KR102596394B1 - Robot apparatus - Google Patents

Abstract

The present invention includes a housing (100) having an upwardly open internal space (S); An articulated robot arm (200) accommodated in the internal space (S) and appearing in and out of the housing (100); and various devices (300) accommodated in the internal space (S) along with the multi-joint robot arm (200). The articulated robot arm 200 includes a base 210 located in the internal space (S); A first arm portion 230, one end of which is rotatably coupled to the base 210, is rotatable in the up and down directions and extends long; A second arm 250, one end of which is rotatably coupled to the other end of the first arm 230, is rotatable in the up and down directions and extends long; A wrist portion (W) coupled to the other end of the second arm portion (250); and a tool device (T) mounted on the distal end of the wrist portion (W). The base 210 is disposed on the front side of the internal space (S). When the articulated robot arm 200 is accommodated in the internal space (S), the first arm portion 230 has one end located at the upper front side of the internal space (S) and the other end located in the internal space (S). Located at the top or rear top of the center side in the front-to-back direction, the second arm portion 250 has one end located at the top or rear top of the center side in the front-back direction of the inner space (S) and the other end is located at the inner space (S). It is located in the lower rear part of. The various devices 300 are disposed lower than the first arm 230 and anterior to the other end of the second arm 250 in the internal space S.
Accordingly, the robot device can be miniaturized and lightweight, structural stability can be improved, and the articulated robot arm 200 can be easily pulled out from the inside of the housing 100 and easily inserted into the housing 100. and can be stably accommodated inside the housing 100.

Description

Robot device {ROBOT APPARATUS}

The present invention relates to a robotic device, and more specifically, to a robotic device in which an articulated robot arm is compactly accommodated inside a housing along with various devices, and is miniaturized, lightweight, and has improved structural stability.

Ultraviolet sterilizing robots that sterilize by irradiating ultraviolet rays are widely used.

In order to effectively perform ultraviolet sterilization, the ultraviolet sterilizing robot must be able to precisely irradiate ultraviolet rays. Accordingly, there is a need for an ultraviolet sterilizing robot that irradiates ultraviolet rays using an articulated robot arm equipped with an ultraviolet ray emitting device at the end.

In an ultraviolet sterilization robot equipped with an articulated robot arm, the articulated robot arm and ultraviolet ray emitting device can be accommodated inside the housing of the robot in order to protect the articulated robot arm and the ultraviolet ray emitting device and prevent accidents due to malfunction. It must be present and can be exposed to the outside of the housing only when performing ultraviolet sterilization.

However, since the articulated robot arm is bulky and includes a plurality of joints, the size of the robot may become excessively large if the articulated robot arm and the ultraviolet light emitting device are to be accommodated inside the robot housing. Accordingly, there is a need for a method or structure in which the articulated robot arm and the ultraviolet ray emitting device can be compactly accommodated inside the robot housing, thereby making the robot smaller and lighter.

Prior technologies related to ultraviolet sterilization robots are as follows.

Korean Patent No. 10-1742489 relates to an ultraviolet sterilizing mobile robot device and system, and includes an ultraviolet sterilizing unit that is formed inside the main body and is exposed to the outside when the upper part of the main body is opened to irradiate ultraviolet rays.

However, in the prior art, ultraviolet sterilization cannot be performed effectively because the sterilization unit does not include an articulated robot arm. In addition, the prior art does not present a method in which the articulated robot arm and the ultraviolet ray emitting device are compactly accommodated inside the housing (main body) of the robot, thereby making the robot smaller and lighter.

KR 10-1742489

The present invention was devised to solve the above-mentioned problems. Embodiments of the present invention provide a robot device in which an articulated robot arm is compactly accommodated inside a housing along with various devices, and is miniaturized, lightweight, and has improved structural stability. There is a purpose.

Additionally, the purpose of embodiments of the present invention is to provide a robot device in which an articulated robot arm can be easily extracted from the inside of a housing, easily inserted into the housing, and stably accommodated.

Additionally, embodiments of the present invention aim to provide a robotic device that effectively and precisely performs a given task, such as ultraviolet sterilization, using a tool device.

Additionally, embodiments of the present invention are aimed at providing a robot device in which an articulated robot arm performs a predetermined task using a tool device while a cover covers a portion of the internal space of the housing.

In addition, the purpose of embodiments of the present invention is to provide a robot device that has improved aesthetics and moves stably without the cover interfering with the rotation of the articulated robot arm and the predetermined work using the tool device.

In order to solve the above-described problem, the present invention includes a housing 100 having an internal space S open upward; An articulated robot arm (200) accommodated in the internal space (S) and appearing in and out of the housing (100); and various devices (300) accommodated in the internal space (S) along with the multi-joint robot arm (200).

The articulated robot arm 200 includes a base 210 located in the internal space (S); A first arm portion 230, one end of which is rotatably coupled to the base 210, is rotatable in the up and down directions and extends long; A second arm 250, one end of which is rotatably coupled to the other end of the first arm 230, is rotatable in the up and down directions and extends long; A wrist portion (W) coupled to the other end of the second arm portion (250); and a tool device (T) mounted on the distal end of the wrist portion (W).

The base 210 is disposed on the front side of the internal space (S).

When the articulated robot arm 200 is accommodated in the internal space (S), the first arm portion 230 has one end located at the upper front side of the internal space (S) and the other end located in the internal space (S). Located at the top or rear top of the center side in the front-to-back direction, the second arm portion 250 has one end located at the top or rear top of the center side in the front-back direction of the inner space (S) and the other end is located at the inner space (S). It is located in the lower rear part of.

The various devices 300 are disposed lower than the first arm 230 and anterior to the other end of the second arm 250 in the internal space S.

In one embodiment, the tool device T may be an ultraviolet light emitting device.

In one embodiment, the wrist portion (W) includes a third connection portion 260 coupled to the other end of the second arm portion 250, and a fourth connection portion 270 rotatably coupled to the third connection portion 260. ) and a fifth connection part 280 that is rotatably coupled to the fourth connection part 270 and allows the tool device (T) mounted at the end to be rotatable.

The tool device T may be rotatable about three axes A4, A5, and A6 that intersect each other by the third connection part 260, fourth connection part 270, and fifth connection part 280.

