KR101935517B1 - Jacket type robochain - Google Patents

Abstract

The present invention relates to a jacket-type robotic chain, which comprises a jacket portion formed by integrally forming a plurality of central jacket portions into which cables are individually inserted and a pair of side jacket portions provided in parallel on both sides in the width direction of the central jacket portion, And a pair of chain assemblies each of which is connected to the side jacket portion by a pin-coupling manner with a link structure in which a plurality of chain blocks are each capable of bending movement, wherein the chain assembly is a press- And a protective tube inserted into the side jacket together with the chain assembly.

Description

Jacket type robotic chain {JACKET TYPE ROBOCHAIN}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a jacket-type robotic chain, and more particularly, to a robotic chain capable of stably rotating and reciprocating movements of cables inserted therein.

Generally, a robot chain is a device used in an industrial field that handles various machines. The robot chain has a link structure capable of bending motion between a straight state and a bending state. The bending motion causes a pneumatic hose, a cable Hereinafter, referred to as 'cable currents').

In particular, the jacket-type Robo Chain of the Robo Chain enables the cable-type particles generated by the wear of the cable type to be discharged to the mechanical parts side in a clean room environment, effectively solving the problems causing fatal defects in the product process Type.

The jacket-type robotic chain basically comprises a jacket portion into which a cable is inserted, a chain assembly which is inserted and installed in parallel with the cable in the jacket portion, and a clamp installed at the fixed end portion and the moving end portion of the jacket portion.

Since jacket-type robo chains are installed in the jacket part, the cable-type particles that can be generated by the continuous bending movement of the cables are prevented from being released to the outside, thereby achieving the completeness of the product process .

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In this connection, Korean Patent Registration No. KR10-1074440B1 (Patent Document 1) has been disclosed as a prior art relating to a jacket type robotic chain.

Patent Document 1 is related to a multi-joint type cable protection guiding apparatus, which comprises a plurality of central tubular portions through which cables are passed, and a pair of left and right side tubular portions arranged in parallel along the central tubular portion, And a pair of right and left multi-joint support members respectively passing through the side tubular portion of the flexible belt member, wherein the multi-joint support members are composed of a plurality of block bodies which are connected to each other by bump- Disclosed is a joint-and-bare cable protection guiding apparatus which reliably protects and guides a cable to be in a bending posture or a straight posture, has a small number of parts, and is easy to cut and cut according to the use situation.

However, the technique disclosed in Patent Document 1 has a problem that the block body corresponding to the chain block of the present invention directly contacts the inner wall of the jacket portion, causing damage such as tearing of the jacket portion.

Also, the technique disclosed in Patent Document 1 has a problem that block body particles generated by worn out of a block body are stacked on the inner side of a jacket portion.

Further, the technique disclosed in Patent Document 1 has a problem that the sidewall particles in the jacket portion, which are generated by the sidewall damage of the jacket portion by the block body, contaminate the block body.

In addition, the technique disclosed in Patent Document 1 has a problem in that the inner surface of the jacket portion is damaged in the process of cleaning the inside of the jacket portion to remove the block body particles.

Also, the technique disclosed in Patent Document 1 has a problem in that it is inconvenient for assembling since the block body must be fitted only in the up and down direction when the block body is engaged with the concave-convex portion.

Further, the technique disclosed in Patent Document 1 has a problem that the structure for guiding the relative axial rotation motion between the block bodies has not been disclosed at all.

In addition, in the technique disclosed in Patent Document 1, there is a problem that a clearance between block bodies occurs during rotation of the shaft due to a wear phenomenon of the fitting portion of the block body, and vibration and noise are generated.

Korean Patent Publication No. KR10-1074440B1

SUMMARY OF THE INVENTION In order to solve the above-described problems, the object of the present invention is to provide a jacket type robotic chain in which a chain block is inserted into a jacket while inserting the chain assembly into a protective tube, .

It is also an object of the present invention to provide a jacket-type robotic chain which prevents chain block particles generated due to wear of a chain block from accumulating on the inner surface of a jacket through a double protective structure of such a chain assembly.

