WO2023080651A1 - Position de bras de positionnement pouvant être verrouillée par un seul dispositif de fixation - Google Patents

Position de bras de positionnement pouvant être verrouillée par un seul dispositif de fixation Download PDF

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Publication number
WO2023080651A1
WO2023080651A1 PCT/KR2022/017073 KR2022017073W WO2023080651A1 WO 2023080651 A1 WO2023080651 A1 WO 2023080651A1 KR 2022017073 W KR2022017073 W KR 2022017073W WO 2023080651 A1 WO2023080651 A1 WO 2023080651A1
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WO
WIPO (PCT)
Prior art keywords
displacement
arm
shaft
positioning arm
fixing
Prior art date
Application number
PCT/KR2022/017073
Other languages
English (en)
Korean (ko)
Inventor
권동수
김창균
이동호
Original Assignee
주식회사 로엔서지컬
한국과학기술원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020210149568A external-priority patent/KR102538799B1/ko
Application filed by 주식회사 로엔서지컬, 한국과학기술원 filed Critical 주식회사 로엔서지컬
Priority claimed from KR1020220144741A external-priority patent/KR20240062809A/ko
Publication of WO2023080651A1 publication Critical patent/WO2023080651A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • the present invention relates to a positioning arm capable of simultaneously fixing a plurality of rotary arms, control shafts, and the like by a single fixing device called a knob and a brake.
  • a positioning arm is a mechanical component that adjusts the position of a mechanism or the like.
  • a positioning arm generally consists of several rotary arms, shafts, links, etc., and there is a limit that each component must be independently fixed for fixing between components.
  • the present invention is to propose a technique capable of simultaneously performing fixing between several components through a single fixing device.
  • related prior patent documents are presented.
  • Patent Document 001 relates to a hollow SCARA robot, the first and second axes are configured in a hollow type so that easy wiring can be provided, and the configuration of the drive shaft to which the tool is coupled is improved so that no dust is generated during operation and external It is intended to provide a hollow scara robot that can be used hygienically and safely by proposing a configuration that can fundamentally block the inflow of moisture from the food and beverage manufacturing process to have performance higher than IP65 protection level.
  • This patent document is fixed to the base and the base; a first arm coupled to a first shaft of a first driving means including a hollow first shaft rotated by a first drive motor installed in the base for normal and reverse driving; A second shaft installed on the opposite side of the first shaft that drives the first arm and coupled to the hollow second shaft rotated by a second driving motor installed at the top of the base to be positioned coaxially with the first shaft and driven in reverse direction.
  • a fourth drive including a third drive means including a third drive motor built into the second arm and driven forward and backward for rotating a drive shaft on which a tool is installed at the lower end and a fourth drive motor for forward and reverse drive for lifting and lowering the drive shaft
  • the drive shaft is presented in a configuration including an upper member of a ball spline structure lifted by the fourth driving means and a lower member of a round bar configuration and interconnected by a coupling as a connecting means.
  • Patent Document 002 relates to a drive shaft power transmission device for a scara robot, and the drive shaft power transmission device for a scara robot according to the present invention is a drive shaft power transmission device for a scara robot, a driving means for applying a rotational force to a drive gear; and, scara A drive shaft on which a work tool of the robot is installed; And, a scissor gear installed on the drive shaft and engaged with the drive gear; including, wherein the scissor gear is composed of a main gear and a support gear, and the teeth of the drive gear are engaged between the teeth of the main gear and the support gear presents a configuration that
  • Patent Document 003 relates to an automatic bolt fastening device, and the process of picking up a bolt from a bolt feeder using a double-armed scara robot and the process of fastening a bolt to a workpiece are performed independently and simultaneously, so that the bolt is stably fastened while bolting It is to be able to significantly reduce the time required for, the body frame; a lower arm rotatably installed in the left and right directions on the body frame; a gripper installed at the distal end of the lower arm to pick up bolts from the bolt feeder; an upper arm rotatably installed in the left and right directions on the body frame at an upper side of the lower arm; a bolt fastener installed at the front end of the upper arm so as to be able to move up and down, moving the bolt picked up by the gripper to the assembly line in a state of vacuum adsorption, and then fastening the bolt to the workpiece located on the assembly line; Including, the process of picking up the bolt from the bolt feeder by the gripper and the process of fasten
  • Patent Document 004 relates to an engine treatment device, which includes a frame; a first scara arm connected to the frame at a shoulder axis, the first scara arm having a first upper arm, a first forearm and at least one substrate holder connected in series rotatably relative to each other; Scara arm; A second scara arm connected to the frame at a shoulder axis, wherein the rotation axes of the shoulder of the first and second scara arms are substantially coincident, and the second scara arm comprises a second upper arm, a second scara arm, and a second scara arm.
