WO2015119323A1

WO2015119323A1 - Device for changing connection position of cable for cable-based parallel robot

Info

Publication number: WO2015119323A1
Application number: PCT/KR2014/001559
Authority: WO
Inventors: 고성영; 박석호; 박종오; 최대웅; 진수에메이
Original assignee: 전남대학교산학협력단
Priority date: 2014-02-04
Filing date: 2014-02-26
Publication date: 2015-08-13
Also published as: KR20150091776A; KR101627766B1

Abstract

A device for changing the connection position of a cable for a cable-based parallel robot is provided. The device for changing the connection position of the cable for the cable-based parallel robot comprises: a cable position adjusting unit capable of changing a relative position of the cables; and a pair of cable connecting rods coupled to the cable position adjusting unit. The device for changing the connection position of the cable for the cable-based parallel robot actively changes a connection method for two pairs of cables into several methods so as to widen a workspace of the cable robot and enable the cable robot to be used in various application fields due to the creation of the wide workspace. In addition, with respect to a singularity which can occur when the two pairs of cables arranged in a diagonal direction and a work tool are on a straight line during the operation of the robot, the angle of the cable position changing device is changed so as to allow the cables and the work tool to avoid being on the straight line such that the singularity of the robot can be avoided, thereby more effectively controlling the robot.

Description

Cable connection position changer for cable-based parallel robots

The present invention relates to a cable connection position changing device for a cable-based parallel robot, and more particularly, to a cable connection position that can actively change the connection position of the cable to effectively use the workspace of the cable-based parallel robot It relates to a change device.

Recently, the robot industry has made steady progress in technology and scale. Among them, a new type of robot, a parallel cable robot, is a robot that replaces a link of an existing robot with a cable, and has advantages such as a large working space, a large load, and a high speed movement. Since this type of robot uses cables, it has the advantage of being able to move quickly and create a large workspace.

Parallel cable robots are also a type of robotic system with great potential for use in a variety of applications such as industry, play and the environment. Specifically, it can be used for a paint robot for painting a ship, a cleaning robot for cleaning an outer wall or window of a building, a crane robot for moving a heavy object, and the like. In addition, in the cable park in Korea, there is a place where water sports can be enjoyed using cable structures, and rides using cables are also developed and operated. In the environmental field, a water quality inspection cable robot has been developed that can inspect and manage the water quality of rivers, lakes and the sea.

However, the cable robot has a disadvantage that it does not use all the workspace. Unlike other robots, cable robots use cables as driving bodies, so they can pull objects but cannot push them. As the cable robot's driver approaches the outside of the frame attached, there is a space that cannot be created as the direction of pulling the cable and the direction of the force to be created become vertical.

In particular, as the angle of the moving part of the cable robot is turned, the working space becomes smaller and the outer part of the frame to which the driving part of the cable robot is connected is more unreachable. If the cable is connected to the end of the moving part without crossover, even if the moving part rotates slightly, the working space is greatly reduced. To solve this problem, the crossover of a flat cable-based parallel robot up / down or left / right can reduce the work space to some extent. In the case of cable robots crossed up and down, the working area of the up / down direction is almost maintained as the rotation angle of the moving part increases, but the working area of the left and right is greatly reduced. As the size increases, the work space to the left and right is almost maintained, but the work space to the up and down is greatly reduced. Therefore, when you perform a lot of left / right movements, you can cross them left / right. On the contrary, when you perform a lot of up / down movements, you can cross them up / down to maintain the performance. .

That is, as shown in Figure 5, it can be seen that there is a method (a) that the cable is connected without crossing, a method (b) that the cable is crossed left and right, and a method (c) that the cable is crossed up and down, Figure 6 to Referring to FIG. 8, when there is no intersection, as shown in FIG. 6, when the moving part rotates, the work space is greatly reduced, and thus, when there is an intersection, the work space increases, and when the cross is moved to the left and right as shown in FIG. It can be easily reduced to secure a long working space from side to side, and when crossed vertically as shown in Figure 8 it can be seen that the working space on the left and right can be significantly reduced to secure a long working space up and down.

However, since there are advantages and disadvantages of each cable depending on the type of crossover, the robot user can actively change the presence or absence of the cross, the top and bottom, and the left and right cross shape while driving to take full advantage of the advantages. A device is needed.

An object of the present invention is to provide a cable connection position changing device for a cable-based parallel robot that can actively change the connection position of the cable.

