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WO2019074295A1 - Ensemble articulation d'épaule pour bras robotique - Google Patents

Ensemble articulation d'épaule pour bras robotique Download PDF

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Publication number
WO2019074295A1
WO2019074295A1 PCT/KR2018/011963 KR2018011963W WO2019074295A1 WO 2019074295 A1 WO2019074295 A1 WO 2019074295A1 KR 2018011963 W KR2018011963 W KR 2018011963W WO 2019074295 A1 WO2019074295 A1 WO 2019074295A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
module
axis
shoulder joint
robot arm
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/KR2018/011963
Other languages
English (en)
Korean (ko)
Inventor
김용재
김종인
윤준석
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.)
Industry Academy Collaboration Foundation of Korea University
Industry University Cooperation Foundation of Korea University of Technology and Education
Naver Corp
Original Assignee
Industry Academy Collaboration Foundation of Korea University
Industry University Cooperation Foundation of Korea University of Technology and Education
Naver Corp
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 Industry Academy Collaboration Foundation of Korea University, Industry University Cooperation Foundation of Korea University of Technology and Education, Naver Corp filed Critical Industry Academy Collaboration Foundation of Korea University
Publication of WO2019074295A1 publication Critical patent/WO2019074295A1/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
    • B25J17/00—Joints
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • 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
    • B25J9/126—Rotary actuators

