WO2013180352A1 - Guide-fil et dispositif de commande utilisant ledit guide-fil - Google Patents

Guide-fil et dispositif de commande utilisant ledit guide-fil Download PDF

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Publication number
WO2013180352A1
WO2013180352A1 PCT/KR2012/009537 KR2012009537W WO2013180352A1 WO 2013180352 A1 WO2013180352 A1 WO 2013180352A1 KR 2012009537 W KR2012009537 W KR 2012009537W WO 2013180352 A1 WO2013180352 A1 WO 2013180352A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire guide
driving
motor
wire
driving part
Prior art date
Application number
PCT/KR2012/009537
Other languages
English (en)
Korean (ko)
Inventor
이학용
윤종현
Original Assignee
(주)엠텍
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 (주)엠텍 filed Critical (주)엠텍
Priority to CN201280072967.XA priority Critical patent/CN104487209B/zh
Publication of WO2013180352A1 publication Critical patent/WO2013180352A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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

Definitions

  • the present invention relates to a wire guide, and more particularly to a wire guide and a drive device using the same to prevent the twist of the wire is installed on the robot arm and thereby the connector short circuit.
  • the robot arm as a driving device has been carrying out tasks such as carrying, assembling, welding, etc. in a space that is inaccessible to human beings, but nowadays, it needs high technology because it needs to coexist with humans and provide services. .
  • An object of the present invention for solving the above problems is to provide a wire guide and a drive device using the same to prevent the malfunction of the drive device due to the twist of the wire using the wire guide.
  • the wire guide of the present invention for achieving the above object is composed of a mounting portion for mounting to the drive device, an insertion portion for preventing the drop of the wire, and a connecting portion for connecting the mounting portion and the insertion portion, the insertion portion is an opening for wire insertion It further comprises.
  • the mounting unit may further include an anti-rotation unit to prevent rotation of 360 degrees during a rolling operation of the driving device.
  • the mounting portion and the insertion portion further comprises a screw hole for coupling with the drive device.
  • the driving device using the wire guide of the present invention is located in the first driving unit, the second driving unit, the third driving unit, the fourth driving unit, the fifth driving unit, the first driving unit and connected to the second driving unit to pitch the second driving unit ( A first motor to be pitched, a second motor positioned in the second driving unit and connected to a third driving unit, and a third motor pitched in a third driving unit, and a fourth motor located in the third driving unit and connected to a fourth driving unit A third motor to be pitched, a fourth motor positioned in the fourth driving unit and connected to a fifth driving unit to roll the fifth driving unit, a fifth motor positioned in the fifth driving unit, and the first to fifth motors.
  • 4th wire to help connect wires Jethro comprises the wire guide is characterized by comprising a mounting portion, the insertion portion, connection portion.
  • the fourth wire guide further includes an anti-rotation part and a fourth locking part further includes a locking part to prevent the fourth motor from rotating 360 degrees when the fourth motor is rolled.
  • the surface coupled to the insertion part and the driving device is made in the same shape as the insertion part, characterized in that the opening and closing part is formed by changing only the direction of the opening.
  • the wire guide and the driving device using the same according to the present invention have an effect of preventing malfunction due to wire twist or connector short circuit when the robot arm operates.
  • FIGS. 1A, 1B, and 3C are diagrams illustrating wire guides according to various embodiments of the present disclosure.
  • Figure 2 is a perspective view showing a drive device equipped with a wire guide according to an embodiment of the present invention.
  • FIG. 3 is a view showing the opening and closing portion of the drive device shown in FIG.
  • 4 (a) and 4 (b) are enlarged views of the locking portion of the fourth driving portion and the rotation preventing portion of the fourth wire guide in the driving apparatus shown in FIG. 2.
  • FIG. 5 is a view showing a wire connected in the drive device equipped with a wire guide according to an embodiment of the present invention.
  • the structure of the wire guide 20 is the mounting portion 21, the insertion portion 22 and the mounting portion ( It consists of a connecting portion 23 for connecting between the 21 and the insertion portion 22.
  • the mounting part 21 is fixed to the driving device having a wire, and the shape of the mounting part 21 may vary according to the shape of the driving device to be mounted, and various embodiments thereof are as follows.
  • the mounting portion 21 of the wire guide 20 has a cylindrical shape provided with a screw hole 26, the interior for fixing to the drive device
  • the surface has a square groove with one side open.
  • the mounting portion 21 of the wire guide 20 is the same as (a) having a cylindrical shape provided with a screw hole 26, but in the middle It has a circular hole, one side of the outer peripheral surface is cut off, the plane shape has a 'D' shape.
  • the mounting portion 21 of the wire guide 20 has a cylindrical shape with a screw hole 26 and the center circular hole (a) and The same, but having a circular hole in the middle, it is possible to further include a rotation preventing portion 25 of the projection shape on the upper surface.
