WO2021107620A1 - Robot cable protection device - Google Patents

Robot cable protection device Download PDF

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Publication number
WO2021107620A1
WO2021107620A1 PCT/KR2020/016882 KR2020016882W WO2021107620A1 WO 2021107620 A1 WO2021107620 A1 WO 2021107620A1 KR 2020016882 W KR2020016882 W KR 2020016882W WO 2021107620 A1 WO2021107620 A1 WO 2021107620A1
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WO
WIPO (PCT)
Prior art keywords
cable
robot
ring
coupler
protection device
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PCT/KR2020/016882
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French (fr)
Korean (ko)
Inventor
강영구
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강영구
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Publication of WO2021107620A1 publication Critical patent/WO2021107620A1/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
    • 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

Definitions

  • the present invention relates to a robot cable protection device, which has flexibility in a spiral assembly structure to protect the robot cable and to stably fix the robot cable and the robot to prevent damage by movement or friction of the robot. It relates to a cable protection device for robots.
  • the multi-joint robot for work is provided with six degrees of freedom so that it can take an arbitrary position at any position in space, enabling unmanned work.
  • a multi-joint robot is used for assembly work on a production line in a factory or for efficient work such as painting and welding.
  • Such an articulated robot realizes repetitive and dangerous work with high precision and high productivity.
  • a plurality of articulated robots that are fixed on both sides of the vehicle or that can move by rail guides are arranged to perform a task that satisfies a predetermined welding condition at a predetermined welding point based on a work recipe.
  • the present invention secures flexibility so as not to interfere with the fine movements of the robot joints while fixing the cables that efficiently and organically combine the robot's production activities for the efficient movement of the articulated robot, and partial replacement is possible when the connected link is broken Therefore, we would like to propose a cable protection device for robots that is easy to maintain.
  • the present invention has been devised to solve the above problems, and an object of the present invention is to provide an apparatus for protecting a robot cable.
  • a cable protection device for a robot according to the present invention
  • a cable protection unit 100 that wraps and passes the cable (C) connected to the articulated robot (1), and is provided in a plurality of assembly types and can be partially replaced;
  • the cable protection part 100 is provided so as to be wrapped along a predetermined interval of the outer peripheral surface, and the cable (C) is provided in a plurality of ring shape to penetrate the inside of the breakage prevention ring 200;
  • a robot joint fixing unit 400 provided with a band 420 to be coupled to the robot;
  • breakage prevention ring 200 It is provided at the lower end of the breakage prevention ring 200, and the fastening part 300 for coupling the breakage prevention ring 200 and the robot joint fixing part 400; consists of,
  • the robot joint fixing unit 400 The robot joint fixing unit 400,
  • a non-slip member 440 for generating a frictional force to prevent sliding When coupled to one side of the robot, a non-slip member 440 for generating a frictional force to prevent sliding; characterized in that it is further provided.
  • the present invention can improve the life and fixing force of the cable by applying a rubber method for fixing the robot cable.
  • the present invention can provide a cable protection device for a robot in which the fixing force is strengthened when the cable protection part and the robot arm are matched.
  • the present invention can provide a cable protection device for a robot that can be assembled in various shapes of the robot arm.
  • the present invention can provide a cable protection device for a robot that can respond more flexibly to various movements of the robot.
  • an anti-wear ring is provided in a section where direct friction between the cable and the robot is generated to improve lifespan.
  • the present invention can be fixed and assembled without a separate spanner by providing a groove identical to the hexagonal shape of the bolt at the position where the bolt and the nut are assembled.
  • the cable protection device for the robot according to the present invention is provided in an assembly structure such that the cable protection part 100 is provided in a spiral to secure flexibility, and can be replaced at regular intervals, so that maintenance is easy.
  • FIG 1 is an overall perspective view of the robot cable (C) protection device of the present invention.
  • FIG. 2 is a perspective view showing the cable protection unit 100 in detail.
  • 3 is another perspective view of the cable protection unit 100 .
  • FIG 4 is a view showing the coupling form of the cable lower coupler 110 and the cable upper coupler 120.
  • FIG. 5 is a view showing the shape of the nut seating hole 133 and the bolt seating hole 134 of the protective coupler 130 .
  • FIG. 6 is a perspective view showing the breakage prevention ring 200, the fastening part 300 and the robot joint fixing part 400.