It is also an object of the present invention to provide a jacket type robotic chain which reduces the risk of damage to the inner wall of the jacket through the double protective structure of the chain assembly, .

It is also an object of the present invention to provide a jacket-type robotic chain which facilitates cleaning inside the jacket through the double protection structure of the chain assembly.

It is another object of the present invention to provide a jacket-type robotic chain in which the chain blocks can be assembled in all directions at the time of assembling the connection between the chain blocks by connecting the chain blocks by separate connecting pins.

It is another object of the present invention to provide a jacket-type robot which can guide a movement of a cable into a partially linear state or a bending state by applying a guide structure guiding a relative axial rotation movement between chain blocks connected to a chain block Chain.

It is another object of the present invention to provide a jacket-type robotic chain in which component fatigue generated on a connection pin is dispersed in a chain block by applying a guide structure for guiding a relative axial rotation movement between chain blocks connected to the chain block.

Further, it is an object of the present invention to provide a jacket-type robotic chain that reduces the generation of vibration and noise due to wear of a connecting pin by applying a guide structure for guiding a relative axial rotation movement between chain blocks interconnected to a chain block.

The jacket-type robotic chain according to the embodiment of the present invention includes a plurality of central jacket portions into which cables are individually inserted and a pair of side jacket portions formed in parallel on both sides in the width direction of the central jacket portion, And a pair of chain assemblies each of which is connected to the side jacket portion by a pin-coupling manner with a link structure in which a plurality of chain blocks are each capable of bending, the jacket-type robotic chain comprising: And a protection tube installed and installed in the side jacket together with the chain assembly.

In this case, it is preferable that the protective tube elastically presses the chain assembly to come into close contact with the outer surface of the chain assembly.

The chain block includes a body, a front protruding portion protruding forward from a central portion of the body, a front protruding portion having a pin through-hole formed in a left-right direction on one side thereof, And a pair of rear protrusions protruding symmetrically from both sides of the rear side of the chain block and having pin mounting holes at positions corresponding to the pin through holes formed in the front protrusions of the other chain blocks connected to the rear side, .

In this case, it is preferable that the body is provided with a rotation guiding jaw rounded rearward on both front side portions.

Preferably, the body is provided with a state defining groove having a first rectilinear state defining surface and a maximum rotational state defining surface at a rear center portion.

Further, it is preferable that the body is provided with a rotation guide supporting step rounded toward the front at a central portion on the rear side.

In addition, it is preferable that the body is provided with a second straight state defining surface on the upper rear side.

Preferably, the front protruding portion is formed with a first rotation guide surface rounded forward in front of the front protruding portion so that the front protruding portion comes into contact with the rotation guide support jaws of the other chain blocks connected to the front and guided to rotate.

The front protruding portion may include a first straight advancing state sloping surface protruding forward from a front center portion and being supported by a first straight advancing state defining surface of another chain block connected forward and defining a straight advancing state, And a state defining protrusion having a maximum rotation state defining slope defining a maximum rotation state of the other chain blocks, which is supported by being contacted with the maximum rotation state defining surface of the other chain blocks connected to the front side.

The front protruding portion is protruded on an upper portion of a front side thereof and is supported by a second straight advancing state defining surface of another chain block connected to the front side to define a straight advancing state defining slope, It is preferable to provide a state defining protrusion.

The pair of rear protrusions may be supported by a rotation guide jaw of another chain block connected to the rear, and a second rotation guide surface rounded rearward may be formed to guide the rotation of the other chain blocks.

In addition, it is preferable that the body is provided with a mounting hole in a vertical direction on one side thereof.

As described above, in the jacket-type robotic chain according to the present invention, the chain assembly is inserted into the jacket while inserting the chain assembly into the jacket, thereby preventing the chain block from directly contacting the jacket.

In addition, the jacket-type robotic chain according to the present invention prevents the chain block particles generated due to the wear of the chain block from accumulating on the inner surface of the jacket through the double protection structure of the chain assembly.

