KR101794639B1 - Multiple robot having heat-resistant reinforcement part - Google Patents

Abstract

According to the present invention, a vertical multiaxial robot having a heat resistant reinforcement unit comprises: a low arm unit rotatably connected to a base supporting unit; an upper arm unit rotatably disposed on an end of the low arm unit; an upper driving module disposed between the low arm unit and the upper arm unit to interconnect the low arm unit and the upper arm unit, and to rotate the upper arm unit or to operate a gripper on an upper arm end; and a heat resistant reinforcement unit disposed on an end of the upper arm unit, and reinforcing heat resistance of a cable connected to the upper driving module and the upper driving module by having a heat transfer resistant layer disposed on an inner wall to prevent an external heat from being generated during a forging process. The vertical multiaxial robot having a heat resistant reinforcement unit in accordance with the present invention is capable of preventing malfunction or heat damage by blocking an upper driving module and a cable connected thereto from a high temperature environment through a first reinforcement casing which covers the upper driving module and through a second reinforcement casing disposed between a low arm unit and the upper driving module, and is capable of protecting the upper driving module from dust generated in a forging process by allowing cooling air to be air-purged in one direction inside the first reinforcement casing to the outside, thereby preventing malfunction of the robot and extending a service life.

Description

[0001] MULTIPLE ROBOT HAVING HEAT-RESISTANT REINFORCEMENT PART [0002]

The present invention relates to a vertical multiaxial robot having a heat-resistant reinforcing portion, and more particularly to a vertical multi-axis robot having a heat-resistant reinforcing portion provided with a heat-transfer-inhibiting layer and reinforcing heat resistance of an internal motor and a cable.

In general, an industrial robot refers to a tool (for example, a gripper or an end effector) that meets the purpose of automatically handling an object and a general device capable of being programmed for a plurality of axes of motion.

 In order to enable multi-axis motion of the robot, a driving unit is provided for each joint, a driving unit should be easy to precisely control, and a servo motor suitable for high torque and fast acceleration / deceleration is generally used. The servomotor can be roughly divided into a motor section that receives external power and generates torque, and an encoder section that is integrated with the rotor of the servo motor to transmit information such as the rotational speed and position of the rotor. The permanent magnet of the motor section, PCBs and electronic parts, cables connected to them, etc. may be vulnerable to high temperatures. Therefore, it is important to check the heat resistance of the materials constituting the servomotor, and to check the temperature characteristics that are combined when these are combined. This is important in designing, manufacturing and operating the forging robot.

For example, in a high-temperature manufacturing environment in which a person is hard to work, especially forging equipment, forgings and semi-finished products are heated to a high temperature of about 1200 degrees and peripheral temperatures of about 200 degrees, . Also, resistance to non-products and dust emitted from mold release agents and corrosion inhibitors, which are essentially added in the forging process, is also required.

However, when the conventional forging robot is placed in a working environment of a high-temperature forging process, it is not easy to provide a separate cooling means for cooling the driving parts such as the rotary motor and the encoder itself, The upper drive module and the cable connected to the upper drive module are left at a high temperature, resulting in malfunction or thermal damage of the drive unit.

In addition, there is a problem in that life of the robot is shortened due to accumulation of particulate matter and slag generated during oxidation of the releasing agent and the corrosion inhibitor, which are essentially supplied in the forging process, and accumulating in the driving part, particularly, in the driving part.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a hybrid vehicle having a first reinforced casing for enclosing an upper drive module, a second drive module and a cable connected thereto through a second reinforced casing provided between the lower arm unit and the upper drive module It is possible to prevent malfunction or thermal damage of the driving part and the like, while air air purging can be performed in one direction from the inside to the outside of the first reinforced casing, The present invention provides a vertical multi-axis robot having a heat-resistant reinforcing portion that protects the upper drive module from dust generated from the dust, thereby preventing malfunction of the robot and extending its service life.

