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WO2010090360A1 - Structure de système d'actionnement de robot modulaire - Google Patents

Structure de système d'actionnement de robot modulaire Download PDF

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Publication number
WO2010090360A1
WO2010090360A1 PCT/KR2009/000552 KR2009000552W WO2010090360A1 WO 2010090360 A1 WO2010090360 A1 WO 2010090360A1 KR 2009000552 W KR2009000552 W KR 2009000552W WO 2010090360 A1 WO2010090360 A1 WO 2010090360A1
Authority
WO
WIPO (PCT)
Prior art keywords
housing
fixed housing
amplifier
cable
motor
Prior art date
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.)
Ceased
Application number
PCT/KR2009/000552
Other languages
English (en)
Korean (ko)
Inventor
박찬훈
경진호
박동일
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Institute of Machinery and Materials KIMM
Original Assignee
Korea Institute of Machinery and Materials KIMM
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.)
Filing date
Publication date
Application filed by Korea Institute of Machinery and Materials KIMM filed Critical Korea Institute of Machinery and Materials KIMM
Priority to PCT/KR2009/000552 priority Critical patent/WO2010090360A1/fr
Priority to JP2011549047A priority patent/JP5541600B2/ja
Priority to CN200980156197.5A priority patent/CN102307708B/zh
Publication of WO2010090360A1 publication Critical patent/WO2010090360A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements

Definitions

  • the present invention relates to a structure of a module provided in a robot having at least two degrees of freedom (2DOF) of freedom, and more particularly, a fixed housing that becomes the exterior of the module and a rotation connected to the fixed housing to rotate.
  • An input connector to which a cable is connected to each outside of the housing and an output connector are provided, and the input connector and the output connector are connected through the inside of the fixed housing and the rotating housing, and the cable connected to the output connector of the rotating housing is
  • It relates to a structure of a modular robot drive unit, characterized in that made by connecting to the input connector of the fixed housing of the fixed housing and the rotating housing that is the appearance of another module as described above.
  • the configuration of the module is largely divided into a fixed part (3) and a rotating rotating part (4), provided with a plurality of such modules
  • a robot for education or research with at least two degrees of freedom is constructed.
  • the fixing part 3 of the module is provided with a motor and a reduction gear therein, and the outside of the fixing part 3 is connected to a cable input connector 3a.
  • the output connector 3b is provided, respectively.
  • the rotary part 4 of the module is coupled to the fixed part 3 and interlocked with the driving of the motor and the reducer of the fixed part 3.
  • the motor and the reducer are connected to the input connector 3a, and the input connector 3a is connected to a cable connected to the outside (controller and power supply) (not shown). Therefore, the motor and the reducer are operated by the control signal of the controller and the power supply of the power supply unit, and the rotating unit 4 interlocked therewith is also affected by the power supply and the control signal.
  • such a module is provided by one more.
  • the coupling structure between modules is achieved by coupling the rotating part 3 of the first module and the fixing part 5 of the second module.
  • the input connector 3a of the fixing part 3 of the first module is connected to a cable connected to the outside, and the output connector 3b is provided with a separate cable 9 to provide the fixing part 5 of the second module.
  • the separate cable 9 is rotated by the rotation part 4 of the first module from the output connector 3b of the fixing part 3 of the first module or from the input connector 5a of the fixing part 5 of the second module.
  • the configuration is large in length, so it does not look good, and it acts as a factor that hinders the operation of the robot due to the twisting of the cable and interference with other modules.
  • an object of the present invention is to simplify the cable for supplying power and electrical signals to each module in the manufacture of educational or research robots with two or more degrees of freedom.
  • an object of the present invention is to simplify the cable for supplying power and electrical signals to each module in the manufacture of educational or research robots with two or more degrees of freedom.
  • the input housing is provided with a fixed housing that is the exterior of the module, a cable is connected to each outside of the rotating housing connected to the fixed housing, the output connector and the input connector and The output connector is connected through the inside of the fixed housing and the rotary housing, and the cable connected to the output connector of the rotary housing is connected to the input connector of the fixed housing and the fixed housing which becomes the appearance of another module as described above. It achieves by the structure of the modular robot drive part characterized by the above-mentioned.
  • the present invention repeats the process of connecting the cable connected to the output connector of the rotating housing of the module to the input connector of the fixed housing and the fixed housing, which becomes the appearance of another module as necessary, as necessary Is characteristic.
  • the fixed housing includes an input connector for cable connection provided on one side of the appearance; A hollow amplifier (AMP) provided inside the fixed housing and connected to the input connector; A connection cable connected to one side of the amplifier; A hollow motor provided at one side of the amplifier and receiving power and electric signals from the amplifier; It is preferable to include a hollow speed reducer provided on one side of the motor and to receive power and electrical signals from the amplifier, wherein the rotating housing is connected to the fixed housing to be rotated by the motor and the reducer of the fixed housing, and an inflow connection cable It is preferable to connect to the output connector provided on one side of the rotating housing to transmit the power and electrical signals of the outside.
  • AMP hollow amplifier
  • connection cable connected to one side of the amplifier
  • a hollow motor provided at one side of the amplifier and receiving power and electric signals from the amplifier
  • the modular robot drive unit according to the present invention in the production of educational or research robots with two or more degrees of freedom can simplify the cable for supplying power and electrical signals to each module, between modules
  • the operation is flexible, the appearance is good, and there is an effect that can prevent mechanical loss.
  • FIG. 1 is a view illustrating a robot having two or more degrees of freedom in a conventional robot module structure
  • FIG. 2 is a view illustrating a robot having two or more degrees of freedom as a structure of a modular robot driving unit according to an embodiment of the present invention
  • FIG. 3 is a view showing an example of the operation of FIG.
  • FIG. 4 is a diagram illustrating another operation example of FIG. 2;
  • FIG. 5 is a cross-sectional view showing the structure of a modular robot drive unit according to an embodiment of the present invention.
  • FIG. 6 is a cross-sectional view showing the structure of a modular robot driver according to another embodiment of the present invention.
  • FIG. 7 is a cross-sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.
  • FIG. 8 is a cross-sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.
  • FIG. 9 is a cross-sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.
  • the present invention relates to a structure of a module provided in a robot having two degrees of freedom (2DOF) or more, and is connected to the fixed housing 10 and the fixed housing 10 which become the exterior of the module 100. And an input connector 11 and an output connector 21 to which the cables 1 and 2 are connected to the outer side of each of the rotating housings 20 to rotate.
  • the connection is made through the inside of the fixed housing 10 and the rotary housing 20, the cable 2 connected to the output connector 21 of the rotary housing 20 is the appearance of another module 200 as described above It is characterized in that it is made by connecting to the input connector 31 of the fixed housing 30 of the fixed housing 30 and the rotary housing 40.
  • connection of the input connector 11 and the output connector 21 is made through the interior of the fixed housing 10 and the rotating housing 20 as shown in Figure 5 hollow amplifier 12, the motor
  • connection cable 13 is connected to the hollow amplifier 12 connected to the input connector 11 by the configuration of the 14, the reducer 15, and the connection cable 13, and the connection cable 13 is the hollow type. It may be connected to the output connector 21 of the rotary housing 20 through the amplifier 12, the motor 14, the reducer 15.
  • the input connector 11 is provided at one side of the exterior of the fixed housing 10 and receives an external power source and an electrical signal.
  • the amplifier 12 is provided inside the fixed housing and is hollow by being connected to the input connector 11 and amplifies an external power supply to supply power to the motor 14 and the reducer 15.
  • connection cable 13 is connected to the amplifier 12 and the output connector 21, and is composed of a line for transmitting power and a line for transmitting electrical signals (motor speed, torque command signal, etc.).
  • the motor 14 is connected to one side of the amplifier 12 and receives power and electrical signals from the amplifier 12.
  • the reducer 15 also receives power and electrical signals from the amplifier 12 and is connected to the motor 14.
  • the amplifier 12, the motor 14, and the reducer 15 are located on the same horizontal center point of the hollow.
  • the rotary housing 20 is provided in the fixed housing 10 and connected to the inner ring 18b of the bearing 18 connected to the reducer 15, and rotated by the motor 14 and the reducer 15, and introduced into the fixed housing 10.
  • An output connector 21 is provided at one side of the connection cable 13 to transmit power and electrical signals to the outside.
  • the bearing 18 is a bearing for supporting the load and the moment of the rotating housing 20 may be a cross roller bearing or a radial bearing.
  • the present invention may further include a guide shaft 16 for guiding the connecting cable 13 on one side of the fixed housing 10 and one side of the rotary housing 20, which is connected to the guide cable (13) guide shaft ( In order to increase the number of rotations of the rotating housing 20, the length of the connecting cable 13 is provided by winding the cable 16).
  • the guide shaft 16 forms a spiral on the outer circumferential surface as shown in FIG. 8, and has a hollow cylindrical shape between the outer circumferential surface of the guide shaft 16 and the motor 14 and the reducer 15.
  • Guard 17 may be further provided to guide the connecting cable 13 so as not to cause interference with the motor 14 and the reducer 15.
  • the cable 2 connected to the output connector 21 of the rotary housing 20 of the module 100 of the fixed housing 30 and the rotating housing 40 which is the appearance of another module 200 fixed housing The process of connecting to the input connector 31 of (30) can be repeatedly configured as many times as necessary, which is for configuring a robot having two or more degrees of freedom.
  • the robot can be configured, and if the robot is provided with three, the robot can be configured with three degrees of freedom.
  • the present invention rotates by providing the output connector 21 in the inner ring 22b of the second bearing provided on one side of the rotating housing 20 horizontally from the center of the rotation direction of the motor 14 of the fixed housing 10
  • the connecting cable 13 may not be rotated by the rotation of the housing 20.
  • the two slip rings 19 may be connected to the hollow side of the amplifier 12 to supply power from the input connector 11.
  • the electrical signal is connected to the output connector 21 as described above as a signal cable (13a). This has the effect of reducing the thickness of the signal cable 13a.