  • FIG. 7 is a perspective view showing the damage prevention ring 200 in detail.
  • FIG 8 is a view showing the coupling form of the breakage prevention ring (200).
  • FIG 9 is a view showing a form in which the bingji ring coupler 230 is combined with the cable (C).
  • FIG. 10 is a view showing the rotational form of the breakage prevention ring 200 by the fastening part 300 .
  • 11 is a view showing the robot joint fixing unit 400 in detail.
  • FIG. 12 is a view showing a form in which the robot cable (C) protection device and the robot arm of the present invention are combined and rotated.
  • FIG 13 is another view showing a form in which the robot cable (C) protection device and the robot arm of the present invention are combined and rotated.
  • the robot cable (C) protection device of the present invention consists of a cable protection unit 100 , a breakage prevention ring 200 , a fastening unit 300 , and a robot joint fixing unit 400 .
  • the cable protection unit 100 is provided in a spiral shape to wrap and pass the cable (C) connected to the articulated robot 1, and is provided in a plurality of assembly types along the longitudinal direction at predetermined intervals to enable partial replacement.
  • the cable protection part 100 is to protect the cable C that efficiently and organically combines the production activities of the robot for efficient movement of the articulated robot 1, and as shown in FIGS. 2 and 3, It consists of a spiral part 140 , a cable lower coupler 110 , a cable upper coupler 120 , and a protective coupler 130 .
  • the spiral portion 140 is provided in a spiral shape along the longitudinal direction to surround the cable (C) connected to the articulated robot (1), and the cable (C) is provided to pass through the inside of the spiral portion (140).
  • the spiral portion 140 is preferably provided at a predetermined pitch interval of 150 mm. If the pitch interval is less than 150mm, since it is necessary to install a plurality of the cable lower coupler 110 and the cable upper coupler 120, there are many connecting parts, which may cause a problem that the strength of the connecting part is weakened. , when the pitch interval exceeds 150mm, the one pitch may become too long and a problem of colliding with the robot arm may occur, so it is preferable to carry out under the above conditions.
  • the cable lower coupler 110 is provided at the distal end of the spiral portion 140 at a predetermined interval, and rotates from the lower part to the upper part so as to engage and couple with the cable upper coupler 120 .
  • the cable upper coupler 120 is provided at the other end of the predetermined interval of the spiral portion 140 and rotates from the upper to the lower so as to engage and couple with the lower cable coupler 110 .
  • the cable lower coupler 110 includes a first lower convex sphere 111 , a cable nut coupler 112 , a second lower convex sphere 113 and a lower end seat hole ( 114) ( FIG. 3 ), and as shown in FIG. 4 , the cable upper coupling hole 120 includes a first upper recessed member 121 , a cable bolt coupling member 122 , and a second upper recessed member 123 . ) and an upper seat hole 124 .
  • first lower convex sphere 111 and the second lower convex sphere 113 are provided in a convex shape
  • the first upper concave sphere 121 and the second upper concave sphere 123 are provided in a concave shape. configured to combine.
  • the cable nut coupler 112 and the cable bolt coupler 122 are shown in more detail in FIG. 5 .
  • the cable nut coupling hole 112 is provided between the first lower convex sphere 111 and the second lower convex sphere 113 and is provided in a circular shape identical to the shape of the cable protection nut 131 to be described below.
  • the cable protection nut 131 may be seated.
  • the cable bolt coupling hole 122 is provided between the first upper concave sphere 121 and the second upper concave sphere 123 and has the same hexagonal shape as the cable protection bolt 132 to be described below.
  • the cable protection bolt 132 can be seated therein, so that it can be fixed and assembled without a separate spanner.
  • the cable lower coupler 110 and the upper cable coupler 120 are coupled to each other.
  • the protective coupler 130 to be described below is coupled to provide a space so that the different spiral parts 140 can be coupled in the vertical axis direction by the cable protection nut 131 and the cable protection bolt 132 .
  • the protective coupler 130 is provided to be coupled to the cable protection nut 131 and the cable protection bolt 132 after the cable lower coupler 110 and the cable upper coupler 120 are coupled. More specifically, as shown in FIGS. 4 and 5 , the protective coupler 130 includes a cable protection nut 131 and a cable protection bolt 132 . As shown in Figure 4 (b), the cable protection nut 131 is inserted through the groove of the lower mounting hole 114 is seated in the cable nut coupling hole 112, the cable protection bolt 132 is inserted through the groove of the upper end seating hole 124 and is seated on the cable bolt coupling hole 122 .