According to an aspect of the present invention, there is provided a vertical multi-axis robot including a low arm unit rotatably connected to a base support; An upper arm unit rotatably provided at an end of the lower arm unit; An upper drive module disposed between the lower arm unit and the upper arm unit for interconnecting the lower arm unit and the upper arm unit and rotating the upper arm unit or driving the gripper of the upper arm unit; And a heat transfer inhibiting layer disposed on an end of the upper arm unit and prevented from transferring external heat generated during a forging process to the inside of the upper arm unit so that the cable connected to the upper driving module and the heat- And a heat-resistant reinforcing portion for reinforcing the heat-resistant portion.

The heat resistant reinforcement includes a first reinforced casing for accommodating the upper drive module; And a second reinforced casing having one end coupled to the upper casing and the other end coupled to the lower arm unit to enclose the cable.

Wherein the heat transmission blocking layer of the first reinforced casing is a heat resistant reinforced layer portion disposed on the inner wall of the first reinforced casing and the heat transmission blocking layer of the second reinforced casing is a heat resistant steel wall portion provided in the tubular member that receives the cable have.

Wherein the first reinforced casing is formed with an oblique incision line along the outer surface so as to be partially detachably coupled to the first reinforced casing, the second reinforced casing including: a pipe member having flanges at both ends; And a cover member communicably connected to the pipe member and partially coupled to the lower arm unit.

The heat resistant reinforced layer portion and the heat resistant steel wall portion may be stacked on the inner walls of the first reinforced casing and the tubular member, respectively.

Wherein the tubular member is an air purging line through which external cooling air is introduced into the upper driving module along the tubular member in a space other than the cable inside the tubular member, An air fan for discharging the cooling air to the outside may be provided.

The upper drive module includes a gripper driving unit provided at one end of the upper arm unit and driving a gripper provided at the other end of the upper arm unit; And an upper arm driving unit for driving the upper arm unit to relatively rotate the upper arm unit with respect to the lower arm unit.

The heat blocking layer may be made of kevlar.

The thickness of the heat resistant reinforced layer portion and the heat resistant steel wall portion may be 0.05 mm to 0.15 mm.

The cooling air may be in a temperature range of 20 ° C to 30 ° C.

The gripper driving unit may be a plurality of hollow motors, and the upper arm driving unit may be at least one servo motor.

The vertical multi-axis robot having the heat resistant reinforced portion according to the present invention is characterized in that the upper drive module and the cable connected thereto are connected to each other through a first reinforced casing surrounding the upper drive module and a second reinforced casing provided between the lower arm unit and the upper drive module, Malfunction or thermal damage of the driving unit can be prevented while the air can be air-purged in one direction from the inside of the first reinforced casing to the outside, so that it is generated in the forging process So that malfunction of the robot can be prevented and the life of the robot can be prolonged.

1 is a perspective view of a vertical multiaxial robot having a heat resistant reinforced portion according to an embodiment of the present invention.
2 is a front view of a vertical multi-axis robot having a heat resistant reinforced portion according to an embodiment of the present invention.
FIG. 3 is a view showing a state in which a row arm unit is partially cut from a left side surface of a vertical multi-axis robot having a heat resistant reinforced portion according to an embodiment of the present invention.
4 is a partial cross-sectional view of line BB of Fig.
5 is a view illustrating a state in which a part of the first reinforced casing is partially broken along a cutting line in the heat resisting steel section according to the embodiment of the present invention.
6 is a cross-sectional view of a second reinforced casing portion in the heat resisting steel section according to an embodiment of the present invention.
7 is a view schematically showing temperature measurement points for heat resistance testing of a vertical multiaxial robot having a heat resistant reinforced portion according to an embodiment of the present invention.
8 to 10 are graphs respectively showing results of heat resistance test of a vertical multi-axis robot having a heat resistant reinforced portion and experimental results of a comparative group according to an embodiment of the present invention.

Hereinafter, an embodiment of a vertical multi-axis robot having a heat resistant reinforced portion according to the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, an embodiment of a vertical multi-axis robot having a heat resistant reinforced portion according to the present invention will be described in detail with reference to the accompanying drawings.

