Manipulator including improved two-degree-of-freedom simultaneous gravity compensation device

Abstract

According to embodiments of the present disclosure, a manipulator may comprise: a plurality of links including a first link and a second link; a driving unit including a first driving unit for driving the first link and a second driving unit for driving the second link; and a gravity compensation device mounted on the first link and elastically deformed when at least one of the first link and the second link is moved by the driving unit, thereby generating compensation torque corresponding to gravity torque of at least one of the first link and the second link. The gravity compensation device may comprise: a spring block disposed parallel to the longitudinal direction of the first link and configured to rotate together with the first link; one or more linear guides for linearly guiding the direction of deformation of the spring block; and a crank for connecting the spring block and the one or more linear guides.

Description

A manipulator including an improved two-degree-of-freedom simultaneous gravity compensation device

[0001] The present disclosure relates to a manipulator including an improved two-degree-of-freedom simultaneous gravity compensation device.

[0002] A manipulator is a device that performs movements similar to a human arm. It uses tools or grippers attached to its end to move objects or perform tasks such as assembly, welding, and serving. Recently, mobile manipulators have been used on autonomous platforms, walking robots, and other devices, enabling them to move around the workplace and perform various tasks.

[0003] Mobile manipulators must be lightweight and perform high-performance tasks. However, mobile manipulators typically require non-periodic movements, where the gravitational torque due to their own weight accounts for the majority of actuator torque. Consequently, as mobile manipulators incorporate high-capacity actuators, their own weight increases. Research is underway to develop gravity compensation devices to mechanically offset this gravitational torque. However, existing gravity compensation devices are installed on each link, in numbers equal to the number of degrees of freedom of the manipulator. This increases the size and weight of manipulators equipped with gravity compensation devices. Furthermore, the installation of gravity compensation devices on each link makes maintenance difficult.

[0004] In addition, conventional gravity compensation devices have the problem of not satisfying both durability and weight because they are composed of either light wires that are weak in durability or, conversely, heavy gear-based mechanisms that are strong in durability.

[0005] The above-described information disclosed in the background technology of this invention is only intended to improve understanding of the background of the present invention, and therefore may include information that does not constitute prior art.

[0006] The manipulator according to embodiments of the present disclosure solves the aforementioned problems and provides a manipulator that can simultaneously compensate for the gravitational torque of two degrees of freedom links while being accommodated within a single link, and that is lightweight, compact, and easy to maintain. The manipulator according to embodiments of the present disclosure can generate a restoring force corresponding to the movement of the link, thereby generating a compensating torque corresponding to the gravitational torque of the link.

[0007] However, the technical problems to be solved by the embodiments of the present disclosure are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0008] A manipulator according to embodiments of the present disclosure includes a plurality of links including a first link and a second link, a driving unit including a first driving unit for driving the first link and a second driving unit for driving the second link, and a gravity compensation device mounted on the first link and configured to generate a compensation torque corresponding to a gravity torque of at least one of the first link and the second link by elastically deforming when at least one of the first link and the second link is moved by the driving unit, wherein the gravity compensation device may include a spring block that is parallel to the longitudinal direction of the first link and rotates together with the first link, at least one linear guide that linearly guides a deformation direction of the spring block, and a crank that connects the spring block and the at least one linear guide.

[0009] The at least one linear guide is mounted on the first link and includes a first linear guide that is parallel to the longitudinal direction of the first link and rotates together with the first link, and when the first driving unit is operated, the first link rotates and the crank can move up and down along the first linear guide to deform the spring block.

[0010] The first linear guide may be accommodated inside the first link, and the first linear guide may include a first rail installed on the inner surface of the first link and parallel to the longitudinal direction of the first link, and a first slider that is movable on the first rail and connected to the spring block and the crank.

[0011] The one or more linear guides further include a second linear guide connected to the crank and extending in a direction perpendicular to the ground or a reference plane of the manipulator, and when the second driving unit operates, the second link rotates and the crank can move up and down along the first linear guide and the second linear guide to deform the spring block.

[0012] The second linear guide may include a second rail extending in the height direction of the gravity compensation device and a second slider movable along the second rail and connected to the crank.

[0013] The gravity compensation device further includes a support member that supports the second linear guide and the driving member, and the second linear guide can extend in a direction perpendicular to the upper surface of the support member.

[0014] The crank includes a first crank arm rotatably connected to the first linear guide and the second linear guide, a second crank arm rotatably connected to the second linear guide, and a crank wheel rotatably connected to the second driving unit and the second crank arm, and when the first driving unit operates, the first link rotates and the second end of the first crank arm rotates while not moving up or down with respect to the second linear guide, and the spring block can be deformed along the first linear guide.

[0015] When the second drive unit operates, the second link and the crank wheel rotate, causing the second crank arm to rotate, the first crank arm to move up and down along the second linear guide, and the first end of the first crank arm to rotate, causing the spring block to deform along the first linear guide.

[0016] The manipulator may further include a power transmission mechanism including a first pulley rotatably connecting the first link and the second link, a second pulley connected to the second driving unit and the crank, and a belt connecting the first pulley and the second pulley.

[0017] The manipulator may further include a pair of idler wheels housed inside the first link and located between the first pulley and the spring block.

[0018] In a neutral state where the first driving unit and the second driving unit are not operating, the spring block is aligned with a direction perpendicular to the ground, rotates together with the first link, and can be aligned with the first linear guide.

[0019] According to embodiments of the present disclosure, a manipulator includes a plurality of links, a driving unit for driving the plurality of links, and a gravity compensation device that is accommodated inside a connecting link, which is one of the plurality of links, and generates a restoring force when at least one of the connecting link and an adjacent link directly connected to the connecting link moves, thereby generating a compensation torque corresponding to a gravity torque of the connecting link and at least one of the adjacent links directly connected to the connecting link, wherein the gravity compensation device includes a support, a spring block that is parallel to the longitudinal direction of the connecting link and rotates together with the connecting link, a first linear guide that is mounted on the connecting link and is parallel to the longitudinal direction of the connecting link and rotates together with the connecting link, a second linear guide that extends vertically from an upper surface of the support and does not rotate by the connecting link, and a crank that connects the first linear guide, the second linear guide, and the spring block, wherein the gravity compensation device includes a crank that moves the first linear guide to deform the spring block as the driving unit operates and the connecting link rotates, and a crank that rotates the adjacent link as the driving unit operates and the crank rotates. The spring block can be deformed by moving the first linear guide while moving along the second linear guide.

[0020] The above connecting link is a link among the plurality of links that accommodates the gravity compensation device inside or has the gravity compensation device installed therein, and the adjacent link is a link directly connected to the connecting link and may be a link that does not accommodate the gravity compensation device inside or does not have the gravity compensation device installed therein.

[0021] According to embodiments of the present disclosure, a manipulator includes a plurality of links, a driving unit that drives the plurality of links, and a gravity compensation device that is accommodated inside a connecting link, which is one of the plurality of links, and generates a restoring force when at least one of the connecting link and an adjacent link directly connected to the connecting link moves, thereby generating a compensation torque corresponding to a gravity torque of the connecting link and at least one of the adjacent links directly connected to the connecting link, wherein the gravity compensation device includes a spring block that is parallel to the longitudinal direction of the first link and rotates together with the first link, a second linear guide that is perpendicular to the ground or a reference plane of the gravity compensation device and does not rotate by the first link, and a crank that connects the second linear guide and the spring block, and when the driving unit is operated to rotate the first link, the crank can deform the spring block, and when the driving unit is operated to rotate the second link, the crank can move along the second linear guide and deform the spring block.