  • the cable lower coupler 110 and the cable upper coupler 120 are provided in opposite shapes, so that the cable lower coupler 110 provided at any one pitch and the cable (C) upper coupling part of another pitch are provided in opposite shapes. may be interlocked and coupled to each other.
  • the different helical parts 140 are double coupled through the protective coupling hole 130 .
  • the breakage prevention ring 200 is provided so as to wrap along a predetermined interval of the outer peripheral surface of the cable protection part 100, the cable (C) is provided in plurality in the form of a ring so as to penetrate the inside.
  • the breakage prevention ring 200 as shown in FIG. 12, can improve the lifespan of the robot arm by preventing it from being worn in a section in which direct friction with the robot arm occurs.
  • the anti-break ring 200 is a ring lower coupler 210, a ring upper coupler 220, an anti-ring coupler 230, a cable fixture 240, and a cable protection. It is composed of protrusions 250 .
  • the prevention ring coupling sphere 230 is composed of an prevention ring coupling bolt 231 and an prevention ring coupling nut 232 .
  • the prevention ring coupling bolt 231 is provided in the form of a bolt for coupling of the breakage prevention ring, and the prevention ring coupling bolt 231 is inserted through the ring bottom seat hole 214 to be described below, and the prevention ring coupling nut 232 is provided in the form of a nut, and the anti-ring coupling nut 232 is inserted through the ring upper end seat 224 to be described below.
  • the ring lower coupler 210 is coupled to the ring upper coupler 220, as shown in FIG. 8 (a).
  • the ring lower end coupling hole 210 is composed of a first concave groove 211, a bolt coupling groove 212, a first convex groove 213 and a ring lower end seat hole 214, and the ring upper end coupler 220 ) is composed of a second convex groove 221 , a nut coupling groove 222 , a second concave groove 223 , and a ring upper end seating hole 224 .
  • the first concave groove 211 is coupled to the second convex groove 221 , and the first convex groove 213 is coupled to the second concave groove 223 to form the ring lower end coupling hole 210 and The ring top coupler 220 is coupled first.
  • the nut coupling groove 222 is provided in the same shape as the nut of the prevention ring coupling nut 232, and the prevention ring coupling nut 232 is provided in the nut coupling groove 222.
  • the bolt coupling groove 212 is provided to have the same bolt shape as the prevention ring coupling bolt 231 and fixes the prevention ring coupling bolt 231 to the bolt coupling groove 212 .
  • the coupling of the anti-breakage ring 200 is completed by combining the prevention ring coupling nut 232 and the prevention ring coupling bolt 231.
  • the cable fixing hole 240 has a cable fixing groove 241 in which holes at regular intervals are provided so that a plurality of cables C passing through the inside of the cable protection unit 100 pass through one by one.
  • the cable fixture 240 is preferably made of a rubber material to secure the cable (C) but protect the cable (C).
  • the cable protection protrusion 250 is provided to better protect the cable (C). That is, it serves to support the cable (C) passing through the inside of the cable protection part 100 to the inside so that the cable protection protrusion 250 is not bent downward.
  • the fastening part 300 is provided at the lower end of the breakage prevention ring 200 to couple the breakage prevention ring 200 and the robot joint fixing part 400 .
  • the fastening part 300 includes a side hook 310 , a ring rotating sphere 320 , a rotating bearing 330 , and a bearing protector 340 .
  • the side hook 310 is extended and connected to the lower end of the breakage prevention ring 200 and is provided with a step in a narrow form with respect to the vertical axis compared to the breakage prevention ring 200.
  • the breakage prevention ring 200 restrict lateral movement of
  • the ring rotating sphere 320 is extended to the lower end of the side hook 310 and has a lower portion provided in the form of a ball so that it can be rotated 360° by the ring rotating sphere 320 .
  • the rotating bearing 330 is rotated by 360° around the vertical axis of the breakage prevention ring 200 by inserting a portion of the lower end of the ring rotating sphere 320 .