Landscapes

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

Abstract

La présente invention concerne une structure d'un module d'un robot comportant au moins deux degrés de libertés (2 DDL). L'invention concerne plus particulièrement une structure d'un système modulaire d'actionnement de robot comprenant d'une part un boîtier fixe conférant au module son aspect extérieur; un boîtier rotatif relié au boîtier fixe, et d'autre part un connecteur d'entrée ainsi qu'un connecteur de sortie dont les câbles respectifs sont connectés à l'extérieur, l'un du boîtier fixe, l'autre du boîtier rotatif. Le connecteur d'entrée et le connecteur de sortie sont interconnectés par l'intermédiaire de l'intérieur du boîtier fixe et de l'intérieur du boîtier rotatif. Le câble connecté au connecteur de sortie du boîtier rotatif est connecté au connecteur d'entrée du boîtier fixe conférant son aspect extérieur à un autre module identique au module décrit ici, et comportant également un boîtier rotatif.
PCT/KR2009/000552 2009-02-05 2009-02-05 Structure de système d'actionnement de robot modulaire Ceased WO2010090360A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/KR2009/000552 WO2010090360A1 (fr) 2009-02-05 2009-02-05 Structure de système d'actionnement de robot modulaire
JP2011549047A JP5541600B2 (ja) 2009-02-05 2009-02-05 モジュール型ロボット駆動部の構造
CN200980156197.5A CN102307708B (zh) 2009-02-05 2009-02-05 模块化机器人驱动单元结构

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2009/000552 WO2010090360A1 (fr) 2009-02-05 2009-02-05 Structure de système d'actionnement de robot modulaire

Publications (1)

Publication Number Publication Date
WO2010090360A1 true WO2010090360A1 (fr) 2010-08-12

