KR20170000155A - Tube guide apparatus for industrial robot - Google Patents

Tube guide apparatus for industrial robot Download PDF

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Publication number
KR20170000155A
KR20170000155A KR1020150089001A KR20150089001A KR20170000155A KR 20170000155 A KR20170000155 A KR 20170000155A KR 1020150089001 A KR1020150089001 A KR 1020150089001A KR 20150089001 A KR20150089001 A KR 20150089001A KR 20170000155 A KR20170000155 A KR 20170000155A
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KR
South Korea
Prior art keywords
tube
guide channel
holder
support
moving
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Application number
KR1020150089001A
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Korean (ko)
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KR101744106B1 (en
Inventor
김경민
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씨피시스템(주)
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Priority to KR1020150089001A priority Critical patent/KR101744106B1/en
Publication of KR20170000155A publication Critical patent/KR20170000155A/en
Application granted granted Critical
Publication of KR101744106B1 publication Critical patent/KR101744106B1/en

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    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • 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
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J19/06—Safety devices

Abstract

A tube guiding device for an industrial robot is disclosed. A tube guide device of an industrial robot according to the present invention comprises: a base portion coupled to an arm of a robot, the base portion having a stopper support, a support rod spaced apart from the stopper support, and a guide channel connecting the stopper support and the support; A tube moving holder unit provided in the guide channel and moving in the longitudinal direction of the guide channel while holding the tube of the arm; A tube fixing holder provided on the stopper support for holding the tube in a fixed state; And the other end of the tube movement holder portion is supported by the tube movement holder portion of the region disposed inside the guide channel to elastically restore the tube movement holder portion, And the tube is held while being slidingly moved in the guide channel.

Figure P1020150089001

Description

Technical Field [0001] The present invention relates to a tube guide device for an industrial robot,

The present invention relates to a tube guide apparatus, and more particularly, to a tube guide apparatus for an industrial robot that guides movement of a tube to prevent damage to a tube including a cable used in an industrial robot.

Generally, an industrial robot is used in an automobile factory or a factory that manufactures various products, and includes a plurality of arms and a head mounted with various tools that can move in various directions. The head is provided with a tube containing a plurality of cables such as a power cable, an operating cable, a water cable, etc., which are arranged along the outside of the arm.

Such an industrial robot carries out a manufacturing work process by moving and rotating an arm and a head. At this time, due to the relative movement of the arm and the head, the tube connected to the head is fixed to the outer side of the arm and is loosened repeatedly.

If the length of the tube is changed and loosened as described above, the cable or wiring inside the tube may be damaged due to twisting or bending.

In order to prevent the cables and the heads of the industrial robots from moving relative to each other while the cables are moving relative to each other, a device for preventing cable from loosening is disclosed in Korean Patent Publication No. 10-0743612 (July 23, 2007) entitled "Lt; / RTI > This prior art has a moving body which fixes a cable hose and moves on a water rail, and a support which is disposed at a position spaced apart from the moving body and held in a fixed state and is coupled to the cable hose.

In the above-described prior art, the cable hose moves along the inner circumferential surface of the fixture while the moving body moves relative to the fixture. Such a structure has a problem that stability and durability of the operation are deteriorated because the relative movement occurs in a state where the fixed body and the cable hose are continuously frictioned.

A prior art for solving such a problem is disclosed in Korean Registered Utility Model No. 20-0441888 (September 09, 2008) entitled " Cable Control Apparatus for Industrial Robots ". In this prior art, the front and rear shift tables and the tube turning sections are provided in a straight line on the main body to prevent the cable from being loosened and twisted by the rotation of the tube turning section when the cable tube is twisted.

However, in such a structure, when the cable tube is twisted, the tube rotation part rotates in the left-right direction, so that bending or damage may still occur in the cable or electric wire inside the cable tube.

Korean Registered Patent No. 10-0743612 (Choi, Jangsul) 2007. 07. 23

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a tube guiding device for an industrial robot which can stably protect a cable and the like by preventing bending of a tube having a cable built therein.

