KR101966633B1 - Articulated Robot - Google Patents

Abstract

A joint robot is started. The articulated robot according to one embodiment of the present invention includes an end effector support frame connected to one end of an end-effector and supporting an end effector; A joint link unit coupled to one end of the end effector support frame so as to be relatively rotatable and having a cable wiring hole through which a cable connected to the end effector is inserted; And a joint driving unit connected to the joint link unit adjacent to the cable wiring hole to transmit a driving force to the joint link unit.

Description

Articulated Robot

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a joint robot, and more particularly, to an articulated robot having a simple and compact structure in which a cable connected to an end-effector, The present invention relates to a joint robot capable of improving the compatibility of a power unit for driving a joint robot.

In accordance with the development of the logistics and production equipment industry, product production, mass transfer of the logistics transfer, and efficiency of the factory facilities are being variously attempted, and factory automation is being carried out throughout the industry.

Factory automation throughout the industry has led to the robotization of production facilities and transfer facilities in factories, and the need for robots in product production and logistics transfer is increasing.

On the other hand, robotization refers to the use of the robot's capabilities instead of the human physical labor force. The robot related industry is a hybrid technology combining technologies of electricity, electronics, machinery, automation, and computer. Various technologies such as dynamics of robot mechanism, application of microprocessor, control of motor are applied. It is a high technology industry that is grafted.

In this way, the robot-related industry is one of the most advanced industries through the combination of various technologies, and robots used for factory automation are required to have various sizes of robots in preparation for various industrial environments, and power devices It is becoming diverse.

Therefore, it has been attempted to increase the application flexibility of the robot industry by optimizing the size and weight of the robots by increasing the compatibility of the power devices used for driving the robots, and to improve the utilization of the robots.

In order to improve the compatibility of the power unit used for driving the robot, it is necessary to provide a simple and compact structure of the robot itself in consideration of various sizes and weights of the power unit, thereby increasing the driving limit according to the volume and weight of the robot .

Further, in a field of industry requiring a large driving force, a power unit for generating a large driving force is required, so that the weight ratio of the power unit to the total weight of the robot is increased. Therefore, there is a need to improve the practical load capacity which can be limited by the weight of the robot by minimizing the weight of the robot.

Industrial robots, which are robots used in industrial fields such as factory lines, include a speed reducer for reducing the high-speed rotation speed input from the power unit for driving the robot to a predetermined reduction gear ratio, .

In other words, the speed reducer used in the industrial robot is installed in the joints of the industrial robot, and decelerates the high speed rotation speed input from the power unit to a predetermined speed reduction ratio, amplifies the rotation speed by the reduced speed reduction ratio, and generates the driving force necessary for the industrial robot do.

Various types of reducers have been developed according to the deceleration method. For example, there are a harmonic reducer, a cyclo reducer, a revolutionary vector reducer, a ball reducer, and a planetary gear reducer.

However, due to the structural limitations of the reducer, it is difficult to internally route the cable connected to the end-effector directly acting on the workpiece to the articulated robot, resulting in an increase in the volume and weight of the robot itself And the load of the robot may be reduced.

Further, when a motor driver for controlling the motor is to be separately mounted on a power device such as a motor, it may be difficult to internally wire the cable for the motor driver to the joint robot. That is, when such a separate motor driver is required, a motor driver cable and a housing are additionally required, and the volume and weight of the robot itself may increase, which may result in a problem that the payload of the robot is reduced.

In this way, the overall size of the robot is increased so that a cable connected to the end effector or a cable connected to a driving device for driving the robot is wired outside the joint, but a separate housing is provided by an additional housing to increase the overall volume and weight of the robot itself And the actual payload of the robot may be reduced.

On the other hand, there are various types of driving devices that can be utilized as a power device of a robot, such as a DC motor, a stepping motor, a servo motor, and the like, depending on their functions, performance, and functions.

For example, a typical DC motor is advantageous in that the starting torque is large, the rotation characteristics are linearly proportional to the applied voltage, the output efficiency is good, and the price is low. However, when the power is connected, It is necessary to reverse the hardware of the input power of the motor and turn it in the opposite direction.

As described above, when a separate motor driver is installed and the cable is routed outside the joint of the robot, the overall size and weight of the robot are increased, The weight may be reduced.

In addition, the stepper motor is suitable for digital control and can operate in an open loop so that feedback is not needed and maintenance is easy. However, the stepper motor is generally large in size, heavy in weight, and low in torque compared to its size.

