KR0126952Y1 - Home position return device of robot arm - Google Patents
Home position return device of robot armInfo
- Publication number
- KR0126952Y1 KR0126952Y1 KR2019940004968U KR19940004968U KR0126952Y1 KR 0126952 Y1 KR0126952 Y1 KR 0126952Y1 KR 2019940004968 U KR2019940004968 U KR 2019940004968U KR 19940004968 U KR19940004968 U KR 19940004968U KR 0126952 Y1 KR0126952 Y1 KR 0126952Y1
- Authority
- KR
- South Korea
- Prior art keywords
- robot arm
- sensor
- sensing protrusion
- sensing
- homing
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- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
본 고안은 로보트 팔의 원점복귀장치에 관한 것으로, 특히 로보트 팔 회전축(20)상의 적정위치에 돌출되어 있는 감지돌기(21)와, 이 감지돌기(21)와 같은 축상에 위치하며 몸체부(10)의 적정위치에 부착되어 상기 감지돌기(21)의 위치를 감지하는 적정수의 위치감지센서(41~44)와, 이 위치감지센서(41~44)의 출력신호에 따라 감지돌기(21)의 위치를 인식하여 로보트 팔의 원점복귀를 제어하는 제어부(도시안됨)와, 그리고 상기 감지돌기(21)와 같은 축상에 설치되며 몸체부(10)의 적정위치에 부착되어 상기 감지돌기(21)의 감지를 통해 로보트 팔의 좌우 작업영역을 제한하는 작업영역 제한센서(30,30')로 구성되어 최소의 이동으로 최단시간에 원운동을 하는 로보트 팔의 원점복귀를 실현하고 또한 그 구성을 단순하게 하여 제작 및 그 설치가 간편하다.The present invention relates to the homing device of the robot arm, and in particular, the sensing protrusion 21 protruding at an appropriate position on the robot arm rotation axis 20 and the sensing protrusion 21 is located on the same axis as the body portion 10 A proper number of position detecting sensors 41 to 44 attached to an appropriate position of the sensing protrusion 21 to detect the position of the detecting protrusion 21 and the output signal of the position detecting sensors 41 to 44. A control unit (not shown) for controlling the homing of the robot arm by recognizing the position of the robot arm, and installed on the same axis as the sensing protrusion 21 and attached to an appropriate position of the body unit 10 to detect the sensing protrusion 21. It consists of working area limiting sensors (30,30 ') that limit the left and right working areas of the robot arm through the detection of the robot, and realizes the homing of the robot arm that performs the circular motion in the shortest time with the minimum movement and also the simple configuration It is easy to manufacture and its installation.
Description
제1도는 종래 로보트 팔의 원점복귀장치를 설명하기 위한 개략적인 구성도로,1 is a schematic configuration diagram for explaining the homing device of the conventional robot arm,
(a)는 로보트 팔의 종단면도,(a) is a longitudinal sectional view of the robot arm,
(b)는 로보트 팔의 횡단면도.(b) is a cross-sectional view of the robot arm.
제2도는 본 고안에 의한 원점복귀장치의 일실시예를 나타낸 것으로, 로보트 팔의 개략적인 구성의 종단면도.Figure 2 shows an embodiment of the home position return apparatus according to the present invention, a longitudinal cross-sectional view of a schematic configuration of the robot arm.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10 : 몸체부 20 : 회전축10: body portion 20: rotation axis
21 : 감지돌기 30, 30' : 작업영역 제한센서21: detection protrusion 30, 30 ': working area limit sensor
41~44 : 위치감지센서 50 : 원점감지센서41 ~ 44: Position sensor 50: Home sensor
본 고안은 원운동을 하는 로보트 팔의 원점복귀장치에 관한 것으로, 특히 최소의 이동으로 최단시간에 로보트 팔의 원점복귀를 실현하고 또한 그 구성을 단순하게 하여 제작 및 설치가 간편한 로보트 팔의 원점복귀장치에 관한 것이다.The present invention relates to the homing device of the robot arm that performs the circular motion. In particular, the homing of the robot arm is realized in the shortest time with the minimum movement and the configuration is simplified to simplify the construction. Relates to a device.
종래의 원점복귀장치는 절대위치 감지센서와 좌우측 작업영역을 제한하는 작업영역 제한센서가 다른 축상에 위치함에 따라 구조가 복잡하고 또한 하나의 절대위치 감지센서(원점감지센서)를 통해 원점 복귀를 수행함에 따라 현재 위치에서 원점복귀까지 많은 시간이 소요된다는 단점이 있었다.The conventional home position return device has a complicated structure as the absolute position sensor and the work area limiting sensor restricting the left and right working areas are located on different axes, and also perform the home return through one absolute position sensor (home position sensor). As a result, it takes a long time from the current position to return to the origin.