  • the bearing protector 340 is provided to surround the rotating bearing 330 and is provided to be wider than the rotating bearing 330 to protect the rotating bearing 330 .
  • the side engaging member 310 and the rotating bearing 330 are partially spaced apart, and a step is provided between the side engaging member 310 and the ring rotating member 320, so that the lateral movement of the breakage prevention ring 200 is delayed.
  • a lock is formed by the bearing protector 340 so as not to exceed the set angle of 10° left and right.
  • the robot joint fixing part 400 is provided with a band 420 to be coupled to the robot.
  • the robot joint fixing unit 400 includes a band connector 410 , a band 420 , a fixing bolt sphere 430 , and an anti-slip device 440 .
  • the band connector 410 is provided on one side of the bearing protector 340 and a ring is provided so that the band 420 can be caught, so that the band 420, the cable protector 100, and the breakage prevention ring 200 ) and the fastening part 300 are connected.
  • the band 420 is preferably a Velcro band 420 method so that it can be assembled in various robot shapes.
  • the non-slip device 440 generates a frictional force to prevent sliding when coupled to one side of the robot.
  • the non-slip sphere 440 includes a connection seating sphere 441 and a lower convex sphere 442 .
  • the connection seating hole 441 is provided so that the bearing protection device 340 is seated, and the lower convex hole 442 is provided in a convex shape at the lower end of the connection seating hole 441, so that the band ( After the 420) is coupled, the coupling with the robot arm is further strengthened.
  • the non-slip device 440 is provided with a rubber pad to strengthen the fixing force during mating with the robot arm.
  • the fixing bolt hole 430 is fixed with a bolt for a firm coupling when the bearing protection device 340 is seated on the connection seating hole 441 .
  • the present invention can improve the lifespan and fixing force of the cable (C) by applying a rubber method for fixing the robot cable (C).
  • the present invention can provide a robot cable (C) protection device in which the fixing force is strengthened when the cable (C) protection part and the robot arm are matched.
  • the present invention can provide a robot cable (C) protection device that can be assembled in various shapes of the robot arm.
  • the present invention can provide a robot cable (C) protection device that can more flexibly respond to various movements of the robot.
  • the present invention can improve the life of the cable (C) is provided with an anti-wear ring in the section where direct friction with the robot occurs.
  • the present invention can be fixed and assembled without a separate spanner by providing a groove identical to the hexagonal shape of the bolt at the position where the bolt and the nut are assembled.
  • the robot cable (C) protection device of the present invention is provided in an assembly structure so that the cable protection part 100 is spirally provided to secure flexibility, and to be replaced at regular intervals, so that maintenance is easy.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a robot cable protection device, and to a robot cable protection device having flexibility through a spiral assembly structure so as to protect a robot cable (C), and stably fixing the robot cable (C) to a robot so that damage caused by the movement of the robot or friction can be prevented. A robot cable (C) protecting device according to the present invention comprises: a plurality of cable protection parts (100) which are provided in a spiral shape so as to encompass the cable (C) connected to an articulated robot (1) and allow same to pass therethrough, and which are provided in an assembly form in a longitudinal direction at preset intervals so as to be partially replaceable; a plurality of damage prevention rings (200) which encompass the outer peripheral surfaces of the cable protection parts (100) at predetermined intervals, and which are provided in an annular shape so that the cable (C) passes through the inside thereof; robot joint fixing parts (400) having bands (420) so as to be coupled to the robot; and fastening parts (300) provided at the lower ends of the damage prevention rings (200) so as to couple the damage prevention ring (200) and the robot joint fixing part (400), wherein the robot joint fixing part (400) further has an anti-slip piece (440) for generating frictional force so as to prevent slipping when the robot joint fixing part is coupled to one side of the robot.

Description

로봇용 케이블 보호 장치Cable protection device for robots
본 발명은 로봇용 케이블 보호 장치에 관한 것으로, 나선형 조립 구조로 유연성이 마련되어 있어 로봇용 케이블을 보호하고 로봇용 케이블과 로봇을 안정적으로 고정하여 로봇의 움직임이나 마찰에 의해 파손되는 것을 방지할 수 있는 로봇용 케이블 보호 장치에 관한 것이다. The present invention relates to a robot cable protection device, which has flexibility in a spiral assembly structure to protect the robot cable and to stably fix the robot cable and the robot to prevent damage by movement or friction of the robot. It relates to a cable protection device for robots.
