KR20200059697A - Actuator having wiring accommodating space and multi-joint apparatus having the same - Google Patents

Abstract

The present invention provides an actuator having a wire accommodation space for interference prevention and appearance improvement. According to an embodiment of the present invention, the actuator having a wire accommodation space comprises: a housing; a driving module which is accommodated in the housing, and has an output end exposed from the housing; a wire exposed to the outside of the housing, wherein one end thereof is electrically connected to the driving module; and a wire processing unit coupled to the housing from the output end side and provided with an opening part corresponding to the output end and a wire accommodation space formed around the opening part, wherein the wire extended along the outer surface of the housing has an extra wire portion to be prevented from disturbing rotation of the output end, the extra wire portion is bent in the wire accommodation space to be accommodated, and the other end of the wire is withdrawn to the outside of the wire processing unit through the opening part.

Description

ACTUATOR HAVING WIRING ACCOMMODATING SPACE AND MULTI-JOINT APPARATUS HAVING THE SAME

The present invention relates to an actuator having a wiring receiving space and a multi-joint mechanism having the same, and more particularly, to an actuator having a wiring receiving space that significantly reduces external exposure of the wiring and a multi-joint mechanism having the same.

Actuators usually have a built-in drive (motor) and reducer, and are widely used for general industrial as well as household and educational purposes. In particular, it has recently received more attention in that it is possible to implement a multi-joint robot capable of implementing a complex operation by combining a plurality of actuators. In such a multi-joint robot, each actuator must be controlled according to a prescribed rule, and for this, wiring for power and signal transmission must be connected to all actuators.

In order to combine a plurality of actuators, it may be connected to a module connecting member or other actuators around the drive shaft of the actuator, and the coupling structure of the plurality of actuators and the module connecting members may be repeated to manufacture various types of multi-joint robots.

When connecting the actuator to the module connecting member or other actuator, it is important to handle wiring. In particular, when a plurality of actuators are controlled by a central processing unit or a central controller, a plurality of wirings for control and sensing are required, and the processing of these wirings should be prevented from interfering with the driving of the actuators. Therefore, as illustrated in FIG. 1 (a), the wiring is manufactured to be exposed to the outside of the joint of the robot so that an extra length is secured by a predetermined length so as not to interfere with the driving of the actuator. However, if such wiring is exposed to the exterior of the robot, and the wiring is complicatedly tangled, it may give an unclean impression, and in the case of a humanoid type robot, wiring exposed from the arm or leg to the outside may interfere with the robot's driving. have. In particular, as the number of actuators constituting the robot increases, the difficulty of wiring processing becomes greater, and the above-described problems become greater.

The wiring problem of these actuators is a problem that all actuators inevitably have, not only for home or educational robots, whether or not there is a difference in size. Therefore, there is a need for an improved module structure capable of solving the wiring problem of the actuator.

Technical problem to be achieved by the present invention is to provide an actuator having a wiring receiving space for preventing interference and improving appearance, and a multi-joint mechanism having the same.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention provides an actuator having a space for wiring. An actuator having a wiring accommodation space includes a housing; A driving module accommodated in the housing and having an output terminal exposed from the housing; One end is electrically connected to the drive module, the wiring exposed to the outside of the housing; In addition, as the wiring processing unit coupled to the housing at the output end side, an opening corresponding to the output end and a wiring accommodating space formed around the opening, and the wiring extending along the outer surface of the housing are connected to the rotation of the output end. It includes a wiring processing unit so as to have a wiring margin so as not to be disturbed, the wiring margin being accommodated by being bent in the wiring receiving space, and the other end of the wiring is withdrawn through the opening to the outside of the wiring processing unit.

In an embodiment of the present invention, the wiring processing unit is an output block coupled to the output terminal of the driving module and rotates together with the output terminal, wherein the opening is the output block from one side of the output block facing the output terminal. An output block extending to penetrate to the other side and having a wiring guide groove formed on one side of the output block to guide the wiring from the wiring accommodation space to the opening side; And it is coupled to the housing while covering the output block so that the other side of the output block is exposed, a case in which the wiring receiving space is formed; may include.

In an embodiment of the present invention, the other side of the output block is coupled to another actuator, or is coupled to a connection portion that accommodates the other actuator, and the wire drawn out to the other side of the output block through the opening is connected to the other actuator. It can be connected in a daisy chain method.

