locations with different heights, use a robot with a built-in servo motor that can adjust the rotation speed and rotation angle, or use equipment such as a lifter or a transfer machine. Done.

For example, Korean Patent Publication No. 10-2009-0044132 discloses a dual-use industrial robot that is easy to build with one arm or both arms.

However, in the case of robots, there is a problem in that initial investment costs are high and a skilled person is required to operate the robot.

In addition, in the case of a lifter, a large number of parts and operation parts are required, manufacturing and assembly periods are long, foreign matters are likely to be generated, and when a heavy object is loaded, sagging problems occur due to one side support.

In addition, there is a problem that maintenance and repair is not easy when a failure occurs.

Accordingly, various loading devices have been developed and used in consideration of the size and working environment of the object to be transported by the user.

That is, Figure 1 is a view showing the configuration of the cargo loading device for loading cargo classification disclosed in the Republic of Korea Patent No. 095312, a horizontal transfer unit 2 for linear reciprocating motion along the conveying rail (1) disposed in the passage, As long as linear reciprocating motion is carried out so that the vertical conveying part 3 conveyed in the height direction from the inner side of the horizontal conveying part 2 and the object to be conveyed from the inner side of the vertical conveying part 2 to the left and right sides of the passage. It comprises a pair of phase holding parts (4).

However, the stacking device configured as described above has to be provided with a power generating unit for independently transporting the horizontal transfer unit 2, the vertical transfer unit 3 and the phase holding unit 4 in order to load the object to be transported. There is a problem that rises.

In addition, since there is a restriction on the size of the transfer object that can be seated on the phase holding unit causes a problem that the loading efficiency is lowered.

In addition, the transfer object to be transported has a problem that the range of the space that can be loaded is limited since the phase holding unit 4 linearly reciprocates in a left / right direction with respect to the transport rail 1. .

On the other hand, Figure 2 is a cross-sectional view showing the configuration of a lifter according to the prior art, the loading space is formed, the car 5, which is moved up and down in the up and down direction, connected by the car and the wire rope, and driven up and down driving It comprises a hoisting machine (6), a weight (7) made of a weight on one side of the wire rope, and a rail (8) for guiding the up / down direction of the car (5).

However, such a lifter is only capable of conveying the up / down direction of the object to be conveyed, and sag may occur when the object to be conveyed is loaded.

In addition, despite the large installation space, there is a disadvantage that the range of displacement.

An object of the present invention for solving the above problems relates to a multi-joint phase holding device provided with a plurality of links and shafts, even if the rotational force is provided to any one of the plurality of links, the phase holding portion located at the end has a constant phase And a phase holding means for maintaining the phase, and further comprising an angle adjusting means for controlling the angle of the link while providing a rotational force to one of the axes to maintain the phase of the phase holding part. It is to provide a multi-joint phase holding device that can be operated by the position control unit to enable the position control.

Another object of the present invention is to enable a three-dimensional movement of the phase holding portion, but by maintaining the phase (angle), the articulated phase holding device which enables the transfer of transfer objects at various positions within the working radius. It is to offer.

It is still another object of the present invention to provide a multi-joint phase holding device that can be installed or operated in a narrow place by configuring the work radius to be significantly reduced because it can spread or overlap multiple links.

The articulated phase holding device according to the present invention includes a reference axis fixed to one side of a frame, a revolving current collector while maintaining a constant distance from the reference axis, and a rotation of the revolving current collector combined with the revolving reference plane and the reference axis. A phase holding means comprising a first force transmitting portion for regulating and a first supporting portion for revolving with respect to a state in which a whole is kept in phase when rotating about the reference axis; Located on the concentric circle with the reference axis, the angle adjusting shaft rotatable with respect to the frame, the first driven shaft rotatable in parallel with respect to the angle adjusting axis and rotatable coupled to the angle adjusting shaft and the first driven shaft interlocked An angle adjusting means comprising a second force transmission part and a second support part rotatably spaced apart from the angle adjusting shaft and the first driven shaft; A phase holding part for holding a phase when the first driven shaft or the second supporting part is rotated; Located between the phase holding unit and the current collector and characterized in that it comprises an operating means for guiding the revolving of the phase holding unit on the basis of the current collector.

The first driven shaft and the current collector are characterized by having the same center of rotation.