In one embodiment, when the articulated robot arm 200 is accommodated in the internal space (S), at least a portion of the wrist portion (W) or at least a portion of the tool device (T) is moved in the forward and backward directions. It is located in front or behind the other end of the second arm 250, and the second arm 250 may be arranged to be inclined downward toward the rear or front.

In one embodiment, the wrist portion (W) has an 'ㄱ' shape in which one end is coupled to the second arm portion 250 in the width direction and the other end is coupled to face the tool device (T) in the longitudinal direction. It may include a linkage of.

The connection body is rotatably coupled to the second arm 250 so that it can rotate up and down and can be accommodated in the internal space (S) while being rotated up and down to face a predetermined direction.

When the wrist portion (W) and the tool device (T) are accommodated in the internal space (S), the other end of the connection body is located anterior or posterior to the other end of the second arm portion 250 in the front-back direction. The tool device (T) may be located below the other end of the connection body.

Accordingly, at least a portion of the wrist portion W and at least a portion of the tool device T may be located anterior or posterior to the other end of the second arm portion 250 in the front-back direction.

In one embodiment, the inner space (S) is opened upward and forward from the upper end to the portion located in front of one end of the first arm portion (230) along the outer boundary of the inner space (S). It can be.

In one embodiment, the robot device 1 is coupled with a first cover part 410 that covers the upper side of the upwardly open rear part in the internal space S, and the first cover part 410 is connected to the first cover part 410. It may further include a cover 400 including a second cover part 420 that covers the upper side of the upwardly open front part of the internal space S.

The rear end of the first cover part 410 is rotatably coupled to the housing 100, so that the first cover part 410 can be rotatable in the up and down directions.

The rear end of the second cover part 420 is rotatably coupled to the front end of the first cover part 410, so that it can be rotated in the up and down direction.

As the first cover part 410 and the second cover part 420 rotate, the cover 400 may cover the upper part of the rear part of the internal space (S) and not cover the upper part of the front part. .

In one embodiment, when the cover 400 covers the upper side of the rear part of the internal space (S) and does not cover the upper side of the front part, the second cover part 420 covers the internal space (S). ) can be accepted.

In one embodiment, the width of the second cover part 420 in the left-right direction may be smaller than the width of the first cover part 410 in the left-right direction.

In one embodiment, the cover 400 extends long, has one end rotatably coupled to the first cover part 410 so that it can rotate up and down, and has a first protrusion protruding in one direction in the left and right directions at the other end. A first support member 430 formed at 432 and having a first through hole 434 that penetrates in the left and right directions and extends along the longitudinal direction; It extends long, one end is rotatably coupled with the second cover part 420 so that it can rotate in the up and down directions, and a second protrusion 442 is formed at the other end that protrudes in the other left and right direction, and is formed through the second cover part 420 in the left and right directions. A second support member 440 having a second through hole 444 extending along the longitudinal direction; And it may further include a fixing member 450 coupled to the first protrusion 432 or the second protrusion 442.

The first protrusion 432 and the second protrusion 442 may be disposed through the second through hole 444 and the first through hole 434, respectively.

The first protrusion 432 and the second protrusion 442 may be movable along the second through hole 444 and the first through hole 434, respectively, as the second cover part 420 rotates. .

When the fixing member 450 is combined with the first protrusion 432 or the second protrusion 442, it interferes with the second support member 440 or the first support member 430, thereby causing the second cover portion 420 )’s meetings may be restricted.

According to embodiments of the present invention, the robot device includes a housing 100 having an internal space S open upward; An articulated robot arm (200) accommodated in the internal space (S) and appearing in and out of the housing (100); And it may include various devices 300 accommodated in the internal space (S) together with the articulated robot arm 200. The articulated robot arm 200 includes a base 210 located in the internal space (S); A first arm portion 230, one end of which is rotatably coupled to the base 210, is rotatable in the up and down directions and extends long; A second arm 250, one end of which is rotatably coupled to the other end of the first arm 230, is rotatable in the up and down directions and extends long; A wrist portion (W) coupled to the other end of the second arm portion (250); And it may include a tool device (T) mounted on the distal end of the wrist portion (W). The base 210 may be disposed on the front side of the internal space (S). When the articulated robot arm 200 is accommodated in the internal space (S), the first arm portion 230 has one end located at the upper front side of the internal space (S) and the other end located in the internal space (S). Located at the top or rear top of the center side in the front-to-back direction, the second arm portion 250 has one end located at the top or rear top of the center side in the front-back direction of the inner space (S) and the other end is located at the inner space (S). It may be located in the lower rear part of the. The various devices 300 may be disposed lower than the first arm 230 and forward of the other end of the second arm 250 in the internal space S.

Accordingly, even if the articulated robot arm 200 includes long first/second arm parts 230 and 250, the articulated robot arm 200 is installed inside the housing 100 along with various devices 300. It can be compactly accommodated in space (S). Accordingly, the robot device can be miniaturized and lightweight. Additionally, the articulated robot arm 200 can be easily pulled out from the inside of the housing 100 and can be easily put into the housing 100. Additionally, the articulated robot arm 200 can be stably accommodated inside the housing 100. Additionally, since the base 210 of the articulated robot arm 200 is located in the internal space S of the housing 100, structural stability can be improved.

According to an embodiment of the present invention, the tool device T may be an ultraviolet light emitting device.

Accordingly, since the robotic device can irradiate ultraviolet rays using the articulated robot arm 200, ultraviolet sterilization can be performed effectively and precisely. Additionally, since the articulated robot arm 200 is accommodated in the internal space S of the housing 100, the ultraviolet light emitting device can be protected.

According to an embodiment of the present invention, the wrist portion (W) includes a third connection portion 260 coupled to the other end of the second arm portion 250, and a fourth connection portion rotatably coupled to the third connection portion 260. It may include a connection portion 270 and a fifth connection portion 280 that is rotatably coupled to the fourth connection portion 270 and allows the tool device T mounted at the end to be rotated. The tool device T may be rotatable about three axes A4, A5, and A6 that intersect each other by the third connection part 260, fourth connection part 270, and fifth connection part 280.