2 is a front view of a vertical multiaxial robot having a heat resistant reinforced portion according to an embodiment of the present invention. FIG. 3 is a cross-sectional view of a vertical multi-axis robot having a heat resistant reinforced portion according to an embodiment of the present invention. FIG. 4 is a partial cross-sectional view of the line BB of FIG. 2, and FIG. 5 is a cross-sectional view of the embodiment of the present invention. 6 is a cross-sectional view of a second reinforced casing portion in the heat-resisting steel-reinforced portion according to an embodiment of the present invention. FIG. 6 is a cross-sectional view of a second reinforced casing portion according to an embodiment of the present invention.

Prior to the description, the object to be applied to the vertical multi-axis robot having the heat resistant reinforced portion according to the embodiment of the present invention is not limited to a high temperature environment (for example, a mold, casting, heat treatment, surface treatment, And dusty work places, and hazardous factories that may cause a safety accident. For convenience of explanation, the present invention is limited to forging work.

As shown in FIGS. 1 to 6, the vertical multiaxial robot having a heat resistant reinforced portion according to an embodiment of the present invention includes a low arm unit 200 rotatably connected to a base support portion 100; An upper arm unit 300 rotatably provided at an end of the lower arm unit 200; The lower arm unit 200 and the upper arm unit 300 are interconnected by being disposed between the lower arm unit 200 and the upper arm unit 300 to rotate the upper arm unit 300 An upper drive module 400 (see FIG. 4) for driving a gripper (not shown) of an end portion of the upper arm unit 300; And heat transfer blocking layers 511 and 540 disposed at the ends of the upper arm unit 300 and prevented from transferring external heat generated during the forging process to the upper driving module 400 And a heat-resistant steel making part 500 for enhancing the heat resistance of the upper drive module 400 and the cable 231 connected thereto.

1 to 3, the base supporting portion 100 includes a first pivoting body 110 rotatably provided with respect to the base supporting portion 100, and a second pivoting body 110 rotating and rotating the first pivoting body 110 And a one-turn motor unit 120 is provided. (1-axis)

A second armature unit 200 is provided adjacent to the first arm 110 and a second armature unit 210 for rotating and driving the arm assembly 200 is provided. That is, the second rotary motor unit 210 can relatively rotate about the horizontal axis with respect to the base support unit 100. (Two axes)

3, the lower arm unit 200 is provided with a lower arm frame and various connecting members. Inside the lower arm unit 200, a tubular member 230 accommodating a plurality of motor cables 231 is disposed . An air purging line can be substantially provided inside the tubular member 230, and a flow path of the cooling air can be formed. The configuration of the cooling air flow will be described later.

And an upper arm unit 300 provided to be rotatable with respect to the lower arm unit 200. The upper arm unit 300 is provided at one end thereof with a gripper connecting portion 310 to which a gripper or an end effector (not shown) such as an operating member is connected. The gripper driving portion 410 (see FIGS. 4 and 5) May be provided at the other end of the upper arm unit 300. The gripper driving unit 410 may be provided with hollow motors 411, 412, and 413. (4, 5, and 6 axes)

4 and 5, the upper drive module 400 may be disposed between the lower arm unit 200 and the upper arm unit 300. The upper drive module 400 interconnects the lower arm unit 200 and the upper arm unit 300 and rotates the upper arm unit 300 or the gripper of the end of the upper arm unit 300 It also plays a role of driving.

The upper drive module 400 includes a gripper driving unit 410 provided at one end of the upper arm unit 300 to drive a gripper provided at the other end of the upper arm unit 300; And an upper arm driving unit 420 for driving the upper arm unit 300 to relatively rotate the upper arm unit 300 with respect to the lower arm unit 200. [

The upper arm driving unit 420 is a portion that relatively rotates the upper arm unit 300 relative to the lower arm unit 200. [ It is preferable that the upper arm driving part 420 is provided as a servo motor 420. (7 axis)

On the other hand, in forged equipment, forgings and semi-finished products are inevitably exposed to a high temperature working environment, which rises to approximately 1200 ° C and the peripheral temperature is approximately 180-200 ° C. Particularly, the gripper or end effector at the position corresponding to the final end portion of the robot, the joining portion thereof, and the upper arm structure provided adjacent to the gripper are required to have heat resistance to withstand the aforementioned extreme temperatures.