In an embodiment of the present invention, the wiring guide groove may be formed on one side of the output block so as to open in a direction perpendicular to the extending direction of the opening.

In an embodiment of the present invention, the wiring may transmit power or a signal to the motor, and maintain a bent state in the wiring receiving space by contact with the wiring guide groove and the case.

In an embodiment of the present invention, the drive module includes a motor; And it may include a gear module for connecting the motor and the output terminal.

In an embodiment of the present invention, the case is coupled to the housing, the housing coupling portion is formed with a wiring passage groove forming a passage of the wiring together with the outer surface of the housing; And a hole is formed integrally with the housing coupling portion, the other side of the output block is formed, and the wiring between the outer side of the output block connecting one side of the output block and the other side of the output block. It may include; a case body forming a receiving space.

In an embodiment of the present invention, further comprising; a locking protrusion formed on the case body, the rotation angle of the locking protrusion formed on the other actuator and the locking protrusion formed on the case body may be restricted according to the rotation of the output unit. .

In order to achieve the above technical problem, another embodiment of the present invention provides a multi-joint mechanism having an actuator. The multi-joint mechanism is a plurality of actuators provided at each joint, each actuator comprising a housing and a drive module accommodated in the housing and having an output terminal exposed from the housing; A wiring processing unit provided between the plurality of actuators; And one end is electrically connected to the drive module of one actuator, and is a wire extending along the outer surface of the housing, bent in the wiring receiving space of the wiring processing unit, and then withdrawn through the opening of the wiring processing unit It includes; wiring that is electrically connected to the other actuator.

In an embodiment of the present invention, the wiring processing unit is an output block coupled to the output terminal of the driving module and rotates together with the output terminal, wherein the opening is the output block from one side of the output block facing the output terminal. An output block extending to penetrate to the other side and having a wiring guide groove formed on one side of the output block to guide the wiring from the wiring accommodation space to the opening side; And a case in which the output block is covered to cover the output block so that the other side of the output block is exposed and the wiring receiving space is formed. The other side of the output block is coupled to the other actuator, or the other actuator is connected. It is coupled to the receiving connection, and the wire drawn out to the other side of the output block through the opening may be connected in a daisy chain manner to the other actuator.

According to an embodiment of the present invention, by connecting the actuators while the wiring processing unit provides the wiring accommodation space, exposure of the wirings in the articulated apparatus can be significantly reduced, and operational interference can be prevented.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 (a) and 1 (b) are views for comparing a robot having an actuator having a wiring receiving space according to an embodiment of the present invention with a conventional robot.
2 (a) and 2 (b) are diagrams for comparing an actuator having a wiring receiving space according to an exemplary embodiment of the present invention and a conventional actuator.
3 and 4 are diagrams for explaining a multi-joint mechanism having an actuator according to an embodiment of the present invention.
5 is a view for explaining an example of a method in which wiring is processed in an actuator having a wiring receiving space according to an embodiment of the present invention.
6 (a) to 8 (b) are views for explaining the operation of an actuator having a wiring receiving space according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and thus is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and like reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member in between. "It also includes the case where it is. Also, when a part “includes” a certain component, this means that other components may be further provided instead of excluding other components, unless otherwise stated.

The terms used herein are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and that one or more other features are present. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

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

1 (a) and 1 (b) are diagrams for comparing a robot having an actuator having a wiring receiving space according to an embodiment of the present invention and a conventional robot. 2 (a) and 2 (b) are diagrams for comparing an actuator having a wiring receiving space according to an embodiment of the present invention and a conventional actuator.

Referring to FIG. 2 (b), an actuator 100 (hereinafter, an actuator) having a wiring accommodation space according to an embodiment of the present invention includes a housing 102 (refer to FIG. 3), a driving module, a wiring 88, and wiring It includes a processing unit 300.

The driving module is accommodated in the housing 102 and may have an output terminal 50 (see FIG. 4) exposed from the housing 102. The driving module may include a motor 12 and a gear module 24 connecting the motor 12 and the output terminal 50 (see FIG. 5).

One end of the wiring 88 is electrically connected to the driving module and may be exposed outside the housing 102. The wiring processing unit 300 may be coupled to the housing 102 at the output end side.