The current collector is characterized in that freely rotatable on a concentric circle with respect to the first driven shaft.

The operation means includes: a phase holding axis spaced in parallel with the current collector, a third force transmission unit coupled to the phase holding axis and the current collector to regulate the rotation of the phase holding axis, and the phase holding axis with respect to the current collector. It characterized in that it comprises a third support that is rotatably spaced.

One side of the third support portion, characterized in that the first driven shaft and the third support portion is provided with a connecting portion for transmitting a rotational force to rotate in conjunction.

The first force transmission unit, the second force transmission unit, and the third force transmission unit, by limiting the slip between the reference axis and the current collector, the angle adjusting axis and the first driven shaft, and the revolution and phase maintenance axis, It is characterized by a configuration that makes it possible only.

At least one side of the first support portion, the second support portion, and the third support portion is characterized in that the weight balance for reducing the load of the force generating portion by offsetting the weight of the transfer object.

The first driven shaft is characterized in that penetrating the interior of the whole.

Both ends of the current collector are located inside the first support and the third support.

One side of the frame is characterized in that the force generating portion comprising a first force generating portion for rotating the first support portion, and a second force generating portion for rotating the angle adjustment shaft.

One side of the frame is characterized in that the movement unit for enabling the three-dimensional movement of the phase maintenance unit is provided.

One side of the phase holding unit, characterized in that the additional device for any one or more of the operation of the suction, gripping, conveying, rotation with respect to the transfer object is further provided.

One side of the reference axis, it characterized in that the phase switching means for forcing the rotation of the reference axis to switch the phase of the phase holding unit.

In the multi-joint phase holding device according to the present invention, even if the rotational force is provided to any one of the plurality of links, the phase holding part positioned at the end is provided with phase holding means for maintaining a constant phase, and the rotational force is provided to any one axis. It was further provided with angle adjusting means for controlling the angle of the link while maintaining the phase of the phase holding portion.

Therefore, by selectively operating the phase holding means and the angle adjusting means to maintain the phase (angle) of the phase holding portion, since two-dimensional movement is possible, the transfer of the displaced object at various positions within the working radius is advantageous. have.

In addition, since a plurality of links can be expanded or overlapped, the work radius is configured to be significantly reduced, so that installation and operation in a narrow place can be performed.

In addition, there is an advantage that can be applied to clean room equipment because the structure of the foreign matter is minimized.

In addition, since the phase holding unit or the movement unit to the linear or rotational movement in the frame is possible to load and transport in three dimensions at different heights and locations of different positions there is an advantage that the application range is expanded.

1 is a perspective view showing the configuration of a loading apparatus according to the prior art.

Figure 2 is a cross-sectional view showing the configuration of a lifter according to the prior art.

Figure 3 is an internal configuration showing the configuration of a multi-joint phase holding device according to the present invention.

Figure 4 is a side view showing an operation example of the articulated phase holding device according to the present invention.

5 is an enlarged view of a portion “A” of FIG. 3 showing a detailed configuration of a multi-joint phase holding device according to the present invention;

Figure 6 is a schematic diagram for explaining the principle of maintaining the phase of the second force transmission member and the phase holding axis as one configuration in a multi-joint phase holding device according to the present invention.

Figure 7 is a schematic diagram for explaining the principle of operation of the angle adjusting means of one configuration in the articulated phase holding device according to the present invention.

8 is a use state showing an example of the application of the angle adjusting means of one configuration in the articulated phase holding device according to the present invention.

Figure 9 is a use state showing another application example of the angle adjusting means of one configuration in the articulated phase holding device according to the present invention.

10 is an internal configuration diagram showing a configuration of another embodiment of a multi-joint phase holding device according to the present invention.

Hereinafter, an external configuration of a multi-joint phase holding device (hereinafter, referred to as a 'phase holding device') according to the present invention will be described with reference to FIGS. 3 and 4.

3 is an internal configuration diagram showing the configuration of the articulated phase holding device according to the present invention, and FIG. 4 is a side view showing an example of the operation of the articulated phase holding device according to the present invention.

Prior to this, the terms or words used in this specification and claims should not be construed in the ordinary and dictionary sense, and the inventors may appropriately define the concepts of terms in order to best describe their invention. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that the present invention.

Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, and various equivalents may be substituted for them at the time of the present application. It should be understood that there may be water and variations.

As shown in the accompanying drawings, the phase maintenance apparatus according to the present invention is rotatably coupled to a plurality of links (first support portion 140, second support portion 240 and third support portion 340 to be described below, Despite the rotation of the plurality of links is configured so that the phase of the phase maintenance unit 110 located on the upper side can be maintained.

Therefore, the phase holding device is capable of seating and transporting the transfer object K on the phase holding part 110, and the operating radius is provided by the moving part 190 including the linear motion part 192 and the rotational motion part 194. Minimize, but transfer the object to be loaded in place in the three-dimensional space.

For example, even if the height of the phase holding unit 110 is varied by rotating the first supporting unit 140, the second supporting unit 240, and the third supporting unit 340 as shown in FIG. 4, the phase holding unit 110 is in phase (angle). It is possible to stably support and transport the object to be conveyed.

A detailed configuration of the phase holding device will be described with reference to FIGS. 3 and 5. The phase holding device includes a phase holding means 100 for holding a phase of the phase holding part 110, and the first holding device. In conjunction with the operation of the angle adjusting means 200, the phase holding means 100 or the angle adjusting means 200 for adjusting the angle of the support 140, the second support 240 and the third support 340 It is configured to include an operating means 300 to maintain or rotate the phase of the phase maintenance unit 110.

The phase holding means 100 rotates the first support part 140 by using the rotational force provided from the first force generating part 182, and at this time, the phase of the phase holding part 110 can be maintained as it is. Do this.

In addition, the angle adjusting means 200 is a configuration for adjusting the angle of the third support portion 340 by the force provided from the second force generating portion 184.

In addition, the operation means 300 is configured to allow the phase maintenance unit 110 to maintain the phase in conjunction with the phase maintenance means 100.

First, referring to a detailed configuration of the phase holding means 100, the phase holding means 100 is a reference axis 120 is fixed to one side of the frame 101 for supporting a plurality of components and the reference axis 120 The first power transmission unit 150 for regulating the rotation of the current collector 130 is coupled to the current collector 130 and the reference shaft 120 while maintaining a constant distance as a reference; The first support unit 140 rotates with the rotation force provided by the first force generating unit 182, guides the revolution of the collector 130 based on the reference axis 120, and maintains the phase of the collector 130. It is configured to include.

The frame 101 forms a lower outline of the phase maintenance device and supports a plurality of components. A lower portion of the frame 101 may include a linear movement portion 192 and a rotation movement portion 194.

The reference axis 120 is inserted into the horizontal portion in the left portion of the frame 101. The reference shaft 120 is fixed so as not to move in the state inserted into the frame 101, one side of the frame 101 is provided with a fixing pin 102 to limit the rotation of the reference shaft 120 do.

The left side portion of the reference shaft 120 is positioned inside the first support portion 140 to rotatably support the first support portion 140.

The first support portion 140 is empty inside the predetermined space is formed, the space is embedded with the reference shaft 120, the first force transmission unit 150 and the shaft guide member 123.

The shaft guide member 123 is preferably a bearing is applied in a configuration that supports and guides so that the first support portion 140 can rotate relative to the reference shaft 120.

In addition, the first support unit 140 may be configured to be selectively opened to be configured to replace and repair a plurality of parts.

The flange 122 is provided on the right side of the first force generating unit 182. The flange 122 is axially coupled to the first force generating portion 182 and rotatable, and the right side is coupled to the first support portion 140 so that the force of the first force generating portion 182 is the first support portion 140 To be delivered).

Accordingly, the left end of the flange 122 is axially coupled with the first force generating unit 182 after being inserted into the left frame 101, and the first rotation guide member adopting a bearing for smooth rotation ( 124 is built in.

The left end of the reference shaft 120 is spaced apart from the flange 122 to enable the rotation of the first support unit 140, the first force transmission unit 150 is provided inside the first support unit 140. .

The current collector 130 is a configuration for revolving a predetermined distance from the reference axis 120 when the first support unit 140 rotates, the phase holding unit 110 by the action of the current collector 130. ) Phase can be maintained, and the first driven shaft 210, which is one component of the angle adjusting means 200, is inserted therein and is free to rotate with each other.