[0022] The crank includes a first crankshaft, and the spring block includes a shaft extending parallel to the longitudinal direction of the first link, a spring wound around the shaft, and a connector connected to the first crankshaft, wherein the spring can be deformed along the shaft.

[0023] However, the effects that can be obtained through the present invention are not limited to the effects described above, and other technical effects that are not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0024] According to embodiments of the present disclosure, a manipulator can generate a compensation torque corresponding to the gravitational torque of multiple links through a gravity compensation device housed within a single link. Therefore, the manipulator according to embodiments of the present disclosure can simplify its configuration while reducing its size and weight. Furthermore, when multiple links move, the manipulator according to embodiments of the present disclosure can generate a compensation torque corresponding to the gravitational torque of the links without loss by ensuring the linearity of a member that generates a restoring force.

[0025] The following drawings, attached to this specification, illustrate embodiments of the present disclosure and, together with the description below, serve to facilitate understanding of the technical concepts of the present disclosure. The present disclosure is not limited to the matters depicted in the drawings.

[0026] FIG. 1 illustrates a robot system including a manipulator according to embodiments of the present disclosure.

[0027] FIG. 2 illustrates a manipulator according to embodiments of the present disclosure.

[0028] FIG. 3 is a front view of the interior of a manipulator including a gravity compensation device according to embodiments of the present disclosure.

[0029] Figure 4 shows a side view of Figure 3.

[0030] FIG. 5 is an enlarged view of a portion of a gravity compensation device according to embodiments of the present disclosure.

[0031] FIG. 6 schematically illustrates a part of a gravity compensation device according to embodiments of the present disclosure.

[0032] Figures 7 to 12 illustrate the operation of a gravity compensation device according to embodiments of the present disclosure.

[0033] FIGS. 13 and 14 illustrate another robotic system including a manipulator according to embodiments of the present disclosure.

[0034] A manipulator according to embodiments of the present disclosure includes a plurality of links including a first link and a second link, a driving unit including a first driving unit for driving the first link and a second driving unit for driving the second link, and a gravity compensation device mounted on the first link and configured to generate a compensation torque corresponding to a gravity torque of at least one of the first link and the second link by elastically deforming when at least one of the first link and the second link is moved by the driving unit, wherein the gravity compensation device may include a spring block that is parallel to the longitudinal direction of the first link and rotates together with the first link, at least one linear guide that linearly guides a deformation direction of the spring block, and a crank that connects the spring block and the at least one linear guide.

[0035] Embodiments of the present disclosure and methods for achieving them can be more easily understood by referring to the detailed description of the embodiments together with the accompanying drawings. Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the described embodiments can be variously modified and implemented in different forms, and should not be construed as limited to the embodiments described herein. Furthermore, each feature of the various embodiments of the present disclosure can be combined with each other, in whole or in part, and various technically related and operational aspects are possible. Each embodiment can be implemented independently or in combination. The described embodiments are provided as examples so that the present disclosure can be complete and fully convey the spirit of the present disclosure to those skilled in the art. It should be understood that the present disclosure includes all modifications and equivalents, and substitutions are possible within the spirit and technical scope of the present disclosure. Therefore, processes, components, and techniques that are not necessary for a person skilled in the art to fully understand the embodiments of the present disclosure may not be described.

[0036] Unless otherwise specified, the same reference numerals, letters, or combinations thereof throughout the attached drawings and their descriptions represent identical components, and their descriptions are omitted. Furthermore, in describing the embodiments, irrelevant parts may not be depicted in the drawings for clarity.

[0037] The areas depicted in the drawings are schematic and their shapes do not illustrate or limit the actual shape of the device area. The relative sizes of elements, layers, and areas in the drawings may be exaggerated for clarity. Furthermore, the use of hatching and / or shading in the attached drawings may generally serve to clarify boundaries between adjacent elements. Therefore, unless specifically stated otherwise, the presence or absence of hatching or shading does not imply a preference or requirement for any particular material, material properties, dimensions, proportions, commonalities between the illustrated elements, and / or any other characteristics, properties, or characteristics.

[0038] Various embodiments are described herein with reference to cross-sectional examples that are schematic illustrations of embodiments and / or intermediate structures. For example, the shapes of the drawings may vary as a result of manufacturing techniques and / or tolerances. Furthermore, specific structural or functional descriptions disclosed herein are merely examples for illustrating embodiments according to the concepts of the present disclosure. Therefore, the embodiments disclosed herein should be construed as not being limited to the shapes of the illustrated regions, but rather to include variations in shape due to manufacturing processes, etc.

[0039] Specific details may be presented in the specification to facilitate understanding of various embodiments. Alternatively, various embodiments may be practiced without specific details or with one or more of the details. In other cases, well-known structures and devices may be shown in block diagram form to avoid unnecessarily obscuring the various embodiments.

[0040] To facilitate discussion herein, spatially relative terms such as "below," "above," "lower," "top," and the like may be used to describe the relationship of one element or feature to another, as illustrated in the drawings. Spatially relative terms are intended to encompass various orientations of the device in use or operation in addition to the orientations depicted in the drawings. For example, if the device in the drawings were flipped over, another element or feature described as "below" or "lower" would face "above" the other element or feature. Thus, as exemplary terms, "below" and "lower" can encompass both above and below orientations. The device can be oriented in other orientations (e.g., rotated 90 degrees or in other directions), and the spatially relative descriptions used herein should be interpreted accordingly. Similarly, if it is described that a first part is disposed "above" a second part, this means that the first part is disposed above or below the second part.

[0041] Also, the expression "in plan view" means when an object is viewed from above, and the expression "in schematic cross-section" means when a schematic cross-section is taken by cutting the object vertically or horizontally. The term "in side view" means that the first object can be above, below, or to the side of the second object, and vice versa. Additionally, the term "overlapping" or "superimposing" can include layer, laminate, plane, extension, covering, or partially covering, or any other suitable term that a person of ordinary skill in the art would understand and understand. The expression "does not overlap" can include meanings such as "away from" or "spaced from", and any other suitable equivalents that a person of ordinary skill in the art would recognize and understand. The terms "plane" and "surface" can mean that the first object can directly or indirectly face the second object. When a third object is between a first object and a second object, the first object and the second object can be understood as facing each other but indirectly opposing each other.