작업용 다관절 로봇은 공간 내 임의의 위치에서 임의의 자세를 취할 수 있도록 6개의 자유도가 마련되어 무인 작업을 가능하게 한다. 일반적으로 로봇은 공장의 생산라인에서 조립 작업을 하거나 도장 및 용접 등에서 효율적인 작업을 위해 다관절 로봇이 사용되고 있다. The multi-joint robot for work is provided with six degrees of freedom so that it can take an arbitrary position at any position in space, enabling unmanned work. In general, a multi-joint robot is used for assembly work on a production line in a factory or for efficient work such as painting and welding.
이러한 다관절 로봇은 반복적이고 위험한 작업을 높은 정밀도와 높은 생산성으로 실현하는데, 예를 들어, 스폿용접용 툴을 작업툴로 이용하는 작업용 다관절 로봇을 이용해 차량 또는 철도 차량의 제조라인에 용접하는 경우에는, 차량 양측에 고정되거나 레일 안내에 의한 이동이 가능한 복수의 다관절 로봇이 나열되어 작업 레시피에 의거하여 소정의 용접 지점에 소정의 용접 조건을 만족시키는 작업을 하게 된다. Such an articulated robot realizes repetitive and dangerous work with high precision and high productivity. For example, when welding on a vehicle or rail vehicle manufacturing line using a work articulated robot using a spot welding tool as a work tool, , a plurality of articulated robots that are fixed on both sides of the vehicle or that can move by rail guides are arranged to perform a task that satisfies a predetermined welding condition at a predetermined welding point based on a work recipe.
그러나 종래의 다관절 로봇은 로봇 관절의 회전시 케이블 어셈블리의 외피가 로봇 몸체에 빈번하게 접촉되어 케이블의 마모가 발생되어 손상되거나, 로봇 작동시에 케이블이 감기게 되는데 로봇암들과의 간섭 및 마찰로 인해 큰 각도로 회전하는데 제약을 받는 문제점이 있다. However, in the conventional articulated robot, when the robot joint rotates, the outer skin of the cable assembly frequently comes into contact with the robot body, resulting in abrasion of the cable and damage, or the cable is wound during robot operation. Interference and friction with robot arms Due to this, there is a problem in that rotation at a large angle is restricted.
따라서 본 발명은 다관절 로봇의 효율적인 움직임을 위해 로봇의 생산 활동을 효율적 및 유기적으로 결합시키는 케이블을 고정하면서 로봇 관절의 미세한 움직임을 방해하지 않도록 유연성을 확보하고 연결된 링크가 파손 될 때 부분 교체가 가능하여 유지 보수가 유리한 로봇용 케이블 보호 장치를 제안하고자 한다. Therefore, the present invention secures flexibility so as not to interfere with the fine movements of the robot joints while fixing the cables that efficiently and organically combine the robot's production activities for the efficient movement of the articulated robot, and partial replacement is possible when the connected link is broken Therefore, we would like to propose a cable protection device for robots that is easy to maintain.
본 발명은 상기의 문제점을 해결하기 위해서 안출된 것으로서, 본 발명의 목적은 로봇 케이블을 보호하는 장치를 제공하는 것이다. The present invention has been devised to solve the above problems, and an object of the present invention is to provide an apparatus for protecting a robot cable.
또한, 본 발명의 목적은 로봇 케이블의 고정을 위해 고무 방식 적용으로 케이블의 수명 및 고정력을 향상시킬 수 있는 장치를 제공하는 것이다. In addition, it is an object of the present invention to provide a device capable of improving the life and fixing force of the cable by applying a rubber method for fixing the robot cable.
또한, 본 발명의 목적은 케이블 보호 부분과 로봇암의 형합 시 고정력이 강화된 장치를 제공하는 것이다.In addition, it is an object of the present invention to provide a device in which the fixing force is strengthened when the cable protection part and the robot arm are matched.
또한, 본 발명의 목적은 로봇암의 다양한 형체에 조립 가능한 장치를 제공하는 것이다. It is also an object of the present invention to provide a device that can be assembled into various shapes of a robot arm.
