WO2017146404A1 - Manipulateur de robot vertical à articulations multiples équipé d'un dispositif de compensation de gravité - Google Patents

Manipulateur de robot vertical à articulations multiples équipé d'un dispositif de compensation de gravité Download PDF

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Publication number
WO2017146404A1
WO2017146404A1 PCT/KR2017/001480 KR2017001480W WO2017146404A1 WO 2017146404 A1 WO2017146404 A1 WO 2017146404A1 KR 2017001480 W KR2017001480 W KR 2017001480W WO 2017146404 A1 WO2017146404 A1 WO 2017146404A1
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WIPO (PCT)
Prior art keywords
link
joint
coupled
connecting rod
head portion
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/KR2017/001480
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English (en)
Korean (ko)
Inventor
송재복
안국현
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 University Research and Business Foundation
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Korea University Research and Business Foundation
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Filing date
Publication date
Priority claimed from KR1020170011252A external-priority patent/KR101878592B1/ko
Application filed by Korea University Research and Business Foundation filed Critical Korea University Research and Business Foundation
Publication of WO2017146404A1 publication Critical patent/WO2017146404A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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

Definitions

  • the present invention relates to a robot manipulator, and more particularly, to provide a driving torque required for a joint by providing a spring-based gravity compensator capable of canceling the gravity torque applied to the joint by its own weight when maintaining and driving the robot manipulator.
  • a vertical articulated robotic manipulator having a gravity compensator capable of minimizing drive power by reducing it.
  • the vertical articulated robot manipulator is used for various tasks such as transporting, assembling, welding, and painting heavy materials, and has been developed and used in various sizes according to the target work.
  • Gravity torque due to its own weight is applied to the joint moving the link in the direction of gravity when the posture of the vertical articulated robot manipulator is maintained or driven.
  • some industrial robots install weights on opposite sides of the working point to reduce the center of gravity, or use a spring to compensate for the weight of the link and apply the torque to the joint. A method of reducing this is being used.
  • weights increases the weight of the robot manipulator and increases the influence of inertia.
  • various methods of applying gravity compensation to joints of a multiple degree of freedom robot based on mechanical elements, such as springs and wires are limited to be applied to robot manipulators due to their complicated structure. Compensation device is required.
  • the gravity compensation performance is easily degraded due to the deformation of the spring according to the long-term operation, and in this case, the robot manipulator needs to be disassembled to replace the spring. not.
  • the present invention is to solve the above problems, by applying a reliable mechanical element-based multi-degree of freedom gravity compensation device is a vertical having a gravity compensation device that can implement an effective gravity compensation for the joint to which a lot of gravity torque is applied
  • An object is to provide an articulated robotic manipulator.
  • the first link A second link connected to the first link and a first joint so as to rotate relative to the first link; A third link connected to the second link and a second joint spaced apart from the first joint to rotate about the second link; An input link coupled with the first link to rotate relative to the first link separately from the second link; A coupler link having one side rotatably connected with the third link and the other side rotatably connected with the input link; A first joint driver installed in the first link to provide a driving force to the second link to rotate the second link about the first joint; A second joint driver installed in the first link to rotate the input link to rotate the third link about the second joint through the input link and the coupler link; And apply an elastic force to at least one of the second link and the input link to compensate for gravity torque caused by the weight of a link mechanism comprising the second link, the third link, the input link and the coupler link. And a gravity compensating device installed at the first link.
  • the gravity compensating device may include an elastic member supported on the first link and a rotation center of the first link of either the second link or the input link to transmit the elastic force of the elastic member to the link mechanism.
  • a connecting rod rotatably connected to a portion spaced from the connecting rod, and the connecting rod is rotatably connected and movable with respect to the first link to elastically deform the elastic member in response to the movement of the connecting rod. It may include a movable member is installed.
  • the gravity compensating apparatus may further include a support frame that is prefabricated to the first link, the elastic member may be coupled to the support frame, and the movable member may be slidably coupled to the support frame.
  • the gravity compensation device further includes a guide bar coupled to the support frame to extend in the sliding direction of the movable member, wherein the elastic member has a spring structure wound around an outer circumference of the guide bar, and the movable member includes the guide bar. It can be slidably coupled to the guide bar to compress the elastic member.
  • the connecting rod of the gravity compensator includes a first rotating rod having a first head portion rotatably coupled to either the second link or the input link, and a first rod body extending from the first head portion. And a second rotating rod having a second head portion rotatably coupled to the movable member, and a second rod body extending from the second head portion to be assembled with the first rod body of the first rotating rod. It may include.
  • the gravity compensator includes a first elastic member supported by the first link and a rotational center spaced from the rotation center of the second link with respect to the first link to transmit the elastic force of the first elastic member to the second link.