The object of the present invention is not limited to the above-mentioned object, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention for achieving the above technical problem, and includes a cable position adjusting unit that can change the relative position of the cable and a pair of cable connecting rod coupled to the cable position adjusting unit.

According to another aspect of the present invention for achieving the above technical problem, the cable position adjusting unit is a motor for providing a rotational force, a brake for limiting the movement of the pair of cable connection rod and the pair of cable connection rod is rotated symmetrically It includes a direction changer for changing the rotation direction of the motor to be.

According to another aspect of the present invention for achieving the above technical problem, and further comprising a weight that can give the center of the weight of the motor at a position corresponding to the motor.

According to another aspect of the present invention for achieving the above technical problem, the cable position adjusting unit for changing the rotational direction of the motor so that the motor to provide a rotational force and the pair of cable connection rod can be rotated symmetrically Include.

According to another aspect of the present invention for achieving the technical problem, the directional gear is rotated by receiving a rotational force from the motor, a pair of worm gear that is rotated in response to the rotation of the worm is engaged with both sides of the worm, the worm gear And a pair of upper gears coupled to the same axis and coupled to different surfaces of the worm gear and a pair of upper center gears engaged with the upper gears to rotate in response to rotation of the upper gears. The pair of cable connecting rods are coupled on the same axis line as the upper center gear.

According to another aspect of the present invention for achieving the above technical problem, further includes a case body surrounding the motor, worm, worm gear, upper gear and upper central gear.

According to another aspect of the present invention for achieving the above technical problem, the pair of worm gears, a pair of upper gears, a pair of upper central gears and a pair of cable connecting rods are arranged to be symmetrical left and right.

According to another aspect of the present invention for achieving the above technical problem, it further comprises a control unit for generating a control signal for adjusting the amount of rotation of the motor by determining the amount of rotation of the motor for changing the position of the cable.

The cable connection position changing device for a cable-based parallel robot according to the present invention actively changes two pairs of cable connection methods in various ways, thereby widening the working space of the cable robot and creating a wide working space. There is an effect that can be used for a variety of applications.

In addition, in the peculiarity that can occur when two pairs of cables and work tools are arranged diagonally when operating the robot, the cables and work tools exist in a straight line by changing the angle of the cable repositioning device. By avoiding the robot specificity can be avoided, which has the effect of controlling the robot more effectively.

1 is a view showing a state in which a cable connection position changing device for a cable-based parallel robot according to an embodiment of the present invention mounted on a cable robot.

Figure 2 is a perspective view of a cable connection position changing device for a cable-based parallel robot according to an embodiment of the present invention.

3 is a perspective view of a cable connection position changing device for a cable-based parallel robot according to another embodiment of the present invention.

Figure 4 is a view showing the operating state of the cable connection position changing device for a cable-based parallel robot according to another embodiment of the present invention.

5 is a view showing a cable connection method of a cable robot.

6 is a graph analyzing the working space in the way the cable is connected without crossing.

7 is a graph analyzing the working space in the way the cable crosses from side to side.

8 is a graph analyzing the working space in the way the cable is crossed up and down.

FIG. 9 is a graph analyzing a work space in which FIGS. 7 and 8 are superimposed.

[Description of the code]

10: cable robot 11: robot frame

12: driver 13: driver control motor

14 cable 20 cable position adjustment unit

21: Worm 22: Worm Gear

23: upper gear 24: upper center gear

25: case body 26: motor

27: brake 28: weight

30: cable cross rod

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents described below. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete, and that the spirit of the present invention to those skilled in the art will fully convey. Like numbers refer to like elements throughout. Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular forms also include the plural unless specifically stated otherwise in the text. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements in which the mentioned components, steps, operations and / or elements are known. Or does not exclude additions.

1 to 9, a cable connection position changing device for a cable-based parallel robot according to an embodiment of the present invention will be described in detail. 1 is a view showing a state in which a cable connection position changing device for a cable-based parallel robot according to an embodiment of the present invention mounted on a cable robot, Figure 2 is a cable-based parallel type according to an embodiment of the present invention 3 is a perspective view of a cable connection position changing device for a robot, FIG. 3 is a perspective view of a cable connection position changing device for a cable-based parallel robot according to another embodiment of the present invention, and FIG. 4 is according to another embodiment of the present invention. FIG. 5 is a view illustrating an operation state of a cable connection position changing device for a cable-based parallel robot, FIG. 5 is a view showing a cable connection method of a cable robot, and FIG. 7 is a graph analyzing a work space in a method in which cables are crossed from side to side, and FIG. 8 is a cable crossing up and down. And analysis of the working space in such a way graph, Figure 9 is a graphical analysis of the workspace superimposed to FIG. 8 and FIG.