[0042] When an element, layer, region, or component (hereinafter also referred to as an "element, etc.") is referred to as being "formed with," "connected with," or "coupled to," another element, etc., this includes that it can be directly formed with, formed with, or indirectly formed with, connected to, or coupled to another element, etc. Furthermore, "formed with," "connected with," or "coupled" can collectively refer to direct or indirect combinations or connections, or integral or non-integral combinations or connections, of the elements, etc., such that one or more elements, etc. can be present. For example, when an element, etc. is referred to as being "electrically connected with" or "electrically coupled to" another element, etc., this includes that it can be directly electrically connected to or coupled with, or that other elements, etc. can be present. However, "direct connection" or "direct coupling" means that one element, etc. is directly connected or coupled to, or is present in, another element, etc., without any intermediate elements, etc. In addition, when a part of a layer, film, region, guide plate, etc. in the present specification is formed on another part, the formation direction is not limited to the upper direction, and includes the part being formed on the side or bottom. Conversely, when a part of a layer, film, region, guide plate, etc. is formed "under" another part, it includes not only the case where the part is "directly under" the other part, but also the case where there is another part between the part and the other part. Meanwhile, other expressions that describe the relationship of elements, etc., such as "between," "directly between," or "adjacent to" and "directly adjacent to" can be interpreted similarly. In addition, when an element, etc. is mentioned as being between two elements, etc., it can be the only element, etc. between the two elements, etc., or there can be another element, etc. between them.

[0043] Expressions such as "at least one or more" or "any one" do not limit the order of the individual elements. For example, expressions such as "at least one of X, Y, and Z," "at least one of X, Y, or Z," or "at least one selected from the group consisting of X, Y, and Z" can include X alone, Y alone, Z alone, or any combination of two or more of X, Y, and Z. Similarly, expressions such as "at least one of A and B" and "at least one of A or B" can include A, B, or A and B. As used herein, the term "and / or" generally includes any combination of one or more associated list items. For example, expressions such as "A and / or B" can include A, B, or A and B.

[0044] Although terms such as "first," "second," "third," etc. may be used herein to describe various elements, etc., such elements, etc. are not limited by such terms. These terms are used to distinguish one element, etc. from other elements, etc. Accordingly, a first element, etc. described below may be referred to as a second element, etc., without departing from the spirit and scope of the present invention. Describing an element as a "first" element may not require or imply the presence of a second element or other elements. Terms such as "first," "second," etc. may also be used herein to distinguish different categories or sets of elements, etc. For clarity, terms such as "first," "second," etc. may represent "a first category (or first set)," "a second category (or second set)," etc., respectively.

[0045] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms may also include the plural forms, and the plural forms may also include the singular form, unless the context clearly dictates otherwise. The terms "comprise," "include," and "have," when used herein, are meant to specify the presence of specified features, integers, or steps. These expressions do not exclude the presence or addition of one or more other functions, steps, operations, components, and / or groups thereof.

[0046] If one or more embodiments can be implemented differently, a particular process sequence may be performed differently from the order described. For example, two processes described in succession may be performed substantially simultaneously or in the reverse order from the described order.

[0047] The terms "substantially," "about," "approximately," and similar terms are used as terms of approximation, not degree, and imply that the measured or calculated value satisfies the inherent range of variation (e.g., variation due to limitations of the measurement system). For example, "about" could mean within one or more standard deviations, or within ±30%, ±20%, ±10%, or ±5% of the stated value.

[0048] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries, for example, should be interpreted as having a meaning consistent with their meaning in the relevant art and / or the context of this specification, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0049] FIG. 1 illustrates a robot system (1) including a manipulator (10) according to embodiments of the present disclosure, FIG. 2 illustrates a manipulator (10) according to embodiments of the present disclosure, FIG. 3 illustrates the interior of a manipulator (10) including a gravity compensation device (100) according to embodiments of the present disclosure from a front view, FIG. 4 illustrates a side view of FIG. 3, FIG. 5 illustrates an enlarged view of a portion of a gravity compensation device (100) according to embodiments of the present disclosure, FIG. 6 schematically illustrates a portion of a gravity compensation device (100) according to embodiments of the present disclosure, FIGS. 7 to 12 illustrate the operation of a gravity compensation device (100) according to embodiments of the present disclosure, and FIGS. 13 and 14 illustrate another robot system (1) including a manipulator (10) according to embodiments of the present disclosure.

[0050] The robot system (1) can perform tasks such as transporting objects, assembling, welding, and polishing, manufacturing processes, or serving or guiding. For example, the robot system (1) may include a manipulator (10) and a movable platform (20). The manipulator (10) is a multi-axis robot arm (e.g., a 6-axis robot arm) and can be connected to the platform (20). When the platform (20) arrives at a target location, the manipulator (10) can perform a task based on a pre-entered program or instructions input through a server or other controller. The manipulator (10) can be pre-programmed or can perform a task by receiving real-time user instruction. For example, the manipulator (10) can be connected to the main body (21) of the platform (20) (e.g., the upper surface of the main body (21).

[0051] The platform (20) may include a walking robot or an autonomous cart such as an AGV. For example, as shown in FIG. 1, the platform (20) may be a quadruped walking robot. The platform (20) may include a main body (21), a leg actuator (23), legs (25), and a controller (27). The main body (21) may hold and support other components of the platform (20) (e.g., the leg actuator (23) and the legs (25)). The main body (21) may include a power source (e.g., a battery) within it. Alternatively, the platform (20) may be connected to an external power source via a cable. The main body (21) has a flat upper surface, and a manipulator (10) may be mounted thereon. For example, the base (B) and base joint (Jb) of the manipulator (10) shown in FIG. 2 may be rotatably mounted on the upper surface of the main body (21).

[0052] One or more leg actuators (23) are connected to the platform (20) to move the legs (25). For example, the leg actuators (23) and the legs (25) are electric motors, and two of them are mounted on each side of the platform (20) to form a quadruped walking robot. For example, the leg actuators (23) and the legs (25) may each include four leg actuators (23) and four legs (25).

[0053] The controller (27) controls the robot system (1) and can be accommodated, for example, in the main body (21). The controller (27) is connected to the manipulator (10) and the leg actuator (23) by wire or wirelessly, and can also be connected to an external device such as a server. The controller (27) can control the manipulator (10) or the platform (20) according to a preset program or based on a signal received from the outside (e.g., an instruction from a user or a server). The controller (27) can utilize a direct circuit structure that executes each control function through one or more microprocessors or other control devices such as a memory, a processor, a logic circuit, a look-up table, etc. The controller (27) can be implemented as a part of a module, program, or code that includes one or more executable instructions for executing a specific logic function. The controller (27) can include or be implemented by a processor such as a central processing unit that executes each function or a microprocessor, etc. The controller (27) may include a communication device capable of transmitting and receiving data with external devices, etc. The communication device may include one or more combinations of a digital modem, an RF modem, an antenna circuit, a Wi-Fi chip, and related software and / or firmware.

[0054] The manipulator (10) includes a plurality of links (200) including a first link (210) and a second link (220), a driving unit (400) including a first driving unit (410) for driving the first link (210) and a second driving unit (420) for driving the second link (220), and a gravity compensation device (100) mounted on the first link (210) and configured to generate a compensation torque corresponding to the gravity torque of at least one link (200) among the first link (210) and the second link (220) by elastically deforming when at least one of the first link (210) and the second link (220) is moved by the driving unit (400), and the gravity compensation device (100) includes a spring block (110) that is parallel to the longitudinal direction of the first link (210) and rotates together with the first link (210), one or more linear guides that linearly guide the deformation direction of the spring block (110), and It may include a crank (140) connecting a spring block (110) and one or more linear guides.