  • a second scara arm having a forearm and at least one substrate holder connected in series rotatably relative to each other;
  • a drive section connected to the frame and coupled to the first and second scara arms, the drive section to independently extend and rotate the first and second scara arms,
  • the extension axis of the arm is formed at a respective angular position of at least one of the first or second scara arm substantially at an angle with respect to the extension axis of the second scara arm.
  • Patent Document 005 relates to a dental implant treatment robot system.
  • An implant treatment robot including a; a position detection unit for detecting stereoscopic image data of the patient's implantation site and the position of the handpiece in real time; and after matching and overlapping the coordinates of the three-dimensional image data provided from the position detection unit and the previously entered CT image data for the patient's implantation site, the drill tip of the handpiece can drill the hole in the implantation site.
  • a dental implant treatment robot system characterized in that configured to include a control unit for controlling the implant treatment robot.
  • the stereo camera detects the position of the handpiece and the stereoscopic image data for the patient's implantation site in real time, coordinates match the stereoscopic image data and CT image data for the implantation site, and superimposes them. After that, by controlling the position of the handpiece, there is an effect that the operator can drill a hole for implant operation at a desired depth and angle.
  • Patent Document 001 KR 10-1810878 (registration date: December 14, 2017)
  • Patent Document 002 KR 10-1395618 (registration date: May 09, 2014)
  • Patent Document 004 KR 10-2060544 (registration date: December 23, 2019)
  • Patent Document 005 KR 10-1373066 (registration date: March 05, 2014)
  • An object of the present invention is to provide a positioning arm capable of simultaneously fixing a plurality of rotary arms and control shafts by a single fixing device.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, a first rotary arm capable of rotating with respect to a base; and a second rotary arm capable of rotating with respect to the first rotary arm. cancer; and a fixing module controlling rotation of the first rotary arm and the second rotary arm. It consists of a configuration that includes.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the fixing module includes a first rotary shaft connecting the base and the first rotary arm; a knob located at one end of the first rotating shaft and capable of providing a driving force; and a first friction pad positioned at the other end of the first rotating shaft and generating displacement by rotation of the knob.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module includes: a first fixing block whose displacement is generated by rotation of the knob; and a second fixing block whose displacement is generated by the driving force generated by the displacement of the first fixing block.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module has a first end fastened to the first fixing block in a lock-and-pinion manner. and a shaft, wherein the first shaft rotates by displacement of the first fixing block.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module is a second arm connecting the first rotary arm and the second rotary arm. axis of rotation; and a second friction part integrally formed with the second rotary arm to which frictional force is provided by coming into contact with the second fixing block by displacement of the second fixing block.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the aforementioned invention, the fixing module is integrally formed with the second friction part by the second rotating shaft. a third fixed block; and a second shaft whose displacement is generated by displacement of the third fixing block.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the third fixing block and the second shaft have a configuration in which a contact surface is formed as an inclined plane. It is done.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, a mechanical mount capable of rotating with respect to the second rotary arm; and a second friction pad contacting the machine mount by displacement of the second shaft.
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the mechanical installation includes a cylindrical third friction part; and a coupling portion located inside the third friction portion and to which a mechanical device can be installed, wherein the second friction pad provides frictional force while being in contact with the third friction portion by displacement.
  • the present invention relates to a second positioning arm whose position can be fixed by a single fixing device, and includes two 4-bar links including a fixed shaft whose position is fixed; among the two 4-bar links, the fixed shaft and Two different control shafts sharing a joint; are provided, the two four-section links are each formed in a parallelogram structure, and include a brake for fixing the relative angle between the two different control shafts. consist of.