Family

ID=42542241

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/000552 Ceased WO2010090360A1 (fr) 2009-02-05 2009-02-05 Structure de système d'actionnement de robot modulaire

Country Status (3)

Country Link
JP (1) JP5541600B2 (fr)
CN (1) CN102307708B (fr)
WO (1) WO2010090360A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9757864B2 (en) 2014-09-30 2017-09-12 Seiko Epson Corporation Robot
EP3251806A1 (fr) * 2016-05-30 2017-12-06 Seiko Epson Corporation Unité de moteur et robot
CN108214456A (zh) * 2016-12-09 2018-06-29 株式会社达谊恒 搬运系统、搬运装置和模块
US10675753B2 (en) 2016-08-31 2020-06-09 Seiko Epson Corporation Robot
US10814477B2 (en) 2016-08-31 2020-10-27 Seiko Epson Corporation Robot

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7007839B2 (ja) * 2017-08-31 2022-01-25 川崎重工業株式会社 多関節ロボット
CN209986951U (zh) * 2019-04-09 2020-01-24 达闼科技（北京）有限公司 机器人
WO2021144967A1 (fr) * 2020-01-17 2021-07-22 ヤマハ発動機株式会社 Module et dispositif de bras de robot articulé vertical

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111885A (ja) * 1991-08-30 1993-05-07 Toshiba Corp マニピユレータ装置
JP2003191185A (ja) * 2001-08-24 2003-07-08 Xerox Corp 姿勢を採らせ得るジョイントを持つロボット玩具
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
KR100882920B1 (ko) * 2007-11-30 2009-02-10 한국기계연구원 모듈형 로봇 구동부의 구조

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05237779A (ja) * 1991-12-17 1993-09-17 Japan Atom Energy Res Inst 遠隔操作マニュピュレータ用関節モジュールおよび遠隔操作マニュピュレータ
CN2482484Y (zh) * 2001-07-04 2002-03-20 中国科学院沈阳自动化研究所 蛇形机器人单自由度关节模块
JP2004090135A (ja) * 2002-08-30 2004-03-25 Denso Wave Inc ロボットの関節部構造
JP3830488B2 (ja) * 2003-02-27 2006-10-04 ファナック株式会社 配線・配管処理装置
CN1291821C (zh) * 2003-09-04 2006-12-27 中国科学院沈阳自动化研究所 一种具有地面适应能力的蛇形机器人
JP4148280B2 (ja) * 2005-10-18 2008-09-10 セイコーエプソン株式会社 平行リンク機構及び産業用ロボット

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111885A (ja) * 1991-08-30 1993-05-07 Toshiba Corp マニピユレータ装置
JP2003191185A (ja) * 2001-08-24 2003-07-08 Xerox Corp 姿勢を採らせ得るジョイントを持つロボット玩具
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
KR100882920B1 (ko) * 2007-11-30 2009-02-10 한국기계연구원 모듈형 로봇 구동부의 구조

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9757864B2 (en) 2014-09-30 2017-09-12 Seiko Epson Corporation Robot
EP3251806A1 (fr) * 2016-05-30 2017-12-06 Seiko Epson Corporation Unité de moteur et robot
CN107443421A (zh) * 2016-05-30 2017-12-08 精工爱普生株式会社 电机单元以及机器人
US10906171B2 (en) 2016-05-30 2021-02-02 Seiko Epson Corporation Motor unit and robot
CN107443421B (zh) * 2016-05-30 2022-04-22 精工爱普生株式会社 电机单元以及机器人
US10675753B2 (en) 2016-08-31 2020-06-09 Seiko Epson Corporation Robot
US10814477B2 (en) 2016-08-31 2020-10-27 Seiko Epson Corporation Robot
CN108214456A (zh) * 2016-12-09 2018-06-29 株式会社达谊恒 搬运系统、搬运装置和模块

Also Published As

Publication number Publication date
JP5541600B2 (ja) 2014-07-09
CN102307708B (zh) 2014-10-01
JP2012516783A (ja) 2012-07-26
CN102307708A (zh) 2012-01-04

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