Definitions

  • the present invention relates to a shoulder joint assembly of a robot arm, and more particularly, to a shoulder joint assembly of a robot arm having a structure that greatly increases high strength / high rigidity and satisfies safety.
  • Baxtor robot has ability to detect and adapt human force so that it can move robot directly and direct work, and it is attracted attention as next generation robot that can cooperate with robot in the same work space have.
  • Baxtor robots sacrifice robustness, rigidity, precision and operation speed in order to secure such safety, and their performance is lower than that of conventional industrial robots.
  • the robot joint structure studied so far has a problem that its structure is very complicated in order to have sufficient strength and rigidity while having many degrees of freedom, and there is a problem that performance is degraded when the structure is simplified.
  • the present invention has been made to solve the above-mentioned problems of the conventional art, and it is an object of the present invention to provide a shoulder joint assembly having a high strength and rigidity, .
  • the present invention is intended to enable safe interaction and collaboration with humans.
  • the present invention provides a shoulder joint assembly for forming a shoulder joint of a robot arm, comprising: a first rotation module having a rotational degree of freedom based on a first axis; A second rotation module connected to the module and having a rotation degree of freedom based on a second axis perpendicular to the first axis and a second rotation module connected to the second rotation module, At least one of the first rotating module, the second rotating module, and the third rotating module includes a driving actuator for generating a rotational driving force, and a driving actuator A rotation inducing portion rotated by the driving actuator and an outer circumferential surface contacting the outer circumferential surface of the rotation inducing portion, As shown in Fig.
  • the rotation part and the rotation induction part may be formed to have different outer diameters and have a predetermined reduction ratio.
  • And may further comprise a tension changing unit for restricting at least a part of the winding member wound around the rotating portion and varying the tension of the winding member.
  • the tension variable unit includes a worm wheel member having at least a part of the winding member wound thereon and a rotatable worm wheel member and a worm member having a rotation axis formed in a direction different from the rotation axis of the worm wheel member, . ≪ / RTI >
  • the tension variable unit may further include a first wedge member having a first inclined surface and having a first wedge member disposed at a fixed position and a second inclined surface contacting the first inclined surface, And a second wedge member selectively constraining the second wedge member.
  • the shoulder joint assembly of the robot arm of the present invention for solving the above-mentioned problems has the following effects.
  • the humanoid robot arm since the humanoid robot arm has a shoulder joint mechanism that satisfies both high strength / high strength and safety, it has an advantage that it can enable safe interaction and cooperation with humans.
  • the actuator required for the operation can be disposed close to the rotation axis, and all the actuators necessary for the operation can be disposed on the shoulder, thereby reducing the rotation inertia of the arm.
  • FIG. 1 is a view showing a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • FIGS. 2 to 5 are views showing a structure of a first rotation module in a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • FIGS. 6 to 8 are views showing a structure of a tension varying unit in a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • the present invention provides a shoulder joint assembly for forming a shoulder joint of a robot arm, comprising: a first rotation module having a rotational degree of freedom with reference to a first axis; a second rotation module connected to the first rotation module, A second rotation module having a rotation degree of freedom based on a second axis and a third rotation module connected to the second rotation module and having a rotational degree of freedom based on a third axis perpendicular to the second axis, At least one of the rotation module, the second rotation module, and the third rotation module includes a drive actuator for generating a rotation drive force, a rotation induction part formed coaxially with the drive actuator and rotated by the drive actuator, A shoulder of the robot arm having an outer circumferential surface in contact with the outer circumferential surface of the guide portion and including a rotation portion that is rotated in the opposite direction by rotation of the rotation guiding portion Provides joint assembly.
  • FIG. 1 is a view showing a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • a shoulder joint assembly of a robot arm includes a first rotation module 100a, a second rotation module 100b, and a third rotation module 100c .
  • the first rotation module 100a may be connected to a separate main body or a cradle, and the third rotation module 100c may be connected to other components of the robot arm.
  • the second rotation module 100b is provided between the first rotation module 100a and the third rotation module 100c.
  • the first rotation module 100a, the second rotation module 100b, and the third rotation module 100c can provide rotational degrees of freedom based on rotation axes of different directions, respectively.
  • the first rotation module 100a is formed to have a rotational degree of freedom with reference to a first axis
  • the second rotation module 100b is connected to the first rotation module 100a, And has a rotation degree of freedom with respect to a vertical second axis
  • the third rotation module 100c is connected to the second rotation module 100b and has a rotational degree of freedom based on a third axis perpendicular to the second axis.
  • this embodiment can have rotational degrees of freedom in three rotational axis directions by the first rotating module 100a, the second rotating module 100b, and the third rotating module 100c, .
  • the first rotary module 100a, the second rotary module 100b, and the third rotary module 100c are formed in the same manner as the first rotary module 100a, do.
  • FIG. 2 is a view showing a state of a first rotation module 100a in a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • FIG. 3 is a perspective view of a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • FIG. 5 is a view showing a rotation structure of the first rotation module 100a in the assembly.
  • FIG 4 and 5 are views showing a winding form of the winding member W for rotation of the first rotation module 100a.
  • the first rotation module 100a includes a rotation unit 130, a fixed frame 105, a driving actuator 110, and a rotation induction unit 120. As shown in FIG.
  • the rotation unit 130 may be connected to another rotation module or a joint driving unit and may be rotated by the rotation induction unit 120 rotated by the driving actuator 110 generating a driving force.