That is, the current collector 130 has a hollow tubular shape (see FIG. 5), the first driven shaft 210 is inserted therein, and the second rotating guide member 126 is provided on the outside thereof. A third rotation guide member 128 is inserted between the first driven shaft 210 and the current collector 130.

In addition, a fourth rotation guide member 212 is provided on an outer surface of the first driven shaft 210.

Accordingly, the current collector 130 is rotatable separately from the first driven shaft 210, and the first driven shaft 210 is freely rotated with respect to the first support 140 and the second support 240. It stays as possible.

By providing the first force transmission unit 150 in a state where the current collector 130 is free to rotate, the phase of the current collector 130 may be maintained despite the rotation of the first support unit 140.

The first force transmission part 150 includes a first force transmission member 152, a second force transmission member 154, and a third force transmission member 156.

That is, the first force transmission unit 150 and the first force transmission member 152 axially coupled with the reference shaft 120, and the second force transmission member 154 axially coupled with the collector 130 And a third force transmission coupled to the first force transmission member 152 and the second force transmission member 154 so as to limit the sliding, and to regulate the rotation of the entire body 130 when the first support 140 is rotated. And a member 156.

The first force transmission member 152 is axially coupled to the reference shaft 120 is fixed so as not to rotate with respect to the frame 101, the second force transmission member 154 is axially coupled to the collector 130 and the ball Works with the whole 130.

In addition, the first force transmission member 152 and the second force transmission member 154 maintain a state spaced apart by a predetermined distance by the first support portion 140.

The third force transmission member 156 is constrained to prevent the second rotation force transmission member 154 from rotating when the first support unit 140 is rotated by the operation of the first force generation unit 182 so that the phase is maintained. It is a constitution.

That is, the third force transmission member 156 is preferably in a state in which the unevenness formed on the inner surface is in contact with the unevenness formed on the outer surface of the first force transmission member 152 and the second force transmission member 154, without slipping. When the first support unit 140 does not rotate, the first force transmission member 152 is supported by the third force transmission member 156 so as not to rotate the second force transmission member 154.

Accordingly, the first force transmission member 152 and the second force transmission member 154 have the same outer diameter size, and the irregularities formed in the first force transmission member 152 and the second force transmission member 154 are the same. Size and shape.

In addition, the unevenness formed in the third force transmission member 156 is also configured to have the same size and shape as the unevenness of the first force transmission member 152 and the second force transmission member 154.

Hereinafter, a detailed configuration of the angle adjusting means 200 will be described with reference to FIG. 3.

The angle adjusting means 200 is located on the lower right of the phase maintenance device, rotatably coupled to the frame 101, the angle adjusting shaft 220 is disposed concentrically spaced with the reference axis 120, A first driven shaft 210 spaced apart in parallel with a straight line formed by the reference axis 120 and the angle adjusting shaft 220, and the connection between the first driven shaft 210 and the angle adjusting shaft 220 The angle adjusting shaft 220 and the first driven shaft 210 is configured to include a second force transmission unit 250 to interlock by restraining from free rotation.

The angle adjusting shaft 220 is coupled to the second force generating unit 184 and rotated to receive a rotational power, the fifth rotation guide member for smooth rotation of the angle adjusting shaft 220 inside the frame 101 ( 222 is provided, and the sixth rotation guide member 224 is provided inside the second support part 240 to enable rotation between the second support part 240 and the angle adjustment shaft 220.

The angle adjusting shaft 220 is provided with a fourth force transmission member 252 which is one component of the second force transmission part 250. The fourth force transmission member 252 is configured to interlock and engage to be integrated with the angle adjustment shaft 220.

The fifth force transmission member 254 is provided on the right side of the outer surface of the first driven shaft 210. The fifth force transmission member 254 is configured to have the same size as the fourth force transmission member 252 and is axially coupled to interlock with the first driven shaft 210.

In addition, the fourth force transmission member 252 and the fifth force transmission member 254 are meshed with the sixth force transmission member 256 to maintain free rotation with each other.

Therefore, when the second force generating portion 184 generates a rotational force, the angle adjustment shaft 220 and the fourth force transmission member 252 is rotated at the same time, the rotational force of the fourth force transmission member 252 is By transmitting to the fifth force transmission member 254 through the sixth force transmission member 256, it is possible to rotate the first driven shaft 210.

