KR20150133393A - Cable guide device for painting robot and painting robot including the same - Google Patents

Cable guide device for painting robot and painting robot including the same Download PDF

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Publication number
KR20150133393A
KR20150133393A KR1020140059995A KR20140059995A KR20150133393A KR 20150133393 A KR20150133393 A KR 20150133393A KR 1020140059995 A KR1020140059995 A KR 1020140059995A KR 20140059995 A KR20140059995 A KR 20140059995A KR 20150133393 A KR20150133393 A KR 20150133393A
Authority
KR
South Korea
Prior art keywords
cable
frame
main body
present
painting
Prior art date
Application number
KR1020140059995A
Other languages
Korean (ko)
Inventor
최희병
이상헌
Original Assignee
현대중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020140059995A priority Critical patent/KR20150133393A/en
Publication of KR20150133393A publication Critical patent/KR20150133393A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

Abstract

The present invention relates to a coating robot comprising a main body coupled to a coating robot, an insertion hole formed in the main body, into which the cable is inserted so that a cable is positioned inside the coating robot, and a reinforcing member formed on the main body so as to protrude from the insertion hole The present invention relates to a cable guiding apparatus for a coating robot and a coating robot including the same.
According to the present invention, since the reinforcing member is formed to protrude from the insertion hole, the strength of the main body can be reinforced, thereby contributing to an increase in the service life of the main body.

Description

TECHNICAL FIELD [0001] The present invention relates to a cable guiding apparatus for a coating robot, and a coating robot including the guiding apparatus.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable guiding apparatus for a coating robot for coating an object and a coating robot including the same.

Generally, a ship, a vehicle, a construction machine, a cellular phone, etc. (hereinafter, referred to as an 'object') are manufactured by assembling various components. These objects and their constituent parts are subjected to a coating process in terms of design, but they are subjected to a coating process to prevent corrosion from external environments such as moisture. The painting robot performs the painting process.

The painting robot is made of articulated joints and performs the painting process while changing the position of spraying the paint according to the position where painting is required in the object. Such paint robots are provided with various cables such as a power cable for supplying power, a control cable for controlling the joints, and a paint pipe for transporting paint.

The painting robot includes a spraying part for spraying the paint onto the object, an arm frame and a upper frame for changing the painting position where the paint is sprayed onto the object through the spraying part, a turning frame for rotating the spraying part, And a driving unit for generating a driving force for changing the coating position. Here, in the coating robot according to the related art, cables such as the power cable and the control cable are provided on the side surfaces. Accordingly, in the coating robot according to the related art, since the cable is installed on the side surface of the arm frame, the upper frame, the revolving frame, and the base frame, the center of gravity is eccentric in the direction in which the cable is installed. Accordingly, there is a problem that deformation of the frame occurs due to eccentricity of the center of gravity of the painting robot according to the prior art. Accordingly, there is a problem in that the accuracy of the coating process deteriorates as the orientation of the spraying robot changes according to the prior art.

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems as described above, and it is an object of the present invention to provide a cable guiding apparatus for a coating robot which can prevent the frame from being deformed, will be.

In order to solve the above-described problems, the present invention can include the following configuration.

A cable guiding apparatus for a coating robot according to the present invention comprises: a main body coupled to a coating robot; An inserting hole formed in the main body and into which the cable is inserted such that a cable is positioned inside the painting robot; And a reinforcing member formed on the main body so as to protrude from the insertion hole.

The cable guiding device for a coating robot according to the present invention includes a coupling hole formed in the main body, and the reinforcing member is formed to protrude from the coupling hole toward the insertion hole.

According to the cable guiding apparatus for a coating robot according to the present invention, the reinforcing member is formed to be reduced in size in a direction from the coupling hole toward the insertion hole.

According to the cable guiding apparatus for a coating robot according to the present invention, the insertion hole is provided with a limiting member for preventing the movement path of the cable from being changed; A first frictional reducing portion formed at one side of the restricting member; And a second frictional reducing portion formed on the other side of the restricting member, wherein the first frictional reducing portion and the second frictional reducing portion are formed to be reduced in size in a direction away from the restricting member.