  • a first connecting rod rotatably connected to the first portion, and the first link so that the first connecting rod is rotatably connected and elastically deforms the first elastic member in response to the movement of the first connecting rod.
  • a first counter balancer having a first movable member operatively mounted relative to the second counter, a second elastic member supported on the first link, and the input for transmitting an elastic force of the second elastic member to the input link.
  • a second connecting rod rotatably connected to a portion spaced from a center of rotation of the link with respect to the first link, and the second connecting rod rotatably connected; And it may include a second counter balancer having a second movable member in association with the movement of the second connecting rod being able to be movable relative to the first link to install the second so that the elastic member can be elastically deformed.
  • the first counter balancer further includes a first support frame prefabricated to the first link, the first elastic member is coupled to the first support frame, and the first movable member is the first support frame.
  • the second counter balancer further includes a second support frame assembleably coupled to the first link, wherein the second elastic member is coupled to the second support frame, and the second movable frame is movable. The member may be slidably coupled to the second support frame.
  • the first connecting rod is rotatable to the first movable member having a first head portion rotatably coupled to the second link, a first rod body extending from the first head portion, and the first movable member. And a second rotating rod having a second head portion possibly coupled thereto and a second rod body extending from the second head portion and prefabricatedly coupled to the first rod body of the first rotating rod.
  • the second connecting rod is rotatable to the first movable portion having a first head portion rotatably coupled to the input link, a first rotating rod having a first rod body extending from the first head portion, and the second movable member. And a second rotating rod having a second head portion coupled to each other, and a second rod body extending from the second head portion to be assembled with the first rod body of the first rotating rod.
  • the first counter balancer and the second counter balancer may be disposed to face each other such that the movable direction of the first movable member and the movable direction of the second movable member are parallel to each other.
  • the vertical articulated robot manipulator according to the present invention may further include a multiple joint unit having a plurality of joints and coupled to the third link.
  • the vertical articulated robot manipulator according to the present invention may further include a base unit connected to the first link and the base joint to rotate the first link about the base joint.
  • a vertical articulated robot manipulator having a gravity compensating device provides a compensating torque to a link mechanism with a counter balancer including an elastic member for providing an elastic force, a movable member and a connecting rod for transmitting an elastic force of the elastic member.
  • the vertical articulated robot manipulator according to the present invention implements gravity compensation by using a gravity compensation device having a simple structure, thereby maximizing payload, and minimizing rotational force by reducing torque load in joints, thereby providing high power. Accurate operation is possible without using the driving unit.
  • the vertical articulated robot manipulator according to the present invention can significantly reduce the capacity of the joint drive part such as a motor and a reducer when applied to the actual multi-axis joint robot, it can significantly lower the manufacturing cost.
  • the vertical articulated robot manipulator according to the present invention by enabling a compact structure in addition to stable gravity compensation through a simple balance of the counter balancer, it is possible to maximize the utility in a variety of fields by the compact structure.
  • the vertical articulated robot manipulator according to the present invention by designing the gravity compensation device in a modular structure to facilitate the installation of the gravity compensation device and replacement according to the component life, it can significantly reduce the time and cost of maintenance.
  • FIG. 1 is a side view showing a vertical articulated robot manipulator according to an embodiment of the present invention.
  • Figure 2 is a rear view showing a vertical articulated robot manipulator according to an embodiment of the present invention.
  • FIG 3 and 4 are perspective views showing the vertical articulated robotic manipulator according to an embodiment of the present invention from different angles.
  • FIG. 5 is a conceptual diagram briefly shown to explain the four-section link structure of the vertical articulated robot manipulator according to an embodiment of the present invention.
  • FIG. 6 is a view illustrating a vertical articulated robot manipulator having a gravity compensator separately from a gravity compensator according to an embodiment of the present invention.
  • FIG. 7 is for explaining the coupling structure of the first counter balancer of the vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention.
  • FIG. 8 is for explaining the coupling structure of the second counter balancer of the vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention.
  • FIG. 9 is an exploded view of a second counter balancer of a vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention.
  • FIG. 10 is a simplified conceptual diagram to explain an operation principle of a gravity compensator of a vertical articulated robot manipulator having a gravity compensator according to an embodiment of the present invention.
  • FIG. 11 is a graph showing the compensation torque according to the joint rotation angle when the design variable is properly selected to explain the effect of the gravity compensator of the vertical articulated robot manipulator having a gravity compensator according to an embodiment of the present invention.
  • FIG. 12 is a conceptual diagram briefly shown to explain the gravity torque applied to each pitch joint of the vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention.