In addition, the jacket-type robotic chain according to the present invention reduces the damage of the inner wall of the jacket due to wear of the jacket through the double protection structure of the chain assembly, but prevents the sidewall particles in the jacket from contamination of the chain block .

In addition, the jacket-type robotic chain according to the present invention facilitates cleaning of the inside of the jacket through the double protection structure of the chain assembly.

In addition, the jacket-type robotic chain according to the present invention can be assembled in all directions when the chain blocks are connected and assembled by connecting the chain blocks by separate connecting pins, thereby facilitating assembly convenience.

In addition, the jacket-type robotic chain according to the present invention can stably guide the movement of the cables into a partly linear state or a bending state by applying a guide structure for guiding the relative axial rotation movement between the chain blocks interconnected to the chain block do.

In addition, the jacket-type robotic chain according to the present invention applies a guide structure for guiding the relative axial rotation movement between chain blocks interconnected to a chain block, thereby dispersing the component fatigue generated in the connection pin in the chain block.

Furthermore, the jacket-type robotic chain according to the present invention reduces the occurrence of vibration and noise due to the wear of the connecting pin by applying a guide structure for guiding the relative axial rotation movement between the chain blocks interconnected to the chain block.

1 is a perspective view illustrating a jacket type robotic chain according to an embodiment of the present invention.
FIG. 2 is a partial perspective view showing a linear state of the protection tube and the chain assembly shown in FIG. 1. FIG.
3 is a side view of the protective tube and chain assembly shown in Fig.
Figure 4 is a cross-sectional view of the protective tube and chain assembly shown in Figure 3;
5 is a cross-sectional view for explaining an assembly state of the protective tube and the chain assembly and the side jacket shown in Fig.
6 is a partial perspective view showing a curved state of the protective tube and the chain assembly shown in Fig.
Figure 7 is a side view of the protective tube and chain assembly shown in Figure 6;
8 is a cross-sectional view of the protective tube and chain assembly shown in FIG.
FIG. 9 is a sectional view for explaining the assembled state of the protective tube and chain assembly and the side jacket shown in FIG. 8. FIG.
10 is a perspective view of the chain block shown in Fig.
Fig. 11 is a perspective view of the chain block shown in Fig. 10 viewed from another direction. Fig.
12 is a side view of the chain block shown in Fig.
13 is a cross-sectional view of the chain block shown in Fig.

The accompanying drawings in the present invention may be exaggerated for clarity, clarity, and descriptive convenience. In addition, since the following terms are defined in consideration of the functions of the present invention, they may vary depending on the intention or custom of the user or the operator, and therefore the definition of these terms should be based on the technical contents throughout this specification will be. On the contrary, the embodiments are merely illustrative of the constituent elements set forth in the claims of the present invention and do not limit the scope of the present invention, and the scope of the rights should be interpreted on the basis of technical ideas throughout the specification of the present invention .

FIG. 1 is a perspective view for explaining a jacket type robotic chain according to an embodiment of the present invention, FIG. 2 is a partial perspective view showing a linear state of the protective tube and the chain assembly shown in FIG. 1, FIG. 4 is a cross-sectional view of the protective tube and the chain assembly shown in FIG. 3, and FIG. 5 is a side view of the protective tube and the chain assembly shown in FIG. 6 is a partial perspective view showing a curved state of the protective tube and the chain assembly shown in Fig. 1, Fig. 7 is a side view of the protective tube and the chain assembly shown in Fig. 6, and Fig. 8 is a cross- Fig. 9 is a sectional view for explaining the assembled state of the protective tube and the chain assembly and the side jacket shown in Fig. 8, and Fig. 10 is a cross- 11 is a perspective view of the chain block shown in Fig. 10 viewed from the other direction, Fig. 12 is a side view of the chain block shown in Fig. 11, and Fig. 13 is a perspective view of the chain block shown in Fig. Sectional view.

1 to 13, a jacket-type robotic chain according to an embodiment of the present invention includes a jacket unit 100 and a pair of chain assemblies 200.

At this time, the jacket-type robotic chain according to the embodiment of the present invention is further comprised of the protective tube 300.