In addition, vibration and noise are generated in the forging process, and non-products and dust are generated from the mold release agent or the corrosion inhibitor which is essentially added in the forging process. It is necessary to block this.

Accordingly, the vertical multi-axis robot according to the embodiment of the present invention can be provided with the heat-resisting steel section 500. The heat strengthening part 500 may be disposed at an end of the upper arm unit 300 to receive the upper driving module 400 therein.

That is, as shown in FIGS. 4 to 6, the heat strengthening part 500 includes a first reinforcing casing 510 for accommodating the upper driving module 400; A second reinforced casing 530 having one end coupled to the first reinforced casing 510 and the other end coupled to the lower arm unit 200 to surround the cable 231; And heat transfer blocking layers 511 and 540 may be provided on the inner walls of the first and second reinforced casing 530 to prevent external heat generated during the forging process from being transmitted to the inside.

4 and 5, the first reinforced casing 510 has a substantially rectangular cross-sectional shape and is partially protruded corresponding to the outer shape of the gripper driving unit 410 and the upper arm driving unit 420 . In addition, the first reinforced casing 510 may have a slit line 521 formed along the outer surface thereof so as to be partially detachably coupled to facilitate disassembly and assembly.

Referring to FIG. 5, an outlet for discharging the cooling air supplied through the air purging line to the outside may be provided. In this embodiment, an air fan 520 may be installed on the discharge port to assist in discharging the cooling air.

The heat-blocking layer 511 of the first reinforced casing 510 is a heat-resistant reinforced layer 511 disposed on the inner wall of the first reinforced casing 510 and is stacked on the inner wall of the first reinforced casing 510 . Heat-resistant reinforced layer portion 511 in this embodiment The thickness of the heat-resistant reinforced layer portion 511 may be 0.05 mm to 0.15 mm, and it is preferably made of Kevlar material. On the other hand, the aramid material or the aramid material may be used together with the aramid material for the convenience of production or the unit price.

The second reinforced casing 530 is a portion that shields the cable 231 exposed to the outside between the upper drive module 400 and the lower arm unit 200 from the outside as a substantially ' . 5, the second reinforced casing 530 mainly includes a pipe member 531 having flanges 532 at both ends thereof; And a cover member 533 communicably connected to the pipe member 531 and partially coupled to the lower arm unit 200.

One end of the pipe member 531 is communicatively coupled to the first reinforced casing 510 and the cover member 533 is partially connected to the low arm unit 200 by the one end of the second reinforced casing 530 Can be partially combined.

A heat transfer stopping layer 540 is also provided in the second reinforced casing 530. The heat transmission blocking layer 540 inside the second reinforced casing 530 is formed in the tubular member 230 receiving the cable 231 And the heat resistant steel wall portion 540 may be laminated inside. The heat resistant steel wall portion 540 may be formed in a circular cross section because it is laminated on the inner wall of the tubular member 230. In this embodiment, the thickness of the heat resistant steel wall portion 540 may be 0.05 mm to 0.15 mm, and the material of the heat resistant steel wall portion 540 may be Kevlar.

On the other hand, the air purging line of cooling air will be described. Although not shown in the drawing, an air purging line connected to the outside is disposed inside the base supporter 100, and is provided to communicate with the tubular member 230 of the low arm unit 200 through the connection pipe 240. The tubular member 230 may be extended to the inside of the first reinforced casing 510 while being bent in a multistage manner.

The cooling air flows through the connection pipe 240 and the tubular member 230 to lower the temperature inside the second reinforced casing 530, specifically, inside the heat resistant steel wall portion 540, The first reinforced casing 510 can be cooled while staying inside the first reinforced casing 510. The temporarily retained cooling air can be ejected to the outside through the air fan 520 at the discharge port.

In this process, it is possible to protect the periphery of the gripper, in particular, the upper drive module 400 and the peripheral cable 231, where heat resistance must be further strengthened. That is, the cables 231 and the like, which are conventionally exposed to the outside through the second reinforced casing 530 and the heat resistant steel wall portion 540, can be isolated from the high temperature working environment, thereby preventing thermal damage to the robot.