  • the present invention relates to a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the control shaft comprises: a cylinder; a piston movable along the longitudinal direction of the cylinder;
  • a second displacement that is, a displacement of the piston
  • the present invention is an invention for a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the brake is a rotatable pulley; wound around the pulley and connected to the piston A wire; and a second elastic body having one end coupled to the piston and applying an elastic force in the direction of the second displacement.
  • the present invention relates to a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the first displacement and the second displacement are perpendicular to each other.
  • the present invention is an invention for a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the piston is provided on one side of the piston, and an interlocking part interlocked with the brake; It consists of a configuration including; a pressing part provided on the other side of the piston.
  • the present invention relates to a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, the cylinder is provided on one side of the cylinder, and includes a brake fastening portion engaged with the brake; , a support joint provided on the other side of the cylinder, and a connection joint fastened to the support joint, wherein the support joint and the connection joint are fastened in a ball-socket structure.
  • the present invention is an invention for a second positioning arm whose position can be fixed by a single fixing device, and in the above-described invention, a support body coupling part integrally formed with the connection joint; coupled to the support body coupling unit It consists of a configuration including; a first positioning arm.
  • the first and second positioning arms of the present invention provide structures and effects capable of simultaneously fixing a plurality of rotary arms and control shafts by a single fixing device.
  • FIG. 1 is a perspective view of a first positioning arm according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of a first positioning arm according to an embodiment of the present invention.
  • FIG 3 is a perspective view of a detailed configuration of a first positioning arm according to an embodiment of the present invention.
  • FIG. 4 is a configuration diagram showing a fixing principle of a first rotary arm according to an embodiment of the present invention.
  • FIG. 5 is a plan view of a first positioning arm according to an embodiment of the present invention.
  • FIG. 6 is a configuration diagram showing a fixing principle of a first positioning arm according to an embodiment of the present invention.
  • FIG. 7 is a configuration diagram showing a fixing principle of a machine mount according to an embodiment of the present invention.
  • FIG. 8 is a perspective view of a second positioning arm according to another embodiment of the present invention.
  • FIG. 9 is a conceptual diagram illustrating the operation of a second positioning arm according to another embodiment of the present invention.
  • FIG. 10 is a front view of a second positioning arm according to another embodiment of the present invention.
  • 11 is a block diagram showing the principle of brake and fixing of the second positioning arm according to another embodiment of the present invention.
  • FIG. 12 is a configuration diagram showing various fixing principles of the brake of the second positioning arm according to another embodiment of the present invention.
  • FIG. 13 is a block diagram showing a brake composed of bolts and nuts of a second positioning arm according to another embodiment of the present invention.
  • FIG. 14 is a block diagram showing a brake composed of a rack and a pinion of a second positioning arm according to another embodiment of the present invention.
  • 15 is a block diagram showing a brake composed of a wire and a pulley of a second positioning arm according to another embodiment of the present invention.
  • FIG. 16 is a perspective view illustrating a state in which a first positioning arm and a second positioning arm are coupled according to another embodiment of the present invention.
  • the corresponding configuration may be a configuration conceptually included with the configuration corresponding to the reference numeral 100.
  • Example 1-1 In the first positioning arm whose position can be fixed by a single fixing device, the first rotary arm 100 which can rotate with respect to the base 10; 100); and a fixing module 400 for controlling the rotation of the first rotary arm 100 and the second rotary arm 200;
  • the present invention relates to a first positioning arm whose position can be fixed by a single fixing device, and may include a first rotary arm 100, a second rotary arm 200, and a fixing module 400.
  • the first positioning arm is a structure of a SCARA robot arm, and details thereof will be described later.
  • the first rotary arm 100 may be configured to rotate with respect to the base 10 fixed to the outside.
  • the second rotary arm 200 may be configured to rotate with respect to the first rotary arm 100 .
  • One end of the first rotary arm 100 may be connected to the base 10 and the other end may be connected to the second rotary arm 200 .
  • the fixing module 400 may be configured to control rotation of the first rotary arm 100, the second rotary arm 200, and a machine mount 300 to be described later. Details are described below.
  • Example 1-2 In Example 1-1, the base 10 is installed on a fixed support and can move up and down.
  • Embodiment 1-3 the first rotary arm 100 and the second rotary arm 200 are formed in a structure capable of rotational movement in a plane parallel to the ground.
