KR20160107371A

KR20160107371A - Wrist Apparatus and Inner-cable Robot having the same

Info

Publication number: KR20160107371A
Application number: KR1020150029558A
Authority: KR
Inventors: 김봉성; 윤대규
Original assignee: 현대중공업 주식회사
Priority date: 2015-03-03
Filing date: 2015-03-03
Publication date: 2016-09-19

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable built-in robot in which a cable is embedded in a wrist device, and a wrist device including an arm base, a connection arm and a tool arm, The cable installation part formed on the arm base includes a cable guide member for guiding the cable and a protection member for protecting the cable inserted into the cable installation part of the connection arm through the guide member, And the connection drive motor and the tool arm motor are installed parallel to the opposite sides of the arm base axis.

Description

[0001] The present invention relates to a wrist device and a cable built-

The present invention relates to a cable built-in robot in which a cable is embedded in a wrist device.

Generally, a ship, a vehicle, a construction machine, a cellular phone, etc. (hereinafter, referred to as an 'object') are manufactured by assembling various components. For example, a process of manufacturing an object through a manufacturing process such as a welding process, a transportation process, and a coating process for a component constituting an object is performed. Robots are used in this manufacturing process.

The robot includes a wrist device equipped with a tool mechanism for performing the manufacturing process. For example, when performing a welding process, the wrist device is equipped with a tool mechanism having a welding function. When carrying out the transferring process, the wrist device is equipped with a tool mechanism having a lift function. When performing the coating process, the wrist device is equipped with a tool mechanism having a coating function. The wrist device is provided with a cable for supplying power to the tool mechanism.

However, the robot according to the prior art is installed such that the cable is positioned outside the wrist device. Accordingly, the conventional robot has the following problems.

First, there is a risk that a cable installed on the outside of the wrist device collides with a nearby equipment in the process of driving the wrist device to perform the manufacturing process.

Secondly, the driving radius of the wrist device is increased due to the cable installed on the outside of the wrist device. Accordingly, since the robot according to the related art requires a wider working space for driving the wrist device, it is difficult to utilize the working space.

Thirdly, since the motors for rotating the tool mechanism are installed inside the wrist device, it is difficult to arrange the cables and the motors connected to the motors. In addition, since the motor is installed inside the wrist device during maintenance work of the robot, disassembling of the wrist device and disconnection of the cable connected to the motor have been inconvenient.

US Patent No. 8,020,467 (registered on September 20, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wrist apparatus and a cable built-in robot including the same that can prevent a cable from colliding with a nearby apparatus.

Another object of the present invention is to provide a wrist device and a cable built-in robot including the wrist device, which can reduce an increase in driving radius due to a cable and can improve utilization of a working space.

Another object of the present invention is to provide a wrist device and a cable built-in robot including the wrist device that can improve convenience of cable and motor assembly and maintenance work.

According to an aspect of the present invention, there is provided a wrist device including a base, a connection arm, and a tool arm, wherein the base, the connection arm, and the tool arm are formed in a hollow space And a cable installation portion through which the cable passes is formed. The cable installation part formed on the arm base includes a cable guide member for guiding the cable and a protection member for protecting the cable inserted through the guide member into the cable installation part of the connection arm. The connection arm is provided with a connection drive motor and a tool arm motor parallel to the opposite sides of the arm base axis. The protection member is formed with a through hole through which a cable connected to the connection drive motor and the tool arm motor passes.

A cable built-in robot according to another aspect of the present invention includes: a pivot portion rotatably coupled to a base about a pivot axis and rotated by a pivot unit; a pivot portion connected to the pivot portion so as to be rotatable about a lower axis, And a wrist device coupled to the lower frame to be rotatable about the upper shaft and rotatable by the upper unit, a wrist device having one side coupled to the upper frame and the other side equipped with a tool mechanism, A cable connected to a tool mechanism is installed inside.

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

First, since the wrist device according to the present invention is formed with a cable mounting portion through which a cable penetrates in a hollow space, it is possible to prevent a cable from colliding with a surrounding equipment, and to reduce an increase in driving radius due to a cable And can improve the utilization of the work space.

Second, the wrist device according to the present invention can reduce the length of the cable connected to the connection drive motor and the tool arm motor by forming the through hole through which the cable connected to the connection drive motor and the tool arm motor is passed through the protection member for protecting the cable , And cable twist can also be prevented.

Thirdly, the wrist device according to the present invention is configured such that the driving motor and the twill arm motor connected to the connection arm are installed parallel to the opposite sides of the arm base axis, whereby the cable connected to the motor, the connection driving motor, Can be improved.

1 is a schematic block diagram of a cable built-in robot according to the present invention;
FIG. 2 is a conceptual diagram of a cable built-in type robot according to the present invention,
3 and 4 are illustrations for explaining a wrist apparatus according to the present invention.

Hereinafter, embodiments of a cable-embedded robot according to the present invention will be described in detail with reference to the accompanying drawings. Since the wrist device according to the present invention is included in the cable built-in type robot according to the present invention, the embodiment of the cable built-in type robot according to the present invention will be explained together.

