KR101748995B1 - 6-axis vertical articulated robot for work of high temperature environment - Google Patents

Abstract

A second axial link frame rotatably coupled to the first axial link frame; and a second axial link frame rotatably coupled to the first axial link frame, A third axial link frame rotatably coupled to the second axial link frame, a fourth axial link frame rotatably coupled to the third axial link frame, and a fourth axial link frame rotatably coupled to the fourth axial link frame, A base insulating cover including an axial link frame and a six-axis link frame rotatably coupled to the fifth axial link frame, the base insulating cover surrounding the outer surface of the base frame and having a heat insulating material on a surface contacting the base frame, A first axial link heat insulating cover surrounding the outer surface of the first axial link frame and having a heat insulating material on a surface abutting the first axial link frame, A second axial link heat insulating cover having a heat insulating material on a surface thereof abutting against the second axial link frame, and a third shaft having a heat insulating material on a surface contacting the third axial link frame, A fourth axial link heat insulating cover which surrounds the outer surface of the fourth axial link frame and is provided with a heat insulating material on a surface abutting the fourth axial link frame and an outer surface of the fifth axial link frame; And a fifth axis link thermal insulation cover having a surface contacting the fifth axial link frame and having a heat insulating material.

Description

{6-AXIS VERTICAL ARTICULATED ROBOT FOR WORK OF HIGH TEMPERATURE ENVIRONMENT FOR HIGH TEMPERATURE ENVIRONMENTAL WORK}

The present invention relates to a six-axis vertical articulated robot, and more particularly, to a six-axis vertical articulated robot having a six-axis vertical articulated robot having a heat insulating and cooling function to prevent breakage of components such as a motor and electric wiring due to high temperatures during operation in a high- The present invention relates to a vertical articulated robot.

In general, industrial robots are placed in various industrial work sites such as factories and industrial facilities, and perform robots such as assembling, disassembling, welding, painting and so on in place of human labor and performing them in an automated manner.

These industrial robots are classified as a rectangular coordinate robot, a cylindrical coordinate robot, a polar coordinate robot, a horizontal articulated robot, and a vertical articulated robot depending on the rotation method and movement.

Here, the vertical articulated robot is divided into three, four, five, and six axis vertical articulated robots according to the number of rotary axes, which is a robot formed by combining three or more working motions and three or more rotational motion mechanisms . Among them, the six-axis vertical articulated robot has joints such as human shoulders, arms, elbows, and wrists, so that it can move like a human being. Moreover, the robot is fast in action, takes up less space, and has a wider range of motion.

For example, as shown in FIG. 1, a 6-axis vertical articulated robot has been proposed in Korean Utility Model No. 20-0131401 (Apr. 15, 1998). The operation is controlled by the first axis motor 1, the second axis motor 2, the third axis motor 3, the fourth axis motor 4, the fifth axis motor 5 and the sixth axis motor 6, The first axis arm 11, the second axis arm 12, the third axis arm 13, the fourth axis arm 14, the fifth axis arm 15, and the sixth axis arm 15 16 are horizontally rotated or vertically rotated, and the sixth axis arm 16 is provided with a working tool for performing operations such as assembling, disassembling, welding or painting.

However, since the six-axis vertical articulated robot according to the conventional art described above is manufactured from most of metal or high-strength synthetic resin for simple protection of parts such as a motor and electric wiring installed in the arm, . That is, the high temperature outside air is transferred to the inside of the arm, and the temperature of the motor and the electric wiring rises to a high temperature, resulting in a component failure and a fire.

In order to solve the above problems, it is an object of the present invention to provide a high-temperature environment 6-axis vertical work machine with heat insulation and cooling function for preventing damage to components such as a motor and electric wiring due to high temperature during operation in a high- To provide a multi-joint robot.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

In order to achieve the above object, the six-axis vertical articulated robot for high temperature environment operation of the present invention comprises a base frame fixed to a floor, a first axial link frame rotatably coupled to the base frame, A second axial link frame rotatably coupled to the first axial link frame, a third axial link frame rotatably coupled to the second axial link frame, and a fourth axial link frame rotatably coupled to the third axial link frame, A fifth axial link frame rotatably coupled to the fourth axial link frame and a six axial link frame rotatably coupled to the fifth axial link frame, And a heat insulating material covering the outer surface of the first axial link frame and contacting the first axial link frame, A second axial link heat insulating cover which surrounds the outer surface of the second axial link frame and is provided with a heat insulating material on a surface contacting with the second axial link frame, A third axial link heat insulating cover surrounding the outer surface of the fourth axial link frame and having a heat insulating material on a surface thereof abutting against the third axial link frame, And a fifth axial link heat insulating cover which surrounds the outer surface of the fifth axial link frame and is provided with a heat insulating material on a surface contacting the fifth axial link frame, do.

Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover has a ceramic And the flame retardant of the material is bonded.

Further, the heat insulating material is a neopole which is a mixture of polystyrene and graphite and compression-molded.

Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover is detachably And a pair of coupling members which are coupled with each other.

Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, And a plate-shaped or scrap-shaped magnet is provided on the facing surface so as to be mutually engageable by magnetic force.

Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, And a flange having a bolt hole penetratingly formed on the opposite surface thereof so as to be coupled to each other by bolts and nuts.

The base heat insulating cover has a cooling gas supply hole through which cooling gas is supplied to one outer circumferential surface. The base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover , The fourth axial link heat insulating cover and the fifth axial link heat insulating cover are arranged such that the cooling gas supplied from the cooling gas supply hole is guided to the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, And a cooling gas flow path is formed in a lower surface of the heat insulating material so as to be transmitted in the order of the first heat insulating cover, the link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover.

In addition, a temperature for sensing the temperature of at least one of the base frame, the first axial link frame, the second axial link frame, the third axial link frame, the fourth axial link frame, the fifth axial link frame, A gas storage tank for supplying gas to be cooled by the cooler; and a controller for controlling the first axis link frame to the sixth axis link frame such that each of the first axis link frame to the sixth axis link frame is rotated in a desired direction And a control unit for controlling the cooler and the gas storage tank so that the cooling gas is supplied to the cooling gas supply hole according to the sensed value of the temperature sensor.

The cooling gas flow path may be formed in such a manner that the cooling gas flows through the base insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, A first axial link heat insulating cover, a second axial link heat insulating cover, a third axial link heat insulating cover, and a third axial link heat insulating cover, The fourth axial link heat insulating cover, and the fifth axial link heat insulating cover, which are communicated with the transfer path so as to be vertically and horizontally and horizontally spread along the bottom surface of the heat insulating member, respectively.

The control unit may further include a cooling mode for transmitting a cooling mode control signal to the cooler and the gas storage tank to supply the cooling gas to the cooling gas supply hole when the sensed value of the temperature sensor is greater than a predetermined cooling mode temperature value, And a forcible stop for forcibly stopping the operation of the rotary motor for rotating the first axial link frame to the sixth axial link frame while performing the cooling mode when the sensed value of the temperature sensor is greater than a predetermined forced stop mode temperature value, Mode.

The six-axis vertical articulated robot for high-temperature environment operation according to the present invention is characterized in that it comprises a first base insulating cover, a first axis link insulator cover, a second axis link insulator cover, a third axis link insulator cover, a fourth axis link insulator cover, It is possible to prevent the high temperature outside air from being transmitted to the inside of the frame through the axial link heat insulating cover, thereby preventing the parts such as the motor and electric wiring due to the high temperature from being damaged during operation in the high temperature environment.

Second, the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, and the fifth axial link heat insulating cover, By supplying the cooling gas to the heat insulating cover or stopping the operation of the motor according to the detected temperature through the cooler, the gas storage tank and the control unit, it prevents the parts such as the motor and electric wiring due to the high temperature from being damaged during operation in the high temperature environment There is an effect that can be done.