  • the rotation inducing unit 120 is formed to have a coaxial axis with the driving actuator 110 and is rotated by the driving actuator 110.
  • the first outer circumferential surface 121 of the rotation inducing unit 120 and the second outer circumferential surface 131 of the rotation unit 130 are in contact with each other, .
  • the rotation unit 130 can be rotated in the opposite direction by the rotation of the rotation induction unit 120.
  • the diameter of the rotation inducing part 120 may be set to be smaller than the diameter of the rotation part 130, and the diameter of the rotation inducing part 120 may be smaller than the diameter of the rotation inducing part 120, And the output of the driving actuator 110 can be further amplified.
  • the fixed frame 105 is a component for fixing the rotation unit 130, the rotation induction unit 120, and the driving actuator 100 in a rotatable state.
  • the fixed frame 105 of the first rotation module 100a is connected to the rotation unit 130 of the second rotation module 100b.
  • a connection frame 107 connected to the fixed frame 105 in the case of the second rotation module 100b and that the connection frame 107 is connected to the rotation part 130 of the third rotation module 100c .
  • the present embodiment can realize three-axis rotation degrees of freedom without interference between the rotation modules 100a, 100b, and 100c.
  • a bearing accommodation space may be formed between the stationary frame 105 and the rotation unit 130 to accommodate bearings, and thus rotation between the stationary frame 105 and the rotation unit 130 The resistance can be minimized.
  • the fixed frame 105 may have a protrusion 140 extending to the opposite side of the rotation unit 130, which can connect components of other parts of the robot arm that are separately provided.
  • the rotation unit 130 and the rotation induction unit 120 intersect with each other, and the rotation unit 130 and the rotation induction unit 120 are wound around the outer periphery of the rotation unit 130 and the rotation induction unit 120, And a winding member (W)
  • the winding member W may be formed of a flexible material such as a wire or a belt.
  • the winding member W not only increases the rotational force of the rotation unit 130 but also prevents slippage in the rotation induction unit 120 and the rotation unit 130 to prevent the rotation induction unit 120 and the rotation unit 130 130 can be driven to perform an accurate rolling motion.
  • the rotation inducing unit 120 may be formed with a fixing groove 122 to which one end of the winding member W is fixed.
  • the winding member W is formed as an eight- The second outer circumferential surface 131 of the rotation unit 130 and the first outer circumferential surface 121 of the rotation induction unit 120.
  • the rotation unit 130 and the rotation induction unit 120 may be coupled to each other in the form of a gear, or the like, and may have a variety of structures .
  • a seating groove 131a on which the winding member W is seated may be formed on the second outer circumferential surface 131 of the rotation unit 130, So that it can be prevented from being detached from the outer peripheral surface 131.
  • a through hole 132 may be formed at one side of the second outer circumferential surface 131 to allow the winding member W to enter the inside of the rotation unit 130. As shown in FIG.
  • the winding member W drawn into the rotation part 130 from the second outer circumferential surface 131 through the through hole 132 is inserted into the inner circumferential surface of the rotation part 130, (Not shown).
  • FIGS. 6 to 8 are views showing a structure of a tension varying unit 200 in a shoulder joint assembly of a robot arm according to an embodiment of the present invention.
  • the tension varying unit 200 serves to restrain at least a part of the winding member W wound on the rotary part 130 and to vary the tension of the winding member W. [ That is, when the tension is reduced due to the elongation of the winding member (W) during operation of the shoulder joint assembly of the robot arm according to the present invention, the tension of the winding member (W) So that it can be kept as it is.
  • the tension variable unit 200 includes a housing 210 having a shape that can be seated on the inner circumferential surface of the rotary unit 130 and a worm wheel member 220 and a worm member 230 provided in the housing, And a rotation restraining part 240.
  • the housing 210 may be fixed to the rotation unit 130 by a fixing member 102 and may be fixed to the through hole 132 of the rotation unit 130 on the outer side of the housing 210.
  • a communicating hole 211 is formed. That is, the winding member W may be drawn into the housing 210 through the communication hole 211.
  • the housing 210 may further include a monitoring hole 212 so that the inside of the housing 210 can be visually recognized.
  • the worm wheel member 220 is wound around at least a portion of the winding member W drawn through the communication hole 211 and is rotatably formed.
  • the worm member 230 has a rotation axis formed in a direction different from the rotation axis of the worm wheel member 220 and is formed to be able to rotate the worm wheel member 220 according to rotation as the gear is engaged with the rotation.
  • the tension of the winding member W is weakened, the user manually or automatically operates the worm member 230 to rotate the worm wheel member 220 and rotate the worm wheel member 220
  • the original tension can be maintained by adjusting the amount of winding of the winding member (W).
  • an operating portion 235 having a polygonal groove formed at one end of the screw portion 231 of the worm member 230 is formed. Accordingly, the user can easily rotate the worm member 230 using a wrench or the like.
  • the present embodiment is provided with a rotation restricting portion 240 at one side of the worm member 230 so as to prevent the worm member 230 from being rotated by the tension of the winding member W at normal times .
  • the rotation restraining part 240 includes a first wedge member 243 having a first inclined face 244 and a fixed position, a second inclined face 242 contacting the first inclined face 244, And a second wedge member 241 that moves along the first inclined surface 244 and selectively restrains the rotation of the worm member 231.
  • the second wedge member 241 is normally moved to the first wedge member 243 and is in contact with the worm member 230 so that the rotation of the worm member 230 You can arrest them.
  • the second wedge member 241 moves to the opposite side of the second wedge member 243, Thereby releasing the restraint state of the member 230, so that the user can easily rotate the worm member 230.
  • the tension adjusting unit 200 of the present embodiment can easily adjust the tension of the winding member W and can prevent the worm member 230 from being pulled up by the tension of the winding member W, Can be prevented from being rotated in the direction to weaken the magnetic field, and the reliability of the device can be further improved.
  • the present invention relates to a shoulder joint assembly of a robot arm having a structure that greatly enhances high strength / high rigidity and satisfies safety.