A coating robot according to the present invention includes a spraying part for spraying paint onto an object; An arm frame to which the injection unit is coupled; An upper frame to which the arm frame is coupled; A revolving frame coupled to the upper frame; A base frame to which the revolving frame is coupled; A driving unit for generating a driving force for changing a painting position at which the spraying unit injects paint onto the object; And a cable guide device formed on the revolving frame such that a cable is installed inside the upper frame and the arm frame through the base frame and the revolving frame.

According to the present invention, the following effects can be achieved.

The present invention can prevent the base frame from being deformed due to the eccentricity of the center of gravity of the coating robot by locating the cable inside the coating robot.

In the present invention, since the reinforcing member is formed so as to protrude from the insertion hole, the strength of the main body can be reinforced, thereby contributing to an increase in the service life of the main body.

1 is a block diagram for explaining a coating robot according to the present invention,
2 is a sectional view for explaining a coating robot according to the present invention,
3 is a sectional view for explaining a cable guide apparatus for a coating robot according to the present invention,
4 is a cross-sectional view for explaining a case where a plurality of insertion holes are provided in the cable guiding apparatus for a painting robot according to the present invention.

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

FIG. 1 is a block diagram for explaining a coating robot according to the present invention, and FIG. 2 is a sectional view for explaining a coating robot according to the present invention.

Referring to FIGS. 1 and 2, the painting robot 100 according to the present invention is for spraying paint on objects such as a ship, a vehicle, a construction machine, a mobile phone, etc., and performing a painting process on the object.

The painting robot 100 according to the present invention includes a spraying unit 110 for spraying paint on the object, an arm frame 120 to which the spraying unit 110 is coupled, A rotation frame 140 to which the upper frame 130 is coupled, a base frame 150 to which the revolving frame 140 is coupled, a paint frame 150 for spraying the paint onto the object, And a driving unit 160 for generating a driving force for changing the driving force.

The painting robot 100 according to the present invention may change the painting position at which the paint sprayed from the sprayer 110 is sprayed onto the object using the driving force provided by the driving unit 160, .

The injection unit 110 is coupled to the arm frame 120. The injection unit 110 moves together as the arm frame 120 moves. Accordingly, the painting robot 100 according to the present invention can change the painting position by changing the relative position of the sprayer 110 with respect to the object.

The sprayer 110 sprays a paint supplied through a paint pipe to the object. The paint pipe is connected to a paint storage device in which the paint is stored. The sprayer 110 is connected to the paint storage device through the paint pipe. The paint storage device may be installed outside the painting robot 100 according to the present invention. A paint pump may be connected between the sprayer 110 and the paint pipe to provide a transfer force for transferring the paint. The painting pump may be coupled to the arm frame 120.

The jetting unit 110 may include a plurality of jetting members. The injection members are rotatably coupled to each other. For example, the jetting unit 110 may include three jetting members rotatably coupled to each other. The spraying members can rotate based on different rotation axes, thereby changing the painting position.

The arm frame 120 is rotatably coupled to the upper frame 130. As the arm frame 120 rotates, the jetting unit 110 moves vertically. Accordingly, the coating robot 100 according to the present invention can change the height of the coating position by rotating the arm frame 120 to adjust the height of the jetting unit 110. FIG.

The upper frame 130 is rotatably coupled to the revolving frame 140. As the upper frame 130 rotates, the jetting unit 110 moves in the forward and backward directions. Accordingly, the painting robot 100 according to the present invention rotates the upper frame 130 to move the jetting unit 110 in the forward and backward directions, thereby adjusting the distance of the jetting unit 110 from the object .

The revolving frame 140 is rotatably coupled to the base frame 150. As the revolving frame 140 rotates about the pivot axis, the injection unit 110 rotates about the pivot axis. The pivot axis means an axis oriented in a vertical direction parallel to the up-and-down direction. In this case, the arm frame 120 and the upper frame 130 can rotate around an axis oriented in a horizontal direction perpendicular to the pivot shaft. The revolving frame 140 can rotate about the pivot shaft to change the direction in which the injection unit 110 is directed. Accordingly, the painting robot 100 according to the present invention can change the painting position by rotating the revolving frame 140.

The base frame 150 supports the revolving frame 140. The base frame 150 can support the upper frame 130, the arm frame 120, and the injection unit 110 by supporting the revolving frame 140.