  • FIG. 1 is a side view showing a vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention
  • Figure 2 is a vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention
  • 3 and 4 are perspective views showing a vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention from different angles
  • FIG. 5 is a view showing an embodiment of the present invention.
  • 4 is a conceptual diagram briefly illustrated to describe a four-section link structure of a vertical articulated robot manipulator having a gravity compensating device
  • FIG. 6 is a vertical articulated robotic manipulator having a gravity compensating device according to an embodiment of the present invention. The compensation device is shown separately.
  • a vertical articulated robot manipulator 100 having a gravity compensation device includes a first link 110, a first link 110, and a first link 110.
  • Link mechanism 115 connected to the joint (J1), and the gravity compensation device 142 to compensate for the gravity torque caused by the weight of the link mechanism 115.
  • the first link 110 is connected to the base unit 180 and the base joint Jb, and one end of the link mechanism 115 is connected to the multiple joint unit 182.
  • An end effector (not shown), which may be implemented as a roll motor or a gripper, may be installed at an end of the multiple joint unit 182.
  • the vertical articulated robot manipulator 100 includes an arm part (base unit 180, made of three joints of roll-pitch-pitch, which can determine the position of the robot distal end in space). It is possible to take a structure having one link 110, a link mechanism 115, and a wrist part (multiple joint unit 182) composed of three joints for determining the orientation of the robot distal end.
  • the gravity compensation device 142 can be connected to the link mechanism 115 to offset the gravity torque applied to the first joint (J1) and the second joint (J2).
  • the first link 110 may be connected to the base unit 180 and the base joint Jb to rotate with respect to the base unit 180. That is, the first link 110 may rotate with the axis (Z axis) perpendicular to the ground as the rotation center axis.
  • the base unit 180 may include a driving unit for providing a driving force to the first link 110.
  • the first link 110 may include a bottom frame 111 connected to the base unit 180, a first sidewall frame 112 and a second sidewall frame 112 disposed to be spaced apart from each other on the top of the bottom frame 111. 113).
  • the link mechanism 115 is connected with the first link 110 to be movable relative to the first link 110.
  • the link mechanism 115 includes a second link 120 connected to one side of the first link 110, a third link 127 connected to the second link 120, and another of the first link 110.
  • An input link 130 connected to one side and a coupler link 136 connecting the third link 127 and the input link 130.
  • the second link 120 may be connected to the first link 110 and the first joint J1 to rotate about the first link 110. That is, the second link 120 may rotate within a predetermined angle range using an axis (X axis) horizontal to the ground as the rotation center axis.
  • the second link 120 is spaced apart from the second link right body 121 and the second link right body 121 rotatably connected to the first side wall frame 112 of the first link 110 to face each other. Connecting the second link left body 122, the second link right body 121, and the second link left body 122 to be rotatably connected to the second side wall frame 113 of the first link 110. It includes a connecting body 123.
  • the second link pivot connector 125 is for connecting the first connecting rod 158 provided in the first counter balancer 144 of the gravity compensator 142 which will be described later. It is disposed at a position eccentrically spaced from the center of rotation of the two links 120.
  • the third link 127 is connected to the second joint J2 spaced apart from the second link 120 and the first joint J1 so as to rotate about the second link 120.
  • the third link 127 may rotate within a predetermined angle range using an axis (X axis) horizontal to the ground as the rotation center axis.
  • the multi-joint unit 182 is coupled to the third link 127, and the multi-joint unit 182 moves along with the movement of the third link 127.
  • the input link 130 is connected to the first link 110 so as to rotate relative to the first link 110 separately from the second link 120.
  • the input link 130 may rotate within a predetermined angle range using an axis horizontal to the ground (X axis) as a rotation center axis.
  • the central axis of rotation of the input link 130 and the central axis of rotation of the second link 120 are the same.
  • the input link 130 includes a rotating part 131 rotatably coupled to the second side wall frame 113 of the first link 110 and an eccentricity extending in the radial direction of the rotating part 131 on the outer circumferential surface of the rotating part 131. It includes a connector 132.
  • One side of the rotating part 131 is provided with an input link pivot connection part 134 (see FIG. 8).
  • the input link pivot connection unit 134 is for connection of the second connecting rod 177 provided in the second counter balancer 170 of the gravity compensator 142 which will be described later.
  • 131 is disposed at a position eccentrically spaced apart
  • the coupler link 136 is rotatably connected to one side of the third link 127, and the other side is rotatably connected to the input link 130, thereby connecting the third link 127 and the input link 130.
  • One end of the coupler link 136 is rotatably connected to a portion spaced from the second joint J2 of the third link 127, and the other end of the coupler link 136 is an eccentric connection 132 of the input link 130. Is rotatably connected.