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

Abstract

L'invention concerne un ensemble articulation d'épaule pour un bras robotique, destiné à former l'articulation d'épaule d'un bras robotique et comprenant : un premier module de rotation doté d'un degré de liberté de rotation autour d'un premier axe ; un deuxième module de rotation relié au premier module de rotation et doté d'un degré de liberté de rotation autour d'un deuxième axe perpendiculaire au premier axe ; et un troisième module de rotation relié au deuxième module de rotation et doté d'un degré de liberté de rotation autour d'un troisième axe perpendiculaire au deuxième axe, au moins le premier module de rotation, le deuxième module de rotation ou le troisième module de rotation comprenant : un actionneur d'entraînement destiné à générer une force d'entraînement de rotation ; une partie d'induction de rotation formée coaxiale avec l'actionneur d'entraînement et entraînée en rotation par l'actionneur d'entraînement ; et une partie de rotation comportant une surface circonférentielle externe venant en contact avec la surface circonférentielle externe de la partie d'induction de rotation et mise en rotation par la partie d'induction de rotation, dans le sens opposé à la rotation de la partie d'induction de rotation
PCT/KR2018/011963 2017-10-13 2018-10-11 Ensemble articulation d'épaule pour bras robotique Ceased WO2019074295A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0133572 2017-10-13
KR1020170133572A KR102009301B1 (ko) 2017-10-13 2017-10-13 로봇 암의 어깨 관절 어셈블리

Publications (1)

Publication Number Publication Date
WO2019074295A1 true WO2019074295A1 (fr) 2019-04-18

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Application Number Title Priority Date Filing Date
PCT/KR2018/011963 Ceased WO2019074295A1 (fr) 2017-10-13 2018-10-11 Ensemble articulation d'épaule pour bras robotique

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KR (1) KR102009301B1 (fr)
WO (1) WO2019074295A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388666A (zh) * 2019-08-14 2021-02-23 陕西伟景机器人科技有限公司 一种机器人肩关节装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230123820A (ko) 2022-02-18 2023-08-24 코오롱인더스트리 주식회사 생분해성 입자, 이의 제조방법 및 이를 포함한 화장료 조성물
KR20230124400A (ko) 2022-02-18 2023-08-25 현대자동차주식회사 동력 전달 장치 및 그 동력 전달 장치를 포함하는 로봇

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007229874A (ja) * 2006-03-01 2007-09-13 Kawasaki Heavy Ind Ltd 産業用ロボット
KR100963633B1 (ko) * 2008-07-14 2010-06-15 한양대학교 산학협력단 로봇용 어깨 관절 액츄에이터
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
KR20160119960A (ko) * 2015-04-07 2016-10-17 한국기술교육대학교 산학협력단 로봇 암의 어깨 관절 어셈블리
KR101687627B1 (ko) * 2010-01-12 2016-12-21 삼성전자주식회사 관절구동장치 및 이를 가지는 로봇

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007229874A (ja) * 2006-03-01 2007-09-13 Kawasaki Heavy Ind Ltd 産業用ロボット
KR100963633B1 (ko) * 2008-07-14 2010-06-15 한양대학교 산학협력단 로봇용 어깨 관절 액츄에이터
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
KR101687627B1 (ko) * 2010-01-12 2016-12-21 삼성전자주식회사 관절구동장치 및 이를 가지는 로봇
KR20160119960A (ko) * 2015-04-07 2016-10-17 한국기술교육대학교 산학협력단 로봇 암의 어깨 관절 어셈블리

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388666A (zh) * 2019-08-14 2021-02-23 陕西伟景机器人科技有限公司 一种机器人肩关节装置

Also Published As

Publication number Publication date
KR20190041841A (ko) 2019-04-23
KR102009301B1 (ko) 2019-08-09

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