Accordingly, the position and direction of the tool device T can be precisely adjusted. If the tool device (T) is an ultraviolet ray emitting device, the position and direction of irradiating ultraviolet rays can be precisely controlled. Accordingly, certain tasks using the tool device T can be performed effectively and precisely.

According to an embodiment of the present invention, when the articulated robot arm 200 is accommodated in the internal space (S), at least a portion of the wrist portion (W) or at least a portion of the tool device (T) moves in the forward and backward directions. It is located in front or behind the other end of the second arm 250, and the second arm 250 may be arranged to be inclined downward toward the rear or front.

Accordingly, the front-to-back width of the housing 100 is increased by at least a portion of the wrist portion (W) or the tool device (T) located forward or rearward of the other end of the second arm portion 250 in the front-back direction. Even so, the vertical width of the housing 100 may be reduced by arranging the second arm portion 250 at an angle. Accordingly, the robot device can be miniaturized and lightweight.

According to an embodiment of the present invention, the wrist portion (W) has one end coupled to the second arm portion 250 in the width direction and the other end coupled to face the tool device (T) in the longitudinal direction. It may include a 'shape' connector. The connection body is rotatably coupled to the second arm 250 so that it can rotate up and down and can be accommodated in the internal space (S) while being rotated up and down to face a predetermined direction. When the wrist portion (W) and the tool device (T) are accommodated in the internal space (S), the other end of the connection body is located anterior or posterior to the other end of the second arm portion 250 in the front-back direction. The tool device (T) may be located below the other end of the connection body. Accordingly, at least a portion of the wrist portion W and at least a portion of the tool device T may be located anterior or posterior to the other end of the second arm portion 250 in the front-back direction.

Accordingly, i) in order to increase the rotational range of the tool device (T) and to easily manufacture the wrist portion (W), the connecting body is formed in an 'ㄱ' shape and ii) the wrist portion (W) and the tool device (T) In order to reduce the front-to-back or left-right width of the housing 100 that must be secured in order to be accommodated inside the housing 100, or to safely protect the tool device (T), the connector and tool device (T) are adjusted to a predetermined level. By being accommodated in the internal space (S) of the housing 100 in a state in which it is rotated up and down to face a direction (e.g., downward), at least a portion of the wrist portion (W) or the tool device (T) is moved to the second arm portion in the anteroposterior direction. Even if the front-to-back width of the housing 100 increases by being located ahead or behind the other end of 250, the vertical width of the housing 100 can be reduced by arranging the second arm portion 250 at an angle. there is. Accordingly, the effects of i) and ii) above occur, and at the same time, the robot device can be miniaturized and lightweight.

According to an embodiment of the present invention, from the upwardly open upper end of the interior space (S) to the portion located in front of one end of the first arm portion 230 at least along the outer boundary of the interior space (S) upward and upward. Can be opened forward.

Accordingly, even if one end of the first arm 230 coupled to the base 210 is located in the receiving space S of the housing 100, the first arm 230 is positioned at least at the front of one end of the first arm 230. You can meet up to. Accordingly, the reachable position range and gazeable area of the tool device T mounted on the end of the articulated robot arm 200 may increase. For example, when the tool device T is an ultraviolet light emitting device, the ultraviolet ray irradiation position may vary and the ultraviolet ray irradiation area may increase. Accordingly, certain tasks using the tool device T can be effectively performed.

According to an embodiment of the present invention, the robot device 1 includes a first cover part 410 that covers the upper side of the upwardly open rear part in the internal space S, and It may further include a cover 400 that is coupled and includes a second cover part 420 that covers the upper side of the upwardly opened front part of the internal space (S). The rear end of the first cover part 410 is rotatably coupled to the housing 100, so that the first cover part 410 can be rotatable in the up and down directions. The rear end of the second cover part 420 is rotatably coupled to the front end of the first cover part 410, so that it can be rotated in the up and down direction. As the first cover part 410 and the second cover part 420 rotate, the cover 400 may cover the upper part of the rear part of the internal space (S) and not cover the upper part of the front part. .

Accordingly, even if the articulated robot arm 200 is pulled out from the inside of the housing 100, the cover 400 can cover the rear portion of the internal space S of the housing 100. Accordingly, the articulated robot arm 200 can perform a predetermined task using the tool device T while the cover 400 covers the rear portion of the internal space S of the housing 100. Accordingly, the cover 400 may not interfere with the rotation of the articulated robot arm 200 and certain tasks using the tool device T. In addition, it is possible to prevent foreign substances from entering the internal space (S) of the housing 100 and to protect various devices 300 accommodated in the internal space (S). Additionally, since the cover 400 remains coupled to the housing 100, there is no need to store the cover 400 separately.

According to an embodiment of the present invention, when the cover 400 covers the upper side of the rear part of the internal space (S) and does not cover the upper side of the front part, the second cover part 420 is It can be accommodated in space (S).

Accordingly, the second cover portion 420 may not interfere with the rotation of the articulated robot arm 200 and certain tasks using the tool device T. Additionally, since the second cover portion 420 is not exposed to the outside, aesthetics are improved and the robot device 1 can move stably.

According to an embodiment of the present invention, the width of the second cover part 420 in the left and right directions may be smaller than the width of the first cover part 410 in the left and right directions.

Accordingly, the second cover part 420 can be easily accommodated in the internal space S of the housing 100. For example, the left-right width of the upper end of the rear part of the internal space (S) of the housing 100 is greater than or equal to the left-right width of the second cover part 420 and the left-right width of the first cover part 430 It can be smaller than Accordingly, when the cover 400 is closed after rotating the second cover part 420 toward the first cover part 410, the second cover part 420 is not caught in the housing 100 and can be easily accessed in the internal space (S). It can be accepted. On the other hand, the first cover portion 410 may be caught on the housing 100 and cover the upper portion of the rear portion of the internal space (S).