  • the link mechanism 115 forms a four-section link structure in which the second link 120, the third link 127, the input link 130, and the coupler link 136 are connected.
  • the second link 120 and the input link 130 have respective ends rotatably connected to the first link 110
  • the third link 127 is connected to the second link ( 120 is rotatably connected
  • the coupler link 136 has both ends rotatably connected to each of the third link 127 and the input link 130. Connect it.
  • the link mechanism 115 of the four-section link structure is moved by the first joint driver 138 and the second joint driver 140 installed in the first link 110.
  • the first joint driver 138 is installed on the first side wall frame 112 of the first link 110 to rotate the second link 120 of the link mechanism 115 about the first joint J1.
  • the second joint driver 140 is installed on the second side wall frame 113 of the first link 110 to rotate the input link 130 of the link mechanism 115 with respect to the first link 110.
  • the driving force of the second joint driver 140 is transmitted to the third link 127 through the input link 130 and the coupler link 136 in turn, and the third link 127 is the driving force of the second joint driver 140.
  • Received may be rotated about the second joint (J2) with respect to the second link 120. That is, the second joint driver 140 may rotate the third link 127 about the second joint J2 through the input link 130 and the coupler link 136.
  • the link mechanism 115 may have various postures changed by the action of the first joint driver 138 and the second joint driver 140. In addition, the link mechanism 115 changes the angle of the second link 120 with respect to the first link 110 by the first joint driver 138, and the second link 120 by the second joint driver 140. By varying the angle of the third link 127 relative to the third link 127, the position of the multiple joint unit 182 coupled to the third link 127 may be variously adjusted.
  • the first joint drive 138 and the second joint drive 140 need to provide driving torque necessary for movement. If the posture changes, the required torque of the first joint drive unit 138 and the second joint drive unit 140 also changes due to the change of the gravity torque caused by its own weight.
  • a method of compensating gravity torque by measuring the position and attitude of the robot manipulator through an encoder mounted on the joint of the robot manipulator and measuring the rotation angle, calculating the required gravity torque and generating the required torque through the control of the driving unit. was used.
  • the present invention uses gravity compensation device 142 that can provide elastic force, thereby automatically gravity for all positions and postures of the vertical articulated robot manipulator 100 without the help of a separate sensor, controller, and drive unit. Torque can be mechanically generated to compensate the torque. Therefore, the required torque of the joint drives 138 and 140 for compensating gravity torque can be made close to zero.
  • the gravity compensating device 142 may include a first force to provide the link mechanism 115 with an elastic force for compensating gravity torque caused by the weight of the link mechanism 115. It is installed in the link 110.
  • the gravity compensator 142 is a first counter balancer 144 for applying an elastic force for gravity compensation to the second link 120 of the link mechanism 115, and gravity to the input link 130 of the link mechanism 115 And a second counter balancer 170 for applying an elastic force for compensation.
  • the first counter balancer 144 and the second counter balancer 170 differ only in the installation position or the position of the portion connected to the link mechanism 115, and the overall structure and function are the same.
  • the first counter balancer 144 includes a first support frame 145 fixed to the first link 110, a first elastic member 148 supported by the first support frame 145, and a first support frame ( A first movable member 152 installed movably on the 145 and a first connecting rod 158 connecting the first movable member 152 and the second link 120 of the link mechanism 115. .
  • the second counter balancer 170 includes a second support frame 171 fixed to the first link 110, a second elastic member 173 supported by the second support frame 171, and a second support frame ( The second movable member 175 is installed in the movable type 171, and the second connecting rod 177 for connecting the second movable member 175 and the input link 130 of the link mechanism 115.
  • the components constituting the gravity compensator 142 are classified by attaching the first and the second according to the first counter balancer 144 and the second counter balancer 170.
  • the division of names does not indicate any difference in structure or function.
  • the components of the second counter balancer 170 shown in FIG. 9 will be referred to for some components.
  • the first support frame 145 of the first counter balancer 144 is coupled to the first side wall frame 112 of the first link 110.
  • the first support frame 145 may be detachably coupled to the first side wall frame 112 through fixing members such as screws or bolts.
  • the first support frame 145 is provided on the guide rail 146 for guiding the movement of the first movable member 152.
  • the pair of first elastic members 148 are spaced apart from each other on the first support frame 145.
  • the guide bar 149 is coupled to the first support frame 145 to install the first elastic member 148.
  • the guide bar 149 is disposed in parallel with the pair spaced apart from each other. These guide bars 149 are coupled to the holder 150, one end of which is fixed to the first support frame 145.
  • the first elastic member 148 has a spring structure that is wound around the outer circumference of the guide bar 149.