이에 본 고안은 상기와 같은 단점을 해결하기 위해 안출된 것으로, 최소의 이동으로 최단시간에 원운동을 하는 로보트의 원점복귀를 수행하는 로보트 팔의 원점복귀장치를 제공하는 것을 그 목적으로 한다.The present invention has been made to solve the above disadvantages, the object of the present invention to provide a robot arm homing device for performing the homing of the robot in a circular motion in the shortest time with the minimum movement.
또한, 본 고안의 다른 목적은 원점복귀를 위한 감지장치의 구성을 단순하게 하여 그 제작 및 설치가 용이한 로보트 팔의 원점복귀장치를 제공하는 것이다.In addition, another object of the present invention is to provide a homing device of the robot arm that is easy to manufacture and install by simplifying the configuration of the homing device for homing.
상기와 같은 목적을 달성하기 위하여 본 고안은, 로보트 팔 회전축상의 적정위치에 돌출되어 있는 감지돌기와, 이 감지돌기와 같은 축상에 위치하며 몸체부의 적정위치에 부착되어 상기 감지돌기의 위치를 감지하는 적정수의 위치 감지센서와, 이 위치감지센서의 출력신호에 따라 감지돌기의 위치를 인식하여 로보트 팔의 원점복귀를 제어하는 제어부와, 그리고 상기 감지돌기와 같은 축상에 설치되며 몸체부의 적정위치에 부착되어 상기 감지돌기의 감지를 통해 로보트 팔의 좌우 작업영역을 제한하는 작업영역 제한센서로 구성된 것을 특징으로 한다.In order to achieve the above object, the present invention provides a sensing protrusion protruding at a proper position on a robot arm rotation axis, and a suitable number of sensors sensing the position of the sensing protrusion by being attached to an appropriate position of the body part on the same axis as the sensing protrusion. A position sensor, a control unit for recognizing the position of the sensing protrusion according to the output signal of the position detecting sensor, and controlling the homing of the robot arm, and being installed on the same axis as the sensing protrusion and attached to an appropriate position of the body. Characterized in that the work area limiting sensor for limiting the left and right working area of the robot arm through the detection of the sensing projection.
제1도는 종래 원운동을 하는 로보트 팔의 원점복귀장치의 동작을 설명하기 위한 개략적인 구성도로, (a)는 로보트 팔의 회전축을 중심으로 한 종단면도이고, (b)는 횡단면도이다.1 is a schematic configuration diagram for explaining the operation of the homing device of the robot arm in the conventional circular motion, (a) is a longitudinal cross-sectional view around the axis of rotation of the robot arm, (b) is a cross-sectional view.
일반적으로, 원운동을 하는 로보트 팔은 구동명령이 인가되면 구동모터(도시안됨)가 회전하고 이에 따라 이 구동모터에 연결되어 있는 회전축(72)이 회전하므로서 구동된다.In general, the robot arm in circular motion is driven by the rotation of the drive motor (not shown) when the drive command is applied, and thus the rotating shaft 72 connected to the drive motor.
상기와 같은 로보트의 원점복귀방법은,제어부(도시안됨)에 로보트 팔의 원점복귀명령이 인가되면 이 제어부는 몸체부(71)의 적정위치에 설치되어 있는 원점감지센서(74)를 통해 회전축(72)상에 부착되어 이 회전축(72)과 연동하여 회전하는 감지판(76)을 감지한다.In the homing method of the robot as described above, when the homing command of the robot arm is applied to the control unit (not shown), the control unit rotates through the homing sensor 74 installed at the proper position of the body 71. It is attached to the 72 to detect the sensing plate 76 to rotate in conjunction with the rotary shaft (72).
이와 같이 원점감지센서(74)의 감지판(76) 감지여부에 따라 상기제어부는 로보트 팔이 +방향으로 기울어져 있는지 -방향으로 기울어져 있는지 인식하게 되고 이에 따라 회전축의 회전방향을 결정하여 이 회전방향으로 회전축을 회전시켜 원점복귀 동작을 수행한다. 예를 들어 감지판(76)이 원점감지센서(74)에 감지되지 않는 경우에는 회전축(72)을 구동하여 감지판(76)을 원점감지센서(74) 방향으로 서서히 이동시키고, 원점감지센서(74)가 감지판(76)을 감지하면 정밀한 동작으로 원점을 찾아 원점복귀를 수행한다.As such, the control unit recognizes whether the robot arm is inclined in the + direction or the − direction according to whether the detection plate 76 is detected by the origin detecting sensor 74. Rotate the axis of rotation in the direction to perform homing operation. For example, when the detection plate 76 is not detected by the home detection sensor 74, the rotary plate 72 is driven to gradually move the detection plate 76 toward the home detection sensor 74, and the home detection sensor ( When 74) detects the detection plate 76, the home position is searched by the precise operation to perform the home position return.