In addition, the jacket-type robotic chain according to the embodiment of the present invention may further include a clamp (not shown) installed at the fixed end and the moving end of the jacket 100, as described above.

The jacket portion 100 includes a plurality of central jacket portions 110 into which cable streams C are individually inserted and a pair of side jacket portions 100 arranged in parallel on both sides in the width direction of the central jacket portion 110 120 are integrally formed.

In this case, the cable type C means a pneumatic and hydraulic hose, a cable, or the like.

The reason why the cables C are separately inserted into the central jacket 110 is that a single or a plurality of cables C are inserted into any one of the central jackets 110, And a single or a plurality of cables (C) to be inserted into another one of the units 110 adjacent thereto.

The jacket unit 100 may be formed of the particles of the cable current C generated by bending the cable currents C and the chain assembly 200 in a straight or bent state, It will prevent the emission of particles to the outside and will make the product process complete.

For example, the jacket portion 100 may include a center jacket portion 110 and a pair of side jacket portions (not shown) between sheets using two sheets of a fluororesin layer laminated on both the inner and outer surfaces of the polyurethane resin layer 120 in the longitudinal direction thereof so as to be integrally formed.

As another example, the jacket portion 100 may be made of Teflon, and in this case, it has been experimentally confirmed that the jacket portion 100 is effective in ensuring heat resistance and durability.

Each of the pair of chain assemblies 200 is connected to the chain blocks 210 in a pin-coupling manner by a bending-movable link structure and inserted into the side jacket portions 110, respectively.

The pair of chain assemblies 200 are assembled such that the chain blocks 210 are rotatably connected to each other by a connecting pin 220 so as to rotate relative to each other.

The pair of chain assemblies 200 are inserted into the side jacket portions 110 and guide the reciprocating movement of the cable streams C individually inserted into the plurality of central jacket portions 110 .

The chain block 210 includes a body 211, a front protruding portion 212, and a pair of rear protruding portions 213.

The body 211 is preferably formed with a rotation guide step 211a rounded rearward on both front side portions.

It is preferable that the body 211 is provided with a state defining groove 211b having a first straight state defining face 211b-1 and a maximum rotational state defining face 211b-2 at the rear center portion.

Further, the body 211 preferably has a rotation guide support step 211c rounded toward the front at a central portion on the rear side.

Further, it is preferable that the body 211 is provided with a second straight state defining surface 211d on the upper side of the rear side.

In addition, the body 211 is preferably provided with a mounting hole 211e on one side thereof. The installation hole 211e is formed in a manner that the weight of the chain block 210 is reduced and the chain block 210 assembled at both ends of the chain assembly 200 is coupled to a clamp (not shown) Thereby forming a space in which a bolt (not shown) is inserted.

The front protruding portion 212 protrudes forward from a central portion of the body 211, and a pin through-hole 212a is provided on one side in the left-right direction.

On the other hand, the front protruding portion 212 is in contact with the rotation guide support step 211c of the other chain block 210 connected to the front, so as to guide the rotation of the other, It is preferable that the surface 212b is formed.

The front protruding portion 212 is protruded forward from the center portion on the front side and is supported by being supported by the first straight state defining surface 211b-1 of the other chain block 210 connected to the front, And the maximum rotation state defining surface 211b-2 of the other chain block 210 connected to the front side, to be connected in the maximum rotation state And a state defining protrusion 212c having a maximum rotation state defining slope 212c-2.

The front protruding portion 212 is protruded from the upper portion of the front side of the chain block 210 so that the front protruding portion 212 is connected to the second straight advancing state defining surface 211d of the other chain block 210, And a straight state regulating protrusion 212d having a second straight advancing state defining slope 212d-1.

The pair of rear protrusions 213 protrude symmetrically from both sides of the body 211 so as to accommodate the front protrusions 212 of the other chain blocks 210 connected to the rear, A pin mounting hole 213a is provided at a position corresponding to the pin through hole 212a formed in the front protruding portion 212 of the other chain block 210 connected to the rear.