FIG. 1 is a perspective view of a six-axis vertical articulated robot according to the prior art,
FIG. 2 is a perspective view illustrating an embodiment of a six-axis vertical articulated robot for high-temperature environment operation according to the present invention,
3 is a perspective view showing rotation directions of the first to sixth axial link frames of FIG. 2 by arrows, and FIG.
4 is a perspective view showing an embodiment in which the first to sixth axis link frames of FIG. 3 are rotated, and FIG.
FIG. 5 is a perspective view showing a state in which the first to sixth axial link frames of FIG. 4 are disassembled,
Fig. 6 is an enlarged perspective view of the base frame and the base heat-insulating cover of Fig. 5,
Fig. 7 is a perspective view showing a state in which the first axial link heat-insulating cover of Fig. 4 is disassembled from the first axial link frame,
FIG. 8 is a perspective view showing a state in which the second axial link heat-insulating cover of FIG. 4 is disassembled from the second axial link frame,
Fig. 9 is a perspective view showing a state in which the third axial link heat-insulating cover of Fig. 4 is disassembled from the third axial link frame,
Fig. 10 is a perspective view showing a state in which the fourth axial link heat-insulating cover of Fig. 4 is disassembled from the fourth axial link frame,
FIG. 11 is a perspective view showing a state in which the fifth axial link heat insulating cover of FIG. 4 is disassembled from the fifth axial link frame,
12 is a perspective view and a main part sectional view respectively showing a heat insulating material and a flame retardant material of the base heat insulating cover of Fig. 6,
FIG. 13 is a perspective view showing an embodiment of a coupling method of a pair of coupling members formed in the base insulating cover of FIG. 12,
FIG. 14 is a perspective view showing another embodiment of a coupling method of a pair of coupling members formed in the base insulating cover of FIG. 12,
FIG. 15 is a perspective view showing another embodiment of a six-axis vertical articulated robot for high-temperature environment operation according to the present invention,
Fig. 16 is a perspective view showing a state in which the first to sixth axial link frames of Fig. 15 are disassembled,
17 is a perspective view and a principal part sectional view respectively showing a heat insulating material, a flame retardant, and a cooling gas flow path of the base heat insulating cover of Fig. 16,
Fig. 18 is a perspective view showing a cooling gas flow path formed in each of the pair of coupling members formed in the base insulating cover of Fig. 17,
FIG. 19 is a perspective view showing the process of transferring the cooling gas with reference to the embodiment of FIG. 15,
20 is a device block diagram of the temperature sensor, the cooler, the gas storage tank, and the control unit in the embodiment of Fig.

Hereinafter, preferred embodiments of a six-axis vertical articulated robot for high temperature environment operation according to the present invention will be described in detail with reference to the accompanying drawings.

First, as shown in FIGS. 2 to 14, the six-axis vertical articulated robot for high temperature environment operation according to the present invention includes a base frame 10, a first axial link frame 20, The first axial link frame 30, the third axial link frame 40, the fourth axial link frame 50, the fifth axial link frame 60 and the sixth axial link frame 70, The first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 .

The first axial link frame 20, the second axial link frame 30, the third axial link frame 40, the fourth axial link frame 50, the fifth axial link frame 60, And the sixth axis link frame 70 are frames in which a rotary motor is installed so that the robot can rotate six axes as shown in FIG. The first shaft linkage frame 20 is connected to the base frame 10 by the first shaft rotation motor 11. The first shaft linkage motor 20 is fixed to the base frame 10, 10, a second shaft rotating motor 21 is installed. The second axial link frame 30 is rotatably coupled to the first axial link frame 20 by the second axial rotary motor 21 and is provided with a third axial rotary motor 31, The link frame 40 is rotatably coupled to the second axial link frame 30 by the third axial rotary motor 31, and a fourth axial rotary motor 41 is installed. The fourth axis link frame 50 is rotatably coupled to the third axis link frame 40 by the fourth axis rotation motor 41 while a fifth axis rotation motor 51 is installed, The link frame 60 is rotatably coupled to the fourth axial link frame 50 by the fifth axial rotary motor 51, and a sixth axial rotary motor 61 is installed. The sixth axial link frame 70 is rotatably coupled to the fifth axial link frame 60 by the sixth axial rotary motor 61 and is rotatably coupled to the fifth axial link frame 60 through operations such as assembly, Is selectively installed. Here, the base frame 10, the first axial link frame 20, the second axial link frame 30, the third axial link frame 40, the fourth axial link frame 50, 60 and the sixth axis link frame 70 may be composed of a plurality of engageable members which are not shown in the drawing but are detachable for replacement and repair of motors and electric wires installed therein.

As shown in FIGS. 2 to 6 and 12, the base heat insulating cover 100 includes a heat insulating material 130 on a surface of the base frame 10 which faces the base frame 10 while covering the outer surface of the base frame 10, And a pair of engagement members (110, 120) detachably coupled to each other.

As shown in FIGS. 2 to 5 and 7, the first axial link heat insulating cover 200 surrounds the outer surface of the first axial link frame 20, And a pair of coupling members 210 and 220 detachably coupled to each other to face each other.