Referring to FIG. 1, the cable-embedded robot 1 according to the present invention is for performing a manufacturing process on objects such as a ship, a vehicle, a construction machine, and a mobile phone. For example, the cable-embedded robot 1 according to the present invention can perform a manufacturing process such as a welding process, a transportation process, and a coating process on a target object or a component constituting the object.

To this end, the cable-embedded robot 1 according to the present invention includes a swinging part 3 coupled to the base 2, a lower frame 4 coupled to the swinging part 3, An upper frame 5 coupled to the upper frame 5, and a wrist device 100 coupled to the upper frame 5. The wrist apparatus 100 is equipped with a tool mechanism 200 capable of performing a manufacturing process. The wrist device 100 is provided with a cable 10 connected to the tool mechanism 200 in the inside thereof. The cable 10 supplies power to the tool mechanism 200. Further, the wrist device 100 is provided with a cable connected to the motor.

Accordingly, the cable built-in type robot 1 according to the present invention can prevent the cable 10 from colliding with surrounding equipment in the process of driving the wrist device 100 to perform the manufacturing process. Accordingly, the cable-embedded robot 1 according to the present invention can improve the safety of the manufacturing process and shorten the time required for the manufacturing process by reducing the time for stopping the manufacturing process as the cable 10 collides with the equipment . In addition, since the cable built-in type robot 1 according to the present invention can reduce the driving radius of the wrist device 100 due to the cable 10, it is possible to improve the utilization of the working space, The manufacturing process can be performed on more objects or parts, thereby increasing the productivity of the object.

Hereinafter, the pivot portion 3, the lower frame 4, the upper frame 5, and the wrist device 100 of the cable built-in robot 1 according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to Figures 1 and 2, the pivot portion 3 is coupled to the base 2. The base 2 can be installed on the floor of the work space where the cable-embedded robot 1 according to the present invention is installed. The swivel portion 3 is rotatably coupled to the base 2 about a pivot shaft 3a (shown in Fig. 2). As the swivel portion 3 rotates about the pivot shaft 3a, the wrist device 100 can rotate around the pivot shaft 3a. The pivot shaft 3a can be oriented in a direction orthogonal to the bottom surface. When the bottom surface is defined in the horizontal direction (x direction), the pivot axis 3a becomes the vertical direction (z direction).

The swivel unit 3 is rotated by the swivel unit 31 (shown in Fig. 1). The swivel unit 31 may be installed on the base 2 as an example. As another example, the orbiting unit 31 may be provided in the swivel unit 3. The swing unit 31 may include a swing motor (not shown) for generating a driving force. The revolving unit 31 may include a reducer, a belt, and a gear connected to the revolving motor.

Referring to Figs. 1 and 2, the lower frame 4 is coupled to the swivel portion 3. The lower frame 4 is rotatably coupled to the swivel portion 3 about the lower shaft 4a (shown in Fig. 2). As the lower frame 4 rotates about the lower shaft 4a, the wrist device 100 can rotate around the lower shaft 4a. The lower shaft 4a can be oriented in a direction orthogonal to the pivot shaft 3a. When the pivot shaft 3a is directed in the vertical direction (z direction), the lower shaft 4a is in the horizontal direction (x direction).

The lower frame 4 is rotated by the lower unit 41 (shown in Fig. 1). The lower unit 41 may be provided in the swivel unit 3 as an example. As another example, the lower unit 41 may be installed in the lower frame 4. The lower unit 41 may include a lower motor (not shown) for generating a driving force. The lower unit 41 may include a speed reducer, a belt, and a gear connected to the lower motor.

Referring to Figs. 1 and 2, the upper frame 5 is coupled to the lower frame 4. Fig. The upper frame 5 is rotatably coupled to the lower frame 4 about the upper shaft 5a (shown in Fig. 2). As the upper frame 5 rotates about the upper shaft 5a, the wrist device 100 can rotate around the upper shaft 5a. The upper shaft 5a can be oriented in a direction parallel to the lower shaft 4a. When the lower shaft 4a faces the horizontal direction (x direction), the upper shaft 5a also faces the horizontal direction (x direction).

The upper frame 5 is rotated by the upper unit 51 (shown in Fig. 1). The upper unit 51 may be installed in the lower frame 4 as an example. As another example, the upper unit 51 may be provided in the upper frame 5. The upper unit 51 may include an upper motor (not shown) for generating a driving force. The upper unit 51 may include a speed reducer, a belt, and a gear connected to the upper motor.

1 to 4, the wrist apparatus 100 has an upper frame 5 coupled to one side, a tool mechanism 200 mounted to the other side, and a cable 10 installed therein. The wrist apparatus 100 includes a female base 110, a connecting arm 120, and a tool arm 130, as shown in Fig.