[0055] The manipulator (10) may include a gravity compensation device (100), a link (200), an end portion (300), and a driving portion (400).

[0056] The gravity compensation device (100) can generate a compensation torque corresponding to the gravity torque generated by the dead weight of the manipulator (10) during the operation of the manipulator (10), so that the driving unit (400) can generate power only to accelerate and decelerate the link (200) without having to generate power to compensate for the gravity torque. For example, the gravity compensation device (100) can generate a compensation torque corresponding to the gravity torque caused by the dead weight of one or more links (200) of the manipulator (10). Therefore, the driving unit (400) does not need to additionally generate a load to offset the gravity torque of the link (200), so that the load of the driving unit (400) can be reduced. Here, the “compensation torque corresponding to the gravity torque” includes not only the case where the magnitude of the compensation torque is the same as the gravity torque, but also the case where the magnitude is substantially the same, or the case where there is an inevitable difference in consideration of the characteristics of the mechanism.

[0057] The gravity compensation device (100) can simultaneously compensate for the gravity torque of a plurality of links (200) corresponding to a plurality of degrees of freedom of the manipulator (10). For example, the gravity compensation device (100) can compensate for the gravity torque of a plurality of links (200) simultaneously, rather than compensating for the gravity torque of only one link (200). For example, the gravity compensation device (100) can simultaneously generate compensation torques corresponding to the gravity torque of a link (200) equipped with the gravity compensation device (100) (e.g., the first link (210) of FIG. 2) and another link (200) directly connected to the link (200) (e.g., the second link (220) of FIG. 2).

[0058] The gravity compensation device (100) may be located within one link (200) among the plurality of links (200). For example, the gravity compensation device (100) may not be separately provided in each link (200) to compensate for the gravity torque of the plurality of links (200), but may be located within one link (200) to compensate for the gravity torque of the plurality of links (200). The gravity compensation device (100) may be located adjacent to the lower portion of the manipulator (10) so as to be adjacent to the platform (20). For example, as shown in FIG. 3, the gravity compensation device (100) may be located within a link (200) (e.g., the first link (210)) located at the lower portion of the manipulator (10) among the plurality of links (200). The gravity compensation device (100) is housed inside the first link (210) and can generate a compensation torque corresponding to the gravity torque generated by the operation of the first link (210) and / or the second link (220).

[0059] In this way, when the gravity compensation device (100) is located within one link (200) among a plurality of links (200), the gravity torque of the corresponding link (200) and another link (200) connected to the corresponding link (200) can be simultaneously compensated. Therefore, there is no need to provide multiple gravity compensation devices (100) within the manipulator (10) to compensate for the gravity torque of different links (200), and the gravity torque of two links (200) can be compensated with only one gravity compensation device (100) provided within one link (200). Therefore, the size and weight of the manipulator (10) and the robot system (1) can be reduced, and maintenance is easy. In addition, maintenance is easier because the gravity compensation device (100) is provided within one link (200) located at the bottom of the manipulator (10) so as to be adjacent to the platform (20).

[0060] The gravity compensation device (100) may include a spring block (110), a linear guide (e.g., a first linear guide (120), a second linear guide (130)), a crank (140), a power transmission mechanism (150), and a support (160).

[0061] The spring block (110) can be deformed as the plurality of links (200) move, and can generate a restoring force that creates a compensating torque that offsets the gravitational torque of the plurality of links (200). For example, as shown in FIG. 3, the spring block (110) can be supported on the first link (210) and connected to the first linear guide (120) and the crank (140). For example, the spring block (110) can be supported on the first support plate (213) of the first link (210), and the first linear guide (120) and the crank (140) can be movably connected. The spring block (110) can be compressed when the first link (210) and / or the second link (220) of the plurality of links (200) move.

[0062] When the first driving unit (410) operates and the first link (210) moves, the first crank arm (141) of the crank (140) rotates to push the first slider (122) of the first linear guide (120) upward, and the spring block (110) connected to the first slider (122) can be compressed by rising upward. Therefore, a compensation torque in the opposite direction of the gravitational torque due to the weight of the first link (210) can be generated by the restoring force of the spring block (110). Alternatively, when the second driving unit (420) operates and the second link (220) moves, the second crank arm (142) and crank wheel (143) connected to the second driving unit (420) rotate, causing the second slider (132) of the second linear guide (130) to rise. And as the first crank arm (141) connected to the second slider (132) rises, the first slider (122) is pushed upward, and the spring block (110) connected to the first slider (122) can rise upward and be compressed. Therefore, a compensation torque can be generated in the opposite direction of the gravity torque due to the self-weight of the second link (220) by the restoring force of the spring block (110). When the first link (210) and the second link (220) operate simultaneously, a series of operations in which the spring block (110) described above is compressed can be performed simultaneously, and a compensation torque corresponding to the gravity torque of the first link (210) and the second link (220) can be generated in the same manner.

[0063] When the first link (210) and the second link (220) are not moving, for example, in a neutral state (or initial state) in which the first driving unit (410) and the second driving unit (420) are not operating, the spring block (110) can be aligned in a direction perpendicular to the ground (for example, the Z-axis direction in FIG. 3). The spring block (110) extends parallel to the longitudinal direction of the first link (210) and can rotate together with the first link (210). In addition, the spring block (110) can be aligned with the first linear guide (120). Therefore, the spring block (110) can be compressed in accordance with the rotation of the first link (210), and the spring block (110) can be prevented from receiving force in a different direction, thereby generating a compensation torque necessary to compensate for the gravitational torque of the first link (210).

[0064] The spring block (110) may include a spring (111), a shaft (112) and a connector (113).

[0065] A first end (e.g., an upper end in FIG. 3) of a shaft (112) is fixed to a first link (210) (e.g., a first support plate (213) of the first link (210)), and a second end (e.g., a lower end in FIG. 3) can be connected to a first linear guide (120) and a first crank arm (141) via a connector (113). In addition, a spring (111) can be wound around an outer circumference of the shaft (112). When the first link (210) and / or the second link (220) moves, the first crank arm (141) moves, and accordingly, the connector (113) moves along the first rail (121) by the first slider (122). In addition, the spring (111) wound around the shaft (112) can be compressed by the connector (113). For example, the connector (113) may extend from the shaft (112) and be connected to the first slider (122) and the first crank arm (141), respectively.

[0066] One or more linear guides can linearly guide the deformation direction of the spring block (110). For example, the one or more linear guides can include a first linear guide (120) and a second linear guide (130).

[0067] The first linear guide (120) can prevent the spring block (110) from being forced or deformed in a different direction when the spring block (110) is compressed or extended by the operation of the crank (140). For example, the first linear guide (120) can extend in a direction parallel to the longitudinal direction of the first link (210) and the spring block (110), and can be connected to the spring block (110) and the first crank arm (141). Therefore, when the first driving unit (410) operates and the first link (210) rotates, the first crank arm (141) moves up and down along the first linear guide (120). In addition, by ensuring the straightness of the spring block (110) and restricting the deformation direction of the spring block (110) to the longitudinal direction of the first link (210), the spring block (110) can be prevented from being forced in a direction other than the longitudinal direction. Accordingly, the spring block (110) can be made to generate a compensation torque corresponding to the gravitational torque of the first link (210) and / or the second link (220). For example, by the first linear guide (120), the connection point Pa (see FIG. 7) between the first crank arm (141) and the spring block (110) and the first axis Ax1 (see FIG. 5) can move in parallel with the longitudinal direction of the first link (210), thereby causing the spring block (110) to be deformed.