As shown in FIGS. 2 to 5 and 8, the second axial link heat insulating cover 300 surrounds the outer surface of the second axial link frame 30, And a pair of coupling members 310 and 320 detachably coupled to each other to face each other.

As shown in FIGS. 2 to 5 and 9, the third axial link heat insulating cover 400 surrounds the outer surface of the third axial link frame 40, And a pair of coupling members 410 and 420 detachably coupled to each other to face each other.

As shown in FIGS. 2 to 5 and 10, the fourth axial link heat-insulating cover 500 surrounds the outer surface of the fourth axial link frame 50 and has a surface on which the fourth axial link frame 50 abuts, And a pair of coupling members 510 and 520 detachably coupled to each other to face each other.

As shown in FIGS. 2 to 5 and 11, the fifth axial link heat insulating cover 600 surrounds the outer surface of the fifth axial link frame 60, And a pair of coupling members 610 and 620 detachably coupled to each other to face each other.

Here, the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500, The fifth axial link heat insulating cover 600 is configured such that the first axial link frame 20, the second axial link frame 30, the third axial link frame 40, 50, the fifth axis link frame 60, and the sixth axis link frame 70 are rotatable. In order to prevent interference with the rotations of the link frames in consideration of the heat insulating covers of the six-axis vertical articulated robot, To this end, the coupling surfaces between the link frames have a shape in which the heat insulating cover is not wrapped, as shown in FIGS.

The first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500, Each of the fifth axial link heat insulating covers 600 has a ceramic material flame retardant bonded to the upper surface of the heat insulating material. Ceramic is a non-metal inorganic solid material obtained through heat treatment process. It has a hardness of about three times that of stainless steel, a stiffness of about twice that of stainless steel, excellent heat resistance because it does not melt or burn even at a temperature of 1,000 ° C. or higher, Electrical insulation, abrasion resistance, and corrosion resistance. Among the most preferred aluminas, there are silicon carbide, aluminum nitride, silicon nitride, zirconium oxide, silicon dioxide, sialon and glass ceramics, and any of them may be used in the present invention. Therefore, by bonding the flame retardant of the ceramic material having excellent heat resistance and strength to the upper surface of the heat insulating material, the heat insulating material slightly vulnerable to impact and heat is protected from impact and heat while the base frame 10, the first axial link frame 20, It is possible to protect the link frame 30, the third axial link frame 40, the fourth axial link frame 50, the fifth axial link frame 60 and the sixth axial link frame 70 as well.

For example, FIG. 12 is a cross-sectional view of the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, 500 and the fifth axial link heat insulating cover 600. The heat insulating material 130 and the ceramic flame retardant material 140 of the base insulating cover 100 are shown in FIG. Similarly, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 are also provided with a heat insulating material and a flame retardant.

Also, the heat insulating material may be neopol mixed with polystyrene and graphite and compression molded. Neopole is one of the insulation materials. It is basically the same material and processing method as the styrofoam produced by compression molding of polystyrene granules by the bead method, but it has better adiabatic performance and flame retardancy than styrofoam by adding graphite. Therefore, by using Neopole, which is superior in heat insulation performance and flame retardancy than ordinary styrofoam, as insulation, it prevents high temperature outside air from being transferred to the inside of the frame when working in a high temperature environment, There is an effect that the components such as wiring can be prevented from being damaged.

In addition, the base insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500, Each of the fifth axial link heat insulating covers 600 is provided with a plate or scrap magnet so as to be magnetically coupled to the mutually facing surfaces of the respective engaging members, A flange having a bolt hole penetratingly formed so as to be mutually engageable by a nut may be formed. The flange may be integrally formed by extending the flame retardant bonded to the upper surface of the heat insulating material.

In other words, the base insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500, The fifth axial link heat insulating cover 600 and the fifth axial link heat insulating cover 600 each include a pair of coupling members 110, 120, 210, 220, 310, 320, 410, 420, 510, 520, 610, 620, respectively, so that the pair of coupling members can be easily coupled with each other, and the coupling member can be coupled magnetically or flange-like so as not to deteriorate the performance of the heat insulating material and the flame retardant. This allows the user to easily remove and join the insulation cover from the base frame and the link frame when replacing and repairing parts such as motors and electrical wiring.