The wiring processing unit 300 may have an opening 315 (see FIG. 4) corresponding to the output terminal 50 and a wiring accommodation space 359 (see FIG. 5) formed around the opening 315. The wiring 88 extends along the outer surface of the housing 102, and the wiring 88 has a spare wiring 89 (see FIG. 3) so as not to interfere with the rotation of the output terminal 50, but the spare wiring 89 is It can be accommodated by being bent in the wiring accommodation space 359.

The other end of the wiring 88 may be drawn out of the wiring processing unit 300 through the opening 315. The wiring 88 drawn out through the opening 315 may be connected to another actuator 1001. For example, the wiring 88 may be connected in a daisy chain manner between the actuator 100 and another actuator 1001. Here, the daisy-chain method refers to the configuration of continuously connected hardware devices. For example, when connecting devices A, B, and C, it refers to a bus connection method in which devices A and B are connected, and devices B and C are continuously connected.

It can be seen that the conventional actuator 11 illustrated in FIG. 2 (a) does not include the wiring processing unit 300, and the wiring 88 is exposed to the outside for a long time so as not to interfere with joint movement. have. Due to this, when a conventional actuator 11 is applied to a multi-joint mechanism such as a robot, as illustrated in FIG. 1 (a), the wiring 88 is forced to be exposed to a certain length outside the joint. As a result, it is not good in appearance and may interfere with the function of joints or other motions of the robot.

On the other hand, according to the actuator 100 and the multi-joint mechanism having the same as described above with reference to FIG. 2 (b), the extra wiring 89 required to not interfere with the rotational movement of the joint is the wiring processing unit 300 ), The exposure of the wiring 88 to the outside can be significantly reduced. Accordingly, as illustrated in FIG. 1B, a multi-joint device having a clean appearance and less functional interference, for example, a humanoid robot, may be provided.

3 and 4 are views for explaining the multi-joint mechanism having the actuator 100 according to an embodiment of the present invention. 5 is a view for explaining an example of how the wiring 88 is processed in the actuator 100 having the wiring receiving space 359 according to an embodiment of the present invention.

The multi-joint mechanism may include a plurality of actuators 100 having a wiring receiving space 359. The wiring 88 may connect a plurality of actuators in the daisy chain method described above. For convenience of illustration, two actuators 100 and 1001 are shown in FIGS. 3 and 4, but in the multi-joint mechanism according to this embodiment, three or more actuators are connected to each other with a wiring processing unit 300 therebetween. Can be. For convenience of description, it is referred to as the actuator 100 and other actuators 1001 in FIGS. 3 and 4.

As illustrated in FIG. 5, the drive module may include a motor 12 and a gear module 24 connected to the motor 12 to receive power (eg, a reduction gear module), and the output terminal 50 Connected to the output side of the gear module 24 may be exposed to the outside of the housing 102. The configuration and arrangement of the motor 12, the gear module 24, and the output stage 50 are not limited to the structure illustrated in FIG. 5, and various arrangements and configurations may be possible.

The wiring 88 is electrically connected to the motor 12 to transmit power or control signals to the motor 12. The connection between the motor 12 and the wiring 88 may be performed through a connector formed in the housing 102. The wiring 88 in FIG. 5 may include a plurality of wires, and the wiring 88 is briefly illustrated in FIGS. 3 and 4.

3 to 5, the wiring processing unit 300 may include an output block 310 and a case 350.

The output block 310 is coupled to the output terminal 50 of the driving module and can rotate together with the output terminal 50. The output block 310 and the output terminal 50 may be combined by a method such as screw fastening or adhesive. The above-described opening 315 is formed in the output block 310, and the opening 315 is formed to extend from one side of the output block 310 facing the output terminal 50 to the other side of the output block 310. Can be.

The case 350 may be coupled to the housing 102 while covering the output block 310 so that the other side of the output block 310 is exposed. For example, the case 350 includes a housing coupling part 351 and a case body 352. The housing coupling portion 351 is coupled to the housing 102, and the housing coupling portion 351 may be formed with a wiring passage groove 354 forming a passage of the wiring 88 together with the outer surface of the housing 102. .