한편, 원점감지센서(74)와 다른 축상에 적정간격을 두고 설치되어 있는 작업 영역 제한센서(73)(73')는 회전축(72)상의 회전판(76)과 적정간격 이격되어 돌출되어 있는 감지돌기(74)를 감지하여 더이상 회전축(72)이 회전하지 못하도록 제한함으로서 로보트의 작업영역을 제한하게 된다.On the other hand, the work area limiting sensors 73 and 73 'which are provided at appropriate intervals on the axis different from the origin detecting sensor 74 are protruding sensing protrusions spaced apart from the rotating plate 76 on the rotating shaft 72 at proper intervals. By detecting the 74 to limit the rotation axis 72 to no longer rotates to limit the working area of the robot.
그러나, 상기와 같은 원점복귀장치는 전술한 바와 같이 원점감지센서(74)와 작업영역제한센서(73)(73')가 동일한 축에 위치하지 않고 일정간격 이격되어 있기때문에 회전축(72)상에 감지판(76)과 별도로 감지돌기(75)를 설치하여야 하므로 구조가 복잡하고 또한, 하나의 절대위치 감지센서(원점감지센서)를 통해 원점복귀를 수행함에 따라 감지돌기(75)의 현위치 판단 및 원점복귀에 많은 시간이 소요되었다.However, as described above, the home position return device is located on the rotary shaft 72 because the home position sensor 74 and the work area limiting sensors 73 and 73 'are not positioned on the same axis and are spaced at regular intervals. Detecting projections 75 to be installed separately from the detection plate 76, the structure is complicated, and the current position determination of the detection projections 75 by performing the homing through one absolute position sensor (home detection sensor) And it took a lot of time to return to the origin.
이하, 본 고안의 실시예를 첨부된 도면에 따라 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
제2도는 본 고안의 실시예를 나타낸 것으로, 로보트팔 회전축(20)상의 적정위치에 돌출되어 있는 감지돌기(21)와, 이 감지돌기(21)와 같은 축상에 위치하며 몸체부(10)의 적정위치에 부착되어 상기 감지돌기(21)의 위치를 감지하는 적정수의 위치감지센서(41~44) 와, 이 위치감지센서(41~44)의 출력 신호에 따라 감지돌기(21)의 위치를 인식하여 로보트 팔의 원점복귀를 제어하는 제어부(도시안됨)와, 그리고 상기 감지돌기(21)와 같은 축상에 설치되며 몸체부(10)의 적정위치에 부착되어 상기 감지돌기(21)의 감지를 통해 로보트 팔의 좌우 작업영역을 제한하는 작업영역 제한센서(30,30')로 구성되어 있다.2 is a view showing an embodiment of the present invention, the sensing protrusion 21 protruding at an appropriate position on the robot arm rotation axis 20, and is located on the same axis as the sensing protrusion 21 of the body portion 10 The position detection sensor 21 according to the output signal of the appropriate number of position detecting sensors 41 to 44 and the position detecting sensors 41 to 44 attached to an appropriate position to detect the position of the detecting protrusion 21. A control unit (not shown) for controlling the homing of the robot arm by recognizing it, and is installed on the same axis as the sensing protrusion 21 and attached to an appropriate position of the body portion 10 to detect the sensing protrusion 21. Consists of a work area limiting sensor (30, 30 ') to limit the left and right working area of the robot arm through.
그리고, 상기 감지돌기(21)는 동시에 2개의 위치감지센서(41~44)에 감지되지 않는 크기로 되어 있고, 또한 상기 원점감지센서(50)와 작업영역 제한센서(30,30')는 동일한 축상에 설치되어 있다.In addition, the sensing protrusion 21 has a size not detected by two position sensors 41 to 44 at the same time, and the home position sensor 50 and the work area limiting sensors 30 and 30 'are the same. It is installed on the shaft.
한편, 상기 센서(30,30')(41~44)(50)은 데이타를 인식하기 위한 연결전선의 수를 줄이기 위하여 엔코더를 통해 제어부와 연결된다.On the other hand, the sensors 30, 30 '(41 ~ 44) 50 is connected to the control unit through an encoder to reduce the number of wires for recognizing data.
