KR20160107373A - Wrist Apparatus and Inner-cable Robot having the same - Google Patents

Abstract

The present invention relates to a cable built-in robot in which a cable is embedded in a wrist device, and a wrist device according to the present invention is equipped with a tool mechanism and includes an arm base, a connection arm and a tool arm, Wherein a connection drive motor and a tool arm motor are provided parallel to the opposite sides of the arm base axis, and the connection arm is connected to the rotation shaft of the tool arm motor A second bevel gear interlocked with the first bevel gear, a third bevel gear spaced apart in the same axial direction as the second bevel gear, and a fourth bevel gear interlocked with the third bevel gear, And a spur gear interlocking with the fourth bevel gear.

Description

[0001] The present invention relates to a wrist device and a cable built-

The present invention relates to a cable built-in robot in which a cable is embedded in a wrist device.

Generally, a ship, a vehicle, a construction machine, a cellular phone, etc. (hereinafter, referred to as an 'object') are manufactured by assembling various components. For example, a process of manufacturing an object through a manufacturing process such as a welding process, a transportation process, and a coating process for a component constituting an object is performed. Robots are used in this manufacturing process.

The robot includes a wrist device equipped with a tool mechanism for performing the manufacturing process. For example, when performing a welding process, the wrist device is equipped with a tool mechanism having a welding function. When carrying out the transferring process, the wrist device is equipped with a tool mechanism having a lift function. When performing the coating process, the wrist device is equipped with a tool mechanism having a coating function. The wrist device is provided with a cable for supplying power to the tool mechanism.

However, the robot according to the prior art is installed such that the cable is positioned outside the wrist device. Accordingly, the conventional robot has the following problems.

First, there is a risk that a cable installed on the outside of the wrist device collides with a nearby equipment in the process of driving the wrist device to perform the manufacturing process.

Secondly, the driving radius of the wrist device is increased due to the cable installed on the outside of the wrist device. Accordingly, since the robot according to the related art requires a wider working space for driving the wrist device, it is difficult to utilize the working space.

Third, the conventional wrist device of the robot has a disadvantage in that the size of the spur gear is increased due to the use of a plurality of bevel gears transmitting different rotational forces to both sides of the spur gear, thereby increasing the size of the wrist device. Also, there are many difficulties in installing a plurality of bevel gears in the wrist device.

US Patent No. 8,020,467 (registered on September 20, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wrist apparatus and a cable built-in robot including the same that can prevent a cable from colliding with a nearby apparatus.

Another object of the present invention is to provide a wrist device and a cable built-in robot including the wrist device, which can reduce an increase in driving radius due to a cable and can improve utilization of a working space.

It is still another object of the present invention to provide a wrist device and a cable built-in robot including the bevel gear that can easily install a plurality of bevel gears for transmitting the rotational force of a motor.

According to an aspect of the present invention, there is provided a wrist apparatus including a tool mechanism and including a base, a connection arm, and a tool arm, wherein the base and the connection arm are spaced apart from each other in a hollow space And a cable installation section through which the cable passes is formed. The connection arm is provided with a connection drive motor and a tool arm motor parallel to the opposite sides of the arm base axis. The connecting arm is provided with a first bevel gear connected to the rotary shaft of the tool arm motor, a second bevel gear interlocking with the first bevel gear, a third bevel gear disposed in the same axial spacing as the second bevel gear, A fourth bevel gear interlocking with the bevel gear, and a spur gear interlocking with the fourth bevel gear.

According to a further aspect of the present invention, a through hole is formed in a center portion of the second bevel gear and the third bevel gear, and the wrist device of the present invention includes a shaft fixing portion inserted into the through hole of the second bevel gear and the third bevel gear, . In addition, the wrist device of the present invention further includes a gap adjusting portion that rotatably supports the shaft fixing portion and adjusts the spaced distance between the second bevel gear and the third bevel gear.

A cable built-in robot according to another aspect of the present invention includes: a pivot portion rotatably coupled to a base about a pivot axis and rotated by a pivot unit; a pivot portion connected to the pivot portion so as to be rotatable about a lower axis, And a wrist device coupled to the lower frame to be rotatable about the upper shaft and rotatable by the upper unit, a wrist device having one side coupled to the upper frame and the other side equipped with a tool mechanism, A cable connected to a tool mechanism is installed inside.

According to the present invention, the following effects can be achieved.

First, since the wrist device according to the present invention is formed with a cable mounting portion through which a cable penetrates in a hollow space, it is possible to prevent a cable from colliding with a surrounding equipment, and to reduce an increase in driving radius due to a cable And can improve the utilization of the work space.

Second, the wrist device according to the present invention is constructed such that the connecting drive motor and the twill arm motor are installed parallel to the opposite sides of the arm base shaft, thereby improving the convenience of the motor assembly and maintenance work.