Referring to Figure 1, the cable connection position change device for a cable-based parallel robot according to an embodiment of the present invention consists of a structure that is connected to and supported by the cable 14 of the cable robot 10, the cable ( The length of 14 is adjusted by the driver 12 and the driver control motor 13 mounted on the frame 11, thereby enabling work in a predetermined work space.

Referring to FIG. 1, a cable connection position changer for a cable-based parallel robot according to an embodiment of the present invention includes a cable position adjuster 20 and a cable position adjuster 20 capable of largely changing a relative position of a cable. And a pair of cable connection rods 30 coupled to 20).

2, the cable position adjusting unit 20 of the cable connection position changer for a cable-based parallel robot according to an embodiment of the present invention is a motor 26 for providing a rotation force, a pair of cable connection rod It includes a brake 27 for limiting the movement of the 30 and the direction change unit (not shown) for changing the rotation direction of the motor 26 so that the pair of cable connecting rod 30 can be rotated symmetrically Can be configured. Any one of the devices for allowing the direction change unit to reverse the rotation direction of one side and the other side is sufficient.

In addition, the cable connection position change device for a cable-based parallel robot according to an embodiment of the present invention is a weight weight 28 that can be aligned to the center of the weight of the motor 26 in a position corresponding to the motor 26 It may be configured to include more.

The brake 27 serves to prevent the cable connection rod 30 from moving when tension is generated in the cable by the driver 12. In other words, when the cable connection position is completed and the cable robot is driven, the tension of the cable can be maintained so that the tension can be maintained while increasing the working space.

The weight 28 serves to effectively maintain the center of gravity during driving to enable the safety and effective control of the device.

Referring to FIG. 3, a cable connection position changing device for a cable-based parallel robot according to another embodiment of the present invention includes a motor (not shown) providing a rotational force and the pair of cable connection rods 30 to be symmetrical. It may be configured to include a direction change unit for changing the rotation direction of the motor to be rotated.

In addition, the direction change unit is provided with a rotation force from the motor to rotate the worm 21, a pair of worm gear 22 to rotate in response to the rotation of the worm 21, the worm 21, the worm gear ( A pair of upper gears 23 coupled to the same axis as 22) and coupled to different surfaces of the worm gear 22 and the upper gears 23 to rotate in response to the rotation of the upper gears 23. It is configured to include a pair of upper central gear 24, the pair of cable connecting rod 30 may be coupled to the same axis line with the upper central gear (24).

As shown in FIG. 3, the upper gear 23 is coupled to different surfaces based on the worm gear 22, so that the upper gear 23 is rotated according to the rotation of the worm 21 and the worm gear 22. Rotate in different directions, and the upper center gear 24 and the cable connecting rod 30 meshed with the upper gear 23 also rotate in different directions. Accordingly, the direction of the connecting rod 30 may be changed without the rotation of the motor (not shown) and the case body 25 which are connected to the worm 21 to transmit the rotational force.

The worm 21 and the worm gear 22 serve to change the position of the cable 14 by crossing the cable connection rod 30 left and right or up and down, as well as by the driver control motor 12. It prevents the change of position due to tension occurring in 14).

In addition, a pair of worm gear 22, a pair of upper gear 23, a pair of upper center gear 24 and a cable connection position change device for a cable-based parallel robot according to another embodiment of the present invention and The pair of cable connecting rods 30 may be configured in left, right, up and down symmetrical forms to effectively maintain the center of gravity. Therefore, the effect of enabling the stability and effective control of the device can be obtained.

In addition, the motor, the worm 21, the worm gear 22, the upper gear 23, may further include a case body 25 surrounding the upper center gear 24.

With reference to Figure 4 will be described in detail the operation of the cable connection position change device for a cable-based parallel robot according to another embodiment of the present invention.

When the worm 21 is rotated in the clockwise direction as shown in Fig. 4 (a), the worm 21 and both of the worm gears 22 are rotated toward the worm 21 and the same as the worm gear 22 The upper gear 23 axially coupled on the axis also rotates in the same direction as the worm gear 22. In addition, the upper gear 23 and the upper center gear 24 that are bitten are rotated in the opposite direction to the upper gear 23, and the shaft is arranged on the same axis as the upper center gear 24 as shown in FIG. Both ends of each of the coupled cable connecting rods 30 cross each other. That is, the

positions

1 and 2 in FIG. 4 (a) intersect up and down to form the same as FIG. 4 (b), and the

positions

3 and 4 are similarly intersected. Therefore, the position of the cable 14 coupled to the end of the cable connecting rod 30 also crosses up and down.