다음에는 상기와 같은 구성으로 이루어진 본 고안의 작용 및 효과를 설명한다.Next will be described the operation and effect of the present invention made of the configuration as described above.
로보트에 원점복귀 명령이 인가되면 제어부는 센서(41~44)를 통해 감지돌기(21)의 위치를 감지하게 된다.When the home position return command is applied to the robot, the controller detects the position of the sensing protrusion 21 through the sensors 41 to 44.
예를들어, 센서(41)가 감지돌기(21)를 감지하였을경우에는 회전축(20)을 반시계방향으로 미리 설정된 이동거리만큼 고속회전시키고 원점감지센서(50) 부근에서는 서서히 이동시켜 감지돌기(21)가 원점감지센서(50)에서 감지되면 회전축(20)을 정지시키게 된다.For example, when the sensor 41 detects the sensing protrusion 21, the rotating shaft 20 is rotated at a high speed by a predetermined movement distance in a counterclockwise direction, and gradually moves near the origin detecting sensor 50 to detect the sensing protrusion ( When 21 is detected by the origin sensor 50, the rotating shaft 20 is stopped.
그리고, 센서(44)가 감지돌기(21)를 감지하였을 경우에는 회전축(20)을 시계방향으로 미리 설정된 이동거리만큼 고속 회전시키고 원점감지센서(50)부근에서는 서서히 이동시켜 감지돌기(21)가 원점감지센서(50)에서 감지되면 회전축(20)을 정지시켜 로보트 팔의 원점복귀를 완료한다.When the sensor 44 detects the sensing protrusion 21, the rotating shaft 20 is rotated at a high speed by a predetermined movement distance in a clockwise direction, and the sensing protrusion 21 is gradually moved near the origin detecting sensor 50. When detected by the home position sensor 50, the rotation axis 20 is stopped to complete the home position return of the robot arm.
한편, 감지돌기(21)가 위치감지센서(41~44)에 감지되지 않는 경우에는 회전축(20)을 시계방향으로 서서히 이동시키고 이때 임의의 위치감지센서에 감지돌기(21)가 감지되면 이 센서에서 원점감지센서(50)로 기설정되어 있는 거리만큼 고속 이동한 후 원점감지센서(50)부근에서 서서히 이동하며 원점복귀를 수행하게 된다.On the other hand, if the sensing protrusion 21 is not detected by the position detecting sensors 41 to 44, the rotating shaft 20 is gradually moved in the clockwise direction, and if the sensing protrusion 21 is detected by any position detecting sensor, the sensor After moving at a high speed by the preset distance to the home position sensor 50 in the home position sensor 50 is moved slowly to perform the home position return.
한편, 작업영역 제한센서(73)(73')는 원점감지센서(74)와 동일축상에 설치되어 감지돌기(21)의 감지여부에 따라 더이상 회전축(72)이 회전하지 못하도록 제한하므로서 로보트의 작업영역을 제한한다.On the other hand, the work area limiting sensor (73) (73 ') is installed on the same axis as the origin detection sensor (74) is limited to prevent the rotation axis 72 to rotate any more depending on whether the detection projection 21, the robot's work Restrict the area.
상기와 같이 본 고안은 최소의 이동으로 최단시간에 원운동을 하는 로보트 팔의 원점복귀를 실현하고 또한 그 구성을 단순하게 하여 제작 및 그 설치가 간단하다.As described above, the present invention realizes the homing of the robot arm that performs the circular motion in the shortest time with the minimum movement, and also the configuration and the installation are simple by simplifying the configuration.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019940004968U KR0126952Y1 (en) | 1994-03-11 | 1994-03-11 | Home position return device of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019940004968U KR0126952Y1 (en) | 1994-03-11 | 1994-03-11 | Home position return device of robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR950026932U KR950026932U (en) | 1995-10-16 |
| KR0126952Y1 true KR0126952Y1 (en) | 1998-10-15 |
Family
ID=19378820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019940004968U Expired - Fee Related KR0126952Y1 (en) | 1994-03-11 | 1994-03-11 | Home position return device of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR0126952Y1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025178237A1 (en) * | 2024-02-21 | 2025-08-28 | (주)에스엔 | Fire-extinguishing projectile launching device |
-
1994
- 1994-03-11 KR KR2019940004968U patent/KR0126952Y1/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025178237A1 (en) * | 2024-02-21 | 2025-08-28 | (주)에스엔 | Fire-extinguishing projectile launching device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR950026932U (en) | 1995-10-16 |
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