According to an aspect of the present invention, there is provided a robot comprising: a base portion coupled to an arm of a robot, the base portion including a stopper support, a support rod spaced apart from the stopper support, and a guide channel connecting the stopper support and the support; A tube moving holder unit provided on the guide channel and moving in a longitudinal direction of the guide channel while holding the tube of the arm; A tube fixing holder provided on the stopper support and holding the tube in a fixed state; And an elastic body which is supported by the stopper supporter at one side portion and is supported by the tube movement holder portion of the region disposed inside the guide channel to elastically restore the tube movement holder portion, And the tube is guided by the guiding channel, and the tube is held while being slid on the guide channel while being accommodated in the guide channel.

Wherein the tube moving holder unit is accommodated in the guide channel and is moved in the longitudinal direction of the guide channel while being accommodated in the guide channel; And a tube holder provided on the moving holder body and holding the tube, and protruding outside the guide channel and moving together with the tube.

And an elastic fixing rod for supporting the elastic body is provided on one side of the moving holder body and a buffer member for buffering collision between the other side portion and the supporting base is provided on the supporting base in a region where the other side portion of the moving holder body is contacted .

The tube fixing holder portion includes a tube fixing holder detachably coupled to a fastening flange of the stopper support; And a tube ball joint sleeve detachably coupled to the tube holder and holding the tube.

The elastic body includes a compression spring, one end of the compression spring is supported by the elastic fixture rod, and the other side is supported by an elastic support rod provided on the inner wall of the stopper support.

The base portion includes an elastic supporting rod which is disposed inside the guide channel and has one end coupled to the stopper support and the other end connected to the support through an area of the tube movement holder portion disposed inside the guide channel And the tube movement holder part is moved in the longitudinal direction of the guide channel while being guided by the elastic body support rod, thereby compressing the elastic body.

In the embodiments of the present invention, the base portion is provided as a guide channel connecting the stopper supporter and the supporter, the tube is held at two points of the tube movement holding portion and the tube fixture portion, and the lower portion of the tube movement holder portion Since the tube is held while being slid on the guide channel in the accommodated state, the tube can be prevented from twisting and bending even when the arm of the robot suddenly pivots, so that the cable or the wire inside the tube can be stably protected.

1 is a cross-sectional perspective view schematically showing a tube guide apparatus of an industrial robot according to an embodiment of the present invention.
2 and 3 are operation diagrams of the tube guide device of the industrial robot shown in Fig.
4 is a perspective view showing a tube guide device of an industrial robot according to another embodiment of the present invention.
5 is a rear perspective view of FIG.

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

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

1 is a perspective view schematically showing a tube guide apparatus of an industrial robot according to an embodiment of the present invention.

As shown in this figure, the tube guide apparatus 1 of the industrial robot according to the present embodiment includes a base portion 100 coupled to an arm (not shown) of a robot, A tube moving holder 200 which is provided on the stopper support 110 of the base unit 100 and moves in the longitudinal direction of the guide channel 130 while holding the tube T of the arm, A tube fixing holder 300 for holding the tube T in a state where the tube T is held in a state where the tube T is held by the tube moving holder 200, And an elastic body 400 for elastically restoring the tube moving holder 200.

The base part 100 is detachably coupled to the arm of the robot and serves to guide the linear movement of the tube movement holder part 200 for holding the tube T when the arm rotates. And serves to buffer the impact of the tube movement holder unit 200 which is returned to the home position after guiding the movement of the tube T. [

1, the base unit 100 includes a stopper support 110, a support 120 separated from the stopper support 110, a stopper support 110 and a support 120 (Not shown).

The stopper support 110 and the support 120 of the base part 100 can be detachably coupled to the arm of the robot through the hole H. [

1, a groove is formed in the stopper support 110 and the support 120 to insert and fix the end of the guide channel 130, The ends can be fit or bolted.

As shown in FIG. 1, an elastic support rod 112 for supporting the left end of the elastic body 400 is provided on the inner wall of the stopper support 110 of the base 100.

In this embodiment, the elastic body 400 is inserted into the outer peripheral surface of the bar-shaped elastic body support rod 112 to be supported in a predetermined area, thereby preventing the elastic body 400 from being easily disengaged when an unexpected force is applied to the elastic body 400 can do.

