Three-dimensional (3D) emitting apparatus

Patent metadata

Field	Value
Publication number	US-9625581-B2
Application number	US-201414541090-A
Country	US
Kind code	B2
Filing date	Nov 13, 2014
Priority date	Apr 7, 2014
Publication date	Apr 18, 2017
Grant date	Apr 18, 2017

Abstract

A three-dimensional (3D) emitting apparatus includes a table on which an object is to be disposed, a robot arm to perform a task on the object, an emitting member provided at an end portion of the robot arm, and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm may move relatively in a vertical or horizontal direction, the emitting member may move along a trajectory of rotation of the robot arm, and the trajectory of rotation may be provided in a form of a concentric sphere having a center at which a target point is disposed.

First claim

What is claimed is:

1. A three-dimensional (3D) emitting apparatus comprising:
a table on which an object is to be disposed;
a robot arm disposed above or below the table to perform a task on the object;
an emitting member provided at an end portion of the robot arm; and
a controller to control an operation of the robot arm or a position of the emitting member,
wherein the table and the robot arm move relatively in a vertical or horizontal direction to move the object to a target point, the emitting member moves along a trajectory of rotation of the robot arm, and the trajectory of rotation is provided in a form of a concentric sphere having a center at which the target point is disposed,
wherein the robot arm comprises a plurality of link members and a plurality of drive members, each drive member arranged to transmit a torque to a respective one of the link members,
wherein the link members are disposed on concentric spheres having an identical center disposed at the target point and spaced apart from each other radially on the concentric spheres,
wherein a plurality of robot arms is provided, the plurality of robot arms rotate independently and incoherently relative to one other,
wherein a plurality of link members included in robot arms disposed far away from the target point, among the plurality of robot arms, is disposed on a greater concentric sphere than a plurality of link members included in robot arms disposed close to the target point, among the plurality of robot arms, such that collisions among the plurality of robot arms are prevented during concurrent rotations,
wherein a plurality of emitting members corresponding to a number of the robot arms are provided, the plurality of emitting members aims at the target point in a contactless manner, and the plurality of emitting members moves on different spheres along trajectories of rotation of the plurality of robot arms, and
wherein angle adjustment elements are provided at the plurality of emitting members or end portions of the plurality of robot arms to adjust angles at which the plurality of emitting members face the target point.

2. The 3D emitting apparatus of claim 1 , wherein extension lines of axes of the drive members are positioned at the center.

3. The 3D emitting apparatus of claim 1 , wherein
the 3D emitting apparatus is configured in a form of a cyberknife that emits radiation from the emitting member toward the object.

4. The 3D emitting apparatus of claim 1 , further comprising:
an image sensor to convert light emitted from the emitting member and reflected by the object into an electrical image signal; and
a data processor to generate a 3D image by combining a plurality of images received from the image sensor,
wherein the 3D emitting apparatus is configured in a form of a 3D scanner that acquires a 3D shape of the object.

5. The 3D emitting apparatus of claim 1 , wherein the object is provided using a fluid material comprising an ink, an ultraviolet ray is emitted from the emitting member, and the 3D emitting apparatus is configured in a form of a 3D printer that irradiates the ultraviolet ray toward the object to harden the object.

6. The 3D emitting apparatus of claim 1 , wherein the robot arm comprises:
a first central member;
a first link member to rotate on a longitudinal axis of the first central member;
a first drive member disposed at one end of the first link member to transmit a torque to the first link member;
a second link member connected to another end of the first link member to rotate on a first axis; and
a second drive member disposed between the first link member and the second link member to transmit a torque to the second link member.

7. The 3D emitting apparatus of claim 6 , wherein the robot arm further comprises:
a third link member connected to a portion of the first central member, the portion differing from a portion to which the first link member is connected, to rotate on the longitudinal axis of the first central member;
a third drive member disposed at one end of the third link member to transmit a torque to the third link member;
a fourth link member connected to another end of the third link member to rotate on a second axis; and
a fourth drive member disposed between the third link member and the fourth link member to transmit a torque to the fourth link member.

8. The 3D emitting apparatus of claim 7 , wherein the robot arm further comprises:
a second central member disposed on an axis identical to the longitudinal axis of the first central member and spaced apart from the center by a distance corresponding to a distance between the first central member and the center;
a fifth link member to rotate on a longitudinal axis of the second central member;
a fifth drive member disposed at one end of the fifth link member to transmit a torque to the fifth link member;
a sixth link member connected to another end of the fifth link member to rotate on a third axis; and
a sixth drive member disposed between the fifth link member and the sixth link member to transmit a torque to the sixth link member.

9. The 3D emitting apparatus of claim 8 , wherein the robot arm further comprises:
a seventh link member connected to a portion of the second central member, the portion differing from a portion to which the fifth link member is connected, to rotate on the longitudinal axis of the second central member;
a seventh drive member disposed at one end of the seventh link member to transmit a torque to the seventh link member;
an eighth link member connected to another end of the seventh link member to rotate on a fourth axis; and
an eighth drive member disposed between the seventh link member and the eighth link member to transmit a torque to the eighth link member.

10. The 3D emitting apparatus of claim 9 , wherein the longitudinal axis of the first central member, the longitudinal axis of the second central member, the first axis, the second axis, the third axis, and the fourth axis are positioned at the center.

11. The 3D emitting apparatus of claim 9 , wherein the first axis, the second axis, the third axis, and the fourth axis are formed to be perpendicular to tangential directions of end portions of the first link member, the second link member, the third link member, the fourth link member, the fifth link member, the sixth link member, the seventh link member, and the eighth link member.

12. The 3D emitting apparatus of claim 9 , wherein the first link member and the second link member are disposed farther away from the center than the third link member and the fourth link member, and the fifth link member and the sixth link member are disposed farther away from the center than the seventh link member and the eighth link member.

13. The 3D emitting apparatus of claim 7 , wherein, when the third link member is disposed between the first link member and the second link member, each of lengths of the third link member and the fourth link member is shorter than a length of the first link member.

14. The 3D emitting apparatus of claim 13 , wherein the third link member and the fourth link member are disposed closer to the center than the second link member, and the fourth link member is disposed closer to the center than the third link member.

15. The 3D emitting apparatus of claim 9 , wherein, when the seventh link member is disposed between the fifth link member and the sixth link member, lengths of the seventh link member and the eighth link member are shorter than a length of the fifth link member.

16. The 3D emitting apparatus of claim 15 , wherein the s

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Chang Pyung Hun
• Erkin Gezgin

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01B11/24 Primary

  for measuring contours or curvatures · CPC title

• A61B6/08

  Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams · CPC title

• B33Y50/00

  Data acquisition or data processing for additive manufacturing · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title