  • the base 10 of the present invention is a configuration coupled to one end of the first rotary arm 100, and the base 10 may be fixedly installed on a fixed support, but may be movable up and down as needed. there is. If the position of the first positioning arm of the present invention is variable in the horizontal direction with respect to the ground, the base 10 may be configured to be variable in position in the vertical direction.
  • the fixing module 400 includes a first rotary shaft 410 connecting the base 10 and the first rotary arm 100; A knob 401 located at one end of the rotating shaft 410 and capable of providing a driving force; a first friction pad located at the other end of the first rotating shaft 410 and generating displacement by the rotation of the knob 401 (411);
  • Example 2-2 In Example 2-1, the distance between the knob 401 and the first friction pad 411 is narrowed by rotation of the knob 401 in one direction, and the distance is narrowed Accordingly, the first friction pad 411 comes into contact with the first friction part 412 integrally formed with the base 10 to provide frictional force.
  • the fixing module 400 of the present invention may include a first rotary shaft 410, a knob 401, and a first friction pad 411.
  • the first rotary shaft 410 , the knob 401 , and the first friction pad 411 may be components for controlling rotation of the first rotary arm 100 with respect to the base 10 .
  • the first rotational shaft 410 may be configured to connect the base 10 and the first rotational arm 100, and the knob 401 is located at one end of the first rotational shaft 410 by rotating the knob 401. , It is possible to provide a driving force capable of rotating the first rotational shaft 410.
  • the first friction pad 411 may be located on the opposite side of the knob 401 with respect to the first rotation axis 410, and displacement may occur by rotation of the knob 401.
  • Displacement generated in the first friction pad 411 by rotation of the knob 401 in one direction may be in a direction in which the gap with the knob 401 is narrowed.
  • the first friction pad 411 may come into contact with the first friction part 412 while moving upward.
  • the first friction part 412 is integrally formed with the base 10 and may be fixed.
  • the first friction part 412 and the first friction pad 411 may contact each other and be fixed by friction. Through this, rotation of the first rotary arm 100 may be restricted.
  • Example 2-3 In Example 2-3, the first rotary arm 100 is fixed to the base 10 by the frictional force applied to the first friction pad 411 .
  • Embodiment 2-4 In Embodiment 2-1, the rotation of the first rotary arm 100 and the second rotary arm 200 is simultaneously controlled by the rotation of the knob 401 .
  • the distance between the knob 401 and the first friction pad 411 is sufficiently narrowed, and in this process, the first friction pad 411 and the first friction part 412 A sufficient frictional force can be provided.
  • the first friction part 412 is integrally formed with the fixed base 10, and the knob 401 and the first rotary arm 100 may come into close contact with each other to generate friction. Through this, rotation of the first rotary arm 100 with respect to the base 10 may be restricted and fixed.
  • first rotary arm 100 and the second rotary arm 200 have a structure that can be simultaneously controlled by rotation of the knob 401, and a detailed structure will be described later.
  • the fixing module 400 includes a first fixing block 413 in which displacement is generated by rotation of the knob 401; the first fixing block ( 413) and a second fixing block 422 in which displacement is generated by the driving force generated by the displacement.
  • the fixing module 400 may include a first fixing block 413 and a second fixing block 422 .
  • the knob 401 When the knob 401 is sufficiently rotated in one direction, it comes into contact with the first fixing block 413 and causes downward displacement of the first fixing block 413 .
  • the second fixing block 422 As the first fixing block 413 is moved downward, the second fixing block 422 is also structurally displaced.
  • the fixing module 400 includes a first shaft 415, one end of which is fastened to the first fixing block 413 in a lock-and-pinion manner; Rotation of the first shaft 415 by displacement of the fixing block 413; includes.
  • Example 3-3 In Example 3-2, the other end of the first shaft 415 is fastened to the second fixing block 422 in a lock-and-pinion method, and the first shaft 415 rotates. As a result, displacement of the second fixing block 422 is generated.
  • the fixing module 400 may include a first shaft 415 .
  • the first shaft 415 may be fastened to the first fixing block 413 and the second fixing block 422 in a lock and pinion method.