1, a cushioning member 121 is provided on the inner wall of the support base 120 of the base unit 100 so that the movement holder body 210 of the tube movement holder unit 200 and the inner wall of the support base 120 It is possible to prevent collision with each other.

In this embodiment, the buffer member 121 may be made of a rubber material, and may be detachably coupled to the support wall to be replaceable. For example, a screw groove (not shown) may be provided at the center of the buffer member 121 and a screw projection (not shown) may be provided in the support base 120 to correspond to the screw groove to screw the buffer member 121 .

1, the left end of the guide channel 130 of the base unit 100 is inserted into the stopper support 110 and the right end of the guide channel 130 of the guide channel 130 is inserted into the support base 120, 200 and guides the lower portion of the tube movement holder 200 to be slidably and stably accommodated in the guide channel 130.

In this embodiment, the upper portion of the guide channel 130 may be provided with a long incision so that the lower portion of the tube holder 220 is exposed to the upper surface of the guide channel 130.

In this embodiment, the bottom portion and the ceiling portion of the moving holder body 210 are brought into contact with each other at the bottom portion and the ceiling portion of the guide channel 130, so that the tube moving holder portion 200 can have an appropriate frictional force when the tube moving holder 200 is moved. As a result, longitudinal movement of the guide channel 130 of the tube moving holder 200 can be more stably performed. In addition, the coating layer may be provided on the bottom and ceiling portions of the guide channel 130, which are in contact with the bottom portion and the ceiling portion of the movable holder body 210, so that sliding is smoothly performed and frictional force is reduced.

1, the tube moving holder 200 holds the tube T in a state where the lower side is accommodated in the guide channel 130, and the tube fixing holder 300, So as to prevent the tube T from being twisted or twisted.

The tube T is held at two points by the tube movement holder unit 200 and the tube fixture holder unit 300 and the tube movement holder unit 200 is held at the same position as the tube fixture holder unit 300, The bending or twisting of the tube T can be effectively prevented even if a sudden movement of the robot arm occurs.

Particularly, in the state where the tube fixing holder unit 300 is fixed from the front, the movement of the tube T is guided, and the tube movement holder unit 200 moves back and forth according to the movement of the robot arm, The tube T is only linearly moved by the tube moving holder unit 200 and the tube fixing holder unit 300 so that sudden bending of the tube T can be prevented originally.

Also, since the lower portion of the tube moving holder 200 is accommodated in the guide channel 130, the tube moving holder 200 is slid in the longitudinal direction of the guide channel 130, so that even if an impact is applied to the tube moving holder 200, Do.

Further, the impact applied to the tube moving holder unit 200 can be mitigated by the elastic behavior of the elastic body 400 because the lower portion of the tube moving holder unit is connected to the elastic body 400.

1, the tube moving holder unit 200 is accommodated in the guide channel 130 and is inserted into the guide channel 130, as shown in FIG. 1, A moving holder body 210 which is moved in the longitudinal direction of the guide channel 130 in a state of being accommodated in the moving holder body 210 and which is provided on the moving holder body 210 and protrudes outside the guide channel 130 while holding the tube T, T). ≪ / RTI >

The moving holder body 210 of the tube moving holder 200 may be formed in a flat hexagonal shape as shown in Figure 1. The bottom and the ceiling of the moving holder body 210 are connected to the guide channel 130, And the left and right wall portions can be in contact with the inner wall portion of the guide channel 130. [

In this embodiment, the movable holder body 210 may be provided with an elastic body fixing rod 211 inserted into the elastic body 400 to support the elastic body 400, as shown in FIG.

In FIG. 1, the movable holder body 210 is cut to show only a half portion, and the same shape as that of the movable holder body 210 shown in FIG. 1 may be provided symmetrically.

The tube holder 220 of the tube moving holder 200 may be extended to the upper surface of the moving holder body 210 and the head of the tube holder 220 in this embodiment may hold the tube T A pair of separated and separated pairs can be coupled in a bolted manner.

1, the tube fixing holder 300 is coupled to the fastening flange 111 of the stopper support 110 and is fixed to the tube T in a fixed state unlike the tube movement holder 200, It serves to guide back and forth movement.

The tube fixing holder 300 also supports the tube T in the longitudinal direction of the tube T to disperse bi-directional fatigue in the movement of the tube T.