Third, the wrist device according to the present invention is formed so that a through hole is formed in the side wall of the housing, which serves as a rotary shaft, so that the first bevel gear connected to the rotary shaft of the tool arm motor can be inserted into the through hole of the housing. Can be improved. The second bevel gear cooperating with the first bevel gear and the shaft fixing part inserted into the through hole of the third bevel gear spaced apart in the same axial direction as the second bevel gear are separately cast and fixed to the connecting arm Whereby the ease of installation of the bevel gear can be improved.

Fourth, the wrist device according to the present invention includes a second bevel gear interlocked with a first bevel gear connected to a rotation shaft of a tool arm motor for rotating a tool mechanism, and a third bevel provided in the same axial direction as the second bevel gear. By providing a gap adjusting portion between the gears, backlash between the first bevel gear and the second bevel gear and backlash between the third bevel gear and the fourth bevel gear can be adjusted.

1 is a schematic block diagram of a cable built-in robot according to the present invention;
FIG. 2 is a conceptual diagram of a cable built-in type robot according to the present invention,
3 and 4 are illustrations for explaining a wrist apparatus according to the present invention.
5 is an exemplary view for explaining a tool arm unit and a coupling drive unit according to the present invention.
6 is an exemplary view for explaining a main configuration of a tool arm unit of a wrist apparatus according to the present invention.

Hereinafter, embodiments of a cable-embedded robot according to the present invention will be described in detail with reference to the accompanying drawings. Since the wrist device according to the present invention is included in the cable built-in type robot according to the present invention, the embodiment of the cable built-in type robot according to the present invention will be explained together.

Referring to FIG. 1, the cable-embedded robot 1 according to the present invention is for performing a manufacturing process on objects such as a ship, a vehicle, a construction machine, and a mobile phone. For example, the cable-embedded robot 1 according to the present invention can perform a manufacturing process such as a welding process, a transportation process, and a coating process on a target object or a component constituting the object.

To this end, the cable-embedded robot 1 according to the present invention includes a swinging part 3 coupled to the base 2, a lower frame 4 coupled to the swinging part 3, An upper frame 5 coupled to the upper frame 5, and a wrist device 100 coupled to the upper frame 5. The wrist apparatus 100 is equipped with a tool mechanism 200 capable of performing a manufacturing process. The wrist device 100 is provided with a cable 10 connected to the tool mechanism 200 in the inside thereof. The cable 10 supplies power to the tool mechanism 200. Further, the wrist device 100 is provided with a cable connected to the motor.

Accordingly, the cable built-in type robot 1 according to the present invention can prevent the cable 10 from colliding with surrounding equipment in the process of driving the wrist device 100 to perform the manufacturing process. Accordingly, the cable-embedded robot 1 according to the present invention can improve the safety of the manufacturing process and shorten the time required for the manufacturing process by reducing the time for stopping the manufacturing process as the cable 10 collides with the equipment . In addition, since the cable built-in type robot 1 according to the present invention can reduce the driving radius of the wrist device 100 due to the cable 10, it is possible to improve the utilization of the working space, The manufacturing process can be performed on more objects or parts, thereby increasing the productivity of the object.

Hereinafter, the pivot portion 3, the lower frame 4, the upper frame 5, and the wrist device 100 of the cable built-in robot 1 according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to Figures 1 and 2, the pivot portion 3 is coupled to the base 2. The base 2 can be installed on the floor of the work space where the cable-embedded robot 1 according to the present invention is installed. The swivel portion 3 is rotatably coupled to the base 2 about a pivot shaft 3a (shown in Fig. 2). As the swivel portion 3 rotates about the pivot shaft 3a, the wrist device 100 can rotate around the pivot shaft 3a. The pivot shaft 3a can be oriented in a direction orthogonal to the bottom surface. When the bottom surface is defined in the horizontal direction (x direction), the pivot axis 3a becomes the vertical direction (z direction).

The swivel unit 3 is rotated by the swivel unit 31 (shown in Fig. 1). The swivel unit 31 may be installed on the base 2 as an example. As another example, the orbiting unit 31 may be provided in the swivel unit 3. The swing unit 31 may include a swing motor (not shown) for generating a driving force. The revolving unit 31 may include a reducer, a belt, and a gear connected to the revolving motor.

Referring to Figs. 1 and 2, the lower frame 4 is coupled to the swivel portion 3. The lower frame 4 is rotatably coupled to the swivel portion 3 about the lower shaft 4a (shown in Fig. 2). As the lower frame 4 rotates about the lower shaft 4a, the wrist device 100 can rotate around the lower shaft 4a. The lower shaft 4a can be oriented in a direction orthogonal to the pivot shaft 3a. When the pivot shaft 3a is directed in the vertical direction (z direction), the lower shaft 4a is in the horizontal direction (x direction).