The second support part 240 has the same length as the first support part 140, and a predetermined space is formed therein to allow the angle adjusting shaft 220 to pass therethrough, and the fourth force transmission member 252 and The fifth force transmission member 254 and the sixth force transmission member 256 can be embedded.

A first driven shaft 210 is provided between the angle adjusting means 200 and the phase maintaining means 100, and the third support part 340 is rotatably coupled by the first driven shaft 210. .

The third support portion 340 is a configuration of the operation means 300, the phase holding portion 110 is provided on the upper side, at the same time with the first support portion 140 during the operation of the first force generating portion 182 The phase of the phase holding unit 110 is maintained while rotating.

In addition, the third support part 340 is configured to rotate along the first driven shaft 210 when the angle adjusting means 200 operates, and the phase maintaining part 110 is configured to always maintain the same phase. do.

Hereinafter, the configuration of the operation means 300 will be described with reference to FIGS. 3 and 5.

5 is an enlarged view of a portion “A” of FIG. 3 showing a detailed configuration of a multi-joint phase holding device according to the present invention.

As shown in the drawing, the operation means 300 prevents the rotation of the phase holding axis 310 spaced in parallel from the first driven shaft 210 and the phase holding axis 310 from the current collector 130 and rotates. And a third force transmission part 320 and a third support part 340.

The phase maintenance shaft 310 is integrally coupled with the phase maintenance unit 110 and maintained in phase by the operation of the third force transmission unit 320, so as to revolve about the first driven shaft 210. It is composed.

To this end, a seventh rotation guide member 312 is provided on an outer surface of the phase maintenance shaft 310, and an eighth force transmission member 324 is axially coupled to the center.

The eighth force transmission member 324 is a configuration of the third force transmission part 320, and the seventh force transmission member 322 and the seventh force transmission coupled to the right side of the outer surface of the whole body 130, It is a main configuration of the third force transmission part including a ninth force transmission member 326 which connects the member 322 and the eighth force transmission member 324 into the engaged state.

The seventh force transmission member 322 has the same size as the second force transmission member 154 and is integrally coupled to the outer surface of the current collector 130.

In addition, the eighth force transmission member 324 is also configured to have the same size and number of protrusions and depressions as the seventh force transmission member 322.

Therefore, if the current collector 130 does not rotate, the phase maintenance shaft 310 is a constraint force of the seventh force transmission member 322, the eighth force transmission member 324, and the ninth force transmission member 326. It is not rotated by, and the phase holding axis 310 can be rotated only when the current collector 130 is rotated.

Therefore, even if the phase maintaining shaft 310 is coupled to allow free rotation in the third support part 340, the free rotation may be limited by the action of the third force transmission part 320.

Reference numeral 327 of FIG. 5 denotes an eighth rotation guide member for guiding rotation between the current collector 130 and the third support 340, and reference numeral 328 denotes a third support portion for the first driven shaft 210. The ninth rotation guide member 326 for guiding the rotation of the 340, the third support portion 340 and the first driven shaft 210 is a structure coupled by the connecting portion 370.

In addition, reference numeral W of FIG. 3 is a weight balance for reducing the moment acting on the force generating unit 180 by canceling the weight of the object to be transferred. The weight balance W is provided at the ends of the first support part 140 and the second support part 240 in the embodiment of the present invention, but is within a range that can reduce the load of the force generating part 180. It may be provided at the end of the three support portion 340.

Hereinafter, the principle of maintaining the phase of the phase holding axis 310 during the operation of the phase holding means 100 will be described with reference to FIG. 6.

6 is a schematic view for explaining the principle of maintaining the phase of the second force transmission member 154 and the phase holding axis 310 of one configuration in the multi-joint phase holding device according to the present invention.

Referring to P1, P2, S1, and S2 shown in FIG. 6, the first support part 140 rotates α ° counterclockwise with respect to the reference axis 120 by the operation of the first force generating part 182. In this case, S1 which is a specific point of the third force transmission member 156 is moved to the S2 position as the third force transmission member 156 rotates clockwise.

On the other hand, P1, which is a specific point of the second force transmission member 154, is rotated by α ° in the clockwise direction as S1 moves to S2, thereby being placed at the position of P2. As a result, the positions P1 and P2 are shifted only in the non-rotating state, and the phases are the same.