1, the tube fixing holder unit 300 includes a tube fixing holder 310 coupled to a flange of the stopper support 110, a tube fixing holder 310 detachably coupled to the tube fixing holder 310, And a tube ball joint sleeve (320) for dispersing the fatigue of the tube (T).

The tube ball joint sleeve 320 of the present embodiment is described in detail in Korean Patent Registration No. 10-0701926 (Mar. 26, 2007) "Robot arm cable protection unit" filed and filed by the present applicant. .

1, the tube fixing holder 310 of the tube fixing holder 300 is hooked to the fastening flange 111 of the stopper support 110 and is fixed to the tube fixing holder 310 Or may be detachably bolted to the stopper support 110.

1, the tube fixing holder 310 includes a base fixing body 311 detachably coupled to the fixing flange 111 of the stopper supporting base 110, a base fixing body 311 And includes a sleeve fixing portion 312 for fixing the tube ball joint sleeve 320.

In the present embodiment, the base fastening body 311 is provided with a pair of separated pairs, which are separated from each other, and then engaged with the fastening flange 111 and then fastened to the fastening flange 111 .

In this embodiment, the sleeve fixing portions 312 are provided such that the pair of the sleeve fixing portions 312 are separated from each other like the base fixing body 311, one of which is integrally formed with the base fixing body 311, The tube ball joint sleeve 320 can be fixed by being bolted to a portion integrally formed with the body 311. [

For reference, in the present embodiment, the tube ball joint sleeve 320 is prepared in such a manner that a pair of the tube ball joint sleeve 320 is detachably separated from each other as described in the above-mentioned registered patent application filed and registered by the present applicant, .

2 and 3 are operation diagrams of the tube guide device of the industrial robot shown in Fig.

Hereinafter, the operation of the present embodiment will be briefly described with reference to FIG. 2 and FIG.

First, Fig. 2 shows a state before the present embodiment is operated. That is, when the operation of the robot arm (not shown) is insignificant, the movement of the tube T hardly occurs, so that the tube moving holder unit 200 is positioned close to the support table 120.

When the robot arm moves in this state, a cable or a wire connected to the robot arm is moved, and a tube T surrounding the outer circumferential surface of the cable or the electric wire for protecting the cable or the electric wire is also moved to the left side .

In this embodiment, the tube T and the tube moving holder 200 move integrally because the tube T is held by the tube moving holder 200. That is, when the tube T moves forward, the tube movement holder unit 200 also moves forward. When the tube T moves backward, the tube movement holder unit 200 also moves backward.

In this embodiment, the tube T is held at two points by the tube movement holder unit 200 and the tube fixture holder unit 300, and the tube movement holder unit 200 is the same as the tube fixture holder unit 300 The bending or twisting of the tube T can be effectively prevented even if a sudden movement of the robot arm occurs.

Specifically, the movement of the tube T is guided in a state where the tube fixing holder unit 300 is fixed from the front, and the tube movement holder unit 200 moves back and forth according to the movement of the robot arm. However, since the tube T is only linearly moved by the tube moving holder 200 and the tube fixing holder 300, bending of the tube T and the like can be prevented originally.

Also, since the lower portion of the tube moving holder 200 is accommodated in the guide channel 130, the tube moving holder 200 is slid in the longitudinal direction of the guide channel 130, so that even if an impact is applied to the tube moving holder 200, Do.

Further, since the lower portion of the tube moving holder 200 is connected to the elastic body 400, the impact applied to the tube moving holder 200 can be alleviated by the elastic behavior of the elastic body 400.

FIG. 4 is a perspective view showing a tube guide device of an industrial robot according to another embodiment of the present invention, and FIG. 5 is a rear perspective view of FIG.

4 and 5, the tube guide device 1a of the industrial robot according to the present embodiment is configured such that the tube movement holder portion 200a for holding the tube T is more stable on the guide channel 130 So that it is different from the above-described embodiment.

In this embodiment, one end of the elastic support rod 112a of the base portion 100a is coupled to the stopper support 110a, as shown in Fig. 5, And may be coupled to the support base 120 through the sliding support hole 212 of the tube movement holder 200a disposed inside the channel 130. [

In this case, since the tube moving holder 200a is supported by the elastic supporting rod 112a and is moved in the longitudinal direction of the guide channel 130, there is an advantage that the tube T can be supported more stably.