[0068] The first linear guide (120) can be accommodated inside the first link (210). For example, as shown in FIG. 3, the first linear guide (120) is located between the first frame (211) and the second frame (212) of the first link (210), is mounted on the inner surface of the second frame (212), and can be connected to the spring block (110) and the crank (140). The first linear guide (120) is parallel to the longitudinal direction of the first link (210) and the spring block (110), and can rotate together with the first link (210).

[0069] The first linear guide (120) may include a first rail (121) and a first slider (122).

[0070] The first rail (121) is installed on the inner side of the second frame (212) of the first link (210) and can be parallel to the longitudinal direction of the first link (210). The first slider (122) can move on the first rail (121) and can be connected to the spring block (110) through the connector (113). In addition, the first slider (122) can be connected to the first crank arm (141). When the first link (210) rotates, the first crank arm (141) moves on the first rail (121) by the first slider (122), and therefore, the spring block (110) can also be deformed only along the longitudinal direction of the first rail (121).

[0071] The second linear guide (130) can prevent the spring block (110) from being forced in a different direction or deformed when the spring block (110) is compressed or extended by the operation of the crank (140). For example, the second linear guide (130) can be mounted on the support (160). The second linear guide (130) does not rotate together with the first link (210) and / or the second link (220), and can be perpendicular to the ground or the reference plane on which the manipulator (10) is mounted. For example, as shown in FIG. 3, the second linear guide (130) can extend upwards parallel to the central axis AXc. The second linear guide (130) is located between the first driving unit (410) and the second driving unit (420), and may be located at the lower part of the first link (210) (for example, at the first frame (211). The second linear guide (130) is located below the spring block (110) and is connected to the spring block (110) and the first linear guide (120) through the first crank arm (141), and may be connected to the second driving unit (420) through the second crank arm (142) and the crank wheel (143). Therefore, when the second driving unit (420) operates and the second link (220) rotates, the first crank arm (141) and the second crank arm (142) move up and down along the second linear guide (130). Therefore, the movement direction of the first crank arm (141) is restricted to a direction perpendicular to the ground, The first crank arm (141) is raised and lowered along the second linear guide (130) in proportion to the rotation of the second link (220). Accordingly, the spring block (110) can be made to generate a compensation torque corresponding to the gravitational torque of the second link (220). For example, the spring block (110) can be deformed by the second linear guide (130) while the connection point Pb (see FIG. 7) of the first crank arm (141) and the second crank arm (142) and the second axis Ax2 (see FIG. 5) move in a direction perpendicular to the ground.

[0072] When only the first drive unit (410) operates and only the first link (210) rotates, the second linear guide (130) may not operate. For example, when only the first link (210) rotates, the first crank arm (141) can only rotate without moving up and down while connected to the second linear guide (130). When the second drive unit (420) operates, the second link (220) rotates, and at the same time, the crank wheel (143) rotates, causing the second crank arm (142) to rotate, thereby allowing the second linear guide (130) to move.

[0073] The second linear guide (130) may include a second rail (131) and a second slider (132).

[0074] The second rail (131) is mounted on the upper surface of the support (160) and can extend in the height direction of the gravity compensation device (100) (for example, the Z-axis direction of FIG. 3 or the direction perpendicular to the ground). The second rail (131) can be parallel to the central axis AXc. The second slider (132) can move along the second rail (131) and can be connected to the first crank arm (141) and the second crank arm (142), respectively. For example, as shown in FIG. 3, the first surface of the second slider (132) (for example, the surface facing the first driving unit (410) as the left surface of FIG. 3) can be connected to the first crank arm (141), and the second surface (for example, the surface facing the second driving unit (420) as the right surface of FIG. 3) can be connected to the second crank arm (142). The second slider (132), the first crank arm (141), and the second crank arm (142) are connected around the second axis AX2 (see FIG. 5), and there may be a connection point Pb (see FIG. 7) at the center of the second slider (132).

[0075] The crank (140) can transmit the motion of the first link (210) and / or the second link (220) to the spring block (110). The crank (140) can be connected to the spring block (110) via the first linear guide (120) and the second linear guide (130). The crank (140) can be located at the bottom of the gravity compensation device (100). For example, as shown in FIG. 3, the crank (140) can span the first frame (211) and the second frame (212) of the first link (210) and be located between the first driving unit (410) and the second driving unit (420).

[0076] The crank (140) may include a first crank arm (141), a second crank arm (142), and a crank wheel (143).

[0077] The first crank arm (141) can connect the spring block (110) and the first linear guide (120) and the second linear guide (130). The first crank arm (141) has a long rod shape, and the first end (e.g., the upper end) is connected to the spring block (110) and the first linear guide (120) through a connector (113), and the second end (e.g., the lower end) can be connected to the second linear guide (130). Since the first end of the first crank arm (141) is connected to the first linear guide (120), when the first link (210) rotates, the first crank arm (141) pushes the spring block (110) in the longitudinal direction of the first linear guide (120), so that the deformation direction of the spring block (110) can be constrained in the longitudinal direction of the first linear guide (120). In addition, since the second end of the first crank arm (141) is connected to the second linear guide (130), when the second link (220) rotates, the first crank arm (141) is raised and lowered along the longitudinal direction of the second linear guide (130). Accordingly, the first crank arm (141) is raised and lowered along the second linear guide (130) in a direction corresponding to the rotation of the second link (220), so that the deformation direction of the spring block (110) can be constrained in the longitudinal direction of the second linear guide (130).

[0078] For example, the first end of the first crank arm (141) may be rotatably connected to the connector (113) about the first axis AX1, and the second end of the first crank arm (141) may be rotatably connected to the second slider (132) about the second axis AX2.

[0079] The second crank arm (142) has a rod shape that is shorter than the first crank arm (141), and the first end (e.g., the upper end) can be connected to the crank wheel (143) and the second end (e.g., the lower end) can be connected to the second slider (132). When the crank wheel (143) rotates by the second driving unit (420), the second crank arm (142) can rotate together and raise and lower the second slider (132), thereby moving the first crank arm (141). The first end of the second crank arm (142) can be connected to the crank wheel (143) with the third axis AX3 as the center, and the second end of the second crank arm (142) can be connected to the second end of the first crank arm (141) with the center of the second axis AX2.

[0080] The crank wheel (143) is connected to the second driving unit (420) and the second crank arm (142), and may be supported on the support unit (160) so as to be rotatable by the second driving unit (420). For example, as shown in FIGS. 3 and 5, the crank wheel (143) has a disk shape and may be rotatably supported on the support ring (161). The crank wheel (143) is coaxial with the driving shaft AXd of the driving unit (400), and the second crank arm (142) may be rotatably connected to the crank wheel (143) with respect to the third shaft AX3. In addition, the crank wheel (143) may be connected to the second driving unit (420) via the second pulley (153).