For example, FIG. 13 is a cross-sectional view of the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, A plate-like magnet 150 is provided on the opposite surfaces of a pair of coupling members 110 and 120 formed on the base insulating cover 100 of the first axial link 500 and the fifth axial link heat- It is. Here, the magnet 150 may be made of a permanent magnet having a magnetic force superior to that of a general magnet and resistant to heat. 14 is a sectional view of the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, 500 and the fifth axial link heat insulating cover 600 so as to be coupled to each other by bolts and nuts on opposite surfaces of a pair of coupling members 110 and 120 formed on the base insulating cover 100, And a flange 160 having a hole 161 formed therein is formed. Similarly, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 or a magnet or a flange may be installed or formed on the surfaces of the pair of coupling members facing each other.

Another embodiment of the six-axis vertical articulated robot for high-temperature environment operation according to the present invention includes a base frame 10, a first axial link frame 20, a second axial link frame 20, The first axial link frame 30, the third axial link frame 40, the fourth axial link frame 50, the fifth axial link frame 60 and the sixth axial link frame 70, The first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 And further includes a temperature sensor 700, a cooler 800, a gas storage tank 900, and a control unit 1000. However, overlapping description will be omitted for the components described in detail in the above embodiment.

In another embodiment of the six-axis vertical articulated robot for high temperature environment operation according to the present invention, the base heat insulating cover 100 includes a cooling gas supply hole 170 (see FIG. 16) through which cooling gas is supplied to one outer circumferential surface, . The first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500, Each of the fifth axial link heat insulating covers 600 is formed such that the cooling gas supplied from the cooling gas supply hole 170 is supplied to the base insulating cover 100, the first axial link heat insulating cover 200, The cooling gas flow path is formed on the lower surface of the heat insulating material so that the heat is transmitted in the order of the first axial link 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600.

Here, the cooling gas flow path is formed so that the cooling gas flows through the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, The fourth axial link heat-insulating cover 500 and the fifth axial-link heat-insulating cover 600 in this order from the bottom. The cooling gas is supplied to the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, And a diffusion furnace communicating with the transmission path and being formed in a cross shape so as to be vertically and horizontally and horizontally diffused along the lower surface of the heat insulating material of the fifth axial link heat insulating cover 600 and the fifth axial link heat insulating cover 600, respectively.

For example, FIGS. 17 and 18 illustrate the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, The coolant gas flow path 180 is formed on the bottom surface of the heat insulating member 130 of each of the pair of coupling members 110 and 120 formed in the base heat insulating cover 100 among the cover 500 and the fifth axial link heat insulating cover 600, And the cooling gas flow path 180 includes the transmission path 181 and the diffusion path 182. [ The diffusion paths (182) formed in the pair of coupling members (110, 120) are partially recessed on the inner side so as to communicate with each other. Although the cooling gas supply holes 170 are shown as one in the drawing, the cooling gas supply holes 170 may be formed through each of the pair of coupling members 110 and 120 so as to smoothly supply the cooling gas. Accordingly, the cooling gas supplied through the cooling gas supply hole 170 flows along the lower surface of the heat insulating cover of the base heat insulating cover 100 along the transmission path 181 and the diffusion path 182, The cooling gas is diffused to the right and left, and the cooling gas is transferred to the passage of the cooling gas flow path formed in the first axial link heat insulating cover 200 having the surface partially in contact with the base heat insulating cover 100, And is spread vertically and horizontally along the bottom surface of the heat insulating member of the axial link heat insulating cover 200. In this way, the cooling gas delivered to the first axial link heat insulating cover 200 is transferred to the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 And the process of transferring the cooling gas is indicated by an arrow in Fig. In other words. The first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the second axial link heat insulating cover 300, The third axial link heat insulating cover 400, the third axial link heat insulating cover 400 and the fourth axial link heat insulating cover 500, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600 As shown in Figs. 4 and 6 to 11, respectively, and the transmission passage of the cooling gas flow path is recessed in each of the abutting surfaces.

16, the temperature sensor 700 includes the base frame 10, the first axial link frame 20, the second axial link frame 30, the third axial link frame 40, A fifth axis link frame 60, and a sixth axis link frame 70. In this case, At this time, the temperature sensor 700 may be installed on the inner surface of the frame so as not to interfere with the covering of the heat insulating cover. For example, FIG. 16 shows a state in which the temperature sensor 700 is installed on the base frame 10 and the first axial link frame 20, respectively.