According to an embodiment of the present invention, the cover 400 extends long, and one end is rotatably coupled to the first cover part 410 so that it can rotate in the up and down directions, and the other end protrudes in one direction in the left and right directions. A first support member 430 formed with a first protrusion 432 and having a first through hole 434 that penetrates in the left and right directions and extends along the longitudinal direction; It extends long, one end is rotatably coupled with the second cover part 420 so that it can rotate in the up and down directions, and a second protrusion 442 is formed at the other end that protrudes in the other left and right direction, and is formed through the second cover part 420 in the left and right directions. A second support member 440 having a second through hole 444 extending along the longitudinal direction; And it may further include a fixing member 450 coupled to the first protrusion 432 or the second protrusion 442. The first protrusion 432 and the second protrusion 442 may be disposed through the second through hole 444 and the first through hole 434, respectively. The first protrusion 432 and the second protrusion 442 may be movable along the second through hole 444 and the first through hole 434, respectively, as the second cover part 420 rotates. . When the fixing member 450 is combined with the first protrusion 432 or the second protrusion 442, it interferes with the second support member 440 or the first support member 430, thereby causing the second cover portion 420 )’s meetings may be restricted.

Accordingly, the rotation of the second cover part 420 can be easily restricted at low cost with a simple configuration. Accordingly, the second cover part 420 can rotate freely to prevent the articulated robot arm 200 or various devices 300 from being damaged or noise generated.

In addition to the above-described effects, specific effects of the present invention are described below while explaining specific details for carrying out the invention.

1 and 2 are perspective views showing a robot device according to an embodiment of the present invention, showing the robot device in a state in which an articulated robot arm is accommodated inside a housing and a state in which the articulated robot arm rotates outside the housing. am.
Figure 3 is a cross-sectional view of the robotic device with the cover removed while the multi-joint robot arm is accommodated inside the housing as shown in Figure 1.
Figures 4 to 7 are a perspective view, top view, and side view showing the articulated robot arm in a state accommodated inside a housing as shown in Figure 3.
Figure 8 is a diagram showing a state in which the cover is fully opened in the state of Figure 1.
Figure 9 is a diagram showing a state in which the articulated robot arm rotates out of the housing in the state of Figure 8.
Figure 10 is a diagram showing a state in which the second cover part is rotated in the state of Figure 9.
11 and 12 are perspective views of the cover.
Figure 13 is a side view showing a state in which the second cover part is rotated toward the first cover part.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is not limited to the embodiments disclosed below, but may be subject to various changes and may be implemented in various different forms. This example is provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, but substitutes or adds to the configuration of one embodiment and the configuration of another embodiment, as well as all changes and equivalents included in the technical spirit and scope of the present invention. It should be understood to include substitutes.

The attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes, equivalents, and changes included in the spirit and technical scope of the present invention are not limited. It should be understood to include water or substitutes. In the drawings, components may be expressed exaggeratedly large or small in size or thickness for convenience of understanding, etc., but the scope of protection of the present invention should not be construed as limited due to this.

The terms used in this specification are only used to describe specific implementations or examples, and are not intended to limit the invention. And singular expressions include plural expressions, unless the context clearly dictates otherwise. In the specification, terms such as ~include, ~consist of, etc. are intended to indicate the existence of features, numbers, steps, operations, components, parts, or a combination thereof described in the specification. In other words, terms such as ~include, ~consist, etc. in the specification. It should be understood that this does not exclude in advance the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

When a component is referred to as being "on top" or "below" another component, it should be understood that not only is it placed directly on top of the other component, but there may also be other components in between. .

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

The robot devices disclosed in the following embodiments will be examined in more detail with reference to each drawing.

1 and 2 are perspective views showing a robot device according to an embodiment of the present invention, showing the robot device in a state in which an articulated robot arm is accommodated inside a housing and a state in which the articulated robot arm rotates outside the housing. am.

Referring to Figures 1 and 2, the robot device 1 according to one embodiment may include a body part 10 and a moving part 20.

The body portion 10 may correspond to the main body of the robot device 1. The body portion 10 may include a housing 100, an articulated robot arm 200, and various devices 300. Additionally, the body portion 10 may further include a cover 400.

The moving part 20 may be installed at the lower part of the body part 10 and may be controlled by a control device (not shown) described later. The moving unit 20 may include one or more wheels 22. The wheel 22 may be a Mecanum wheel. The mecanum wheel 22 may refer to a wheel that can move in all directions.

Hereinafter, each configuration of the body portion 10 will be looked at in detail.

[housing]

The housing 100 may form the appearance of the body portion 10. The housing 100 may have an internal space (S) that is open upward.

From the upwardly open upper end of the internal space S of the housing 100, upward along the outer boundary of the internal space S to at least the front portion of one end of the first arm 230 coupled to the base 210, which will be described later. and can be opened forward. This will be described later.

[Multi-joint robot arm]

Figure 3 is a cross-sectional view of the robotic device with the cover removed while the multi-joint robot arm is accommodated inside the housing as shown in Figure 1. Figures 4 to 7 are a perspective view, top view, and side view showing the articulated robot arm in a state accommodated inside a housing as shown in Figure 3.

The articulated robot arm 200 can be accommodated in the internal space (S) of the housing 100. The articulated robot arm 200 can move in and out of the housing 100 automatically or manually (FIGS. 1 and 2).

The articulated robot arm 200 may include a base 210, a first arm unit 230, a second arm unit 250, a wrist unit (W), and a tool device (T). Additionally, the articulated robot arm 200 may further include a first connection part 220 and a second connection part 240.

Base 210 may be located in the internal space (S) of housing 100.

The base 210 may be disposed on the front side of the internal space (S) of the housing 100. Specifically, for example, the base 210 may be placed on a frame (F) provided on the upper front side of the internal space (S) (FIG. 3).

Base 210 may include a first joint 212.

The first connection portion 220 may be rotatably coupled to the base 210. For example, the first connection part 220 may rotate about the first axis A1 by the first joint 212 of the base 210.

The first connection portion 220 may include a second joint 222.

The first arm portion 230 may extend long. For example, the first arm 230 may be longer than the base 210 and the first/second/third/fourth/fifth connection parts 220, 240, 260, 270, and 280.

One end of the first arm 230 is rotatably coupled to the base 210 and may be rotatable in the up and down directions.

For example, one end of the first arm portion 230 may be coupled to the first connection portion 220 coupled to the base 210. At this time, the first arm portion 230 can rotate in the vertical direction about the second axis A2 by the second joint 222 of the first connection portion 220. That is, the first arm portion 230 may be rotatably coupled to the base 210 via the first connection portion 220.

