KR950026629A - Rotor body structure for wire protection - Google Patents

Rotor body structure for wire protection Download PDF

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Publication number
KR950026629A
KR950026629A KR1019940006734A KR19940006734A KR950026629A KR 950026629 A KR950026629 A KR 950026629A KR 1019940006734 A KR1019940006734 A KR 1019940006734A KR 19940006734 A KR19940006734 A KR 19940006734A KR 950026629 A KR950026629 A KR 950026629A
Authority
KR
South Korea
Prior art keywords
rotating
rotating shaft
fixed
motor
wire cable
Prior art date
Application number
KR1019940006734A
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Korean (ko)
Other versions
KR100309261B1 (en
Inventor
이의훈
Original Assignee
경주현
삼성중공업 주식회사
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Publication date
Application filed by 경주현, 삼성중공업 주식회사 filed Critical 경주현
Priority to KR1019940006734A priority Critical patent/KR100309261B1/en
Publication of KR950026629A publication Critical patent/KR950026629A/en
Application granted granted Critical
Publication of KR100309261B1 publication Critical patent/KR100309261B1/en

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Classifications

    • 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

Abstract

본 발명은 산업용로보트의 회전체구조에 관한 것으로, 특히 회전부의 축심과 전선케이블의 중심을 일치시켜 회전체의 회전시 회전부와 고정부에 고정된 전선의 비틀림 및 굽힘을 감소시킴으로써 단선을 방지할 수 있는 전선보호를 위한 로보트의 회전구조체에 관한 것이다. 본 장치는 모터와 평행하게 회전축을 설치하고 두 축간에 벨트로 연결하여 구동한다. 이 회전축 위에 중공타입의 하모닉 드라이브기어를 삽입고정한다. 하모닉 드라이브기어에 회전부를 고정하여 회전시킨다. 이때, 하모닉 드라이브기어의 감속비에 따라 모터의 출력을 감속하여 회전부는 회전하게 된다. 특히, 전선 케이블은 회전축의 중공으로 삽통하여 회전부에 고정된다. 한편, 회전시 전선케이블이 고속으로 회전하는 회전축과 접촉되지 않도록 케이블 보호부재를 회전축과 전선케이블 사이에 삽입하여 전선을 보호한다. 이와 같은 본 장치는 회전부의 축심과 전선케이블의 중심을 일치시킴으로써 전선의 비틀림 및 굽힘을 현저히 감소시켜 단선을 방지할 수 있는 효과를 갖는다.The present invention relates to a rotating body structure of an industrial robot, in particular, by matching the center of the axis of the rotating part and the wire cable to reduce the twisting and bending of the wire fixed to the rotating part and the fixed part during the rotation of the rotating body can prevent the disconnection The rotating structure of the robot for protecting the electric wires. The device is installed by rotating shaft parallel to the motor and connected by two belts. A hollow harmonic drive gear is inserted into this shaft. The rotating part is fixed to the harmonic drive gear and rotated. At this time, the rotation unit rotates by decelerating the output of the motor according to the reduction ratio of the harmonic drive gear. In particular, the electric wire cable is inserted into the hollow of the rotating shaft and fixed to the rotating portion. Meanwhile, the cable protection member is inserted between the rotating shaft and the wire cable to protect the wires so that the wire cable does not come into contact with the rotating shaft rotating at high speed during rotation. The present apparatus has the effect of significantly reducing the twisting and bending of the electric wires by preventing the disconnection of the electric wires by matching the axis of the rotating part with the center of the electric wire cable.

Description

전선보호를 위한 로보트의 회전체구조Rotor body structure for wire protection

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 일반적인 로보트의 회전체구조에 있어서의 전손고정방법을 설명하기 위한 로보트 베이스의 구조도.1 is a structural diagram of a robot base for explaining a total loss fixing method in the structure of a general robot rotating body.

제2(가)도 및 제2(나)도는 제1장치의 회전시 전선의 비틀림 및 굽힘을 설명하기 위한 작동설명도.2 (a) and 2 (b) are operation explanatory diagrams for explaining twisting and bending of electric wires when the first device is rotated.