The cooler 800 is a means for supplying cooling gas to the cooling gas supply hole 170 as shown in FIGS. 15 and 19, and the gas storage tank 900 supplies gas for cooling to the cooler 800 . Here, the cooler 800 and the coolant supply hole 170 are connected to each other between the cooler 800 and the gas storage tank 900 through a pipe surrounded by a heat insulating material. Although not shown in the drawings, the cooler 800 and the gas storage tank 900 are each provided with a pump so that the cooling gas can be supplied to the cooling gas supply hole 170 at a sufficiently high pressure, A solenoid valve may be provided so that the cooling gas can be supplied only when necessary. Such a pump and the solenoid valve are widely used in the cooler and the storage tank, and thus the description thereof will be omitted. The cooling gas may be selected from air, nitrogen, carbon dioxide, and helium which are widely used in a gas cooling system. That is, the gas stored in the gas storage tank 900 is transferred to the cooler 800, cooled to a predetermined temperature or lower, and then supplied to the heat insulating cover through the coolant supply hole 170.

The control unit 1000 controls the first axis link frame 20 to the sixth axis link frame 70 to rotate in a desired direction as shown in FIGS. 15 and 20, Is a means for controlling the cooler 800 and the gas storage tank 900 so that the cooling gas is supplied to the cooling gas supply hole 170 according to the value. Here, the rotation control of each of the first axial link frame 20 to the sixth axial link frame 70 controls the first axis rotation motor 11 to the sixth axis rotation motor 61, Lt; RTI ID = 0.0 > 1030 < / RTI >

The control unit 1000 transmits a cooling mode control signal to the cooler 800 and the gas storage tank 900 when the sensed value of the temperature sensor 700 is equal to or higher than a predetermined cooling mode temperature value, And a cooling mode 1010 for supplying cooling gas to the gas supply hole 170. [ When the sensed value of the temperature sensor 700 is equal to or greater than a predetermined forced stop temperature value, the first axial link frame 20 to the sixth axial link frame 70 are rotated in the cooling mode 1010, And a forced stop mode 1020 for forcibly stopping the operation of the rotating motor to rotate each of them. The rotation motor is a first axis rotation motor 11 to a sixth axis rotation motor 61 and transmits a control signal to the motor control circuit 1030 to rotate the first axis- The operation of the rotation motor 61 can be controlled. At this time, as the forced stop mode temperature value is set higher than the cooling mode temperature value, the forced stop mode 1020 is performed when the temperature of the link frame does not decrease even if the cooling mode 1010 is performed. If the detection value of the temperature sensor 700 falls below the cooling mode temperature value or the forced stop mode temperature value in the state where the cooling mode 1010 or the forced stop mode 1020 is performed, Mode 1010, or may be operated in the foreground before the cooling mode 1010. [

Therefore, the six-axis vertical articulated robot for high-temperature environment operation according to the present invention includes a first base heat insulating cover 100, a first axial link heat insulating cover 200, a second axial link heat insulating cover 300, It is possible to prevent the transfer of the high temperature outside air to the inside of the frame through the cover 400, the fourth axial link heat insulating cover 500 and the fifth axial link heat insulating cover 600, There is an effect that the components such as wiring can be prevented from being damaged.

Second, the base heat insulating cover 100, the first axial link heat insulating cover 200, the second axial link heat insulating cover 300, the third axial link heat insulating cover 400, the fourth axial link heat insulating cover 300, The axial thermal insulation cover 500 and the fifth axial link thermal insulation cover 600 and the temperature sensed through the temperature sensor 700, the cooler 800, the gas storage tank 900 and the control unit 1000, It is possible to prevent the components such as the motor and electric wiring from being damaged due to the high temperature when the motor is operated in a high temperature environment.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention as long as they are obvious to those skilled in the art.