  • the first movable member 152 is installed on the first support frame 145 so as to be slidable.
  • the first movable member 152 may linearly reciprocate along the guide rail 146 of the first support frame 145.
  • the first movable member 152 is coupled to the pair of guide bars 149 so as to be slidably movable, and connected to the pressurizing unit 153 to be slidably coupled to the guide rail 146.
  • the connecting rod connector 154 is included.
  • One side of the connecting rod connecting portion 154 is provided with a slider pivot connecting portion 156 for coupling the first connecting rod 158.
  • the first movable member 152 may be moved by the first connecting rod 158 and may be elastically deformed by pressing the first elastic member 148 with the pressing unit 153.
  • the first connecting rod 158 connects the second link 120 and the first movable member 152 of the link mechanism 115.
  • the first connecting rod 158 has a first head portion 159 connected to the second link 120 and a second head portion 160 connected to the slider pivot connecting portion 156 of the first movable member 152. And a body portion 161 connecting the first head portion 159 and the second head portion 160.
  • the first head portion 159 of the first connecting rod 158 is connected to the second link 120 through the second link pivot connecting portion 125 provided in the second link right body 121 of the second link 120. Is rotatably connected. Since the second link pivot connecting portion 125 is eccentric from the center of rotation of the second link 120, when the second link 120 rotates, the first head portion 159 of the first connecting rod 158 becomes second. It may move along the center of rotation of the link 120.
  • the second head portion 160 of the first connecting rod 158 is rotatably connected to the first movable member 152 through the slider pivot connecting portion 156 of the first movable member 152.
  • the first head portion 159 of the first connecting rod 158 moves around the center of rotation of the second link 120, whereby the first of the first connecting rod 158 is moved.
  • the second head 160 may move the first movable member 152 along the guide bar 149.
  • the elastic force of the first elastic member 148 may be reduced through the first movable member 152 and the first connecting rod 158.
  • Two links 120 Therefore, when the second link 120 rotates, it is possible to provide the second link 120 with a compensating torque that can compensate for the gravity torque caused by the weight of the link mechanism 115, and to move the second link 120. It is possible to reduce the driving torque of the first joint driver 138.
  • the first connecting rod 158 may be separated into a first rotating rod 163 having a first head portion 159 and a second rotating rod 166 having a second head portion 160.
  • the first rotating rod 163 has a first head portion 159 and a first rod body 164 extending from the first head portion 159.
  • the second rotating rod 166 has a second head portion 160 and a second rod body 167 extending from the second head portion 160.
  • the first rod body 164 of the first rotary rod 163 and the second rod body 167 of the second rotary rod 166 may be detachably coupled through a fixing member such as a screw or a bolt.
  • the first connecting rod 158 of the first counter balancer 144 is formed by a detachable structure in which a portion coupled to the second link 120 and a portion coupled to the first movable member 152 can be separated. Easy assembly and disassembly
  • the first rotating rod 163 and the second rotating rod 166 of the first connecting rod 158 may be connected to the second link 120 and the first movable member 152.
  • the first counter balancer by coupling the first support frame 145 to the first link 110 and then coupling the first rotary rod 163 and the second rotary rod 166. 144 can be assembled.
  • the first rotating rod 163 and the second rotating rod 166 of the first connecting rod 158 are first separated, and then the first support is performed. By separating the frame 145 from the first link 110, the first counter balancer 144 may be easily removed.
  • the first counter balancer 144 has a modular structure in which the first counter balancer 144 is assembled to the first link 110, the first counter balancer ( 144 is easily removable and easily assembled. This saves time and money for maintenance.
  • the second counter balancer 170 is installed in the first link 110 and the link mechanism 115 separates from the first counter balancer 144 a compensation torque that can compensate for the gravity torque caused by the weight of the link mechanism 115.
  • the input link 130 may be provided.
  • the second counter balancer 170 is mutually different from the first counter balancer 144 such that the movable direction of the second movable member 175 is parallel to the movable direction of the first movable member 152 of the first counter balancer 144. Are placed facing each other.
  • the second support frame 171 of the second counter balancer 170 is coupled to the bottom frame 111 of the first link 110.
  • the second support frame 171 may be detachably coupled to the bottom frame 111 through fixing members such as screws or bolts.
  • the second support frame 171 is provided on the guide rail 146 for guiding the movement of the second movable member 175.
  • the second support frame 171 may be coupled to a portion other than the bottom frame 111 of the first link 110, such as the second sidewall frame 113.
  • the pair of second elastic members 173 are spaced apart from each other on the second support frame 171.
  • the guide bar 149 is coupled to the second support frame 171 to install the second elastic member 173.