This is because the second force transmission member 154 is in contact with the third force transmission member 156, but the second force transmission member 154 revolves with respect to the first force transmission member 152 as the second force transmission. The member 154 is engaged with the third force transmission member 156 and is a result of the rotation of the inside of the third force transmission member 156 by a predetermined angle.

Therefore, by the action of the first force transmission unit 150, the second force transmission member 154 and the current collector 130 maintains the same phase even if the support is rotated at any angle.

Of course, the first force transmission unit 150 may be variously changed within a range in which slippage is prevented and rolling motion is prevented, such as a chain and a timing belt combined with a sprocket or a pulley, and in the embodiment of the present invention, The timing pulley was applied to the first force transmission member 152 and the second force transmission member 154 and the timing belt was applied to the third force transmission member 156.

Therefore, it is apparent that the first force transmission part 150 may further include a tension holding member (not shown) to maintain the tension of the third force transmission member 156.

Meanwhile, Q1 and an eighth force, which are specific points of the phase holding shaft 310, are moved to the positions S2 and P2 while S1 and P1 are kept in phase by counterclockwise rotation of the first support part 140. The specific point T1 of the transmission member 324 moves to Q2 and T2 to maintain the phase.

More specifically, since the eighth force transmission member 324 is maintained in a restricted state from the seventh force transmission member 322 by the ninth force transmission member 326, S1 and P1 are S2 and P2. As the phase shift unit 110 moves to the state where only the position is changed without rotating, the phase (angle) is maintained.

Even when the first support unit 140 is rotated, the phase maintaining unit 110 may maintain a phase by the above-described action, and the phase maintaining axis 310 may be moved in two dimensions.

In addition, when the first support part 140 rotates while the second force generating part 184 is stopped, the third support part 340 is also in phase because the first support shaft 210 revolves while the phase of the first driven shaft 210 is maintained. In this state, it is orbiting about the reference axis 120.

As described above, the first driven shaft 210 also has a phase maintaining function selectively. For this purpose, the second force generating unit 184 preferably applies a motor or servomotor with a brake.

Hereinafter, the operation of the angle adjusting means 200 will be described with reference to FIG. 7.

7 is a schematic view for explaining the principle of operation of the angle adjusting means 200 which is one configuration in the articulated phase holding device according to the present invention.

As shown in the drawing, when the second force generating unit 184 generates the rotational force and rotates the angle adjusting shaft 220 in the clockwise direction, the second support unit 240 is built as the first support unit 140 does not operate. In this case, the fourth force transmission member 252 rotates the fifth force transmission member 254 in conjunction with the sixth force transmission member 256.

The first driven shaft 210 is rotated by the rotation of the fifth force transmission member 254, and the rotational force of the first driven shaft 210 is connected to the third support part 340 through the connection part 370. Rotated.

At this time, the specific point Q1 of the phase holding axis 310 and the specific point T1 of the ninth force transmission member 326 move to the positions of T1 and Q2 by the same action as that of the first force transmission unit 150 described above. Phase is maintained.

According to the operating principle of the angle adjusting means 200, the third support portion 340 is rotated in the clockwise direction with respect to the first driven shaft 210 as shown in Figure 8, the phase holding axis 310 maintains the phase The phase maintenance unit 110 is directed upward.

Therefore, even if the first force generating unit 182 and the second force generating unit 184 rotate, respectively, or simultaneously, the phase of the phase maintaining unit 110 is maintained.

The scope of the present invention is not limited to the above-exemplified embodiments, and many modifications based on the present invention will be possible to those skilled in the art within the above technical scope.

For example, in the embodiment of the present invention, the frame 101 is configured to be positioned on the ground, but may be used by being attached to the ceiling in an upside-down form as shown in FIG. 9.

In addition, in the embodiment of the present invention, the force generating unit 180 may include a first force generating unit 182 for the phase maintaining unit 100 and a second force generating unit 184 for the angle adjusting unit 200. Although divided and configured, as shown in FIG. 10 by having a gear box in a single force generating unit 180 so that the reference shaft 120 and the angle control shaft 220 rotates in reverse, the first support unit 140, the second The support 240 and the third support 340 may be configured to rotate at the same angle at the same time.