In this case, a connection pin 220 is inserted through the pin installation hole 213a and the pin through hole 212a of the other chain block 210 connected to the rear, Thereby enabling rotational motion.

The pair of rearward protruding portions 213 are supported by the rotation guide protrusions 211a of the other chain blocks 210 connected to the rear, (213b) is formed.

It is preferable that the body 211, the front projection 212, and the pair of rear projections 213 are integrally injection-molded. That is, the chain block 210 is preferably manufactured as a single component at the same time.

For example, the chain block 210 may be made of glass fiber reinforced polyamide resin, but is not limited thereto.

Hereinafter, with reference to Figs. 2 to 4 in particular, a straight-line assembled portion of the chain assembly 200 will be described.

The linear portion of the chain assembly 200 is divided into three portions of the chain block 210 in the center, front, and rear directions.

The central chain block 210 is connected to the front side through a pair of rear protruding portions 213 of the chain block 210 to which the state defining protrusion 212c of the front protruding portion 212 is connected in front Is inserted into the state defining groove 211b formed in the body 211 of the chain block 210. [

In this case, a pin installation hole 213a formed in a pair of rear protrusions 213 of the chain block 210 connected to the front and a pin through hole 213 formed in the front protrusion 212 of the center chain block 210 The connecting pin 220 is inserted into the chain block 210 so that the relative rotation of the chain blocks 210 is possible.

The jacket-type robotic chain according to the embodiment of the present invention is characterized in that the front protruding portion 212 of the center chain block 210 is inserted between a pair of rear protruding portions 213 of the front chain block 210 It is possible to assemble in all directions at the time of assembling compared to the above-described Patent Document 1, thereby facilitating assembly convenience.

In addition, the chain assembly 200 can easily adjust the assembly length according to the user's intention by removing or connecting the chain block 210 through removal and insertion of the connecting pin 220. [

The first straight state defining slope 212c-1 provided on the state defining protrusion 212c of the center chain block 210 is provided on the body 211 of the chain block 210 connected to the front side And is held in contact with the first straight state defining surface 211b-1.

The center chain block 210 includes a chain block 210 in which a second straight state defining sloped surface 212d-1 provided on the straight protrusion 212d of the front protrusion 212 is connected to the front, The second straight advancing state defining surface 211d formed on the body 211 of the first straight advancing state surface 211d.

In this case, the contact support force between the second straight-ahead state defining slope 212d-1 and the second straight-ahead state defining surface 211d is set to be smaller than the contact force between the first straight-ahead state defining slope 212c-1 and the first straight- And maintains the linear state of the chain assembly 200 together with the contact supporting force of the elastic member 211b-1.

The straight forward state of the center chain block 210 and the rear chain block 210 is similar to that of the straight chain connection of the chain block 210 connected to the front and the center chain block 210 Lt; / RTI >

Hereinafter, the bent state assembling portion of the chain assembly 200 will be described with reference to FIGS. 6 to 8. FIG.

The bent portion of the chain assembly 200 will be described by separating three portions of the chain block 210 into a center, a front, and a rear. In addition, the bent portion of the chain assembly 200 will be described with reference to the maximum rotation state.

The rear portion of the chain block 210 connected to the rear of the chain block 210 is connected to the front portion of the center chain block 210 via a pair of rear protrusions 213 of the central protrusion portion 212 Is inserted into the state defining groove 211b formed in the body 211 of the chain block 210. [

In this case, the maximum rotation state defining slope 212c-2 provided on the state defining protrusion 212c of the chain block 210 connected to the rear is provided on the body 211 of the center chain block 210 And is held in contact with the maximum rotation state defining surface 211b-2.

The first rotation guide surface 212b formed on the front protrusion 212 of the chain block 210 connected to the rear of the chain block 210 connected to the rear is connected to the center chain block 210, Is supported by a rotation guide support step 211c formed on the body 211 of the body 211 so that relative rotation of the body 211 is guided.

Accordingly, the jacket-type robotic chain according to the embodiment of the present invention can stably reciprocate the cable current C with respect to the patent document 1 by applying the rotation guide structure, Thereby structurally distributing the component fatigue concentrated in the body 220.