Therefore, in order to utilize these various motors for articulated robots, it is necessary to increase the actual weight of the robot by reducing the size and weight of the articulated robot. To this end, it is necessary to develop a technique for internally wiring the cables to the joints of the robot .

Korean Patent Publication No. 10-2016-0122296 (Hyundai Heavy Industries Co., Ltd.), 2016.10.24 Korean Patent Publication No. 10-2011-0075727 (Electronic Components Research Institute), Jul. 23, 2011

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an articulated robot in which a cable connected to an end-effector directly acting on a workpiece can be internally wired to joints of a joint robot through a simple and compact structure, There is provided a joint robot capable of improving the compatibility of a power unit for driving a joint robot without increasing the weight and volume of the robot.

According to an aspect of the present invention, there is provided an end effector supporting frame connected to one end of an end-effector to support the end effector. A joint link unit coupled to one end of the end effector supporting frame so as to be relatively rotatable and having a cable wiring hole through which a cable connected to the end effector is inserted; And a joint driving unit connected to the joint link unit adjacent to the cable wiring hole and transmitting a driving force to the joint link unit.

And a joint frame supporting the joint driving unit and coupled to the joint link unit.

The articulated link unit includes: a first link coupled to the articulated frame; A second link coupled to the end effector support frame; And a link gear portion provided with the cable wiring hole and gear-connecting the first link and the second link.

Wherein the link gear portion includes: a drive gear connected to the joint drive unit; A driven gear coupled to the second link and coupled to the drive gear; And a gear housing in which the cable wiring hole is formed.

Wherein the drive gear is an internal drive gear provided on a rotation axis of the joint drive unit, the driven gear is rotatable in the same rotation direction as the internal drive gear, And may be an internal tooth gear having an inner diameter larger than the outer diameter of the internal drive gear.

The internal drive gear may have a helical type tooth shape formed to be inclined with respect to a rotation axis of the internal drive gear and a tooth shape of the internal gear may be provided corresponding to a tooth shape of the internal drive gear. have.

The cable wiring hole may be a semi-cylindrical cable wiring hole provided in a semi-cylindrical shape.

The gear housing includes: a housing main body defining the semicylindrical cable wiring hole; And a shielding wall connected to the housing main body and the second link to shield the drive gear.

The drive gear may be disposed below the semi-cylindrical cable wiring hole between the first link and the second link to be gear-engaged with the driven gear.

The articulated link unit may further include a link bearing portion for rotatably supporting the first link and the link gear portion for gear-connecting the second link.

Wherein the link bearing portion comprises: an outer ring provided in a ring shape; An inner ring which is disposed on the inner side of the outer ring and which shares a central axis with the outer ring; And a rolling member disposed between the outer ring and the inner ring to reduce frictional force caused by rotation of the inner ring.

The rolling member may be a plurality of roller type rolling members provided between the outer ring and the inner ring such that the central axis thereof is orthogonal to the arc of the outer ring.

The joint drive unit may include a servo-motor that generates a rotational force and is connected to the joint link unit and transmits a driving force to the joint link unit.

According to the present invention, a cable connected to an end-effector directly acting on a workpiece can be internally wired to joints of a joint robot through a simple and compact structure, it is possible to prevent particle generation or cable damage and improve the compatibility of the power device for driving the articulated robot without increasing the weight and volume of the articulated robot, thereby enhancing the stability and efficiency of the work.

1 is a schematic diagram of a joint robot according to an embodiment of the present invention.
Fig. 2 is an enlarged perspective view of the joint robot of Fig. 1; Fig.
Figure 3 is a cross-sectional perspective view of Figure 2;
4 is an exploded perspective view of the main part of Fig.
FIG. 5 is a perspective view of the end effector supporting frame and the joint frame of FIG. 4 removed.
Fig. 6 is a side view of Fig. 5. Fig.
7 is a front view of Fig.
Fig. 8 is a partial sectional view of Fig. 5. Fig.
Fig. 9 is a side sectional perspective view of Fig. 5. Fig.
10 is an exploded perspective view of the essential part of FIG.
11 is a front view of Fig.
FIG. 12 is a perspective view of the housing body of FIG. 10 removed.
13 is a front view of Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

It is to be understood that the specific structural or functional description of embodiments of the present invention disclosed herein is for illustrative purposes only and is not intended to limit the scope of the inventive concept But may be embodied in many different forms and is not limited to the embodiments set forth herein.

The embodiments according to the concept of the present invention can make various changes and can take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. It should be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms disclosed, but includes all modifications, equivalents, or alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms may be named for the purpose of distinguishing one element from another, for example, without departing from the scope of the right according to the concept of the present invention, the first element may be referred to as a second element, The component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like are used to specify that there are features, numbers, steps, operations, elements, parts or combinations thereof described herein, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 is a schematic diagram of a joint robot according to an embodiment of the present invention.