  • the first fixing block 413 When the first fixing block 413 is displaced downward, the first shaft 415 rotates in one direction, and the second fixing block 422 is also displaced downward due to the rotation of the first shaft 415.
  • the lock and pinion method is a device used to convert rotational motion into linear motion or linear motion into rotational motion by interlocking a rack and a pinion. Since it is considered a natural technique for those skilled in the art, detailed description is omitted.
  • Example 3-4 the fixing module 400 includes a spring 414 providing elastic force to the first fixing block 413 in the direction of the knob 401. .
  • the fixing module 400 may include a spring 414 that provides elastic force to the first fixing block 413 in the direction of the knob 401 .
  • the spring 414, the first fixing block 413 can receive an upward force by the spring 414, the first fixing block 413 by the one-way rotation of the knob 401 As it moves downward, the spring 414 can be compressed.
  • the spring 414 may be configured to provide a default external force upward when force is not applied to the first fixing block 413 through the knob 401 .
  • the fixing module 400 includes a second rotary shaft 420 connecting the first rotary arm 100 and the second rotary arm 200; a second friction part 421 formed integrally with the second rotary arm 200 that comes into contact with the second fixing block 422 by displacement of the second fixing block 422 and receives frictional force; includes
  • Example 4-2 In Example 4-1, the second rotary arm 200 is fixed to the first rotary arm 100 by the frictional force applied to the second friction part 421 .
  • the fixing module 400 may include a second rotation shaft 420 and a second friction part 421 .
  • the second rotary shaft 420 may be a shaft connecting the first rotary arm 100 and the second rotary arm 200 .
  • the second friction part 421 may contact each other and receive frictional force by the displacement of the second fixing block 422 .
  • the second friction part 421 is integrally formed with the second rotational shaft 420 , and the second rotational shaft 420 may be integrally coupled with the second rotational arm 200 . Therefore, when the second friction part 421 receives frictional force by the second fixing block 422, the rotation of the second rotary arm 200 can be restricted and fixed.
  • Example 5-1 the fixing module 400 is a third fixing block 430 integrally formed with the second friction part 421 by the second rotation shaft 420. ); and a second shaft 431 in which displacement is generated by displacement of the third fixing block 430.
  • Embodiment 5-1 the contact surface of the third fixing block 430 and the second shaft 431 is formed as an inclined plane.
  • Example 5-3 In Example 5-2, the displacement of the third fixing block 430 and the displacement of the second shaft 431 are orthogonal to each other.
  • the fixing module 400 may include a third fixing block 430 and a second shaft 431 .
  • the third fixing block 430 may be equally displaced downward.
  • the second shaft 431 may be horizontally displaced by the downward displacement of the third fixing block 430 .
  • the contacting surface of the third fixing block 430 and the second shaft 431 may be formed as an inclined plane, and thus the displacement of the third fixing block 430 and the second shaft 431 may be perpendicular to each other. .
  • one end of the second shaft 431 may be in contact with the third fixing block 430, and the other end of the second shaft 431 may be in contact with a connecting link.
  • the link may be displaced in the same direction as the horizontal displacement direction of the second shaft 431 .
  • Example 6-1 In Example 5-1, the machine mount 300 rotatable with respect to the second rotary arm 200; by the displacement of the second shaft 431, the machine mount It includes; a second friction pad 432 in contact with (300).
  • Example 6-1 the machine mount 300 is a cylindrical third friction part 310; located inside the third friction part 310, and the mechanical device It includes a coupling part 320 that can be installed; and the second friction pad 432 provides frictional force while contacting the third friction part 310 by displacement.
  • the present invention may include a machine mount 300 together with the first rotary arm 100 and the second rotary arm 200 .
  • the machine mount 300 may be configured to install a machine such as a surgical tool. When the surgical tool is installed on the machine mount 300, the horizontal displacement of the surgical tool can be freely adjusted through the scara arm of the present invention.
  • the machine mount 300 is positioned at the end of the second rotary arm 200 and may be configured to rotate with respect to the second rotary arm 200 .
  • the second friction pad 432 may come into contact with the machine mount 300 by displacement of the second shaft 431 .
  • the machine mount 300 may include a third friction part 310 and a coupling part 320 .
  • the third friction part 310 has a configuration in contact with the second friction pad 432 , and rotation thereof is limited and fixed by frictional force with the second friction pad 432 .