A rotation guide protrusion 211a formed on the body 211 of the other chain block 210 connected to the rear of the chain block 210 connected to the rear is connected to the center of the chain block 210, And is supported by the second rotation guide surface 213b formed on the rear projection 213 to guide relative rotation between the second rotation guide surface 213b and the second rotation guide surface 213b.

Accordingly, the jacket-type robotic chain according to the embodiment of the present invention has the rotation guide structure of the first rotation guide surface 212b and the rotation guide support tuck 211c and the rotation guide jaw 211a, The rotation guide structure of the rotation guide surface 213b is doubly applied to enable a stable and stable reciprocal movement of the cable current C as compared with the patent document 1, More clearly disperses component fatigue. Further, even if the connection pin 220 is worn, the occurrence of the rotation clearance is minimized by the double guide structure, thereby reducing the occurrence of vibration and noise.

The protection tube 300 is press-fitted into the chain assembly 200 and inserted into the side jacket 120 together with the chain assembly 200.

1 through 9, the protective tube 300 forms a double protection structure that encloses the chain assembly 200 with the side jacket portion 120. As shown in FIG.

In this case, it is preferable that the protective tube 300 elastically presses the chain assembly 200 to come into close contact with the outer surface of the chain assembly 200.

That is, the protective tube 300 is in close contact with at least a part of the chain block 210 (for example, the circumferential surface of the body 211) so that the chain assembly 200 is fixed within the protective tube 300 .

The protection tube 300 may be made of a flexible material (e.g., rubber, silicone, etc.).

5 and 9, the protection tube 300 may be formed in such a manner that the chain block 210 constituting the chain assembly 200 is partially formed on the inner surface of the side jacket portion 120, Thereby preventing the side jacket portion 120 from being torn due to partial friction.

In addition, the protective tube 300 allows the chain block 210, which constitutes the chain assembly 200, to be laminated inside the chain block particles generated by repeated linear or rotational movement.

Accordingly, the protection tube 300 may be constructed such that the protective tube 300 and the chain assembly 200 are integrally separated from the side jacket 120 to remove chain block particles generated by repeated use The protection tube 300 may be removed and the chain assembly 200 may be cleaned and replaced with a new protection tube. Since the jacket-type robotic chain according to the embodiment of the present invention can easily clean the inside of the side jacket portion 120 which is relatively expensive, the maintenance and maintenance of the side jacket portion 120 120) in terms of durability in terms of cost and time saving.

In addition, the protection tube 300 may be formed to prevent the chain block 210, which constitutes the chain assembly 200, from colliding against the side jacket portion 120 by repetitive linear or rotational movements, So that the inner wall particles of the side jacket portion 120 are prevented from contamination of the chain assembly 200.

In order to assemble the blocks 210 on both ends of the chain assembly 200 to the clamps (not shown) provided at the fixed end and the movable end of the jacket 100, It is needless to say that some of them can be cut and used.

As described above, the jacket-type robotic chain according to the present invention increases the durability of the jacket portion through the double protection structure of the chain assembly, facilitates maintenance thereof, and reduces the phenomenon that the inner wall of the jacket portion is damaged due to wear To cause the sidewall particles in the jacket to essentially block the contamination of the chain block.

In addition, the jacket-type robotic chain according to the present invention can be assembled in all directions when the chain blocks are connected and assembled, thereby facilitating assembly convenience.

In addition, the jacket-type robotic chain according to the present invention can stably guide the movement of the cables into a partly linear state or a bending state by applying a guide structure for guiding the relative axial rotation movement between the chain blocks, Disperses the generated component fatigue on the chain block, and reduces the occurrence of vibration and noise due to wear of the connecting pin.

As described above, the present invention has been described with reference to the embodiments shown in the drawings. However, it should be understood that the present invention is by way of example only and that various modifications and equivalent embodiments are possible on the basis of common knowledge in the art . Therefore, the true technical protection scope of the present invention should be determined based on the specific contents of the above-mentioned invention in accordance with the claims to be described below.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jacket-type robotic chain, and is applicable to industrial fields related to a mechanical device requiring reciprocating motion of a pneumatic hose, a cable, and the like.