  • the guide bar 149 is disposed in parallel with the pair spaced apart from each other.
  • These guide bars 149 are coupled to the holder 150, each end of which is fixed to the second support frame 171.
  • the second elastic member 173 has a spring structure wound around the outer circumference of the guide bar 149.
  • the second movable member 175 is mounted to the second support frame 171 so as to be slidable.
  • the second movable member 175 may linearly reciprocate along the guide rail 146 of the second support frame 171.
  • the second movable member 175 is coupled to the pair of guide bars 149 to be slidably movable, and is connected to the pressing unit 153 to be slidably coupled to the guide rail 146.
  • the connecting rod connector 154 is included.
  • One side of the connecting rod connecting portion 154 is provided with a slider pivot connecting portion 156 for coupling the second connecting rod 177.
  • the second movable member 175 is moved by the second connecting rod 177, and can be elastically deformed by pressing the second elastic member 173 with the pressing unit 153.
  • the second connecting rod 177 connects the input link 130 of the link mechanism 115 and the second movable member 175.
  • the second connecting rod 177 may include a first head portion 159 connected to the input link 130 and a second head portion 160 connected to the slider pivot connection portion 156 of the second movable member 175. And a body portion 161 connecting the first head portion 159 and the second head portion 160.
  • the first head portion 159 of the second connecting rod 177 is rotatably connected to the input link 130 through an input link pivot connecting portion 134 provided in the rotating portion 131 of the input link 130. Since the input link pivot connection 134 is eccentric from the center of rotation of the input link 130, when the input link 130 rotates, the first head 159 of the second connecting rod 177 is connected to the input link 130. Can move around the center of rotation.
  • the second head portion 160 of the second connecting rod 177 is rotatably connected to the second movable member 175 through the slider pivot connecting portion 156 of the second movable member 175.
  • the first head portion 159 of the second connecting rod 177 moves around the rotation center of the input link 130, whereby the second head of the second connecting rod 177 is rotated.
  • the unit 160 may move the second movable member 175 along the guide bar 149.
  • the elastic member 173 is elastically deformed by the movement of the second movable member 175, the elastic force of the second elastic member 173 is input through the second movable member 175 and the second connecting rod 177. May be communicated to link 130. Therefore, when the input link 130 rotates, it is possible to provide the input link 130 with a compensating torque for compensating the gravity torque caused by the weight of the link mechanism 115, and the second link for moving the input link 130.
  • the driving torque of the joint driver 140 can be reduced.
  • the second connecting rod 177 may be separated into a first rotating rod 163 having a first head portion 159 and a second rotating rod 166 having a second head portion 160.
  • the first rotating rod 163 has a first head portion 159 and a first rod body 164 extending from the first head portion 159.
  • the second rotating rod 166 has a second head portion 160 and a second rod body 167 extending from the second head portion 160.
  • the first rod body 164 of the first rotary rod 163 and the second rod body 167 of the second rotary rod 166 may be detachably coupled through a fixing member such as a screw or a bolt.
  • the second counterbalancer 170 is assembled by the second connecting rod 177 having a detachable structure in which a portion coupled to the input link 130 and a portion coupled to the second movable member 175 can be separated. But disassembly becomes easy.
  • the second counter balancer 170 has a modular structure that is prefabricated to the first link 110, the second counter balancer (when repairing or replacing a part of the second counter balancer 170) 170) can be easily removed and assembled easily. This saves time and money for maintenance.
  • FIG. 10 is a simplified conceptual diagram for explaining the operation principle of the gravity compensation device of the vertical articulated robot manipulator having a gravity compensation device according to an embodiment of the present invention
  • Figure 11 is a gravity according to an embodiment of the present invention
  • FIG. 12 is according to an embodiment of the present invention. It is a conceptual diagram briefly shown to explain the gravity torque applied to each pitch joint of a vertical articulated robot manipulator having a gravity compensation device.
  • the length of the connecting rods 158 and 177 of the gravity compensator 142 is the length of the rod between the points where the connecting rods 158 and 177 are connected from the rotation center of the link mechanism 115.
  • R, the spring constant of the elastic members 148 and 173 are k
  • the rotation angle of the link mechanism 115 is ⁇
  • the rotation angle of the connecting rods 158, 177 is ⁇ .
  • the moving distance s of the movable members 152 and 175 according to the rotation may be expressed by the following equation.
  • the compression distance of the elastic members 148 and 173 due to the movement of the movable members 152 and 175 is the initial compression distance of the elastic members 148 and 173 to the moving distance of the movable members 152 and 175.
  • the restoring force Fr of the elastic members 148 and 173 according to the compression of the elastic members 148 and 173 is multiplied by the compression distance of the elastic members 148 and 173 by the stiffness of the elastic members 148 and 173. It can be expressed as an expression.