  • the coupling part 320 is integrally formed with the third friction part 310, is located inside the third friction part 310, and may have a structure in which a mechanical device can be installed.
  • Example 6-3 the second friction pad 432 is formed concavely in a shape corresponding to the side surface of the third friction part 310 .
  • the second friction pad 432 can provide sufficient frictional force to the third friction part 310 only when the contact area of the third friction part 310 is sufficiently secured.
  • the surface of the second friction pad 432 in contact with the third friction part 310 may have a shape corresponding to the contact surface of the third friction part 310 .
  • the contact surface of the third friction pad may be formed in a concave shape to correspond to the contact surface with the third friction part 310 .
  • the first fixing block 413, the first friction pad 411, the first friction part 412, the first shaft 415, and the second fixing block are formed by rotation of the knob 401 in one direction. 422, the second friction part 421, the third fixing block 430, the second shaft 431, the second friction pad 432, and the third friction part 310 through the first rotary arm 100 ), the second rotary arm 200 and the machine mount 300 may be fixed at the same time.
  • Example 7-1 In the second positioning arm whose position can be fixed by a single fixing device, two 4-bar links 500 including fixed shafts whose positions are fixed; Among them, two different control shafts 520 sharing a joint with the fixed shaft 510 are provided, and the two four-section links are each formed in a parallelogram structure, and the relative relationship between the two different control shafts is provided.
  • a brake 600 for fixing the angle may be included.
  • the present invention relates to a second positioning arm that is another embodiment in which a position can be fixed by a single fixing device.
  • a pair of 4-bar links including a fixed shaft 510 having a fixed relative position are provided, and each 4-bar link may be formed in a parallelogram structure.
  • the first positioning arm and the second positioning arm share a common technical idea that a plurality of components can be fixed by a single fixing device.
  • One of the two supports may be a fixed body fixed to the ground, and the other support may be made of a medical device, a mechanical device, or a device such as the first positioning arm described above.
  • the fixed shaft 510 and the control shaft 520 share one joint, and the brake 600 as a single fixing device may be fastened to the corresponding joint.
  • a fixed shaft and two control shafts can be fixed simultaneously by means of a brake. Furthermore, the relative motion with the support body coupled to one end of the control shaft 520 located on the opposite side of the joint shared with the fixed shaft by the brake 600 can be fixed.
  • the brake may be a manually operated configuration or may be automatically operated by an electric motor.
  • the present invention may further include an electric motor formed on the brake and transmitting power to the brake.
  • the location of the electric motor serves to provide power to the brake, and the method of transmitting power can be reproduced in various ways by those skilled in the art, so the location is omitted in the drawings.
  • Example 7-2 In Example 7-1, the control shaft 520 includes a cylinder 530; a piston 540 movable along the longitudinal direction of the cylinder 530; The second displacement, which is the displacement of the piston 540, is generated by the first displacement generated according to the driving of the brake 600.
  • Example 7-3 In Example 7-2, the first displacement and the second displacement are configured in directions perpendicular to each other.
  • the control shaft 520 may include a cylinder 530 and a piston 540 .
  • the cylinder 530 may serve as a bracket that constitutes an external shape of the control shaft 520 and is fastened with other components.
  • the piston 540 has a structure that can generate displacement according to the movement of the brake 600, and can generate displacement in the longitudinal direction of the control shaft 520.
  • the displacement of the brake 600 is defined as a first displacement
  • the displacement of the piston 540 is defined as a second displacement.
  • the first displacement and the second displacement may be in a vertical direction.
  • Example 7-4 In Example 7-3, the piston 540 is provided on one side of the piston 540 and includes an interlocking part 541 interlocking with the brake 600; the piston ( 540) is provided on the other side of the pressing unit 542; includes.
  • the control shaft 520 may include an interlocking part 541 and a pressing part 542 .
  • the interlocking part 541 is a part that can transmit a driving force to the piston 540 by the displacement of the brake 600, and the pressing part 542 can apply pressure to the connection joint 700 to be described later. .
  • the interlocking unit 541 may be configured to convert the first displacement of the brake 600 into the second displacement, and referring to FIG. 11, may have a structure formed as an inclined plane.