[0081] The first axis AX1, the second axis AX2, the third axis AX3, and the drive shaft AXd may be parallel to each other. For example, as shown in FIGS. 5 and 6, the first axis AX1, which is the rotation axis of the first slider (122) and the first crank arm (141), the second axis AX2, which is the rotation axis of the second slider (132) and the first crank arm (141), the rotation axis AX3 of the second crank arm (142) and the crank wheel (143), and the drive shaft AXd of the first drive unit (410) and the second drive unit (420) may be parallel to each other in the width direction of the gravity compensation device (100) (e.g., the X-axis direction of FIGS. 5 and 6).

[0082] The power transmission mechanism (150) can transmit the power of the driving unit (400) to one or more links among the plurality of links (200). For example, the power transmission mechanism (150) can transmit the power of the second driving unit (420) to the second link (220). When the second driving unit (420) operates, the second link (220) moves by the power transmission mechanism (150), and when only the second driving unit (420) operates, the first link (210) may not move. That is, the power transmission mechanism (150) can transmit the power of the second driving unit (420) only to the second link (220).

[0083] The power transmission mechanism (150) may include a first pulley (151), a belt (152), a second pulley (153), and an idler wheel (154).

[0084] The first pulley (151) may be located at the upper end of the first link (210), and the second pulley (153) may be coaxial with the driving unit (400). For example, as shown in FIG. 3, the first pulley (151) may be located at the connection between the first link (210) and the second link (220), and the second pulley (153) may be located on the driving shaft AXd of the second driving unit (420). In addition, one side of the second pulley (153) may be connected to the second driving unit (420), and the other side may be connected to the crank wheel (143). The first pulley (151) and the second pulley (153) may be connected by a belt (152).

[0085] The idler wheel (154) can press the belt (152) inward so that the belt (152) is not exposed to the outside of the link (200). For example, a pair of idler wheels (154) may be accommodated inside the first link (210) and may be located between the first pulley (151) and the spring block (110). The pair of idler wheels (154) may be spaced apart in the width direction of the first link (210) (e.g., the Y-axis direction of FIG. 4), and the belt (152) may be located between the pair of idler wheels (154). The idler wheels (154) can apply an appropriate tension to the belt (152) while preventing the belt (152) from protruding out of the first link (210).

[0086] The support (160) supports the gravity compensation device (100) and the driving unit (400), and can support the gravity compensation device (100) on the ground or a reference surface of the manipulator (10). For example, as shown in FIG. 3, the support (160) can include a flat portion and portions extending upward on both sides of the flat portion. The flat portion of the support (160) is mounted on the ground or a reference surface of the manipulator (10) (e.g., the upper surface of the main body (21) of the platform (20)), and two driving units (400) can be supported on each side of the support (160). In addition, a second linear guide (130) can be fixed to the upper surface of the support (160). The support member (160) includes a support ring (161), into which a crank wheel (143) is rotatably inserted and can be connected to a second driving member (420).

[0087] For example, a manipulator (10) according to embodiments of the present disclosure includes a plurality of links (200), a driving unit (400) for driving the plurality of links (200), and a gravity compensation device (100) accommodated inside a connecting link, which is one of the plurality of links (200), and generating a restoring force when at least one of the connecting link and an adjacent link directly connected to the connecting link moves, thereby generating a compensation torque corresponding to the gravity torque of the connecting link and at least one of the adjacent links directly connected to the connecting link, wherein the gravity compensation device (100) includes a support member (160), a spring block (110) that is parallel to the longitudinal direction of the connecting link and rotates together with the connecting link, a first linear guide (120) mounted on the connecting link and that is parallel to the longitudinal direction of the connecting link and rotates together with the connecting link, a second linear guide (130) that extends vertically from an upper surface of the support member (160) and does not rotate by the connecting link, and the first linear guide (120), The gravity compensation device (100) includes a crank (140) connecting a second linear guide (130) and a spring block (110), and as the driving unit (400) operates and the connecting link rotates, the crank (140) moves the first linear guide (120) to deform the spring block (110), and as the driving unit (400) operates and the adjacent link rotates, the crank (140) moves along the second linear guide (130) and moves the first linear guide (120) to deform the spring block (110).

[0088] Here, the connecting link is a link among the plurality of links (200) that accommodates the gravity compensation device (100) or has the gravity compensation device (100) installed, and may be any one of the plurality of links (200). The connecting link may be not only the first link (210), but also the second link (220) or the third link (230). The adjacent link is a link directly connected to the connecting link that does not accommodate the gravity compensation device (100) or does not have the gravity compensation device (100) installed. The adjacent link is any one of the plurality of links (200), and may be not only the second link (220), but also the first link (210) or the third link (230).

[0089] The link (200) implements the operation of the manipulator (10) and may include a plurality of links (200) and joints (J). For example, as shown in FIG. 2, the link (200) may include a base (B), a first link (210), a second link (220), a third link (230), a fourth link (240), and a distal end (250). In addition, the link (200) may include a base joint (Jb), a first joint (J1), a second joint (J2), a third joint (J3), a fourth joint (J4), and a fifth joint (J5). The plurality of links (200) are each connected through joints (J) and may rotate in the same or different directions. For example, the link (200) may be a six-axis robot arm that can rotate in the yaw, roll, and pitch directions.

[0090] The base (B) is a part mounted on the platform (20) and may be located at the bottom of the manipulator (10). For example, the base (B) may be rotatably connected to the upper surface of the main body (21) of the platform (20) by a base joint (Jb). For example, the base (B) may rotate around the central axis AXc of the base joint (Jb). Here, the central axis AXc is an axis perpendicular to the ground, and the base (B) may rotate in the yaw direction.

[0091] The first link (210) is rotatably connected to the base (B) via the first joint (J1) and may correspond to the shoulder joint of the link (200). The first link (210) may rotate around the axis A1 of the first joint (J1). Here, the axis A1 is a horizontal axis, and the first link (210) may rotate in the pitch direction. The first link (210) may include a gravity compensation device (100) therein. The first link (210) is connected to a driving unit (400) (e.g., the first driving unit (410)) and may rotate around the axis A1 by the operation of the driving unit (400). Here, the axis A1 may be identical to the driving shaft AXd of the driving unit (400).

[0092] The first link (210) may include a first frame (211), a second frame (212), a first support plate (213), and a second support plate (214).

[0093] The first frame (211) may have both ends connected to the first driving unit (410) and the second driving unit (420), and the upper surface may be connected to the second frame (212). When the first driving unit (410) operates, the first frame (211) rotates, and the entire first link (210) may rotate. When the second driving unit (420) operates, the first frame (211) does not rotate, and the second link (220) may rotate via the power transmission mechanism (150).

[0094] The second frame (212) supports the first linear guide (120) and can extend in the height direction of the first link (210) from the upper surface of the first frame (211). The first support plate (213) is supported on the inner surface of the second frame (212) and can support the spring block (110). At least one second support plate (214) is formed on the upper surface of the second frame (212) and can rotatably support the power transmission mechanism (150) (e.g., the first pulley (151)). In addition, the second link (220) can be rotatably connected to the second support plate (214).