  • the moment arm lm which is the distance between the force transmitted through the connecting rods 158 and 177 and the center O of the first joint J1 is as follows.
  • the first joint J1 generates a compensating torque Tc, which is expressed as the product of the moment arm and the force transmitted through the connecting rods 158 and 177 as follows.
  • the compensation torque Tc generated by the gravity compensator 142 according to the rotation angle ⁇ of the link mechanism 115 is determined by four design variables R, k, si, and lrod, and the link mechanism 115 is selected through appropriate parameter selection. ) As a result of rotation, the gravity torque Tg, which appears in the form of a sine wave, can be offset.
  • the graph shows the compensation torque generated when R is 25 mm, lrod is 100 mm, k is 2.9 N / mm, and si is 75 mm
  • the shape of the sine wave is shown in FIG. 11.
  • the gravity compensator 142 developed in the present invention, since the formula of the compensation torque does not coincide mathematically with the formula mgsin ⁇ of the gravity torque, the gravity compensator 142 completely cancels the gravity torque due to the weight of the manipulator. I can't.
  • the gravity compensator is designed by optimizing the design variables, the error between the gravity torque and the compensating torque is insignificant. Therefore, it is possible to compensate the gravity torque and lower the driving unit power of the manipulator.
  • the pitch joint 2 Jp1 and the pitch joint 3 Jp2 are provided on the roll joint 1 Jr.
  • Each of the pitch joints Jp1 and Jp2 may be represented by the following gravity torque.
  • m2 is the mass of each link (L2) (L3)
  • lc2 is the center of gravity distance of each link (L2) (L3)
  • l2 is between pitch joint 2 (Jp1) and pitch joint 3 (Jp2) Distance
  • ⁇ 2 and ⁇ 3 are rotation angles of the pitch joints Jp1 and Jp2.
  • the present invention can solve this problem by constructing parallel four-section links between two pitch joints J1 and J2, as shown in FIG.
  • the rotational reference of the input link 130 constituting the parallel four-section link is above the first link 110, as in the second link 120, and thus is not affected by the rotation of the second link 120. Therefore, when the gravity compensation device 142 is applied to the input link 130 of the parallel four-section link, it is possible to always operate the second joint J2 based on the gravity direction.
  • the first joint J1 is the gravity of the second joint J2. Since it is not affected by the torque, only the components according to the rotation angle of the first joint J1 remain in the first joint J1, and a simple gravity compensator 142 may be applied. As such, by configuring two pitch joints J1 and J2 in a parallel four-section link structure, it is possible to apply gravity compensation through elastic force to both joints J1 and J2.
  • the second joint drive 140 is positioned on the first link 110 like the first joint drive 138 so that the rotation of the second joint J2 does not affect the rotation of the first joint J1. . Since the torque of the second joint J2 is transmitted to the first link 110 through the coupler link 136 and the input link 130, the torque of the second joint J2 acts on the first joint J1. I never do that.
  • the vertical articulated robot manipulator 100 follows the structure of a general industrial articulated articulated robot and compensates gravity torque for two joints J1 and J2 most affected by gravity torque. can do. Therefore, the amount of torque required at each joint J1 and J2 during the posture maintenance and driving of the vertical articulated robot manipulator 100 can be drastically reduced to lower the power required at the joint driving units 138 and 140. The manufacturing cost of the articulated robot manipulator 100 can be lowered.
  • the articulated robotic manipulator 100 according to the present invention can use much smaller power to perform the same work due to gravity compensation, it is possible to obtain an effect of saving energy when operating the robot.
  • the gravity compensator 142 in a modular manner to facilitate the installation and replacement of the gravity compensator 142 according to the life of the component, it is possible to solve the maintenance problem of the vertical articulated robot manipulator (100).
  • the vertical articulated robot manipulator 100 is shown as being implemented in the form of a robot arm having an arm part having a multi-joint structure and a wrist part having a multi-joint structure, the vertical articulated robot of the present invention
  • the manipulator can be modified to a variety of different structures with varying numbers of links and number of joints.
  • link mechanism 115 is shown as having a four-section link structure, the link mechanism may be changed to another structure including links having various numbers of various shapes.
  • the rotation center of the second link constituting the link mechanism and the rotation center of the input link may be disposed at positions displaced from each other.
  • a gravity counter 142 a first counter balancer 144 providing compensation torque to the second link 120 of the link mechanism 115 and a second counter providing compensation torque to the input link 130.
  • the gravity compensation device can be changed to another structure having one counter balancer to provide a compensation torque to at least one of the second link 120 and the input link 130. have.