  • a first displacement of the brake 600 generates a second displacement of the piston 540, and the piston 540 is connected to the interlocking unit 541 ) and pressing parts 542 are formed at both ends.
  • the pressure unit 542 applies friction to the connection joint 700 to be described later, thereby controlling rotation between the control shaft 520 and the connection joint 700.
  • the brake 600 includes a bolt 612 including a head 611; a nut 613 coupled to the bolt 612; A pair of lifting parts 614 provided between the bolt head 611 and the nut 613; and a pair of displacement conversion units 615 having one end connected to each of the pair of elevation units 614 and the other end connected to the piston 540; disposed between the pair of elevation units 614 It includes; a first elastic body (616).
  • Example 7-6 In Example 7-2, the brake 600 includes a rotatable pinion 621; and a rack 623 connected to the piston and converting the rotational motion of the pinion into a linear motion.
  • Example 7-7 In Example 7-2, the brake 600 includes a rotatable pulley 631; a wire 632 wound around the pulley 631 and connected to the piston 540; );
  • a second elastic body 633 having one end coupled to the piston 540 and applying an elastic force in the direction of the second displacement.
  • Embodiments 7-8 an auxiliary wall 533 formed on the cylinder 530 to which the other end of the second elastic body 633 is fixed is included.
  • the brake is formed in a “T” shape including a head portion 636, and a first fixing member extending downward from the head portion 636. 634; and the cylinder 530 is formed with a second fixing member 635 fastened to the first fixing member 634.
  • the brake of the present invention may be formed in various embodiments.
  • the first displacement and the second displacement may be converted using bolts and nuts.
  • the displacement converting part 615 moves the piston 540 ) can be pushed horizontally. Accordingly, the displacement of the piston 540 may be generated by rotating the head 612 .
  • the first displacement of rotational motion can be converted into the second displacement of linear motion.
  • the rack 623 may replace the piston 540 and may apply a driving force to the piston 540 .
  • the wire 632 is wound or unwound by the first displacement, which is the rotational displacement of the pulley 631, and is connected to the wire 632.
  • a second displacement that is a displacement of the piston 540 may be generated.
  • the pulley 631 may be configured in a “T” shape with a head portion 636, and the first fixing member 634 and the first fixing member 634 extending downward from the head portion 636 and A fastened second fixing member 635 may be provided.
  • the released state may be maintained through temporary fastening between the first and second fixing members 634 and 635 .
  • the piston 540 may receive force by the second elastic body 633 in the direction of the support joint 532 to be described below. Components of the second positioning arm can be automatically fixed by this elastic force.
  • both ends may be fastened to the piston 540, respectively. Therefore, the displacement of the piston 540 can be adjusted by the rotation of the pulley 631 .
  • each may be composed of a first winding part 637 and a second winding part 638 .
  • the wire 632 may be wound around the first winding part 637 and the second winding part 638, respectively, and the wire 632 may be connected to the piston 540 to provide tension.
  • Embodiment 7-10 In Embodiment 7-2, the cylinder 530 is provided on one side of the cylinder 530, and a brake fastening part 531 engaged with the brake 600; A support joint 532 provided on the other side of the 530; and a connection joint 700 fastened with the support joint 532; including, the support joint 532 and the connection joint 700 is fastened in the structure of a ball-socket.
  • the pressing part 542 may press the connection joint 700 by the second displacement to control relative movement.
  • the second displacement of the piston 540 occurs by the first displacement of the brake 600, and the pressing part 542 moves by the second displacement, and the frictional force between the pressing part 542 and the connecting joint 700 causes Relative motion can be controlled.
  • connection between the support joint 532 and the connection joint 700 may be fastened to prevent separation of the connection joint 700 from the cylinder 530 . That is, if the connection joint 700 does not receive a fixing force by the pressing part 542, the connection joint 700 can freely rotate inside the support joint 532.
  • the present invention is an invention for controlling the relative movement of the connection joint 700 with respect to the control shaft 520 by bringing the pressing part 542 into close contact with the connection joint 700 by the first displacement of the brake 600.
  • Example 7-12 In Example 7-10, the support coupling part 710 integrally formed with the connection joint 700; of Example 1-1 coupled to the support coupling portion 710 It includes; a first positioning arm.