The driving unit 160 provides a driving force for adjusting the position of the jetting unit 110 according to the coating position. The painting robot 100 according to the present invention performs the painting process on the object by moving the sprayer 110 using the driving force provided by the driving unit 160 and changing the painting position.

For example, the driving unit 160 may include a jet driving mechanism 161 for individually rotating the jetting members. The injection drive mechanism 161 may rotate at least one of the injection members according to the coating position. The injection members can be rotated around different rotation axes by the driving force provided by the injection driving mechanism 161, thereby changing the painting position. The injection drive mechanism 161 may include a motor for generating a rotational force, a gear for transmitting the rotational force generated by the motor to the injection member, and the like. The motor of the injection drive mechanism 161 may be installed in the arm frame 120. In this case, the injection driving mechanism 161 may include a motor installed in the arm frame 120, and a transmission means such as a shaft or gear for connecting the injection members.

The driving unit 160 may include an arm driving mechanism 162 for rotating the arm frame 120. The arm driving mechanism 162 can rotate the arm frame 120 according to the coating position. When the arm driving mechanism 162 rotates the arm frame 120, the height of the jetting unit 110 is adjusted. Accordingly, the painting robot 100 according to the present invention can change the height of the painting position. The arm drive mechanism 162 may be installed inside the arm frame 120. The arm drive mechanism 162 may include a motor for generating a rotational force, a speed reducer for transmitting the rotational force generated by the motor to the arm frame 120, and the like.

The driving unit 160 may include an upper driving mechanism 163 for rotating the upper frame 130. The upper driving mechanism 163 may rotate the upper frame 130 according to the distance that the jetting unit 110 is spaced from the object. When the upper driving mechanism 163 rotates the upper frame 130, the jetting unit 110 is moved in the forward and backward directions. Accordingly, the painting robot 100 according to the present invention can adjust the distance that the jetting unit 110 is separated from the object. The upper driving mechanism 163 may include a motor for generating a rotating force, a speed reducer for transmitting the rotational force generated by the motor to the upper frame 130, and the like.

The driving unit 160 may include a swing drive mechanism 164 for rotating the swing frame 140. The swivel drive mechanism 164 may rotate the revolving frame 140 according to the coating position. When the swiveling drive mechanism 164 rotates the swivel frame 140 around the pivot shaft, the direction in which the spray unit 110 is directed is changed. Accordingly, the painting robot 100 according to the present invention can change the painting position. The swing drive mechanism 164 may include a motor for generating a rotational force, a speed reducer for transmitting the rotational force generated by the motor to the swing frame 140, and the like.

FIG. 3 is a cross-sectional view for explaining a cable guiding apparatus for a coating robot according to the present invention, and FIG. 4 is a sectional view for explaining a case where a plurality of insertion holes are provided in a cable guiding apparatus for a painting patrol boat according to the present invention.

3 and 4, the painting robot 100 according to the present invention may include a cable guide device 200 formed on the revolving frame 140. [

The cable guide device 200 is formed in the revolving frame 140 such that a cable is installed inside the upper frame 130 and the arm frame 120 through the base frame 150 and the revolving frame 140. [ do. The cable guide device 200 includes a main body 210 coupled to the painting robot 100, an insertion hole 220 into which a cable is inserted, and a reinforcing member 130 formed on the main body 210.

Here, the cable may be at least one of a power cable for receiving power for driving the painting robot 100, a control cable for controlling the joints, and a cable for supplying the explosion-proof body.

The main body 210 is coupled to the painting robot 100. The insertion hole 220 and the reinforcing member 230 are formed in the main body 210. The body 210 may be coupled to the base frame 150. In this case, the cable may be positioned inside the painting robot 100 via the main body 210.

The insertion hole 220 is formed in the main body 210. The cable is inserted into the insertion hole 220. Accordingly, the insertion hole 220 can allow the cable to be positioned inside the painting robot 100. For example, the insertion hole 220 may be formed by inserting the cable into the arm frame 120, the upper frame 130, the revolving frame 140, and the base frame 150, . When the main body 210 is circular, the insertion hole 220 may be formed in the main body 210 along the outer circumferential surface of the main body 210.