In addition, it is possible to solve the problem that the service life of the robot is shortened due to particulate matter, slag, and the like generated while oxidizing the release agent and the corrosion inhibitor, which are essentially supplied in the forging process. That is, the flow direction of the cooling air flows in one direction, that is, in one direction to the first reinforced casing 510 side through the base supporting portion 100 and the tubular member 230, and finally discharged to the outside through the air fan 520 , The possibility that the dust generated in the forging process is invaded is significantly lowered, so that the upper drive module 400 is protected to prevent the malfunction of the robot and the service life can be prolonged.

FIG. 7 is a schematic view showing a temperature measurement point for a heat resistance test of a vertical multi-axis robot having a heat resistant reinforced portion according to an embodiment of the present invention. FIGS. 8 to 10 are cross- A graph showing heat resistance test results of the multi-axis robot and experimental results of the comparative group, respectively.

7 to 10, a heat resistance test of a vertical multi-axis robot having a heat resistant reinforced portion according to an embodiment of the present invention was performed.

≪ Evaluation of motor temperature tolerance according to heat resistance method >

1. Test Overview

1.1 Purpose of Exam

In order to construct an optimal heat - resistant method, various heat - resistant methods of vertical multi - axis robots which can be applied to the forging process are compared and tested.

1.2 Test subjects

Regarding the heat resistance of the vertical multi-axis robot, components that are relatively vulnerable to heat mainly include motors (particularly, encoder units) such as a drive unit, particularly a servo motor or a hollow motor, and cables that supply power to the motor. In particular, the servomotor can be largely divided into a motor section that generates torque by receiving external power, and an encoder section that is integrated with the rotor of the motor and transmits information such as the rotational speed and position of the rotor. Are vulnerable.

In this experiment, the size of the chamber is taken into consideration and one servo motor and a cable connected to the robot are tested for convenience of testing. The motor used for the temperature tolerance test uses a motor applied to a vertical multi-axis robot. The manufacturer is Panasonic, the model name is MSMD042G1S, and the number of samples is 1EA.

Also, the cable is an enamel wire, and temperature class B (130 degrees or more) is used.

1.3 Test condition setting

(1) Temperature condition of the chamber

The temperature in the chamber is kept at room temperature (25 ° C ± 5 ° C) before the test, and the temperature rise is increased by about 13 ° C per minute. After the temperature is raised, the holding temperature is 180 ° C. do.

(2) Motor driving conditions

The weight corresponding to about 10 times the inertia of the motor under test is attached to the lower end and driven for 2 hours at 100 rpm in the forward direction by using a drive drive. If no error occurs within 2 hours, rotation at 3000 rpm Sec).

(3) Temperature measurement point

The temperature sensor measures the main part as shown in FIG. 7 using a thermocouple wire (TC-T type) for the temperature measurement of the main representative of the servo motor material as follows. That is, the inside and outside of the encoder cover, the motor surface, the power cable surface, the chamber temperature, and the ambient temperature are measured.

(4) Air purging cooling air setting

The cooling air is blown at a temperature of 25 ° C at a maximum static pressure of 19.5 / 25 mmAq with a maximum air flow rate of 1.7 / 2.1m ² / min.

2. Experimental Examples and Comparative Examples 1 and 2

(Comparative Example 2) in which the test motor and the cable are provided with the heat-resistant steel-making portion 500, (Experimental example). When the temperature of the motor under test was raised and the ambient temperature increased from 20 ° C to about 13 ° C per minute to reach 180 ° C and the temperature was maintained at 180 ° C, And the time and temperature of the motor under test were measured.

3. Test progress

 (1) Comparative Example 1

When the temperature of the inside of the chamber was increased by 13 ° C / min and the temperature of 180 ° C reached and maintained, the motor was driven to check the time when an error occurred.