The lower frame 4 is rotated by the lower unit 41 (shown in Fig. 1). The lower unit 41 may be provided in the swivel unit 3 as an example. As another example, the lower unit 41 may be installed in the lower frame 4. The lower unit 41 may include a lower motor (not shown) for generating a driving force. The lower unit 41 may include a speed reducer, a belt, and a gear connected to the lower motor.

Referring to Figs. 1 and 2, the upper frame 5 is coupled to the lower frame 4. Fig. The upper frame 5 is rotatably coupled to the lower frame 4 about the upper shaft 5a (shown in Fig. 2). As the upper frame 5 rotates about the upper shaft 5a, the wrist device 100 can rotate around the upper shaft 5a. The upper shaft 5a can be oriented in a direction parallel to the lower shaft 4a. When the lower shaft 4a faces the horizontal direction (x direction), the upper shaft 5a also faces the horizontal direction (x direction).

The upper frame 5 is rotated by the upper unit 51 (shown in Fig. 1). The upper unit 51 may be installed in the lower frame 4 as an example. As another example, the upper unit 51 may be provided in the upper frame 5. The upper unit 51 may include an upper motor (not shown) for generating a driving force. The upper unit 51 may include a speed reducer, a belt, and a gear connected to the upper motor.

1 to 4, the wrist apparatus 100 has an upper frame 5 coupled to one side, a tool mechanism 200 mounted to the other side, and a cable 10 installed therein. The wrist apparatus 100 includes a female base 110, a connecting arm 120, and a tool arm 130, as shown in Fig.

The arm base 110 is rotatably coupled to the upper frame 5 about the arm base shaft 110a. As the arm base 110 rotates about the arm base shaft 110a, the tool mechanism 200 rotates around the arm base shaft 110a. The arm base shaft 110a can function as an axis of rotation relative to the arm base 110. [

The arm base 110 is rotated by a female base unit (not shown). The arm base unit can be installed in the arm base 110 as an example. As another example, the arm base unit may be installed in the upper frame 5. The arm base unit may include a female base motor (not shown) for generating a driving force. The arm base unit may include a reducer, a belt, and a gear connected to the arm base motor.

The arm base 110 is formed with a cable mounting portion 310 through which a cable is inserted into a hollow space. The cable installation part 310 formed on the arm base 110 includes a cable guide member 311 for guiding the cable and a protection member 312 for protecting the cable passing through the cable guide member 311. The cable includes a cable for the motor and a cable for the tooling that supplies power to the tooling.

The connection arm 120 is rotatably coupled to the arm base 110 about the connection shaft 120a. As the connecting arm 120 rotates about the connecting shaft 120a, the tool mechanism 200 can rotate around the connecting shaft 120a. The connection shaft 120a can be oriented in a direction parallel to the upper shaft 5a.

The connection arm 120 is rotated by the connection drive unit. The connection drive unit may be installed in the connection arm 120 as an example. As another example, the connection drive unit may be installed in the arm base 110 or the upper frame 5. 4, the coupling drive unit may include a coupling drive motor 411 for generating a driving force, a gear group 412 connected to the coupling drive motor 411, and a reduction gear 413. have.

The connection arm 120 is formed with a cable installation part 320 through which a cable is inserted into a hollow space. The cable installation part 320 of the connection arm 120 may be formed to have the same hollow shaft as the cable installation part 310 formed on the arm base 110, for example, the arm base shaft 110a.

The tool arm 130 is rotatably coupled to the connection arm 120 around the tool arm shaft 130a. As the tool arm 130 rotates about the tool arm shaft 130a, the tool mechanism 200 can rotate about the tool arm shaft 130a. The tool arm shaft 130a can function as an axis of rotation relative to the tool arm 130. [

The tool arm 130 is rotated by the tool arm unit. The tool arm unit can be installed in the tool arm 130 as an example. As another example, the tool arm unit may be provided in the connection arm 120, the arm base 110, or the upper frame 5. [ 4, the tool arm unit may include a tool arm motor 421 for generating a driving force, a gear group 422 connected to the tool arm motor 421, and a speed reducer 423.

The tool arm 130 is formed with a cable installation part 330 through which a cable is inserted into a hollow space. The cable mounting portion 330 of the tool arm 130 may be formed to have the same hollow shaft as the cable mounting portion 310 formed on the arm base 110 such as the arm base shaft 110a.

3, a connection drive motor 411 and a tool arm motor 421 are installed on the connection arm 120 in parallel on the opposite sides of the arm base shaft 110a. The wrist device according to the present invention can improve the convenience of assembling and maintenance work of the connection drive motor 411, the cable connected to the tool arm motor 421, the connection drive motor 411, and the tool arm motor 421.