One end of the first arm 230 may be located in the receiving space S of the housing 100 together with the base 210.

Meanwhile, as described above, from the upwardly open upper end of the internal space (S) of the housing 100, the upper portion extends at least to the area located in front of one end of the first arm 230 along the outer boundary of the internal space (S). and can be opened anteriorly (FIGS. 2, 8 to 10).

Paragraph 6 // Accordingly, even if one end of the first arm 230 coupled to the base 210 is located in the receiving space (S) of the housing 100, the first arm 230 is at least the first arm 230. It can be rotated to the front of one end of the. Accordingly, the reachable position range and gazeable area of the tool device T mounted on the end of the articulated robot arm 200 may increase. For example, when the tool device T is an ultraviolet light emitting device, the ultraviolet ray irradiation position may vary and the ultraviolet ray irradiation area may increase. Accordingly, certain tasks using the tool device T can be effectively performed.

The second connection portion 240 may be coupled to the first arm portion 230.

The second connection portion 240 may include a third joint 242.

The second arm portion 250 may extend long. For example, the second arm portion 250 may be longer than the base 210 and the first, second, third, fourth, and fifth connection portions 220, 240, 260, 270, and 280.

One end of the second arm 250 is rotatably coupled to the other end of the first arm 230 and may be rotatable in the up and down directions.

For example, one end of the second arm portion 250 may be coupled to the second connection portion 240 coupled to the first arm portion 230. At this time, the second arm portion 250 can rotate in the vertical direction about the third axis A3 by the third joint 242 of the second connection portion 240. That is, the second arm portion 250 may be rotatably coupled to the first arm portion 230 via the second connection portion 240.

The wrist portion (W) may be coupled to the other end of the second arm portion (250).

The wrist portion W may include a third connection portion 260, a fourth connection portion 270, and a fifth connection portion 280.

The third connection part 260 may be coupled to the other end of the second arm part 250.

The third connection portion 260 may include a fourth joint 262.

The fourth connection part 270 may be rotatably coupled to the third connection part 260. For example, the fourth connection part 270 can rotate, for example, in the vertical direction about the fourth axis A4 by the fourth joint 262 of the third connection part 260.

The fourth connection portion 270 may include a fifth joint 272.

The fifth connection part 280 may be rotatably coupled to the fourth connection part 270. For example, the fifth connection part 280 can rotate, for example, in the left and right direction about the fifth axis A5 by the fifth joint 272 of the fourth connection part 270.

The fifth connection portion 280 may include a sixth joint 282.

The fifth connection part 280 can rotate the tool device T mounted on the end of the fifth connection part 280. For example, the tool device T may rotate about the sixth axis A6 by the sixth joint 282 of the fifth connection portion 280, for example, in a circumferential direction.

The tool device (T) may be mounted on the distal end of the wrist portion (W).

The tool device T may be an ultraviolet light emitting device.

Paragraph 2 // Accordingly, since the robot device can irradiate ultraviolet rays using the articulated robot arm 200, ultraviolet sterilization can be performed effectively and precisely. Additionally, since the articulated robot arm 200 is accommodated in the internal space S of the housing 100, the ultraviolet light emitting device can be protected.

When the tool T is an ultraviolet light emitting device, a lens L may be provided on the front of the tool T (FIGS. 2, 4, 5, 7, 9, and 10).

The tool device T may be rotatable about three axes A4, A5, and A6 that intersect each other by the third connection part 260, the fourth connection part 270, and the fifth connection part 280.

Clause 3 // Accordingly, the position and direction of the tool device (T) can be precisely adjusted. If the tool device (T) is an ultraviolet ray emitting device, the position and direction of irradiating ultraviolet rays can be precisely controlled. Accordingly, certain tasks using the tool device T can be performed effectively and precisely.

Meanwhile, the wrist portion (W) may include a connector. The connection body may include a fourth connection part 270 and a fifth connection part 280. The connection body may be a combination of the fourth connection part 270 and the fifth connection part 280.

One end of the connection body may be coupled to the second arm portion 250 in the width direction (side). For example, one end of the connection body (eg, the fourth connection portion) may be coupled to the third connection portion 260, which is coupled to the second arm portion 250, in the width direction (laterally). That is, one end of the connection body may be rotatably coupled to the second arm portion 250 in the width direction (laterally) via the third connection portion 260.

The other end of the connector (eg, the fifth connector) may be coupled to the tool device (T) in the longitudinal direction of the connector.

The connection body may have an 'ㄱ' shape as shown in the drawing.

Accordingly, the rotational range of the tool device T can be increased, and the wrist portion W capable of rotating the tool device T around a plurality of axes that intersect each other can be easily manufactured.

Specifically, when the articulated robot arm 200 is pulled out from the housing 100 and the tool device (T, for example, an ultraviolet light emitting device) is disposed to face forward as shown in FIGS. 2, 9, and 10, the connection body Even if one end of the second arm portion 250 is coupled in the width direction (laterally), the tool device (T) coupled to the other end of the connector does not interfere with the third connector 260 or the second arm portion 250, for example. It can be rotated as much as possible in the left and right directions, for example, around the fifth axis. In addition, if the connecting body has an 'L' shape, two joints 272 and 282 that enable the tool device T to rotate around two axes orthogonal to each other can be easily formed in the connecting body.

The connection body may be rotatably coupled to the second arm portion 250 and may be rotatable in the up and down directions. For example, the connection body can rotate, for example, in the vertical direction about the fourth axis A4 by the fourth joint 262 of the third connection part 260.

Accordingly, the direction in which the connecting body and the tool device (T) face can be freely adjusted up and down.

In addition, since the connection body is rotatable in the vertical direction, the connection body and the tool device (T) can be accommodated in the internal space (S) of the housing 100 in a state in which the connection body and tool device (T) are rotated up and down to face a predetermined direction (e.g., downward). You can.

Accordingly, the front-to-back or left-right width of the housing 100 that must be secured in order for the wrist unit (W) and the tool device (T) to be accommodated in the internal space (S) of the housing 100 may be reduced. In addition, since the tool device T accommodated inside the housing 100 is directed in a predetermined direction (eg, downward), the tool device T can be safely protected.

The volume of the wrist portion (W) and the tool device (T) may be reduced. This will be described later.