It takes about 14 minutes (5 minutes for initial preparation) to rise to 180 ℃ at room temperature, and encoder line break error (Err 21.0) occurred about 20 minutes after temperature saturation. After the heat treatment of the cable, the temperature measurement of the motor was continued.

time
[min] Temperature measurement [℃] Remarks Encoder
inside Encoder
cover Motor surface cable
surface chamber Ambient temperature 0 35.67 27.57 27.43 27.44 24.83 26.13 10 46.55 56.66 46.68 39.41 101.35 26.09 15 74.49 99.28 80.21 67.68 164.3 26.3 20 101.49 120.46 106.33 97.98 171.98 25.89 25 127.06 139.98 130.92 124.8 174.89 26.06 30 145.27 152.44 147.47 145.91 176.68 25.94 31 149.98 156.02 151.37 150.47 177.1 25.8 Alarm Occurred

As shown in Table 1, when the error occurred, the internal temperature of the encoder was 149.98 degrees, which was higher than the encoder operating temperature guaranteed by the manufacturer at 80 ° C. At this time, the motor surface temperature was about 151 ° C, and the temperature inside the chamber was 177.1 Lt; 0 > C, and the temperature of the test room was 25.8 [deg.] C.

(2) Comparative Example 2

After the test motor and the cable specimen are provided inside the heat resisting strengthening part 500 (including the heat resistant reinforced layer part 511 and the tubular member 230), the temperature in the chamber is increased by 13 ° C./min to reach 180 ° C. Experiments were carried out.

It took about 19 minutes to rise to 180 ° C at room temperature, and the encoder CS phase error (Err 49.0) occurred in about 53 minutes after the temperature saturation. After the cable treatment, the motor temperature measurement was continued. The temperature measurement data of the motor and the cable having the heat strengthening unit 500 were extracted one data every 10 seconds and the test time was about 72 minutes.

The operation error of the motor occurred about 71 minutes. The internal temperature of the encoder at the time of occurrence of the error was 150.33 캜, the frame was 144.88 캜, and the ambient temperature was 25.8 캜, which was measured similarly to the test result of Comparative Example 1.

 (3) Experimental Example

When the inside temperature of the chamber is increased by 13 ° C / min to reach the temperature of 180 ° C and maintained, while the cooling air is supplied to the motor under test through the air purging line, the motor is driven The time when an error occurred was confirmed. The temperature measurement data is extracted one data every 10 seconds and the total test time is about 17 hours and 40 minutes.

As a result of the test, no operation error occurred in the drive even if the temperature inside the chamber reached 180 ° C and maintained for more than 8 hours. In addition, even when the external temperature was maintained at 180 ° C, the temperature of each measurement position was 64.62 ° C in the encoder, 57.34 ° C in the frame, and 44.8 ° C in the blowing temperature, No thermal deformation was observed. The time taken to saturate was 75 minutes.

(4) Test results

(Comparative example 1), (2) a state in which the heat resisting strengthening part 500 is provided (comparative example 2), (3) the heat resisting strengthening part 500 is provided with an air The results of the heat resistance test in the state of supplying cooling air through the purging line (experimental example) are summarized in the table.

Item  Saturation temperature [℃] Error occurrence time
[min] saturation
time
[min] Remarks Encoder
inside frame Blowing around 1) Comparative Example 1 149.98 151 - 25.8 31 - Encoder anomalies and cable sheath peeling 2) Comparative Example 2 150.33 145 - 25.8 71 - Encoder anomalies and cable sheath peeling 3) Experimental Example 64.62 57.34 55.11 26.8 - 75

As can be seen from Table 2, when the cooling air is supplied through the air purging line together with the heat-resisting strengthening part 500, a condition is established in which the motor can operate normally even at an external temperature of 180 ° C., (saturation temperature) was lowered and maintained constant. In addition, it was confirmed that the surface condition of the cable was clean.

In addition, in the temperature test of the single product and the Kevlar fiber heat-resistant state, an encoder-related error (encoder communication disconnection and encoder CS signal abnormality) occurred at the internal temperature of 150 ° C when the chamber temperature was 180 ° C. It was possible.