또한, 본 발명의 목적은 로봇의 다양한 움직임에 보다 유연하게 대응 가능한 로봇용 케이블 보호 장치를 제공하는 것이다. In addition, it is an object of the present invention to provide a cable protection device for a robot that can respond more flexibly to various movements of the robot.
발명이 해결하고자 하는 기술적 과제들은 이상에서 언급한 기술적 과제들로 제한되지 않으며, 언급되지 않은 또 다른 기술적 과제들은 아래의 기재로부터 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 명확하게 이해될 수 있을 것이다.The technical problems to be solved by the invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able
본 발명에 따른 로봇용 케이블 보호 장치는,A cable protection device for a robot according to the present invention,
다관절 로봇(1)에 연결되는 케이블(C)을 감싸며 통과시키고, 다수개의 조립형으로 마련되어 부분 교체가 가능한 케이블보호부(100);A cable protection unit 100 that wraps and passes the cable (C) connected to the articulated robot (1), and is provided in a plurality of assembly types and can be partially replaced;
상기 케이블보호부(100) 외주면의 일정 간격을 따라 감싸도록 마련하되, 상기 케이블(C)이 내부를 관통하도록 링 형태로 다수개로 마련된 파손방지링(200);The cable protection part 100 is provided so as to be wrapped along a predetermined interval of the outer peripheral surface, and the cable (C) is provided in a plurality of ring shape to penetrate the inside of the breakage prevention ring 200;
상기 로봇에 결합되도록 밴드(420)가 마련되는 로봇관절고정부(400); 및A robot joint fixing unit 400 provided with a band 420 to be coupled to the robot; and
상기 파손방지링(200)의 하단에 마련되어 상기 파손방지링(200)과 로봇관절고정부(400)를 결합시키는 체결부(300);로 구성되고,It is provided at the lower end of the breakage prevention ring 200, and the fastening part 300 for coupling the breakage prevention ring 200 and the robot joint fixing part 400; consists of,
상기 로봇관절고정부(400)는,The robot joint fixing unit 400,
상기 로봇의 일측에 결합할 때 미끄럼을 방지하도록 마찰력을 발생시키는 미끄럼방지구(440);가 더 마련되는 것을 특징으로 하는 한다. When coupled to one side of the robot, a non-slip member 440 for generating a frictional force to prevent sliding; characterized in that it is further provided.
상기 과제의 해결 수단에 의해, 본 발명은 로봇 케이블의 고정을 위해 고무 방식 적용으로 케이블의 수명 및 고정력을 향상시킬 수 있다. By means of solving the above problems, the present invention can improve the life and fixing force of the cable by applying a rubber method for fixing the robot cable.
또한, 본 발명은 케이블 보호 부분과 로봇암의 형합 시 고정력이 강화된 로봇용 케이블 보호 장치를 제공할 수 있다. In addition, the present invention can provide a cable protection device for a robot in which the fixing force is strengthened when the cable protection part and the robot arm are matched.
또한, 본 발명은 로봇암의 다양한 형체에 조립 가능한 로봇용 케이블 보호 장치를 제공할 수 있다. In addition, the present invention can provide a cable protection device for a robot that can be assembled in various shapes of the robot arm.
또한, 본 발명은 로봇의 다양한 움직임에 보다 유연하게 대응 가능한 로봇용 케이블 보호 장치를 제공할 수 있다. In addition, the present invention can provide a cable protection device for a robot that can respond more flexibly to various movements of the robot.
또한, 본 발명은 케이블이 로봇과의 직접적인 마찰이 발생되는 구간에 마모 방지 링이 마련되어 수명을 향상시킬 수 있다. In addition, according to the present invention, an anti-wear ring is provided in a section where direct friction between the cable and the robot is generated to improve lifespan.
또한, 본 발명은 볼트 및 너트가 조립되는 위치에 볼트의 육각 형상과 동일한 홈을 마련하여 별도의 스패너 없이 고정 및 조립 할 수 있다. In addition, the present invention can be fixed and assembled without a separate spanner by providing a groove identical to the hexagonal shape of the bolt at the position where the bolt and the nut are assembled.
또한, 본 발명인 로봇용 케이블 보호 장치는 케이블보호부(100)가 나선형으로 마련되어 유연성을 확보하고, 일정 구간 마다 교체 할 수 있도록 조립 구조로 마련되어 유지 보수가 용이하다. In addition, the cable protection device for the robot according to the present invention is provided in an assembly structure such that the cable protection part 100 is provided in a spiral to secure flexibility, and can be replaced at regular intervals, so that maintenance is easy.