1, according to the present invention, a cable 2 connected to an end-effector 1 directly acting on a workpiece can be internally wired to the articulated robot 10 So that the articulated robot 10 can be driven without increasing the weight and the volume of the articulated robot 10, which will be described later in detail.

Generally, the end effector 1 is a part having a function of directly acting on a workpiece when the industrial robot is working. The end effector 1 is a gripper, a welding torch, a spray gun, a nut runner runner and the like. Hereinafter, the end effector 1 will be referred to as an end effector. However, the scope of the present invention is not limited to this, and if necessary, the end effector 1 may mean a product other than the above-mentioned gripper, welding torch, spray gun, nut runner There will be.

FIG. 2 is an exploded perspective view of the joint robot of FIG. 1, FIG. 3 is a sectional perspective view of FIG. 2, FIG. 4 is an exploded perspective view of FIG. 2, FIG. 5 is a perspective view of the end effector supporting frame and joint frame of FIG. 6 is a side view of Fig. 5, Fig. 7 is a front view of Fig. 5, Fig. 8 is a partial sectional view of Fig. 5, Fig. 9 is a side sectional perspective view of Fig. 5, Fig. 11 is a front view of Fig. 10, Fig. 12 is a perspective view of the state in which the housing main body of Fig. 10 is removed, and Fig. 13 is a front view of Fig.

The articulated robot 10 according to the present embodiment includes an end effector support frame 100, a joint link unit 200, an articulation frame 300, a joint drive unit 400 ).

The end effector supporting frame 100 is connected to one end of the end effector 1 to support the end effector 1 and stably supports the end effector 1 when working on the work top of the end effector 1 Thereby improving the stability of the work.

The joint link unit 200 is relatively rotatably coupled to one side of the end effector support frame 100 so that the articulated robot 10 according to the present embodiment can perform multi-degree of freedom motion, A cable link hole 3 through which a cable 2 connected to the end effector 1 is wired is formed and the first link 210, the second link 220, the link gear portion 230, , And a link bearing portion (240).

2 to 3, the articulated link unit 200 according to the present embodiment is configured such that the articulated robot 10 is combined with the end effector support frame 100 so that the articulated robot 10 can perform multi- The cable 2 is connected to the end effector 1 through a cable wiring hole 3 through which the cable 2 connected to the effector 1 is wired so as to be internally wired with respect to the articulated robot 10 The weight and the volume of the articulated robot 10 are reduced to increase the substantial weight and volume of the articulated robot 10 so as to prevent generation of particles due to friction of the cable 2 or damage of the cable 2 Which will be described later in detail.

On the other hand, the cable wiring hole 3 according to the present embodiment is a semi-cylindrical cable wiring hole 3 provided in a semi-cylindrical shape as shown in detail in Figs. As described above, the cable wiring hole 3 is formed in a semi-cylindrical shape so that the cable 2 can efficiently be internally routed through the joint link unit 200 of the articulated robot 10. [

That is, the cable wiring hole 3 according to the present embodiment is formed into the semi-cylindrical cable wiring hole 3 to reduce the rotational friction caused by the link bearing portion 240 and to enable the internal wiring of the cable 2, The stability of the robot 10 can be enhanced. However, the scope of the present invention is not limited thereto, and the shape of the cable wiring hole 3 may be provided in a shape other than the semi-cylindrical shape as necessary.

The first link 210 is connected to the joint frame 300 and the second link 220 is connected to the end effector support frame 100.

The link gear unit 230 gears the first link 210 and the second link 220 and includes a drive gear 231, a driven gear 232, and a gear housing 233.

The drive gear 231 is connected to the joint drive unit 400 and the drive gear 231 according to the present embodiment is connected to the joint drive unit 400 via an inter- Cylindrical cable interconnection hole 3 between the first link 210 and the second link 220 and is gear-engaged with the driven gear 232. [

The internal drive gear 231 may be a helical type tooth formed to be inclined with respect to the rotation axis of the internal drive gear 231. The internal drive gear 231 may be a helical type gear, (231) can reduce the backlash value, which is a clearance between the tooth surfaces of the gear when a pair of gears are engaged. However, the scope of the present invention is not limited thereto, and other types of teeth may be provided as necessary.

The driven gear 232 is coupled to the second link 220 and is connected to the driving gear 231. The driven gear 232 according to the present embodiment is driven by the internal drive Is an internal internal gear 232 provided rotatably in the same rotation direction as the gear 231 and having an internal diameter larger than the external diameter of the internal drive gear 231 while the internal drive gear 231 is inscribed.