3, the protective member 312 is formed with a through hole 312a through which the cables 411a and 421a connected to the connection driving motor 411 and the tool arm motor 421 are respectively passed. The wrist device according to the present invention can reduce the length of the cable connected to the connection driving motor 411 and the tool arm motor 421 by forming the through hole 312a in the protection member 312 for protecting the cable, Cable twisting can be prevented.

Hereinafter, the tool arm unit and the coupling drive unit according to the present invention will be described with reference to FIGS. 5 and 6. FIG.

5, the tool arm unit 420 is embodied to include a tool arm motor 421, a group of gears 422, and a speed reducer 423. The gear group 422 includes a first bevel gear 4221 connected to the rotation shaft of the tool arm motor 421, a second bevel gear 4222 interlocked with the first bevel gear 4221, a second bevel gear 4222 A fourth bevel gear 4224 interlocked with the third bevel gear 4223 and a fourth bevel gear 4224 interlocked with the fourth bevel gear 4224. The third bevel gear 4223 is disposed in the same axial direction as the first bevel gear 4224, And a spur gear 4225.

5, the connection driving unit 410 includes a connection driving motor 411, a gear group 412, and a speed reducer 413. The gear group 412 includes a fifth bevel gear 4121 connected to the rotation shaft of the connection drive motor 411, a sixth bevel gear 4122 interlocked with the fifth bevel gear 4121, And a second spur gear 4123 interlocked with the second spur gear 4123.

6, through holes 4222a and 4223a are formed at the center of the second bevel gear 4222 and the third bevel gear 4223 and the second bevel gear 4222 and the third bevel gear 4223, The first shaft fixing portion 51 is inserted into the through holes 4222a and 4223a of the first shaft fixing portion 4222a. A through hole 4224a is formed at the center of the fourth bevel gear 4224 and a second shaft fixing portion 52 is inserted into the through hole 4224a of the fourth bevel gear 4224. The bevel gears 4222, 4223 and 4224 can be easily installed by using the shaft fixing parts 51 and 52 as separate castings to fix the bevel gears 4222, 4223 and 4224. [

Referring to FIG. 6, the first shaft fixing part 51 is provided with a gap adjusting part 55. The first bevel gear 4221 and the second bevel gear 4222 are provided between the third bevel gear 4223 and the third bevel gear 4223 which are spaced apart from each other in the same axial direction as the second bevel gear 4222, Backlash between the third bevel gear 4223 and the fourth bevel gear 4224 can be adjusted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined only by the appended claims.

1: Robot with built-in cable
2: Base
3: pivot portion 3a: pivot axis
4: Lower frame 4a: Lower axis
5: Upper frame 5a: Upper axis
10: Cable
51: first shaft fixing portion 52: second shaft fixing portion
55:
100: Wrist device
110: female base 110a: female base shaft
120: connection arm 120a: connection axis
130: tool arm 130a: tool arm shaft
411: Connecting drive motor
412: Gear group
413: Reducer
421: Toolam motor
422: Gear group
423: Reducer
4221: first bevel gear 4222: second bevel gear
4223: Third bevel gear 4224: Fourth bevel gear
4225: 1st spur gear

Claims (5)

A wrist device to which a cable mounting portion is attached, the cable mounting portion being installed in a hollow space including the arm base, the connection arm, and the tool arm,
Wherein the linking drive motor and the tool arm motor are installed parallel to the opposite sides of the arm base axis,
The connection arm includes a first bevel gear connected to a rotation shaft of the tool arm motor, a second bevel gear interlocked with the first bevel gear, and a third bevel gear disposed in the same axial direction as the second bevel gear, A fourth bevel gear interlocking with the third bevel gear, and a fourth bevel gear interlocking with the fourth bevel gear,
. ≪ / RTI > The method according to claim 1,
A through hole is formed in a central portion of the second bevel gear and the third bevel gear,
The wrist device
And a first shaft fixing portion inserted into the through hole of the second bevel gear and the third bevel gear,
Further comprising: The method of claim 2,
The wrist device
And an interval adjusting unit for rotatably supporting the first shaft fixing unit and adjusting a spacing distance between the second bevel gear and the third bevel gear,
Further comprising: The method according to claim 1,
A through hole is formed in a central portion of the fourth bevel gear,
The wrist device
And a second shaft fixing portion inserted into the through hole of the fourth bevel gear,
Further comprising: A turning unit coupled to the base so as to be rotatable about the pivotal axis and rotated by the turning unit;
A lower frame rotatably coupled to the pivotal portion about a lower axis and rotated by the lower unit;
An upper frame coupled to the lower frame to be rotatable about the upper shaft and rotated by the upper unit; And
A wrist device according to any one of claims 1 to 4, wherein one side is coupled to the upper frame and the other side is equipped with a tool mechanism,
Wherein the wrist device is provided with a cable connected to the tool mechanism.

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