[Various devices]

Various devices 300 can be accommodated in the internal space (S) of the housing 100 together with the articulated robot arm 200.

Various devices 300 may include a control device (not shown), a battery, etc.

A control device (not shown) can control the articulated robot arm 200. The control device can control the opening and closing of the cover 400. The control device can control the moving unit 20.

[Location/placement of each component accommodated in internal space]

When the articulated robot arm 200 is accommodated in the internal space (S) of the housing 100, one end of the first arm portion 230 may be located at the front upper part of the internal space (S) of the housing 100, The other end may be located at the top or rear top of the inner space S of the housing 100 in the front-to-back direction (FIG. 3). In addition, the second arm portion 250 may have one end located at the upper or rear upper part of the center side in the front-to-back direction of the internal space S of the housing 100, and the other end may be located at the rear lower part of the internal space S. It can be done (Figure 3).

At this time, the various devices 300 may be placed lower than the first arm 230 in the internal space S of the housing 100 and may be placed ahead of the other end of the second arm 250 ( Figure 3).

Paragraph 1 // Accordingly, even if the articulated robot arm 200 includes long first/second arm parts 230 and 250, the articulated robot arm 200 is provided with various devices 300 and a housing ( It can be compactly accommodated in the internal space (S) of 100). Accordingly, the robot device can be miniaturized and lightweight. Additionally, the articulated robot arm 200 can be easily pulled out from the inside of the housing 100 and can be easily put into the housing 100. Additionally, the articulated robot arm 200 can be stably accommodated inside the housing 100. Additionally, since the base 210 of the articulated robot arm 200 is located in the internal space S of the housing 100, structural stability can be improved.

When the articulated robot arm 200 is accommodated in the internal space (S) of the housing 100, at least a portion of the wrist portion (W) or at least a portion of the tool device (T) moves forward and backward to the second arm portion 250. It may be located anterior or posterior to the other end of the.

As shown in FIG. 3, when at least a portion of the wrist portion W or at least a portion of the tool device T is located anterior to the other end of the second arm portion 250 in the anteroposterior direction, the second arm portion 250 It may be arranged to be tilted downward toward the rear.

Unlike FIG. 3, when at least a portion of the wrist portion W or at least a portion of the tool device T is located rearward than the other end of the second arm portion 250 in the anteroposterior direction, the second arm portion 250 It may be arranged to be tilted downward toward the front.

Clause 4 // Accordingly, the front-to-back direction of the housing 100 is controlled by at least a portion of the wrist portion (W) or the tool device (T) located forward or rearward of the other end of the second arm portion 250 in the front-back direction. Even if the width increases, the vertical width of the housing 100 may decrease because the second arm portion 250 is disposed at an angle. Accordingly, the robot device can be miniaturized and lightweight.

On the contrary, when the second arm portion 250 is not disposed at an angle but is disposed vertically (up and down), the wrist portion W or The upper space corresponding to the front-to-back width of the housing 100 increased by at least a portion of the tool device T may be wasted and the vertical width of the housing 100 may not be reduced.

Specifically, for example, as described above, when the wrist portion (W) and the tool device (T) are accommodated in the internal space (S) of the housing 100 with the connecting body rotated up and down to face a predetermined direction. , the other end of the connection body may be located ahead or behind the other end of the second arm portion 250 in the anteroposterior direction. Additionally, the tool device T may be located below the other end of the connection body. Accordingly, at least a portion of the wrist portion W and at least a portion of the tool device T may be located anterior or posterior to the other end of the second arm portion 250 in the front-back direction.

Paragraph 5 // Accordingly, i) in order to increase the rotational range of the tool device (T) and to easily manufacture the wrist portion (W), the connecting body is formed in an 'ㄱ' shape and ii) the wrist portion (W) and the tool In order to reduce the front-to-back or left-right width of the housing 100 that must be secured in order for the device (T) to be accommodated inside the housing 100, or to safely protect the tool device (T), a connector and a tool device (T ) is accommodated in the internal space S of the housing 100 in a state in which it is rotated up and down to face a predetermined direction (e.g., downward), so that at least a portion of the wrist portion W or the tool device T is moved forward and backward. Even though the front-to-back width of the housing 100 increases by being located ahead or behind the other end of the second arm 250, the vertical width of the housing 100 is increased by arranging the second arm 250 at an angle. This may decrease. Accordingly, the effects of i) and ii) above occur, and at the same time, the robot device can be miniaturized and lightweight.

[cover]

Figure 8 is a diagram showing a state in which the cover is fully opened in the state of Figure 1. Figure 9 is a diagram showing a state in which the articulated robot arm rotates out of the housing in the state of Figure 8. Figure 10 is a diagram showing a state in which the second cover part is rotated in the state of Figure 9. 11 and 12 are perspective views of the cover. Figure 13 is a side view showing a state in which the second cover part is rotated toward the first cover part.

Referring further to FIGS. 8 to 10, the cover 400 can open and close the internal space (S) upward. Additionally, the cover 400 may open and close the internal space (S) forward.

When the cover 400 fully opens the internal space (S) of the housing 100 upward, the articulated robot arm 200 can be easily removed from the housing 100 or easily inserted into the housing 100. (Figure 9). If the cover 400 covers the entire upper side of the internal space (S), the articulated robot arm 200 and various devices 300 accommodated in the internal space (S) of the housing 100 can be protected (FIG. 1).

On the other hand, when the second cover part 420 is rotated toward the first cover part 410 as shown in FIG. 10 and the cover 400 is closed as shown in FIG. 2, only a portion of the internal space S of the housing 100 moves upward. can be opened as Let's take a look at this.

Referring further to FIGS. 11 to 13 , the cover 400 may include a first cover part 410 and a second cover part 420. Additionally, the cover 400 may further include a first support member 430, a second support member 440, and a fixing member 450.

The first cover part 410 may cover the upper side of the upwardly open rear part of the internal space S of the housing 100 (FIGS. 1 and 2).

The rear end of the first cover part 410 is rotatably coupled to the housing 100, so that the first cover part 410 may be rotatable in the up and down directions. For example, the first cover part 410 may be hingedly coupled to the housing 100 (FIGS. 8 to 10).