  • the support body coupled to the connection joint 700 may be configured in various ways as needed.
  • the fixed shelf may be coupled with the connecting joint, and furthermore, the first positioning arm of the present invention may be coupled.
  • displacement in the vertical direction may be adjustable through the second positioning arm, and displacement in the horizontal direction may be adjustable through the first positioning arm.
  • the first positioning arm can be installed and used to adjust displacement in the vertical direction and the second positioning arm to adjust displacement in the horizontal direction.
  • first and/or second positioning arms can be used in the first and/or second positioning arms to adjust the displacement in the horizontal and vertical directions as well as in any one plane according to the user's needs.
  • the first positioning arm may be a scara arm type positioning arm in which the first rotary arm 100, the second rotary arm 200, and the machine mount 300 can be simultaneously fixed through a knob 401, which is a single fixing device. .
  • the second positioning arm may be a positioning arm that simultaneously performs fixation between the fixed shaft 510 and the control shaft 520 and fixation between the control shaft 520 and the support coupling part 710 through the brake 600, which is a single fixing device. there is.

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

Abstract

La présente invention concerne un premier bras de positionnement dont la position est verrouillable par un seul dispositif de fixation, le premier bras de positionnement comprenant : un premier bras rotatif (100) qui peut tourner par rapport à une base (10) ; un second bras rotatif (200) qui peut tourner par rapport au premier bras rotatif (100) ; et un module de fixation (400) qui commande les rotations du premier bras rotatif (100) et du second bras rotatif (200).
PCT/KR2022/017073 2021-11-03 2022-11-02 Position de bras de positionnement pouvant être verrouillée par un seul dispositif de fixation WO2023080651A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020210149568A KR102538799B1 (ko) 2021-11-03 2021-11-03 단일 고정장치에 의해 위치가 고정될 수 있는 스카라 로봇 암
KR10-2021-0149568 2021-11-03
KR1020220144741A KR20240062809A (ko) 2022-11-02 2022-11-02 단일 고정장치에 의해 위치가 고정될 수 있는 포지셔닝 암
KR10-2022-0144741 2022-11-02

Publications (1)

Publication Number Publication Date
WO2023080651A1 true WO2023080651A1 (fr) 2023-05-11

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Application Number Title Priority Date Filing Date
PCT/KR2022/017073 WO2023080651A1 (fr) 2021-11-03 2022-11-02 Position de bras de positionnement pouvant être verrouillée par un seul dispositif de fixation

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Country Link
WO (1) WO2023080651A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970044616A (ko) * 1995-12-30 1997-07-26 전성원 캠 샤프트 구동장치
KR20120010690A (ko) * 2010-07-27 2012-02-06 김동철 의료장치에 구비되는 로봇암의 관절고정장치
KR20140026718A (ko) * 2012-08-23 2014-03-06 대우조선해양 주식회사 다관절 아암의 힌지부 고정장치
KR20170012631A (ko) * 2015-07-21 2017-02-03 한국과학기술원 위치 조절 암 및 이를 포함하는 지지 장치
CN107013793A (zh) * 2017-05-15 2017-08-04 宁波市镇海文鑫视听器材有限公司 一种多臂组合万向支架
KR20200095192A (ko) * 2019-01-31 2020-08-10 한국과학기술원 회전 고정 장치 및 이를 포함하는 2 자유도 회전 암

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970044616A (ko) * 1995-12-30 1997-07-26 전성원 캠 샤프트 구동장치
KR20120010690A (ko) * 2010-07-27 2012-02-06 김동철 의료장치에 구비되는 로봇암의 관절고정장치
KR20140026718A (ko) * 2012-08-23 2014-03-06 대우조선해양 주식회사 다관절 아암의 힌지부 고정장치
KR20170012631A (ko) * 2015-07-21 2017-02-03 한국과학기술원 위치 조절 암 및 이를 포함하는 지지 장치
CN107013793A (zh) * 2017-05-15 2017-08-04 宁波市镇海文鑫视听器材有限公司 一种多臂组合万向支架
KR20200095192A (ko) * 2019-01-31 2020-08-10 한국과학기술원 회전 고정 장치 및 이를 포함하는 2 자유도 회전 암

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