도 1은 본 발명인 로봇 케이블(C) 보호 장치의 전체 사시도이다. 1 is an overall perspective view of the robot cable (C) protection device of the present invention.
도 2는 케이블보호부(100)를 자세히 나타낸 사시도이다. 2 is a perspective view showing the cable protection unit 100 in detail.
도 3은 케이블보호부(100)의 또 다른 사시도이다. 3 is another perspective view of the cable protection unit 100 .
도 4는 케이블하단결합구(110)와 케이블상단결합구(120)의 결합 형태를 나타낸 도면이다. 4 is a view showing the coupling form of the cable lower coupler 110 and the cable upper coupler 120.
도 5는 보호결합구(130)의 너트안착구(133) 및 볼트안착구(134) 형태를 나타낸 도면이다. 5 is a view showing the shape of the nut seating hole 133 and the bolt seating hole 134 of the protective coupler 130 .
도 6은 파손방지링(200), 체결부(300) 및 로봇관절고정부(400)를 나타낸 사시도이다. 6 is a perspective view showing the breakage prevention ring 200, the fastening part 300 and the robot joint fixing part 400.
도 7은 파손방지링(200)을 자세히 나타낸 사시도이다. 7 is a perspective view showing the damage prevention ring 200 in detail.
도 8은 파손방지링(200)의 결합 형태를 나타낸 도면이다. 8 is a view showing the coupling form of the breakage prevention ring (200).
도 9는 빙지링결합구(230)이 케이블(C)과 결합한 형태를 나타낸 도면이다. 9 is a view showing a form in which the bingji ring coupler 230 is combined with the cable (C).
도 10은 체결부(300)에 의해 파손방지링(200)의 회전 형태를 나타낸 도면이다. FIG. 10 is a view showing the rotational form of the breakage prevention ring 200 by the fastening part 300 .
도 11은 로봇관절고정부(400)를 자세히 나타낸 도면이다. 11 is a view showing the robot joint fixing unit 400 in detail.
도 12는 본 발명인 로봇 케이블(C) 보호 장치와 로봇암이 결합되어 회전하는 형태를 나타낸 도면이다. 12 is a view showing a form in which the robot cable (C) protection device and the robot arm of the present invention are combined and rotated.
도 13은 본 발명인 로봇 케이블(C) 보호 장치와 로봇암이 결합되어 회전하는 형태를 나타낸 또 다른 도면이다. 13 is another view showing a form in which the robot cable (C) protection device and the robot arm of the present invention are combined and rotated.
본 명세서에서 사용되는 용어에 대해 간략히 설명하고, 본 발명에 대해 구체적으로 설명하기로 한다.Terms used in this specification will be briefly described, and the present invention will be described in detail.
본 발명에서 사용되는 용어는 본 발명에서의 기능을 고려하면서 가능한 현재 널리 사용되는 일반적인 용어들을 선택하였으나, 이는 당 분야에 종사하는 기술자의 의도 또는 판례, 새로운 기술의 출현 등에 따라 달라질 수 있다. 따라서 본 발명에서 사용되는 용어는 단순한 용어의 명칭이 아닌, 그 용어가 가지는 의미와 본 발명의 전반에 걸친 내용을 토대로 정의되어야 한다.The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.
명세서 전체에서 어떤 부분이 어떤 구성요소를 “포함”한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 포함할 수 있음을 의미한다.In the entire specification, when a part “includes” a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.
아래에서는 첨부한 도면을 참고하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다.Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily carry out the embodiments of the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein.
본 발명에 대한 해결하고자 하는 과제, 과제의 해결 수단, 발명의 효과를 포함한 구체적인 사항들은 다음에 기재할 실시 예 및 도면들에 포함되어 있다. 본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시 예들을 참조하면 명확해질 것이다.Specific details including the problem to be solved for the present invention, the means for solving the problem, and the effect of the invention are included in the embodiments and drawings to be described below. Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.
이하, 첨부된 도면을 참조하여 본 발명을 보다 상세히 설명하기로 한다.Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.