The second cover part 420 may cover the upper side of the upwardly open front part of the internal space S of the housing 100 (FIGS. 1 and 2). In addition, in the case where the front part that is open upward in the internal space (S) of the housing 100 is also open to the front, the front side of the front part can also be covered (FIGS. 1 and 2).

The second cover part 420 may be combined with the first cover part 410. For example, the rear end of the second cover part 420 may be rotatably coupled to the front end of the first cover part 410 so that it can rotate in the up and down direction. For example, the second cover part 420 may be hingedly coupled to the first cover part 410 (FIGS. 8 to 13).

Accordingly, as the first cover part 410 and the second cover part 420 rotate, the cover 400 covers the upper part of the rear part of the internal space (S) of the housing 100 and covers the upper part of the front part. It may not be covered.

Paragraph 7 // Accordingly, even if the articulated robot arm 200 is pulled out from the inside of the housing 100, the cover 400 can cover the rear portion of the internal space S of the housing 100. Accordingly, the articulated robot arm 200 can perform a predetermined task using the tool device T while the cover 400 covers the rear portion of the internal space S of the housing 100. Accordingly, the cover 400 may not interfere with the rotation of the articulated robot arm 200 and certain tasks using the tool device T. In addition, it is possible to prevent foreign substances from entering the internal space (S) of the housing 100 and to protect various devices 300 accommodated in the internal space (S). Additionally, since the cover 400 remains coupled to the housing 100, there is no need to store the cover 400 separately.

In the case where the cover 400 covers the upper side of the rear portion of the inner space (S) of the housing 100 and does not cover the upper side of the front side, the second cover portion 420 may be accommodated in the inner space (S). (Figure 2).

Clause 8 // Accordingly, the second cover part 420 may not interfere with the rotation of the articulated robot arm 200 and certain tasks using the tool device T. Additionally, since the second cover portion 420 is not exposed to the outside, aesthetics are improved and the robot device 1 can move stably.

The width of the second cover part 420 in the left and right directions may be smaller than the width of the first cover part 410 in the left and right directions.

Clause 9 // Accordingly, the second cover part 420 can be easily accommodated in the internal space (S) of the housing 100.

For example, the left-right width of the upper end of the rear part of the internal space (S) of the housing 100 is greater than or equal to the left-right width of the second cover part 420 and the left-right width of the first cover part 430 It can be smaller than Accordingly, when the cover 400 is closed after rotating the second cover part 420 toward the first cover part 410, the second cover part 420 is not caught in the housing 100 and can be easily accessed in the internal space (S). It can be accepted. On the other hand, the first cover portion 410 may be caught on the housing 100 and cover the upper portion of the rear portion of the internal space (S).

The first support member 430 may extend long. One end of the first support member 430 may be rotatably coupled to the first cover portion 410. Accordingly, the first support member 430 may be rotatable in the vertical direction.

A first protrusion 432 may be formed on the other end of the first support member 430 to protrude in one direction (eg, the left) in the left and right directions.

The first protrusion 432 may be disposed by penetrating the second through hole 444 of the second support member 440, which will be described later. The first protrusion 432 may be movable along the second through hole 444 as the second cover part 420 rotates (FIGS. 11 to 13).

The first support member 430 may be provided with a first through hole 434 that is formed through the left and right directions and extends along the longitudinal direction.

The second support member 440 may extend long. One end of the second support member 440 may be rotatably coupled to the second cover portion 420. Accordingly, the second support member 440 may be rotatable in the vertical direction.

At the other end of the second support member 440, a second protrusion 442 may be formed that protrudes to the other side (eg, right side) in the left and right direction.

The second protrusion 442 may be disposed through the first through hole 434 of the first support member 430. The second protrusion 442 may be movable along the first through hole 434 as the second cover part 420 rotates (FIGS. 11 to 13).

The second support member 440 may be provided with a second through hole 444 that is formed through the left and right directions and extends along the longitudinal direction.

The fixing member 450 may be coupled to the first protrusion 432 or the second protrusion 442.

When the fixing member 450 is combined with the first protrusion 432 or the second protrusion 442, it interferes with the second support member 440 or the first support member 430, causing rotation of the second cover portion 420. may be limited.

For example, as shown in the drawing, the fixing member 450 may be a wing nut and may be coupled to the end of the first protrusion 432. Accordingly, the fixing member 450 may interfere with the second support member 440 and the rotation of the second cover part 420 may be restricted.

Paragraph 10 // Accordingly, the rotation of the second cover part 420 can be easily restricted at low cost with a simple configuration. Accordingly, the second cover part 420 can rotate freely to prevent the articulated robot arm 200 or various devices 300 from being damaged or noise generated.

As described above, the present invention has been described with reference to the illustrative drawings, but the present invention is not limited to the embodiments and drawings disclosed herein, and various modifications may be made by those skilled in the art within the scope of the technical idea of the present invention. It is obvious that transformation can occur. In addition, although the operational effects according to the configuration of the present invention were not explicitly described and explained while explaining the embodiments of the present invention above, it is natural that the predictable effects due to the configuration should also be recognized.

1: Robotic device
10: body part
20: moving part 22: wheel
100: Housing S: Internal space
200: Jointed robot arm
210: base 212: first joint
220: first connection 222: second joint
230: First dark section
240: second connection 242: third joint
250: Second dark part
260: Third connection 262: Fourth joint
270: 4th connection 272: 5th joint
280: 5th joint 282: 6th joint
T: tool device
300: Various devices 400: Cover
410: first cover part 420: second cover part
430: first support member 432: first protrusion
434: 1st penetrating hole
440: second support member 442: second protrusion
444: Second penetrating hole
450: Fixing member

Claims (10)