  • the insertion portion 22 is formed in the same manner as shown in Figs. 1A, 1B, and 3C.
  • the insertion portion 22 has a ring shape, has a horseshoe shape having an opening portion 24 formed in a part of the side surface, and the opening portion 24 is formed to fit the wire into the insertion portion 22, and with the driving device.
  • a screw hole 26 is provided for fixing.
  • the width w of the opening 24 may vary depending on the thickness or the number of wires to be inserted.
  • the screw in the lower surface direction of the inserting portion 22 passes through the screw hole 26 of the mounting portion 21 and is coupled to the center ring of the inserting portion 22. A hole through which the screw passes is added.
  • the connecting portion 23 is made the same as shown in (a), (b) and (c) of FIG.
  • the connecting portion 23 connects the mounting portion 21 and the insertion portion 22 integrally or assembling between the mounting portion 21 and the insertion portion 22, which is one side of the mounting portion 21 and the insertion portion 22. Connecting to one side of the), the length (h) of the connecting portion 23 may vary depending on the driving device.
  • the driving device in the present embodiment represents a robot arm, which is the first driving unit 100, the second driving unit 200 connected to the first driving unit 100, and the second driving unit 200.
  • the first to fifth driving units 100, 200, 300, 400, and 500 are connected to the first to fifth motors 110, 210, 310, 410, and 510, respectively, and each motor is a wire guide 20. )
  • each wire guide 20 is connected to an adjacent drive unit.
  • the first to fifth motors 110, 210, 310, 410, and 510 configured as described above are connected with one or more wires having connectors at both ends for power supply.
  • the wire guides are arranged using the wire guides 120, 220, 320, and 420.
  • the motor is mounted on one surface of the drive unit, the mounting portion 21 of the wire guide 20 is screwed using the screw hole 26 on one side of the motor.
  • the insertion portion 22 of the wire guide 20 is connected to the adjacent driving portion, in this case the insertion portion 22 in the opening and closing portion 30 that is integrally configured on the side of the driving portion or configured as a separate assembly It is screwed using the screw hole 26 of).
  • the opening and closing portion 30 is the portion connected to the insertion portion 22 is the same as the shape of the insertion portion 22, but only the opening direction is different, the opening and closing portion after inserting the wire in the insertion portion 22 of the wire guide 20 By connecting the drive unit and the wire guide 20 by using the 30 it is possible to fix the wire does not fall out.
  • (a) is a rear view of the locking portion 401 of the fourth driving unit 400 and the rotation preventing portion 25 of the fourth wire guide 420 in the drive device.
  • (b) is a perspective view of the locking portion 401 of the fourth driving unit 400 and the rotation preventing portion 25 of the fourth wire guide 420 in the drive device.
  • the wire guide 20 in which the anti-rotation part 25 of the protrusion shape is added to the upper surface of the mounting portion 21 is used as the fourth wire guide 420.
  • one connector of the wire is plugged into the output terminal of the first motor 110 and inserted into the insertion part 22 through the opening 24 of the first wire guide 120 and then into the input terminal of the second motor 210. Plug in the other end of the wire to connect.
  • one connector of the wire is plugged into the output terminal of the second motor 210 and inserted into the insertion part 22 through the opening 24 of the second wire guide 220 and then to the input terminal of the third motor 310. Plug in the other end of the wire to connect.
  • one connector of the wire is inserted into the output terminal of the third motor 310 and inserted into the insertion part 22 through the opening 24 of the third wire guide 320 and then the input terminal of the fourth motor 410. Plugging the other end of the wire into the connector;
  • one connector of the wire is plugged into the output terminal of the fourth motor 410 and the plug is inserted into the insertion part 22 through the opening 24 of the fourth wire guide 420, and then the input terminal of the fifth motor 510 is inserted. Plug the other end of the wire into the connector.
  • the first motor 110 mounted on the first driving unit 100 is connected to the first wire guide 120 and is operated simultaneously, according to the operation of the first motor 110 and the first wire guide 120.
  • the second driving parts 200 connected to each of the plurality of driving parts 200 are pitched to be lifted in the direction of the first driving part 100 or lowered to their original positions.
  • the wire connected to the output terminal of the first motor 110 and inserted into the insertion part 22 of the first wire guide 120 is connected to the wire between the first driving part 100 and the second driving part 200. It can prevent twisting and falling off of the connector, and does not interfere with the movement of the device.
  • the operations of the second and third driving units 200 and 300 and the second and third motors 210 and 310 are the same as those of the first driving unit 100 and the first motor 110.
  • the effect of the wire guide 320 is equally applied.
  • the rotating shaft of the fourth motor 410 mounted on the fourth driving part 400 is mounted to be perpendicular to the rotating shafts of the first to third motors 110, 210, and 310 to roll the fifth driving part 500.
  • the anti-rotation part 25 of the fourth wire guide 420 mounted on the fourth motor 410 is caught by the locking part 401 of the fourth driving part 400 so that the wire is not rotated 360 degrees. Not twisted