[0095] The second link (220) is rotatably connected to the first link (210) via the second joint (J2) and may correspond to the elbow joint of the link (200). The second link (220) may rotate around the axis A2 of the second joint (J2). Here, the axis A2 is a horizontal axis, and the second link (220) may rotate in the pitch direction. The second link (220) does not include a gravity compensation device (100), and the gravity torque of the second link (220) may be compensated for by the gravity compensation device (100) included in the first link (210). The second link (220) is connected to a driving unit (400) (e.g., a second driving unit (420)) and may rotate around the axis A2 by the operation of the driving unit (400). For example, when the second drive unit (420) operates, the second pulley (153) connected to the second drive unit (420) rotates, causing the first pulley (151) to rotate via the belt (152), thereby allowing the second link (220) to rotate. As the second drive unit (420) rotates, the crank wheel (143) rotates, causing the first crank arm (141) to compress the spring block (110), thereby generating a compensation torque corresponding to the gravitational torque due to the weight of the second link (220).

[0096] The third link (230) is rotatably connected to the second link (220) about axis A3 via the third joint (J3), and for example, the third link (230) can rotate in the roll direction. The fourth link (240) is rotatably connected to the third link (230) about axis A4 via the fourth joint (J4), and for example, the fourth link (240) can rotate in the pitch direction. Although not shown in the drawing, the third link (230) and the fourth link (240) may also include a link housing and a link frame.

[0097] The distal end (300) may be connected to the end of the link (200) and may be a portion on which an end effector is mounted. For example, as shown in FIG. 2, the distal end (300) may be connected to the end of the fourth link (240) and may be rotatably connected about an axis A5 via a fifth joint (J5). For example, the distal end (300) may be rotatable in the roll direction. The end effector mounted on the distal end (300) may be a processing tool for welding, polishing, grinding, etc., or may include various types of tools such as a suction gripper or a finger gripper.

[0098] The driving unit (400) can generate power to move the manipulator (10). For example, the driving unit (400) can be an electric motor that operates by receiving a signal from a controller included in the robot system (1), the manipulator (10), and / or the platform (20). For example, the driving unit (400) can include a first driving unit (410) and a second driving unit (420). The first driving unit (410) and the second driving unit (420) can drive the first link (210) and the second link (220), respectively. The first driving unit (410) and the second driving unit (420) can be supported on both sides of the support unit (160), respectively. The first driving unit (410) may be directly connected to the first link (210), and the second driving unit (420) may be connected to the second link (220) via a power transmission mechanism (150). The operations of the first link (210) and the second link (220) according to the operations of the first driving unit (410) and the second driving unit (420) may be independent. Although not shown in the drawing, the driving unit (400) may further include a driving unit (400) for driving the base (B), the third link (230), the fourth link (240), and the distal end (300).

[0099] Referring to FIGS. 7 to 12, the gravity compensation operation of the gravity compensation device (100) according to the operation of the manipulator (10) is described.

[0100] First, FIGS. 7 and 8 show a state in which the driving unit (400) is not operating and the first link (210) and the second link (220) are not rotating. In this state, the first link (210) and the second link (220) do not generate gravitational torque due to their own weight, and the spring block (110) is not compressed or extended. In addition, the first crank arm (141), the second crank arm (142), and the crank wheel (143) are arranged in parallel, and the connection points Pa, Pb, and Pc can be arranged on one line as shown in FIG. 8. In FIGS. 7 and 8, to help understanding, the crank wheel (143) is expressed as a line connecting the center of the crank wheel (143) and the first end (e.g., the upper end) of the second crank arm (142), and FIGS. 9 to 12 are also expressed in the same manner.

[0101] When the first driving part (410) rotates in the initial state, as shown in FIGS. 9 and 10, the first link (210) connected to the first driving part (410) rotates by an angle θ1. Therefore, a gravitational torque T1a is generated due to the gravity Fg1 acting on the center of gravity m1 of the first link (210). The first link (210) pushes and compresses the spring block (110) upward while also rotating the first crank arm (141). Therefore, the connection point Pa moves upward along the longitudinal direction of the first linear guide (120). In addition, a restoring force Fr1 is generated by the spring block (110), and accordingly, a compensation torque TC1a having the same magnitude or substantially the same magnitude as the gravitational torque T1a and the opposite direction is generated. Here, since the first crank arm (141) is constrained in the direction of movement by the first linear guide (120) to the first link (210) (or in the longitudinal direction of the first linear guide (120) or the spring block (110)), the spring block (110) is not subjected to force or compressed in a different direction. Accordingly, a compensation torque TC1a corresponding to the gravitational torque T1a can be generated.

[0102] FIG. 11 and FIG. 12 show a state in which the first driving unit (410) rotates by an angle θ1, and then the second driving unit (420) operates to rotate the second link (220) by an angle θ2. When the second driving unit (420) operates, the second pulley (153) connected to the second driving unit (420) rotates, causing the first pulley (151) to rotate via the belt (152), and the second link (220) to rotate by an angle θ2. Therefore, a gravitational torque T2a is generated due to the gravity Fg2 acting on the center of gravity m2 of the second link (220). At the same time, as the second pulley (153) rotates, the crank wheel (143) rotates, causing the second crank arm (142) to rotate. And the second end (e.g., the lower end) of the first crank arm (141) rotates while moving upward along the longitudinal direction of the second linear guide (130). Accordingly, the connection point Pb moves upward along the longitudinal direction of the second linear guide (130). Here, the second crank arm (142) rotates about the connection point Pc with respect to the crank wheel (143). And the first end (e.g., the upper end) of the first crank arm (141) moves upward along the longitudinal direction of the first linear guide (120) to push and compress the spring block (110). Therefore, the connection point Pa moves upward along the longitudinal direction of the first linear guide (120). And the restoring force Fr2 is generated by the spring block (110), and accordingly, the compensation torque TC2a is generated, which is equal in magnitude or substantially equal to and opposite in direction to the gravity torque T2a. Here, since the first crank arm (141) is constrained in the direction of movement toward the first link (210) (or the longitudinal direction of the first linear guide (120) or the spring block (110)) by the first linear guide (120) and the second linear guide (130), the spring block (110) is not subjected to force or compressed in a different direction. Accordingly, a compensation torque TC2a corresponding to the gravity torque T2a can be generated.

[0103] Alternatively, the manipulator (10) according to embodiments of the present disclosure may include only a second linear guide (130) as one or more linear guides. For example, the manipulator (10) may include a plurality of links (200) including a first link (210) and a second link (220), a driving unit (400) that drives the plurality of links (200) and includes a first driving unit (410) and a second driving unit (420), and a gravity compensation device (100) that is accommodated inside the first link (210) among the plurality of links (200) and generates a restoring force when at least one of the first link (210) and the second link (220) moves, thereby generating a compensation torque corresponding to the gravity torque of at least one of the first link (210) and the second link (220). Here, the gravity compensation device (100) may include a spring block (110) that is parallel to the longitudinal direction of the first link (210) and rotates together with the first link (210), a second linear guide (130) that is perpendicular to the ground or a reference plane of the gravity compensation device and does not rotate by the first link (210), and a crank (140) that connects the second linear guide (130) and the spring block (110). Here, the gravity compensation device (100) may have the crank (140) deform the spring block (110) as the driving unit (400) operates to rotate the first link (210), and the crank (140) may move along the second linear guide (130) to deform the spring block (110) as the driving unit (400) operates to rotate the second link (220).