That is, the driven gear 232 is provided so as to be in contact with the internal drive gear 231 so as to be rotatable in the same rotation direction as the internal drive gear 231, thereby minimizing the volume of the joint link unit 200.

In addition, the driven gear 232 according to the present embodiment is provided to have an inner diameter larger than the outer diameter of the internal drive gear 231, thereby realizing an efficient reduction ratio and improving the operation efficiency of the articulated robot 10.

When the inner drive gear 231 of the present invention is provided with a helical type tooth as described above, the tooth internal teeth of the internal internal gear 232 may be provided corresponding to the teeth of the internal drive gear 231, The stability of the joint robot 10 can be increased.

The gear housing 233 has a cable wiring hole 3 formed therein and includes a housing main body 233a and a shielding wall 233b as shown in detail in Fig. 5, and the cable 2 is connected to a joint robot 10). It is possible to prevent particle generation or cable damage due to the friction of the cable 2 and to improve the compatibility of the joint drive unit 400 without increasing the weight and volume of the joint robot 10 .

That is, the housing main body 233a forms a semi-cylindrical cable wiring hole 3 so that the cable 2 can be internally wired with respect to the articulated robot 10. The shielding wall 233b is connected to the housing main body 233a, 2 link 220 so as to shield the driving gear 231 so as to prevent the cable 2 from being damaged by the driving gear 231 and to internally wire the cable 2 through the cable wiring hole 3 The total size and the weight of the joint robot 10 can be reduced, so that the compatibility of the joint drive unit 400 can be improved.

The link bearing portion 240 rotatably supports the link gear portion 230 for connecting the first link 210 and the second link 220 and includes an outer ring 241 provided in a ring shape, An inner ring 242 provided on the inner side of the outer ring 241 and a rolling member 234,

The rolling member 234 according to the present embodiment is disposed between the outer ring 241 and the inner ring 242 so that the rolling member 234 is disposed between the outer ring 241 and the inner ring 242, Shaped rolling elements 243 which are provided so as to be perpendicular to the arc of the outer ring 241 with respect to the arc.

As described above, when the rolling member 243 according to the present embodiment is provided with a plurality of roller-shaped rolling members 243, the contact surface of the rolling member 234 can be efficiently increased, and the usable weight of the rolling member increases The substantial payload of the joint robot 10 can be increased.

The joint frame 300 supports the joint drive unit 400 and is coupled to the joint link unit 200 to prevent the joint robot 10 from being shaken by driving the joint drive unit 400, have.

The joint drive unit 400 is connected to the joint link unit 200 adjacent to the cable wiring hole 3 to transmit the driving force to the joint link unit 200 and to generate a rotational force and is connected to the joint link unit 200 And a servo-motor (410) for transmitting a driving force to the joint link unit (200).

Generally, the servomotor 410 generally refers to a power source that drives a mechanical load of the operating portion in response to an input signal in a final control element, in a servo mechanism that refers to an automatic control system that uses a mechanical position as a control amount.

That is, the servomotor 410 according to the present embodiment includes a motor-driver for controlling the driving direction of the articulated robot 10 to control the driving direction of the articulated robot 10 without installing a separate motor driver It is possible to minimize the volume of the articulated robot 10 and to maximize the driving tolerance of the articulated robot 10 because there is no need to install a separate motor driver for controlling the articulated robot 10 .

Hereinafter, a method of using the joint robot 10 having such a configuration will be described.

The use of the present invention is advantageous in that the cable 2 connected to the end effector 1 directly acting on the workpiece can be internally wired with respect to the articulated robot 10 so that the weight and volume of the articulated robot 10 So that the articulated robot 10 can be driven without increasing it.

Since the end effector 1 is supported by the end effector supporting frame 100, it is possible to prevent the end effector 1 from shaking in an industrial process in which the end effector 1 directly acts on the workpiece and to perform the operation stably.

The cable 2 connected to the end effector 1 for transmitting and receiving the driving force for the operation of the end effector 1 or the signal for controlling the end effector 1 is connected to the cable interconnection hole 3).

The total volume and weight of the articulated robot 10 can be reduced by wiring the cable 2 connected to the end effector 1 through the cable wiring hole 3 provided in the joint link unit 200 as described above . Therefore, the substantial payload of the articulated robot 10 is increased, and the operation efficiency and efficiency of the articulated robot 10 are increased.