The case body 352 may be integrally formed with the housing coupling portion 351, and a hole 355 through which the other side of the output block 310 is exposed is formed. The outer surface of the output block 310 connecting the one side of the output block 310 and the other side of the output block 310 and the inner surface of the case body 352 are separated from each other, and the output block 310 A space between the outer surface and the inner surface of the case body 352 may be a wiring accommodation space 359.

The structure of the case 350 is only an example, and if it is a configuration to form the wiring receiving space 359 between the output block 310, the shape and structure of the case 350 may be variously modified.

In this embodiment, the wiring 88 may be drawn out through the opening 315 in the direction of the extension line of the rotation axis of the output terminal 50. For example, the wiring 88 extends from the outside of the housing 102 and extends to the output end side, extending through the wiring passage groove 354 to the wiring receiving space 359 of the case 350, and of the output block 310. It may be withdrawn through the opening 315.

In this way, in order to guide the wiring 88 in the direction of the extension axis of the output terminal 50, a wiring guide guiding the wiring 88 from the wiring receiving space 359 to one side of the output block 310 toward the opening 315 side Groove 311 may be formed. The wiring guide groove 311 may be formed on one side of the output block 310 to be opened in a direction perpendicular to the extending direction of the opening 315, as shown in FIGS. 4 and 5.

The wiring 88 transmits power or signals to the motor 12, and maintains the above-mentioned bent state in the wiring receiving space 359 by contact with the wiring passage groove 354 and the wiring guide groove 311. In addition, due to the certain clearance wiring 89 accommodated in the wiring accommodation space 359, the rotation between the joint rotation motion of the multi-joint mechanism and the wiring 88 is prevented when the output terminal 50 rotates, and the wiring 88 ) Is significantly reduced long exposure to the outside of the multi-joint mechanism, it is possible to achieve a clean appearance.

The other side of the output block 310 may be coupled to another actuator 1001 or to a predetermined connection 1120 coupled to another actuator 1001. The passage 1130 of the wiring 88 may also be formed in the other actuator 1001 or the connection unit 1120, and the wiring drawn out to the other side of the output block 310 through the opening 315 of the output block 310 ( 88) may be connected to another actuator 1001 by a daisy chain method.

6 (a) to 8 (b) are diagrams for explaining the operation of the actuator 100 having the wiring receiving space 359 according to an embodiment of the present invention. 6 (a) to 8 (b) show a state according to the relative rotation angle between the actuator 100 and another actuator 1001, and show the wiring 88 inside the wiring processing unit 300.

When the alignment state between the actuator 100 and the other actuators 1001 shown in FIGS. 6 (a) and 6 (b) is set as a reference state and a reference value of 0 degrees is given, FIGS. 7 (a) and 7 ( b) is a view showing a rotational state of approximately plus 165 degrees when viewed from a relative rotation angle between the actuator 100 and another actuator 1001. 8 (a) and 8 (b) are views showing a rotation state of approximately minus 165 degrees in the opposite direction to FIG. 7 (a). The rotation angle can be changed as needed.

Since the wiring 88 may be twisted when the axis rotates more than one turn, as illustrated in FIGS. 6 (a) and 6 (b) in the diagonal direction with respect to the origin (for example, the 0 degree state), the locking protrusion ( Example: bolts). For example, the bolt 358 is coupled to the case body 352, and the bolt 1058 is also coupled to the other actuator 1001, as shown in 7 (a) to 8 (b) during excessive rotation. Likewise, by interfering or engaging between the bolts 358 and 1058, it is possible to set a mechanical limit angle of about 165 degrees to minus 165 degrees. In addition to the bolt, it is also possible to simply form the protrusions together when the case body 352 is formed.

As shown in 7 (a) to 8 (b), even if the relative rotation between the actuator 100 and the other actuator 1001 is made, the spare wiring 89 in the wiring accommodation space 359 of the case 350 It is accommodated in this bent state, and the wiring 88 can be rotated together with the output block 310 by the wiring guide groove 311 of the output block 310, so that the wiring 88 interferes with the rotational movement. It does not occur, and the exposure of the wiring 88 to the outside is extremely reduced.

The above description of the present invention is for illustration only, and those skilled in the art to which the present invention pertains can understand that the present invention can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all modifications or variations derived from the meaning and scope of the claims and their equivalent concepts should be interpreted to be included in the scope of the present invention.