4. Conclusion

(1) 1) separately conditions (Comparative Example 1) and 2) as compared to a state (Comparative Example 2) and Comparative Example 1 and Experiment with a heat-resistant section (500), a saturated when the motor is prolonged exposure to high temperatures temperature is a similar, but the delay time check of the saturation temperature (increased at least about two times) as heat resistant steel section (500) for use in the ductile perpendicular multi-axis robot It was confirmed that selecting and configuring Kevlar material shields high temperature environment .

(2) Compared with the comparative example 2 and the experimental example in case of prolonged exposure to a high-temperature state, when the cooling air is blown into the heat-resistant steel making part 500, the encoder temperature (64.62 degrees) And the frame temperature (57.34 degrees) were maintained within the normal range, the encoder error and operation error of the motor did not occur, and the cable was not damaged .

(3) It is necessary to select the temperature grade of the power cable and the encoder cable as being composed of the movable line (105 ° C) or more and to provide the heat resistant steeling unit 500 similarly to the motor.

The upper drive module 400 and the lower drive module 400 are connected to each other through the first reinforced casing 510 provided between the lower arm and the upper drive module 400 and the first reinforced casing 510 surrounding the upper drive module 400. [ The cable connected to the first reinforced casing 510 can be isolated from the high-temperature working environment, and thermal damage of the robot can be prevented while cooling air can be unidirectionally purged from the inside of the first reinforced casing 510 to the outside, The upper drive module 400 is protected from generated dust to prevent the malfunction of the robot and the service life can be prolonged.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the invention.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the invention.

100: base supporting portion 110: first rotating body
120: first rotating motor unit 200: low arm unit
210: second rotating motor 230: tubular member
231: Cable 240: Connection piping
300: upper arm unit 310: gripper connection part
400: upper drive module 410: gripper driver
420: upper arm driving part 500:
510: first reinforced casing 511: heat transfer inhibiting layer, heat-resistant reinforcing layer
520: Air fan 530: Second reinforced casing
531: pipe member 532: flange portion
533: cover member 540: heat transfer inhibiting layer, heat-resistant steel wall portion

Claims (11)

A low arm unit rotatably connected to the base support;
An upper arm unit rotatably provided at an end of the lower arm unit;
An upper driving module disposed between the lower arm unit and the upper arm unit to interconnect the lower arm unit and the upper arm unit and to rotate the upper arm unit or to drive the gripper at one end of the upper arm unit; And
A heat transfer blocking layer disposed on the other end of the upper arm unit and prevented from transferring external heat generated in a forging process to the inside of the upper arm unit, Resistant reinforcing portion,
The heat-
A first reinforced casing for receiving the upper drive module; And
And a second reinforced casing having one end coupled to the first reinforced casing and the other end coupled to the low arm unit side to enclose the cable,
Wherein the first reinforced casing is formed with an oblique incision line along the outer surface so as to be partially detachably engaged,
The second reinforced casing comprises:
A pipe member having flanges at both ends thereof; And
And a cover member connected to the pipe member and partially coupled to the lower arm unit. delete A low arm unit rotatably connected to the base support;
An upper arm unit rotatably provided at an end of the lower arm unit;
An upper driving module disposed between the lower arm unit and the upper arm unit to interconnect the lower arm unit and the upper arm unit and to rotate the upper arm unit or to drive the gripper at one end of the upper arm unit; And
A heat transfer blocking layer disposed on the other end of the upper arm unit and prevented from transferring external heat generated in a forging process to the inside of the upper arm unit, Resistant reinforcing portion,
The heat-
A first reinforced casing for receiving the upper drive module; And
And a second reinforced casing having one end coupled to the first reinforced casing and the other end coupled to the low arm unit side to enclose the cable,
The heat-transfer-inhibiting layer of the first reinforced casing is a heat-resistant reinforced layer disposed on the inner wall of the first reinforced casing,
Wherein the heat-transfer-blocking layer of the second reinforced casing is a heat-resistant steel wall portion provided in a tubular member that receives the cable,
And an air purging line in which external cooling air is injected into the upper driving module along the tubular member in a space other than the cable inside the tubular member,
Wherein the first reinforced casing is provided with an air fan for discharging the cooling air supplied through the air purging line to the outside.
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