The link gear unit 230 includes the drive gear 231 and the driven gear 232 so that the drive of the articulated robot 10 can be efficiently driven according to a predetermined reduction ratio and the above- 3) are formed in the gear housing 233 so that the cable 2 can be efficiently wired.

The drive gear 231 according to the present embodiment is provided as an internal drive gear 231 and the driven gear 232 is provided with an internal internal gear 232 And the internal drive gear 231 is in contact with the internal internal gear 232 to minimize the volume of the articulated robot 10 when the cable 2 is internally wired to the articulated robot 10 And the internal diameter of the internal gear 232 is set to be larger than the outer diameter of the internal drive gear 231 so that the high speed rotation of the internal drive gear 231 is decelerated efficiently to drive the articulated robot 10 Can be generated.

Meanwhile, the housing main body 233a according to the present embodiment has a structure in which the cable wiring hole 3 is formed as a semi-cylindrical cable wiring hole 3 so that a space for wiring the cable 2 connected to the end effector 1 can be efficiently And it is possible to prevent the cable 2 from being damaged through the housing main body 233a and the shielding wall 233b.

In addition, compatibility of the joint drive unit 400 can be improved without increasing the weight and volume of the articulated robot 10 by internally wiring the cable 2 through the cable wiring hole 3.

According to the present embodiment having the structure and function as described above, a cable connected to an end-effector, which directly acts on a workpiece through a simple and compact structure, internal wiring can be prevented while avoiding generation of particles or damage to the cable, thereby increasing the stability and efficiency of the work by improving the compatibility of the power unit for driving the joint robot without increasing the weight and volume of the joint robot .

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. It is therefore intended that such modifications or alterations be within the scope of the claims appended hereto.

10: articulated robot 100: end effector supporting frame
200: joint link unit 210: first link
220: second link 230: link gear part
231: drive gear 232: driven gear
233: Gear housing 233a: Housing body
233b: shielding wall 240: link bearing part
241: outer ring 242: inner ring
243: rolling body 300: joint frame
400: joint drive unit 410: servo motor

Claims (13)

An end effector support frame connected to one end of an end-effector for supporting the end effector;
A joint link unit coupled to one end of the end effector supporting frame so as to be relatively rotatable and having a cable wiring hole through which a cable connected to the end effector is inserted;
A joint drive unit connected to the joint link unit adjacent to the cable wiring hole to transmit a driving force to the joint link unit; And
And an articulated frame that supports the articulation drive unit and is coupled to the articulated link unit,
The articulated link unit includes:
A first link coupled to the articulation frame;
A second link coupled to the end effector support frame;
A link gear portion provided with the cable wiring hole and gear-connecting the first link and the second link; And
And a link bearing portion for rotatably supporting the link gear portion for gear-connecting the first link and the second link,
The link bearing portion
An outer ring provided in a ring shape;
An inner ring which is disposed on the inner side of the outer ring and which shares a central axis with the outer ring; And
And a rolling member disposed between the outer ring and the inner ring to reduce frictional force caused by rotation of the inner ring,
Wherein the rolling member is a plurality of roller type electric motors provided between the outer ring and the inner ring such that the central axes thereof are orthogonal to the arc of the outer ring. delete delete The method according to claim 1,
The link gear unit includes:
A drive gear connected to the joint drive unit;
A driven gear coupled to the second link and coupled to the drive gear; And
And a gear housing in which the cable wiring hole is formed. 5. The method of claim 4,
Wherein the drive gear is an internal drive gear provided on a rotation axis of the joint drive unit,
Wherein the driven gear is an internal gear which is rotatable in the same rotation direction as the internal drive gear and has an internal diameter larger than the external diameter of the internal drive gear, robot. 6. The method of claim 5,
Wherein the internal drive gear has a helical type tooth profile formed to be inclined with respect to a rotation axis of the internal drive gear,
Wherein the tooth internal teeth of the internal internal gear are provided corresponding to teeth of the internal drive gear. 5. The method of claim 4,
Wherein the cable wiring hole is a semi-cylindrical cable wiring hole provided in a semi-cylindrical shape. 8. The method of claim 7,
The gear housing includes:
A housing main body forming the semi-cylindrical cable wiring hole; And
And a shielding wall connected to the housing main body and the second link to shield the drive gear. 9. The method of claim 8,
Wherein the drive gear is disposed below the semi-cylindrical cable wiring hole between the first link and the second link and is gear-engaged with the driven gear. delete delete delete The method according to claim 1,
The joint drive unit includes:
And a servo-motor which generates a rotational force and is connected to the joint link unit and transmits a driving force to the joint link unit.

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