  • the structures of the first counter balancer 144 and the second counter balancer 170 constituting the gravity compensator 142 are not limited to those shown in the drawings and may be variously changed.
  • the elastic member constituting the counter balancer may be changed to another structure capable of providing an elastic force to the link mechanism in addition to the coil spring structure as shown, and connecting with the movable member for transmitting the elastic force of the elastic member to the link mechanism.
  • the structure of the rod can also be changed in various ways.

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

Abstract

Un manipulateur de robot vertical à articulations multiples d'après la présente invention comprend : une première liaison ; une deuxième liaison reliée à la première liaison et à une première articulation de façon à pouvoir tourner par rapport à la première liaison ; une troisième liaison reliée à une seconde articulation espacée de la deuxième liaison et de la première articulation de façon à pouvoir tourner par rapport à la deuxième liaison ; une liaison d'entrée reliée à la première liaison de façon à pouvoir tourner par rapport à la première liaison séparément de la deuxième liaison ; une liaison de coupleur dont un premier côté est relié d'une manière autorisant la rotation à la troisième liaison et dont l'autre côté est relié d'une manière autorisant la rotation à la liaison d'entrée ; une partie d'entraînement de la première articulation installée sur la première liaison et délivrant une force d'entraînement à la deuxième liaison de façon à pouvoir faire tourner la deuxième liaison autour de la première articulation ; une partie d'entraînement de la seconde articulation installée sur la première liaison et faisant tourner la liaison d'entrée de façon à pouvoir faire tourner la troisième liaison autour de la seconde articulation par l'intermédiaire de la liaison d'entrée et de la liaison de coupleur ; et un dispositif de compensation de gravité installé sur la première liaison de façon à appliquer une force élastique à la deuxième liaison et/ou à la liaison d'entrée.
PCT/KR2017/001480 2016-02-26 2017-02-10 Manipulateur de robot vertical à articulations multiples équipé d'un dispositif de compensation de gravité Ceased WO2017146404A1 (fr)

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KR20160023454 2016-02-26
KR10-2016-0023454 2016-02-26
KR10-2017-0011252 2017-01-24
KR1020170011252A KR101878592B1 (ko) 2016-02-26 2017-01-24 중력보상장치를 구비한 수직다관절 로봇 머니퓰레이터

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CN109333530A (zh) * 2018-10-08 2019-02-15 浙江工业大学 一种基于串联弹性执行器的六关节机械臂接触力控制方法
CN109531535A (zh) * 2018-12-26 2019-03-29 襄阳国铁机电股份有限公司 一种高边车车门拆卸装置
CN112223305A (zh) * 2020-09-23 2021-01-15 合肥铁榔头教育科技有限公司 一种人形机器人腰部关节及实现方法
US11059167B2 (en) * 2016-11-29 2021-07-13 Fuji Corporation Multi-joint robot arm
CN114162356A (zh) * 2022-02-11 2022-03-11 清华大学 一种体感微低重力模拟装置的缓冲组件及模拟装置
CN114523493A (zh) * 2022-03-04 2022-05-24 国网安徽省电力有限公司电力科学研究院 一种应用到机械臂关节中的重力平衡装置
CN120553162A (zh) * 2025-07-31 2025-08-29 太原理工大学 一种小行星探测六自由度微重力实验装置和方法

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JPH07227791A (ja) * 1994-02-22 1995-08-29 Mitsubishi Electric Corp ロボット装置
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Cited By (8)

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Publication number Priority date Publication date Assignee Title
US11059167B2 (en) * 2016-11-29 2021-07-13 Fuji Corporation Multi-joint robot arm
CN109333530A (zh) * 2018-10-08 2019-02-15 浙江工业大学 一种基于串联弹性执行器的六关节机械臂接触力控制方法
CN109531535A (zh) * 2018-12-26 2019-03-29 襄阳国铁机电股份有限公司 一种高边车车门拆卸装置
CN112223305A (zh) * 2020-09-23 2021-01-15 合肥铁榔头教育科技有限公司 一种人形机器人腰部关节及实现方法
CN114162356A (zh) * 2022-02-11 2022-03-11 清华大学 一种体感微低重力模拟装置的缓冲组件及模拟装置
CN114523493A (zh) * 2022-03-04 2022-05-24 国网安徽省电力有限公司电力科学研究院 一种应用到机械臂关节中的重力平衡装置
CN114523493B (zh) * 2022-03-04 2023-10-03 国网安徽省电力有限公司电力科学研究院 一种应用到机械臂关节中的重力平衡装置
CN120553162A (zh) * 2025-07-31 2025-08-29 太原理工大学 一种小行星探测六自由度微重力实验装置和方法

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