On the contrary, when the worm 21 is rotated counterclockwise as shown in FIG. 4 (c), the left and right positions of the

reference numerals

1 and 4 are changed as shown in FIG. 4 (d). As the left and right positions of 3 are changed, the position of the cable 14 coupled to the end of the cable connecting rod 30 also crosses from side to side.

As described above, the cable 14 coupled to each end of the pair of cable connecting rods 30 may cross each other so that the pair of cable connecting rods 30 rotate in opposite directions to each other. And the upper gear 23 are disposed.

In addition, it may further include a case body 25 surrounding the motor, the worm 21, the worm gear 22, the upper gear 23 and the upper central gear 24. That is, as shown in FIG. 4A, the case body 25 surrounds the motor, the worm 21, the worm gear 22, the upper gear 23, and the upper center gear 24 and the case body 25. The cable connecting rod 30 may be configured to be positioned outside of the.

In addition, the controller 14 may further include a controller (not shown) configured to determine a rotation amount of the motor for changing the position of the cable 14 and to generate a control signal for adjusting the rotation amount of the motor.

Referring to FIG. 5, FIG. 5 (a) shows how the cable 14 is connected without crossing, FIG. 5 (b) shows how the cable 14 crosses from side to side, and FIG. It can be seen that 14) represents the way crossed.

That is, the results of FIG. 4 (a) and (b) are the same as those of FIG. 5 (c), and the results of FIG. 4 (c) and (d) are the same as the results of FIG. Able to know.

By changing the position of the cable 14 as described above, as shown in Figures 6 to 9 can be used without connecting the cable as cross, but if it is necessary to cross the left and right or up and down depending on the working environment of the present invention By using a cable connection position changer for a cable-based parallel robot according to an embodiment of the present invention can actively use the workspace by changing the position of the cable.

That is, as shown in FIG. 7, when the cable crosses from side to side, the left and right directions may be efficiently used. When the cable crosses up and down as shown in FIG. 8, the vertical direction may be efficiently used. The result as shown in FIG. 9 can be obtained by using a cable connection position changing device for a cable-based parallel robot according to an embodiment of the present invention.

Although the present invention has been described in detail with reference to exemplary embodiments above, those skilled in the art to which the present invention pertains can make various modifications to the above-described embodiments without departing from the scope of the present invention. Will understand. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by all changes or modifications derived from the claims and the equivalent concepts as well as the following claims.

Claims

A cable position adjusting unit for changing a relative position of the cable; And

Cable connection position changing device for a cable-based parallel robot comprising a pair of cable connection rod coupled to the cable position control.
The method of claim 1,

The cable position adjusting unit is a motor for providing a rotational force;

A brake to limit movement of the pair of cable connecting rods; And

Cable connection position changing device for a cable-based parallel robot is configured to include a direction change unit for changing the rotation direction of the motor so that the pair of cable connection rod can be rotated symmetrically.
The method of claim 2,

Cable connection position changing device for a cable-based parallel robot is configured to further include a weight that can center the weight of the motor at a position corresponding to the motor.
The method of claim 1,

The cable position adjusting unit is a motor for providing a rotational force; And

Cable connection position changing device for a cable-based parallel robot is configured to include a direction change unit for changing the rotation direction of the motor so that the pair of cable connection rod can be rotated symmetrically.
The method of claim 4, wherein

The turning unit receives a rotational force from the motor to rotate the worm;

A pair of worm gears which mesh with both sides of the worm and rotate in response to the rotation of the worm;

A pair of upper gears which are coupled to the same axis as the worm gear and coupled to different surfaces of the worm gear; And

And a pair of upper center gears which mesh with the upper gears and rotate in correspondence with the rotation of the upper gears.

And the pair of cable connection rods are coupled to the upper center gear on the same axis as the cable connection position changer for the cable-based parallel robot.
The method of claim 5,

Cable connection position changing device for a cable-based parallel robot further comprises a case body surrounding the motor, worm, worm gear, upper gear and the upper central gear.
The method of claim 5,

And a pair of worm gears, a pair of upper gears, a pair of upper center gears, and a pair of cable connection rods are arranged so that left, right, or top and bottom are symmetrical.
The method according to claim 2 or 4,

And a control unit for generating a control signal for adjusting the rotation amount of the motor by determining the rotation amount of the motor for changing the position of the cable.