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un guide-fil et un dispositif de commande utilisant ledit guide-fil. Le guide-fil comprend une unité d'insertion qui empêche que la partie montage du fil montée sur le dispositif de commande ne se détache, et une unité de connexion qui connecte la partie montage à l'unité d'insertion. L'unité d'insertion présente par ailleurs un orifice à travers lequel un fil est inséré.
PCT/KR2012/009537 2012-05-29 2012-11-13 Guide-fil et dispositif de commande utilisant ledit guide-fil WO2013180352A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201280072967.XA CN104487209B (zh) 2012-05-29 2012-11-13 导线器及利用该导线器的驱动装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020120056640A KR101348404B1 (ko) 2012-05-29 2012-05-29 와이어가이드 및 그를 이용한 구동장치
KR10-2012-0056640 2012-05-29

Publications (1)

Publication Number Publication Date
WO2013180352A1 true WO2013180352A1 (fr) 2013-12-05

Family

ID=49673517

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/009537 WO2013180352A1 (fr) 2012-05-29 2012-11-13 Guide-fil et dispositif de commande utilisant ledit guide-fil

Country Status (3)

Country Link
KR (1) KR101348404B1 (fr)
CN (1) CN104487209B (fr)
WO (1) WO2013180352A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101619493B1 (ko) 2014-08-14 2016-05-10 주식회사 스마트로봇 스위블 어댑터
JP6511939B2 (ja) * 2015-04-27 2019-05-15 セイコーエプソン株式会社 ロボット
CN105522563A (zh) * 2016-01-21 2016-04-27 珠海格力电器股份有限公司 多关节机器人
CN105563477A (zh) * 2016-01-29 2016-05-11 坚毅机械工程(高要)有限公司 一种旋转适配器及具有该旋转适配器的机械手
CN108436971A (zh) * 2018-03-20 2018-08-24 厦门宏发工业机器人有限公司 一种过线导向组件
WO2021056395A1 (fr) * 2019-09-27 2021-04-01 瑞湾科技（珠海）有限公司 Tendeur de dispositif de commande d'ions d'électrode en fil et procédé de commande de tension de fil

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970062956U (ko) * 1996-05-18 1997-12-11 와이어링 클립
KR19980035463U (ko) * 1996-12-12 1998-09-15 박병재 다용도 클램프 구조물
KR20040051823A (ko) * 2002-12-13 2004-06-19 현대자동차주식회사 차량 에어컨 파이프의 클램프
JP3672101B2 (ja) * 2001-12-28 2005-07-13 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
JP2009531189A (ja) * 2006-03-28 2009-09-03 スル チョイ，グァン 産業用ロボットのケーブル調節装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000117570A (ja) 1998-10-09 2000-04-25 Toyoda Mach Works Ltd 旋回体における配管・配線装置
KR20020048059A (ko) * 2000-12-15 2002-06-22 이계안 클램프
JP4038217B2 (ja) * 2005-07-14 2008-01-23 ファナック株式会社 産業用ロボットの線条体処理構造
GB0701223D0 (en) * 2007-01-22 2007-02-28 Airbus Uk Ltd Cable routing clip
JP4812663B2 (ja) * 2007-03-13 2011-11-09 株式会社日本クライメイトシステムズ クリップ
CN201582253U (zh) * 2009-08-31 2010-09-15 重庆长安汽车股份有限公司 一种汽车油门和离合拉索共用卡子

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970062956U (ko) * 1996-05-18 1997-12-11 와이어링 클립
KR19980035463U (ko) * 1996-12-12 1998-09-15 박병재 다용도 클램프 구조물
JP3672101B2 (ja) * 2001-12-28 2005-07-13 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
KR20040051823A (ko) * 2002-12-13 2004-06-19 현대자동차주식회사 차량 에어컨 파이프의 클램프
JP2009531189A (ja) * 2006-03-28 2009-09-03 スル チョイ，グァン 産業用ロボットのケーブル調節装置

Also Published As

Publication number Publication date
CN104487209A (zh) 2015-04-01
CN104487209B (zh) 2016-08-24
KR101348404B1 (ko) 2014-01-09
KR20130133418A (ko) 2013-12-09

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