C: Cables
100: jacket portion 110: central jacket portion
120: side jacket portion
200: chain assembly 210: chain block
211: body 211a: rotation guide jaw
211b: state defining groove 211b-1: first straight state defining face
211b-2: maximum rotation state defining surface 211c: rotation guide supporting jaw
211d: second straight state defining surface 211e: mounting hole
212: front protruding portion 212a: pin through hole
212b: first rotation guide surface 212c: state defining projection
212c-1: First straight-ahead state defining slope 212c-2: Maximum rotation state defining slope
212d: straight-ahead state regulating protrusion 212d-1: second straight-ahead state regulating slope
213: rear projection 213a: pin mounting hole
213b: second rotation guide surface 220: connection pin
300: Protection tube

Claims (12)

A jacket portion formed by integrally molding a plurality of central jacket portions in which cables are individually inserted and installed and a pair of side jacket portions provided in parallel on both sides in the width direction of the central jacket portion; And a pair of chain assemblies each of which is connected to the side jacket portion by a pin coupling method and inserted into the side jacket portion,
A protective tube in which the chain assembly is press-fitted and inserted into the side jacket together with the chain assembly;
Further comprising:
The protection tube may include:
And a double protection structure for enclosing the chain assembly with the side jacket portion is formed, and the hub assembly elastically presses the chain assembly to come into close contact with the outer surface of the chain assembly.
delete The method according to claim 1,
The chain block includes:
body;
A front protrusion protruding forward from a central portion of the body and having a pin through-hole in a left-right direction on one side; And
A plurality of chain blocks protruding rearward from both sides of the body so as to be able to receive the front protrusions of the other chain blocks connected to the rear, symmetrically with each other and corresponding to the pin through-holes formed in the front protrusions of the other chain blocks connected to the rear A pair of rear protrusions provided with pin mounting holes at positions;
Lt; / RTI >
The chain block includes:
body;
A front protrusion protruding forward from a central portion of the body and having a pin through-hole in a left-right direction on one side; And
A plurality of chain blocks protruding rearward from both sides of the body so as to be able to receive the front protrusions of the other chain blocks connected to the rear, symmetrically with each other and corresponding to the pin through-holes formed in the front protrusions of the other chain blocks connected to the rear A pair of rear protrusions provided with pin mounting holes at positions;
Lt; / RTI >
The body
Wherein a round guide guide jaw is formed rearward on both front side portions and a round guide guide jaw which is rounded forward is formed in a rear side center portion,
The front projection
And a first rotation guide face rounded forward is formed on the front side of the chain block so as to contact with the rotation guide support jaws of the other chain blocks connected to the front,
The pair of rear projections
And a second rotation guide surface rounded rearward is formed to be supported by the rotation guide jaws of the other chain blocks connected to the rear side so as to guide the rotation of the other chain blocks.
delete 4. The apparatus of claim 3,
And a state defining groove having a first straight advancing state defining face and a maximum rotational state defining face are provided at a rear center portion of the jacket-type robotic chain.
delete 4. The apparatus of claim 3,
And a second straight state defining surface is provided on an upper portion of the rear side.
delete 6. The apparatus according to claim 5, wherein the front-
A first straight advancing state sloping surface protruding forward from the front center portion and being supported by being contacted with a first straight advancing state defining surface of another chain block connected to the front and defining a straight advancing state, And a state defining protrusion having a maximum rotation state defining slope defining a maximum rotation state of the rotor, wherein the state defining protrusion has a maximum rotation state defining slope that is contacted with and supported by the maximum rotation state defining surface of the jacket.
8. The apparatus according to claim 7, wherein the front projection
And a second straight advancing state defining protrusion protruding from an upper portion of the front side and being supported by being supported by a second straight advancing state defining surface of another chain block connected to the front, Robot chain with a jacket type that features.
delete 4. The apparatus of claim 3,
And a mounting hole in a vertical direction is provided on one side.

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