The coating robot 100 according to the present invention is configured such that as the cable is inserted into the insertion hole 220, the cable is connected to the arm frame 120, the upper frame 130, the revolving frame 140, And the inside of the base frame 150, it is possible to prevent eccentricity of the center of gravity of the painting robot 110 as compared with the conventional art. Therefore, the coating robot 100 according to the present invention can prevent the base frame 150 from being deformed as the center of gravity is eccentric. Accordingly, the painting robot 100 according to the present invention can reduce the cost required for maintenance of the base frame 150, as well as reduce the cost of maintenance of the base frame 150 as the direction of the injection unit 110 is changed. It is possible to prevent degradation in accuracy.

The reinforcing member 230 is formed on the body 210 so as to protrude from the insertion hole 220. For example, the reinforcing member 230 may be formed to protrude from the insertion hole 220 such that a plurality of the reinforcing members 230 are spaced apart from each other. Accordingly, the reinforcing member 230 may be formed at a portion of the main body 210 where the insertion hole 220 is formed. The reinforcing member 230 may be formed on each of the insertion holes 220 when the insertion holes 220 are formed in a plurality.

Accordingly, the coating robot 100 according to the present invention is configured such that the reinforcing member 230 protrudes from the insertion hole 220, so that the strength of the portion where the insertion hole 220 is formed in the body 210 It is possible to prevent the main body 210 from being damaged during the movement of the cable. Accordingly, the painting robot 100 according to the present invention can increase the service life of the main body 210, thereby reducing the maintenance cost of the main body 210. Accordingly, the painting robot 100 according to the present invention not only improves the operating rate, but also contributes to improving the efficiency of the painting process.

Referring to FIGS. 3 and 4, the cable guide device 200 includes a coupling hole 211 formed in the main body 210.

The coupling hole 211 is formed in the main body 210 adjacent to the insertion hole 220. For example, the coupling hole 211 may be formed at a position where the swing drive mechanism 164 is engaged. The coupling hole 211 may be coupled to the main body 210 as a coupling member (not shown) such as a bolt is inserted.

In this case, the reinforcing member 230 may be formed to protrude from the coupling hole 211 toward the insertion hole 220. The reinforcing member 230 is formed in the main body 211 of the portion where the coupling hole 211 is formed. For example, when a plurality of the coupling holes 211 are formed on the main body 210 so as to be spaced apart from each other, the reinforcing member 230 may extend from each of the coupling holes 211 in the direction toward the insertion hole 220 It can be formed to protrude.

Accordingly, the coating robot 100 according to the present invention is configured such that the reinforcing member 230 protrudes from the coupling hole 211 to the insertion hole 220, so that the coupling hole 211 ) Can be reinforced. Accordingly, the coating robot 100 according to the present invention can prevent the weakened portion of the main body 210 from being damaged as the coupling hole 211 is formed in the process of moving the cable. Accordingly, the painting robot 100 according to the present invention not only improves the operating rate, but also reduces the cost of holding and baking the main body 210.

Here, the reinforcing member 230 may be formed to be reduced in size from the coupling hole 211 toward the insertion hole 220. For example, the reinforcing member 230 may be formed on the main body 210 such that a portion protruding from the insertion hole 220 has a curved surface.

As a result, the coating robot 100 according to the present invention has a time length when the reinforcing member 230 is in contact with the cable during the movement of the cable, as compared with the case where the reinforcing member 230 is formed in a rectangular shape . Therefore, the coating robot 100 according to the present invention can reduce the friction between the cable and the reinforcing member 230, thereby preventing the cable and the reinforcing member 230 from being damaged or damaged. Accordingly, the painting robot 100 according to the present invention can reduce the cost of repairing and repairing the cable and the reinforcing member 230.

3 and 4, the insertion hole 220 may include a limiting member 221, a first frictional reducing portion 222, and a second frictional reducing portion 223.

The restricting member 221 prevents the movement path for moving the cable along the insertion hole 220 from being changed. For example, the restricting member 221 may prevent the movement path from being changed as the cable is separated from the insertion hole 220 during the movement of the cable along the movement path. Here, the movement path may be a path bent from the outside of the main body 210 toward the inside of the main body 210. The restricting member 221 can support one side and the other side of the cable based on a state where the cable is inserted into the insertion hole 220. The restricting member 221 may be bent from the outside of the main body 210 toward the inside of the main body 210.