12: motor
24: gear module
50: output unit
88: wiring
89: spare wiring
100: actuator
102: housing
300: wiring processing unit
310: output block
311: Wiring guide groove
315: opening
350: case
351: housing coupling
352: case body
354: wiring passage home
355: Hall
359: Wiring accommodation space
1120: connection

Claims (10)

In the actuator having a space for wiring,
housing;
A driving module accommodated in the housing and having an output terminal exposed from the housing;
One end is electrically connected to the drive module, the wiring exposed to the outside of the housing; And
A wiring processing unit coupled to the housing at the output end side, having an opening corresponding to the output end and a wiring accommodation space formed around the opening, and the wiring extending along the outer surface of the housing obstructing rotation of the output end It is characterized in that it comprises; a wiring processing unit so as not to have wiring spare parts, and the wiring spare parts are bent and accommodated in the wiring receiving space, and the other end of the wiring is withdrawn through the opening to the outside of the wiring processing unit. An actuator having a space for wiring.
According to claim 1,
The wiring processing unit,
As an output block coupled to the output terminal of the driving module and rotating together with the output terminal, the opening extends from one side of the output block facing the output terminal to the other side of the output block and extends to one side of the output block. An output block having a wiring guide groove for guiding wiring from the wiring receiving space toward the opening; And
It is coupled to the housing while covering the output block so that the other side of the output block is exposed, the case where the wiring receiving space is formed; actuator having a wiring receiving space, characterized in that it comprises a.
According to claim 2,
The other side of the output block is coupled to another actuator, or coupled to a connection portion coupled to the other actuator, and the wiring drawn out to the other side of the output block through the opening is daisy-chained to the other actuator. An actuator having a wiring receiving space characterized by being connected.
According to claim 2,
The wiring guide groove is an actuator having a wiring receiving space, characterized in that formed on one side of the output block to open in a direction perpendicular to the extending direction of the opening.
According to claim 2,
The wiring is an actuator having a wiring receiving space, characterized in that it transmits power or a signal to the motor and maintains a bent state in the wiring receiving space by contact with the wiring guide groove and the case.
According to claim 2,
The drive module,
motor; And
An actuator having a wiring receiving space, characterized in that it comprises; a gear module for connecting the motor and the output terminal.
According to claim 3,
The case,
A housing coupling portion coupled to the housing and having a wiring passage groove forming a passage of the wiring together with an outer surface of the housing; And
It is formed integrally with the housing coupling portion, and a hole is formed to expose the other side of the output block, and the wire is accommodated between an outer side of the output block connecting one side of the output block and the other side of the output block. Case body forming a space; an actuator having a wiring receiving space characterized in that it comprises a.
The method of claim 7,
Further comprising; a locking protrusion formed on the case body,
An actuator having a wiring receiving space characterized in that a rotation angle is limited by engaging a locking protrusion formed in the other actuator and a locking protrusion formed in the case body according to the rotation of the output unit.
In a multi-joint mechanism having an actuator,
A plurality of actuators provided in each joint, each actuator includes a housing, a plurality of actuators including a drive module accommodated in the housing and having an output terminal exposed from the housing;
A wiring processing unit of claim 1 provided between a plurality of actuators; And
One end is electrically connected to the drive module of one actuator, and is a wire that extends along the outer surface of the housing, and is bent in the wiring receiving space of the wiring processing unit, and then drawn out through the opening of the wiring processing unit Multi-joint mechanism having an actuator, characterized in that it comprises a; wiring that is electrically connected to the other actuator.
The method of claim 9,
The wiring processing unit,
As an output block coupled to the output terminal of the driving module and rotating together with the output terminal, the opening extends from one side of the output block facing the output terminal to the other side of the output block and extends to one side of the output block. An output block having a wiring guide groove for guiding wiring from the wiring receiving space toward the opening; And
Includes a case that is coupled to the housing while covering the output block so that the other side of the output block is exposed, the wiring receiving space is formed;
The other side of the output block is coupled to the other actuator, or coupled to a connection portion coupled to the other actuator, and the wiring drawn out to the other side of the output block through the opening is daisy chained to the other actuator. Multi-joint mechanism having an actuator characterized in that the connection.

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