제3도는 본 발명에 따른 로보트의 회전체구조를 나타낸 구조도.Figure 3 is a structural diagram showing the structure of the rotating body of the robot according to the present invention.

제4(가)도 및 제4(나)도는 본 발명에 따른 로보트의 회전체구조에서 회전부의 회전시 전선의 비틀림 및 굽힘 상태를 설명하기 위한 작동설명도.4 (a) and 4 (b) is an operation explanatory diagram for explaining the twisting and bending state of the wire during the rotation of the rotating part of the rotating body structure of the robot according to the present invention.

Claims (4)

전선이 통과하여 고정되는 고정부와 회전부를 갖는 회전형 관절부를 구비한 산업용 로보트에 있어서, 구동력을 발생시키는 모터를 구비한 고정부；상기 고정부에 제1베어링을 통해 지지되고 상기 모터의 구동력으로 회전하며 상기 전선을 내부에 수용하는 중공을 갖는 회전축과, 상기 회전축을 내부로 수용하여 결합되며 회전축의 회전력을 감속하는 하모닉 드라이브 기어를 구비한 회전부를 포함하는 전선보호를 위한 로보트의 회전체 구조.An industrial robot having a fixed joint and a rotating joint having a rotating unit, through which electric wires are fixed, comprising: a fixed unit having a motor for generating a driving force; a fixed unit supported by the fixed unit through a first bearing and driven by a driving force of the motor. Rotating structure of a robot for wire protection comprising a rotating shaft having a hollow for rotating the wire to receive the inside, and a rotating portion having a harmonic drive gear coupled to receive the rotating shaft therein to reduce the rotational force of the rotating shaft. 제1항에 있어서, 상기 모터의 구동력은 상기 모터의 구동축에 결합된 제1벨트풀리, 상기 회전축에 결합된 제2벨트풀리 및, 상기 제1벨트풀리 및 상기 제2벨트풀리를 연결하는 벨트에 의해 상기 회전축에 전달되는 것을 특징으로 하는 전선보호를 위한 회전체구조.According to claim 1, The driving force of the motor is coupled to the first belt pulley coupled to the drive shaft of the motor, the second belt pulley coupled to the rotating shaft, and the belt connecting the first belt pulley and the second belt pulley Rotating structure for electric wire protection, characterized in that the transmission to the rotating shaft by. 제1항에 있어서, 상기 회전부는 제2베어링을 통해 상기 회전축에 결합된 상부 베어링하우징을 더 포함하는 것을 특징으로 하는 전선보호를 위한 회전체구조.The rotating body structure of claim 1, wherein the rotating part further comprises an upper bearing housing coupled to the rotating shaft through a second bearing. 제3항에 있어서, 상기 회전축의 내면과 상기 전선 사이에는 전선을 내부에 수용하고, 상기 상부 베어링하우징에 일단 이 결합된 케이블 보호부재를 더 귀하고 있는 것을 특징으로 하는 전선보호를 위한 회전체구조.4. The rotating body structure according to claim 3, wherein a cable protecting member once housed between the inner surface of the rotating shaft and the electric wire and further connected to the upper bearing housing is more precious. . ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940006734A 1994-03-31 1994-03-31 Structure of rotating member of robot for protecting wire cable KR100309261B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019940006734A KR100309261B1 (en) 1994-03-31 1994-03-31 Structure of rotating member of robot for protecting wire cable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019940006734A KR100309261B1 (en) 1994-03-31 1994-03-31 Structure of rotating member of robot for protecting wire cable

Publications (2)

Publication Number Publication Date
KR950026629A true KR950026629A (en) 1995-10-16
KR100309261B1 KR100309261B1 (en) 2001-12-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019940006734A KR100309261B1 (en) 1994-03-31 1994-03-31 Structure of rotating member of robot for protecting wire cable

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KR (1) KR100309261B1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101304419B1 (en) * 2011-10-28 2013-09-05 삼성중공업 주식회사 Cable protection apparatus
KR102314360B1 (en) 2016-07-25 2021-10-18 현대중공업지주 주식회사 Inner-Cable Robot
WO2020105754A1 (en) * 2018-11-21 2020-05-28 (주)로보티즈 Actuator having wiring accommodation space and articulated mechanism having same

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