Accordingly, the coating robot 100 according to the present invention is configured such that the cable is moved along the insertion hole 220 by the limiting member 221, so that when the cable is fixed to the insertion hole 220 The main body 210 can be prevented from being damaged due to friction with the main body 210. Therefore, the painting robot 100 according to the present invention can reduce the cost required for maintenance of the cable.

Also, since the cable guide device 200 can prevent the cable from being separated from the insertion hole 220 by the limiting member 221, the cable can be accurately moved along the movement path do. Accordingly, since the coating robot 100 according to the present invention can omit the operation of re-installing the cable into the insertion hole 220, the time for stopping the coating process can be reduced, The efficiency can be further improved.

The first friction reducing portion 222 is formed on the main body 210 to protect the cable contacting the main body 210. The first frictional reducing portion 222 is formed on one side of the restricting member 221. The first frictional reducing portion 222 is formed to be reduced in size in a direction away from the restricting member 221, thereby protecting the cable. As the painting robot 100 moves to perform the painting process, the cable moves along the movement path in a bent state.

The second friction reducing portion 223 is formed on the main body 210 to protect the cable contacting the main body 210. The second frictional reducing portion 223 is formed on the other side of the restricting member 221. The second frictional reducing portion 223 is formed to be reduced in size in a direction away from the restricting member 221, thereby protecting the cable. As the painting robot 100 moves to perform the painting process, the cable moves along the movement path in a bent state.

Accordingly, the coating robot 100 according to the present invention may contact the first friction reducing portion 222 and the first friction reducing portion 223 during the movement of the cable, The pressure applied to the cable can be reduced as compared with the case where the corners of the electrodes 221 are formed at right angles. Accordingly, the coating robot 100 according to the present invention can prevent damage or breakage of the cable due to friction. Accordingly, the painting robot 100 according to the present invention can extend the lifetime of the cable, thereby reducing the cost of maintenance of the cable.

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 general inventive concept as defined by the appended claims and their equivalents. Will be clear to those who have knowledge of.

100: Painting robot 110:
120: arm frame 130: upper frame
140: turning frame 150: base frame
200: Cable guide device 210:
220: insertion hole 230: reinforcing member

Claims (5)

A body coupled to the painting robot;
An inserting hole formed in the main body and into which the cable is inserted such that a cable is positioned inside the painting robot; And
And a reinforcing member formed on the main body so as to protrude from the insertion hole. The method according to claim 1,
And a coupling hole formed in the main body,
Wherein the reinforcing member is formed to protrude from the engaging hole toward the inserting hole. The method according to claim 1,
Wherein the reinforcing member is formed to be reduced in size in a direction from the coupling hole toward the insertion hole. 2. The apparatus according to claim 1,
A restricting member for preventing the cable from deviating in a different direction with respect to the moving direction of the cable;
A first frictional reducing portion formed at one side of the restricting member; And
And a second frictional reducing portion formed on the other side of the restricting member,
Wherein the first frictional reducing portion and the second frictional reducing portion are formed to be reduced in size in a direction away from the restricting member. A jetting portion for jetting the coating material onto the object;
An arm frame to which the injection unit is coupled;
An upper frame to which the arm frame is coupled;
A revolving frame coupled to the upper frame;
A base frame to which the revolving frame is coupled;
A driving unit for generating a driving force for changing a painting position at which the spraying unit injects paint onto the object; And
The cable guide apparatus according to any one of claims 1 to 4, which is formed on the revolving frame so that a cable is installed in the upper frame and the arm frame through the base frame and the revolving frame robot.
KR1020140059995A 2014-05-19 2014-05-19 Cable guide device for painting robot and painting robot including the same KR20150133393A (en)

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Application Number Priority Date Filing Date Title
KR1020140059995A KR20150133393A (en) 2014-05-19 2014-05-19 Cable guide device for painting robot and painting robot including the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140059995A KR20150133393A (en) 2014-05-19 2014-05-19 Cable guide device for painting robot and painting robot including the same

Publications (1)

Publication Number Publication Date
KR20150133393A true KR20150133393A (en) 2015-11-30

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170143262A (en) * 2016-06-21 2017-12-29 현대로보틱스주식회사 Inner-Cable Robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170143262A (en) * 2016-06-21 2017-12-29 현대로보틱스주식회사 Inner-Cable Robot

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