In this case, the phase maintaining unit 110 includes a phase shifting means 196 for artificially rotating the reference axis 120 to rotate the reference axis 120 to phase the phase maintaining unit 110 as shown in the right side of FIG. 9. In addition, the phase shift means 186 added separately may be a brake-mounted motor or the like.

If the phase shifting means 186 is applied as a brake-mounted motor, since the reference shaft 120 can be selectively fixed, the fixing pin 102 can be removed.

On the other hand, the phase maintenance unit 110 may be further provided with an additional device (not shown) for any one or more operations of the suction, gripping, and rotation of the transfer object (K).

The present invention is provided with a phase holding means for maintaining a constant phase, even if the rotational force is provided to any one of the plurality of links, and provides a rotational force to any one axis to maintain the phase of the phase holding portion It was further provided with an angle adjusting means for controlling the angle of the link.

Therefore, it is possible to control the position of the phase holding part by selectively operating the phase holding means and the angle adjusting means. .

In addition, by providing a phase maintenance function by mechanical coupling without providing a separate driving unit for phase maintenance, maximum efficiency can be obtained at a low manufacturing cost due to the reduction of the number of driving units.

In addition, the position of the driving unit is located at the bottom, and thus the power can be reduced by minimizing the moment, and the weight and the occurrence of foreign matter can be minimized, so that it can be applied to a clean room.

Claims

A reference axis fixed to one side of the frame, a revolving power source while maintaining a constant distance from the reference axis, a first force transmission unit coupled to the revolving body and the reference axis to regulate the rotation of the revolving material, and the reference A phase holding means comprising a first support portion for revolving the current collector while maintaining a phase when rotating about an axis;

Located on the concentric circle with the reference axis, the angle adjusting shaft rotatable with respect to the frame, the first driven shaft rotatable in parallel with respect to the angle adjusting axis and rotatable coupled to the angle adjusting shaft and the first driven shaft interlocked An angle adjusting means comprising a second force transmission part and a second support part rotatably spaced apart from the angle adjusting shaft and the first driven shaft;

A phase holding part for holding a phase when the first driven shaft or the second supporting part is rotated;

And a means for locating between the phase holding part and the current collector to guide the revolving of the phase holding part with respect to the current collector.
The multi-joint phase holding device according to claim 1, wherein the first driven shaft and the current collector have the same center of rotation.
The multi-joint phase holding device according to claim 2, wherein the current collector is rotatable freely on a concentric circle with respect to the first driven shaft.
The method of claim 3, wherein the operation means,

A phase holding axis spaced apart in parallel with the current collector;

A third force transmission part coupled to the phase holding axis and a whole to regulate the rotation of the phase holding axis;

And a third support portion rotatably spaced apart from the phase holding shaft.
According to claim 4, One side of the third support,

Multi-joint phase maintenance device, characterized in that the connecting portion for transmitting a rotational force to rotate the first driven shaft and the third support in conjunction with.
The method of claim 5, wherein the first force transmission portion, the second force transmission portion and the third force transmission portion,

And a revolving joint between the reference axis and the collector, the angle adjusting shaft and the first driven shaft, and the sliding between the collector and the phase maintaining shaft, thereby allowing only the revolution.
According to claim 6, At least one side of any one of the first support, the second support and the third support,

And a weight balance for reducing the load of the force generating part by offsetting the weight of the object to be conveyed.
8. The multi-joint phase holding device according to claim 7, wherein the first driven shaft penetrates the inside of the whole body.
The method of claim 8, wherein both ends of the current collector,

Multi-joint phase maintenance device, characterized in that located in the first support and the third support.
The method of claim 9, wherein the one side of the frame,

And a force generating portion including a first force generating portion for rotating the first support portion and a second force generating portion for rotating the angle adjusting shaft.
The method of claim 10, wherein the one side of the frame,

Multi-joint phase holding device, characterized in that the movement is provided to enable any one or more of the rotational movement and the linear movement to enable the three-dimensional movement of the phase holding portion.
According to claim 1, One side of the phase holding unit,

Multi-articular phase maintenance device further comprises an additional device for any one or more of the operation of suction, gripping, conveying, rotation of the object to be transported.
According to claim 1, One side of the reference axis,

And a phase shifting means for forcing the rotation of the reference axis to switch the phase of the phase retainer.