In addition, since the elastic support rod 112a is disposed inside the elastic body 400 in this embodiment, the elastic body 400 can be stretched and shrunk stably.

In this embodiment, the movable holder body 210a is provided with a sliding support hole 212 through which the elastic support rod 112a passes.

Meanwhile, in the present embodiment, a part of the tube fixing holder 310a of the tube fixing holder 300a may be integrally provided with the stopper supporting base 110a.

4, the base fixing body 311a of the tube fixing holder 310a may be integrally formed with the stopper support base 110a, and the sleeve fixing unit 312 may be formed integrally with the stopper supporting base 110a, One side of the base fixing body 311a can be hinged to be rotatable.

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

1: Tube guide device of industrial robot
100, 100a: base portion 110, 110a: stopper support
111: fastening flange 112, 112a: elastic support rod
120: support base 121: buffer member
130: guide channel 200, 200a: tube movement holder part
210, 210a: Moving holder body 211: Elastic fixing rod
212: sliding supporting hole 220: tube holder
300, 300a: tube fixing holder part 310, 310a: tube fixing holder
311,311a: Base fastening body 312: Sleeve fixing portion
320: tube ball joint sleeve 400: elastomer
T: tube H: hole

Claims (6)

A base portion coupled to the arm of the robot and including a stopper support, a support rod spaced apart from the stopper support, and a guide channel connecting the stopper support and the support;
A tube moving holder unit provided on the guide channel and moving in a longitudinal direction of the guide channel while holding the tube of the arm;
A tube fixing holder provided on the stopper support and holding the tube in a fixed state; And
And an elastic body which is supported by the tube movement holder part of an area where the one side part is supported by the stopper support and the other side part is disposed inside the guide channel to elastically restore the tube movement holder part,
Wherein the tube moving holder part holds the tube while being slid on the guide channel while the lower side part is accommodated in the guide channel. The method according to claim 1,
The tube movement holder portion includes:
A movable holder body accommodated in the guide channel and being moved in a longitudinal direction of the guide channel while being accommodated in the guide channel; And
And a tube holder provided on the movable holder body for holding the tube and protruding outside the guide channel and moving together with the tube. The method of claim 2,
The movable holder body is provided at one side thereof with an elastic fixing rod for supporting the elastic body,
Wherein the support base of the region where the other side portion of the movable holder body is in contact is provided with a buffer member for buffering collision between the other side portion and the support base. The method according to claim 1,
Wherein the tube-
A tube fixing holder detachably coupled to the fastening flange of the stopper support; And
And a tube ball joint sleeve detachably coupled to the tube fixing holder to hold the tube. The method of claim 3,
Wherein the elastic body includes a compression spring,
Wherein one end of the compression spring is supported by the elastic fixture rod and the other side is supported by an elastic support rod provided on an inner wall of the stopper supporter. The method according to claim 1,
The base portion includes an elastic supporting rod which is disposed inside the guide channel and has one end coupled to the stopper support and the other end coupled to the support through an area of the tube movement holder portion disposed inside the guide channel Including,
Wherein the tube movement holder part is guided by the elastic body support rod and moves in the longitudinal direction of the guide channel to compress the elastic body.
KR1020150089001A 2015-06-23 2015-06-23 Tube guide apparatus for industrial robot KR101744106B1 (en)

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KR102020278B1 (en) 2018-01-25 2019-09-11 최광술 Apparatus for cable guide of an industrial robot
KR102252577B1 (en) * 2020-06-30 2021-05-17 한국과학기술원 Buckling prevention apparatus for overtube of endoscope

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100743612B1 (en) 2006-03-28 2007-08-01 최광술 Apparatus for controlling cable of robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200418444Y1 (en) * 2006-03-28 2006-06-12 최광술 Apparatus for controlling cable of robot
KR200441888Y1 (en) * 2007-07-16 2008-09-16 최광술 Apparatus for controlling cable of robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100743612B1 (en) 2006-03-28 2007-08-01 최광술 Apparatus for controlling cable of robot

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