A housing (100) having an internal space (S) open upward;
An articulated robot arm (200) accommodated in the internal space (S) and appearing in and out of the housing (100); and
It includes various devices (300) accommodated in the internal space (S) together with the articulated robot arm (200),
The articulated robot arm 200,
Base 210 located in the internal space (S);
A first arm portion 230, one end of which is rotatably coupled to the base 210, is rotatable in the up and down directions and extends long;
A second arm 250, one end of which is rotatably coupled to the other end of the first arm 230, is rotatable in the up and down directions and extends long;
A wrist portion (W) coupled to the other end of the second arm portion (250); and
It includes a tool device (T) mounted on the end of the wrist portion (W),
The base 210 is disposed on the front side of the internal space (S),
When the articulated robot arm 200 is accommodated in the internal space (S), the first arm portion 230 has one end located at the upper front side of the internal space (S) and the other end located in the internal space (S). Located at the top or rear top of the center side in the front-to-back direction, the second arm portion 250 has one end located at the top or rear top of the center side in the front-back direction of the inner space (S) and the other end is located at the inner space (S). Located in the lower posterior part of
The various devices 300 are disposed lower than the first arm 230 and anterior to the other end of the second arm 250 in the internal space S,
When the articulated robot arm 200 is accommodated in the internal space (S), at least a portion of the wrist portion (W) or at least a portion of the tool device (T) moves forward and backward to the second arm portion (250). It is located anterior or posterior to the other end of and the second arm portion 250 is disposed to be inclined downward toward the rear or front,
The wrist portion (W) includes an 'ㄱ'-shaped connector in which one end is coupled to the second arm portion 250 in the width direction and the other end is coupled to face the tool device (T) in the longitudinal direction. do,
The connection body is rotatably coupled to the second arm 250 and can rotate up and down, and is accommodated in the internal space S in a state in which it is rotated up and down to face a predetermined direction,
When the wrist portion (W) and the tool device (T) are accommodated in the internal space (S), the other end of the connection body is located anterior or posterior to the other end of the second arm portion 250 in the front-back direction. The tool device (T) is located below the other end of the connection body,
Accordingly, at least a portion of the wrist portion (W) and at least a portion of the tool device (T) are located anterior or posterior to the other end of the second arm portion 250 in the anteroposterior direction.
Robotic device.
A housing (100) having an internal space (S) open upward;
An articulated robot arm (200) accommodated in the internal space (S) and appearing in and out of the housing (100);
Various devices (300) accommodated in the internal space (S) together with the articulated robot arm (200); and
A first cover part 410 that covers the upper side of the rear part that is open upward in the internal space (S) and a front part that is coupled to the first cover part 410 and is open upward in the internal space (S) It includes a cover 400 including a second cover portion 420 covering the upper side,
The articulated robot arm 200,
Base 210 located in the internal space (S);
A first arm portion 230, one end of which is rotatably coupled to the base 210, is rotatable in the up and down directions and extends long;
A second arm 250, one end of which is rotatably coupled to the other end of the first arm 230, is rotatable in the up and down directions and extends long;
A wrist portion (W) coupled to the other end of the second arm portion (250); and
It includes a tool device (T) mounted on the end of the wrist portion (W),
The base 210 is disposed on the front side of the internal space (S),
When the articulated robot arm 200 is accommodated in the internal space (S), the first arm portion 230 has one end located at the upper front side of the internal space (S) and the other end located in the internal space (S). Located at the top or rear top of the center side in the front-to-back direction, the second arm portion 250 has one end located at the top or rear top of the center side in the front-back direction of the inner space (S) and the other end is located at the inner space (S). Located in the lower posterior part of
The various devices 300 are disposed lower than the first arm 230 and anterior to the other end of the second arm 250 in the internal space S,
The first cover part 410 is rotatably coupled to the housing 100 at its rear end so that it can rotate in the up and down directions,
The rear end of the second cover part 420 is rotatably coupled to the front end of the first cover part 410, so that it can rotate in the up and down direction,
As the first cover part 410 and the second cover part 420 rotate, the cover 400 covers the upper part of the rear part of the internal space (S) and does not cover the upper part of the front part. Device.
In claim 1 or claim 2,
The tool device (T) is a robot device that is an ultraviolet light emitting device.
In claim 1 or claim 2,
The wrist portion (W) includes a third connection portion 260 coupled to the other end of the second arm portion 250, a fourth connection portion 270 rotatably coupled to the third connection portion 260, and the fourth connection portion 270. It includes a fifth connection portion 280 that is rotatably coupled to the connection portion 270 and allows the tool device T mounted at the end to be rotated,
The tool device (T) is a robot device that can be rotated about three axes (A4, A5, A6) that intersect each other by the third connection part 260, the fourth connection part 270, and the fifth connection part 280. .
In claim 1,
The connection body is coupled to the second arm portion 250 in the width direction, and includes a fourth connection portion 270 that is rotatably coupled to the fourth connection portion 270 and a fourth connection portion 270. A robot device comprising a fifth connection portion (280) that forms an 'L' shape together and allows the tool device (T) mounted at the end to rotate.
In claim 1 or claim 2,
The robot device is open upward and forward from the upwardly open upper end of the internal space (S) to at least a portion located in front of one end of the first arm portion (230) along the outer boundary of the internal space (S).
delete In claim 2,
When the cover 400 covers the upper side of the rear part of the internal space (S) and does not cover the upper side of the front part, the second cover part 420 is accommodated in the internal space (S), Robotic device.
In claim 8,
A robot device wherein the width of the second cover part (420) in the left and right directions is smaller than the width of the first cover part (410) in the left and right directions.
In claim 2,
The cover 400 is,
It extends long, one end is rotatably coupled with the first cover part 410, so that it can rotate in the up and down directions, and a first protrusion 432 is formed at the other end, protruding in one direction in the left and right directions, and is formed to penetrate in the left and right directions. A first support member 430 having a first through hole 434 extending along the longitudinal direction;
It extends long, one end is rotatably coupled with the second cover part 420 so that it can rotate in the up and down directions, and a second protrusion 442 is formed at the other end that protrudes in the other left and right direction, and is formed through the second cover part 420 in the left and right directions. A second support member 440 having a second through hole 444 extending along the longitudinal direction; and
It further includes a fixing member 450 coupled to the first protrusion 432 or the second protrusion 442,
The first protrusion 432 and the second protrusion 442 can be disposed through the second through hole 444 and the first through hole 434, respectively,
The first protrusion 432 and the second protrusion 442 are movable along the second through hole 444 and the first through hole 434, respectively, as the second cover part 420 rotates,
When the fixing member 450 is combined with the first protrusion 432 or the second protrusion 442, it interferes with the second support member 440 or the first support member 430, thereby causing the second cover portion 420 ) A robotic device whose rotation is restricted.

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