[0104] That is, the manipulator (10) may not include the first linear guide (120). The first crank shaft (141) of the crank (140) may be connected to the connector (113) of the spring block (110). The spring (112) of the spring block (110) may deform along the shaft (111) extending parallel to the longitudinal direction of the first link (210) to secure an appropriate level of straightness. Similarly, the operations of the second link (220), the second driving unit (420), the second linear guide (130), and the crank (140) may be the same as the operations in the above-described embodiment except for the first linear guide (120).

[0105] In Fig. 3, the second linear guide (130) is shown facing the front (i.e., the second rail (131) of the second linear guide (130) faces the front), but it is sufficient for the second linear guide (130) to be perpendicular to the ground or the reference plane on which the manipulator (10) is installed, and the position of the second linear guide (130) may vary. For example, the second linear guide (130) may be arranged in a state where the second rail (131) is rotated 90 degrees laterally in Fig. 3 so that it faces the first driving unit (410) or the second driving unit (420). For example, the second linear guide (130) may be located between the first driving unit (410) and the first crank shaft (410), and the second slider (132) may face the first crank shaft (410).

[0106] Figures 13 and 14 illustrate another robot system (1) including a manipulator (10).

[0107] For example, the manipulator (10) may be included in a robot system (1) or a surgical robot system (1) including a biped walking robot as a platform (20). The manipulator (10) may be vertically connected to the body or wall (W) of the platform (20). The gravity compensation device (100) may be included in any one link (200) of a plurality of links (200) of the manipulator (10) on which the gravity compensation device (100) is included or installed.

[0108] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely examples. Those skilled in the art will readily appreciate that various modifications and equivalent alternative embodiments are possible based on the embodiments described herein. Therefore, the true scope of technical protection of the present invention should be determined based on the appended claims.

[0109] Embodiments of the present disclosure can be used in industries related to manipulators.

Claims

1. Multiple links including a first link and a second link; A driving unit including a first driving unit that drives the first link and a second driving unit that drives the second link; and A gravity compensation device mounted on the first link and configured to elastically deform when at least one of the first link and the second link is moved by the driving unit to generate a compensation torque corresponding to the gravity torque of at least one of the first link and the second link; The above gravity compensation device, A spring block that is parallel to the longitudinal direction of the first link and rotates together with the first link; One or more linear guides that linearly guide the deformation direction of the spring block; and A manipulator comprising a crank connecting the spring block and the one or more linear guides.

2. In paragraph 1, The at least one linear guide is mounted on the first link and includes a first linear guide that is parallel to the longitudinal direction of the first link and rotates together with the first link, A manipulator in which, when the first drive unit operates, the first link rotates and the crank moves up and down along the first linear guide, thereby deforming the spring block.

3. In paragraph 2, The above first linear guide is accommodated inside the above first link, The above first linear guide, A first rail installed on the inner side of the first link and parallel to the longitudinal direction of the first link; and A manipulator comprising a first slider that is movable on the first rail and connected to the spring block and the crank.

4. In paragraph 2, The one or more linear guides further include a second linear guide connected to the crank and extending in a direction perpendicular to the ground, A manipulator in which, when the second drive unit operates, the second link rotates and the crank moves up and down along the first linear guide and the second linear guide, thereby deforming the spring block.

5. In paragraph 4, The above second linear guide, A second rail extending in the height direction of the gravity compensation device; and A manipulator comprising a second slider that is movable along the second rail and connected to the crank.

6. In paragraph 4, The gravity compensation device further includes a support member that supports the second linear guide and the driving member, A manipulator in which the second linear guide extends in a direction perpendicular to the upper surface of the support.

7. In paragraph 4, The above crank, A first crank arm rotatably connected to the first linear guide and the second linear guide; a second crank arm rotatably connected to the second linear guide; and A crank wheel rotatably connected to the second driving unit and the second crank arm; A manipulator in which, when the first drive unit operates, the first link rotates and the second end of the first crank arm rotates while not moving up or down relative to the second linear guide, and the spring block is deformed along the first linear guide.

8. In paragraph 7, A manipulator in which, when the second drive unit operates, the second link and the crank wheel rotate, the second crank arm rotates, the first crank arm moves up and down along the second linear guide, and the first end of the first crank arm rotates, causing the spring block to deform along the first linear guide.

9. In paragraph 1, The above manipulator, A first pulley rotatably connecting the first link and the second link; A second pulley connected to the second driving unit and the crank; and A manipulator further comprising a power transmission mechanism including a belt connecting the first pulley and the second pulley.

10. In paragraph 9, The manipulator further comprises a pair of idler wheels housed inside the first link and located between the first pulley and the spring block.

11. In paragraph 2, A manipulator in which the spring block is aligned in a direction perpendicular to the ground and rotates together with the first link, and is aligned with the first linear guide, in a neutral state in which the first driving unit and the second driving unit are not operating.

12. Multiple links; A driving unit for driving the above plurality of links; and A gravity compensation device is housed inside a connecting link, which is one of the plurality of links, and generates a restoring force when the connecting link and one or more of the adjacent links directly connected to the connecting link move, thereby generating a compensation torque corresponding to the gravity torque of the connecting link and one or more of the adjacent links directly connected to the connecting link; The above gravity compensation device, Support; A spring block that is parallel to the longitudinal direction of the above connecting link and rotates together with the above connecting link; A first linear guide mounted on the above connecting link, parallel to the longitudinal direction of the above connecting link, and rotating together with the above connecting link; A second linear guide extending vertically from the upper surface of the support and not rotating by the connecting link; and A crank connecting the first linear guide, the second linear guide, and the spring block; The above gravity compensation device, As the driving unit operates and the connecting link rotates, the crank moves the first linear guide to deform the spring block, A manipulator in which the crank moves along the second linear guide and moves the first linear guide to deform the spring block as the driving unit operates and the adjacent link rotates.

13. In paragraph 12, The above connecting link is a link among the plurality of links that houses the gravity compensation device inside or has the gravity compensation device installed therein, A manipulator in which the adjacent link is a link directly connected to the connecting link, and does not house the gravity compensation device therein or is a link in which the gravity compensation device is not installed.

14. Multiple links including a first link and a second link; A driving unit including a first driving unit that drives the first link and a second driving unit that drives the second link; and A gravity compensation device mounted on the first link and configured to elastically deform when at least one of the first link and the second link is moved by the driving unit to generate a compensation torque corresponding to the gravity torque of at least one of the first link and the second link; The above gravity compensation device, A spring block that is parallel to the longitudinal direction of the first link and rotates together with the first link; and A second linear guide that is perpendicular to the ground or the reference plane of the gravity compensation device and does not rotate by the first link; and A crank connecting the second linear guide and the spring block; A manipulator in which the crank deforms the spring block as the first link rotates when the driving unit operates, and the crank deforms the spring block as the second link rotates when the driving unit operates and the crank moves along the second linear guide.

15. In paragraph 14, The above crank includes a first crankshaft, The above spring block, A shaft extending parallel to the longitudinal direction of the first link; a spring wound around the shaft; and A connector connected to the first crank shaft; A manipulator in which the spring is deformed along the shaft.

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