The arm base 110 is rotatably coupled to the upper frame 5 about the arm base shaft 110a. As the arm base 110 rotates about the arm base shaft 110a, the tool mechanism 200 rotates around the arm base shaft 110a. The arm base shaft 110a can function as an axis of rotation relative to the arm base 110. [

The arm base 110 is rotated by a female base unit (not shown). The arm base unit can be installed in the arm base 110 as an example. As another example, the arm base unit may be installed in the upper frame 5. The arm base unit may include a female base motor (not shown) for generating a driving force. The arm base unit may include a reducer, a belt, and a gear connected to the arm base motor.

The arm base 110 is formed with a cable mounting portion 310 through which a cable is inserted into a hollow space. The cable installation part 310 formed on the arm base 110 includes a cable guide member 311 for guiding the cable and a protection member 312 for protecting the cable passing through the cable guide member 311. The cable includes a cable for the motor and a cable for the tooling that supplies power to the tooling.

The connection arm 120 is rotatably coupled to the arm base 110 about the connection shaft 120a. As the connecting arm 120 rotates about the connecting shaft 120a, the tool mechanism 200 can rotate around the connecting shaft 120a. The connection shaft 120a can be oriented in a direction parallel to the upper shaft 5a.

The connection arm 120 is rotated by the connection drive unit. The connection drive unit may be installed in the connection arm 120 as an example. As another example, the connection drive unit may be installed in the arm base 110 or the upper frame 5. 4, the coupling drive unit may include a coupling drive motor 411 for generating a driving force, a gear group 412 connected to the coupling drive motor 411, and a reduction gear 413. have.

The connection arm 120 is formed with a cable installation part 320 through which a cable is inserted into a hollow space. The cable installation part 320 of the connection arm 120 may be formed to have the same hollow shaft as the cable installation part 310 formed on the arm base 110, for example, the arm base shaft 110a.

The tool arm 130 is rotatably coupled to the connection arm 120 around the tool arm shaft 130a. As the tool arm 130 rotates about the tool arm shaft 130a, the tool mechanism 200 can rotate about the tool arm shaft 130a. The tool arm shaft 130a can function as an axis of rotation relative to the tool arm 130. [

The tool arm 130 is rotated by the tool arm unit. The tool arm unit can be installed in the tool arm 130 as an example. As another example, the tool arm unit may be provided in the connection arm 120, the arm base 110, or the upper frame 5. [ 4, the tool arm unit may include a tool arm motor 421 for generating a driving force, a gear group 422 connected to the tool arm motor 421, and a speed reducer 423.

The tool arm 130 is formed with a cable installation part 330 through which a cable is inserted into a hollow space. The cable mounting portion 330 of the tool arm 130 may be formed to have the same hollow shaft as the cable mounting portion 310 formed on the arm base 110 such as the arm base shaft 110a.

3, a connection drive motor 411 and a tool arm motor 421 are installed on the connection arm 120 in parallel on the opposite sides of the arm base shaft 110a. The wrist device according to the present invention can improve the convenience of assembling and maintenance work of the connection drive motor 411, the cable connected to the tool arm motor 421, the connection drive motor 411, and the tool arm motor 421.

3, the protective member 312 is formed with a through hole 312a through which the cables 411a and 421a connected to the connection driving motor 411 and the tool arm motor 421 are respectively passed. The wrist device according to the present invention can reduce the length of the cable connected to the connection driving motor 411 and the tool arm motor 421 by forming the through hole 312a in the protection member 312 for protecting the cable, Cable twisting can be prevented.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined only by the appended claims.

1: Robot with built-in cable
2: Base
3: pivot portion 3a: pivot axis
4: Lower frame 4a: Lower axis
5: Upper frame 5a: Upper axis
10: Cable
100: Wrist device
110: female base 110a: female base shaft
120: connection arm 120a: connection axis
130: tool arm 130a: tool arm shaft
411: Connecting drive motor
412: Gear group
413: Reducer
421: Toolam motor
422: Gear group
423: Reducer

Claims

A wrist apparatus to which a tool mechanism is attached, the arm base, a connecting arm and a tool arm,
Wherein the arm base, the connection arm, and the tool arm are formed with a cable installation portion through which a cable is inserted into a hollow space,
Wherein the cable installation part formed on the arm base includes a cable guide member for guiding the cable and a protection member for protecting the cable inserted into the cable installation part of the connection arm through the guide member,
Wherein the connection arm is provided with a connection drive motor and a tool arm motor parallel to the opposite sides of the arm base axis,
The wrist device being characterized in that:

The method according to claim 1,
Wherein,
A through hole through which the cable connected to the connection drive motor and the tool arm motor is formed,
The wrist device being characterized in that:

A turning unit coupled to the base so as to be rotatable about the pivotal axis and rotated by the turning unit;
A lower frame rotatably coupled to the pivotal portion about a lower axis and rotated by the lower unit;
An upper frame coupled to the lower frame to be rotatable about the upper shaft and rotated by the upper unit; And
A wrist device according to any one of claims 1 to 3, wherein one side is coupled to the upper frame and the other side is equipped with a tool mechanism,
Wherein the wrist device is provided with a cable connected to the tool mechanism.