10: base frame 20: first axis link frame
30: second axis link frame 40: third axis link frame
50: fourth axis link frame 60: fifth axis link frame
70: Sixth axis link frame
100: Base insulating cover
110, 120: coupling member of the base heat-insulating cover
130: Insulation material 140: Flame retardant
150: Magnet 160: Flange
170: Cooling gas supply hole 180: Cooling gas channel
200: First axis link heat insulating cover
210, 220: coupling member of the first axial link heat insulating cover
300: Second axis link heat insulating cover
310, 320: coupling member of the second axial link heat-insulating cover
400: Third axis link heat insulating cover
410, 420: coupling member of the third axial link heat-insulating cover
500: Fourth axis link thermal insulation cover
510, 520: coupling member of the fourth axial link heat-insulating cover
600: fifth axis link heat insulating cover
610, 620: coupling member of the fifth axis link heat-insulating cover
700: Temperature sensor
800: cooler
900: Gas storage tank
1000: control unit 1010: cooling mode
1020: Forced stop mode 1030: Motor control circuit

Claims (10)

A first axial link frame rotatably coupled to the base frame; a second axial link frame rotatably coupled to the first axial link frame; A fourth axial link frame rotatably coupled to the third axial link frame, a fifth axial link frame rotatably coupled to the fourth axial link frame, And a six-axis link frame rotatably coupled to the fifth axial link frame,
A base insulating cover surrounding the outer surface of the base frame and having a heat insulating material on a surface abutting the base frame, and a heat insulating material covering the outer surface of the first axial link frame and contacting the first axial link frame A second axial link heat insulating cover which surrounds the outer surface of the second axial link frame and is provided with a heat insulating material on a surface contacting with the second axial link frame, A third axial link heat insulating cover surrounding the outer surface of the fourth axial link frame and having a heat insulating material on a surface thereof abutting against the third axial link frame, And a fifth axial link heat insulating cover having a heat insulating member on a surface of the fifth axial link frame which faces the fifth axial link frame while surrounding the outer surface of the fifth axial link frame,
Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover,
And a pair of coupling members detachably coupled to each other so as to face each other.
The method according to claim 1,
Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover,
Wherein a ceramic flame retardant material is bonded to the upper surface of the heat insulating material.
3. The method of claim 2,
The heat insulating material,
6. The six-axis vertical articulated robot for high-temperature environment operation, characterized in that it is a neopole which is a mixture of polystyrene and graphite and is compression-molded.
delete The method according to claim 1,
Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover,
Wherein a plate-like or scrap-type magnet is provided on each of the engaging members so as to be magnetically coupled with each other on the surfaces facing each other.
The method according to claim 1,
Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover,
Wherein a flange is formed on a surface of each of the coupling members, the bolt hole and the bolt hole being coupled to each other by bolts and nuts.
The method according to claim 1,
The base heat-
A cooling gas supply hole through which a cooling gas is supplied is formed on one outer circumferential surface,
Each of the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover,
The cooling gas supplied from the cooling gas supply hole is supplied to the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, Wherein the cooling gas flow path is formed on the lower surface of the heat insulating material so as to be transmitted in order.
8. The method of claim 7,
A temperature sensor for sensing a temperature of at least one of the base frame, the first axial link frame, the second axial link frame, the third axial link frame, the fourth axial link frame, the fifth axial link frame and the sixth axial link frame, ,
A cooler for supplying a cooling gas to the cooling gas supply hole,
A gas storage tank for supplying gas for cooling to the cooler,
The controller controls the first axis link frame to the sixth axis link frame to rotate in a desired direction and controls the cooler and the gas storage tank so that the cooling gas is supplied to the cooling gas supply hole according to the sensed value of the temperature sensor Further comprising a controller for controlling the operation of the six-axis vertical articulated robot.
8. The method of claim 7,
The cooling gas passage
Wherein the cooling gas is transmitted to the base heat insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover and the fifth axial link heat insulating cover, A transfer path formed along the circumference of the bottom surface of the heat insulator,
The cooling gas flows downward and downward along the bottom surface of each of the base insulating cover, the first axial link heat insulating cover, the second axial link heat insulating cover, the third axial link heat insulating cover, the fourth axial link heat insulating cover, And a diffusion furnace communicated with the transfer path so as to diffuse to the left and right and formed into a cross shape.
9. The method of claim 8,
Wherein,
A cooling mode in which the cooling mode control signal is transmitted to the cooler and the gas storage tank to supply the cooling gas to the cooling gas supply hole when the sensed value of the temperature sensor is greater than a predetermined cooling mode temperature value,
And a forcible stop for forcibly stopping the operation of the rotary motor for rotating the first axial link frame to the sixth axial link frame while performing the cooling mode when the sensed value of the temperature sensor is greater than a predetermined forced stop mode temperature value, Mode six-axis vertical articulated robot for high-temperature environment operation.

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