본 발명인 로봇 케이블(C) 보호 장치는 케이블보호부(100), 파손방지링(200), 체결부(300) 및 로봇관절고정부(400)로 구성된다. The robot cable (C) protection device of the present invention consists of a cable protection unit 100 , a breakage prevention ring 200 , a fastening unit 300 , and a robot joint fixing unit 400 .
먼저, 상기 케이블보호부(100)는 나선형으로 마련되어 다관절 로봇(1)에 연결되는 케이블(C)을 감싸며 통과시키고, 기설정된 간격으로 길이방향을 따라 다수개의 조립형으로 마련되어 부분 교체가 가능하도록 마련된다. First, the cable protection unit 100 is provided in a spiral shape to wrap and pass the cable (C) connected to the articulated robot 1, and is provided in a plurality of assembly types along the longitudinal direction at predetermined intervals to enable partial replacement. will be prepared
상기 케이블보호부(100)는 다관절 로봇(1)의 효율적인 움직임을 위해 로봇의 생산 활동을 효율적 및 유기적으로 결합시키는 케이블(C)을 보호하기 위한 것으로, 도 2 및 도 3에 나타난 바와 같이, 나선형부(140), 케이블하단결합구(110), 케이블상단결합구(120) 및 보호결합구(130)로 구성된다. The cable protection part 100 is to protect the cable C that efficiently and organically combines the production activities of the robot for efficient movement of the articulated robot 1, and as shown in FIGS. 2 and 3, It consists of a spiral part 140 , a cable lower coupler 110 , a cable upper coupler 120 , and a protective coupler 130 .
상기 나선형부(140)는 길이방향을 따라 나선형태로 마련되어 다관절 로봇(1)에 연결되는 케이블(C)을 감싸며 상기 케이블(C)이 상기 나선형부(140) 내부를 통과하도록 마련된다. 또한, 상기 나선형부(140)는, 도 3에 나타난 바와 같이, 기설정된 피치(pitch) 간격인 150mm로 마련되는 것이 바람직하다. 상기 피치(pitch) 간격이 150mm 미만인 경우 상기 케이블하단결합구(110)와 상기 케이블상단결합구(120)를 다수개 설치해야 하므로 연결부위가 많아져 연결부위에 강도가 약해지는 문제점이 발생할 수 있고, 상기 피치(pitch) 간격이 150mm를 초과한 경우 상기 하나의 피치(pitch)가 너무 길어져 로봇암에 부딪히는 문제점이 발생할 수 있으므로 상기 조건으로 실시되는 것이 바람직하다. The spiral portion 140 is provided in a spiral shape along the longitudinal direction to surround the cable (C) connected to the articulated robot (1), and the cable (C) is provided to pass through the inside of the spiral portion (140). In addition, as shown in FIG. 3 , the spiral portion 140 is preferably provided at a predetermined pitch interval of 150 mm. If the pitch interval is less than 150mm, since it is necessary to install a plurality of the cable lower coupler 110 and the cable upper coupler 120, there are many connecting parts, which may cause a problem that the strength of the connecting part is weakened. , when the pitch interval exceeds 150mm, the one pitch may become too long and a problem of colliding with the robot arm may occur, so it is preferable to carry out under the above conditions.
상기 케이블하단결합구(110)는 상기 나선형부(140)의 기설정된 간격의 말단에 마련되어 상기 케이블상단결합구(120)와 맞물려 결합할 수 있도록 하부에서 상부로 회동하며 결합한다. 또한, 상기 케이블상단결합구(120)는 상기 나선형부(140)의 기설정된 간격의 또 다른 말단에 마련되어 상기 케이블하단결합구(110)와 맞물려 결합할 수 있도록 상부에서 하부로 회동하며 결합한다. The cable lower coupler 110 is provided at the distal end of the spiral portion 140 at a predetermined interval, and rotates from the lower part to the upper part so as to engage and couple with the cable upper coupler 120 . In addition, the cable upper coupler 120 is provided at the other end of the predetermined interval of the spiral portion 140 and rotates from the upper to the lower so as to engage and couple with the lower cable coupler 110 .
보다 구체적으로, 도 2에 나타난 바와 같이, 상기 케이블하단결합구(110)는 제1하단볼록구(111), 케이블너트결합구(112), 제2하단볼록구(113) 및 하단안착구(114)(도 3)로 마련되고, 도 4에 나타난 바와 같이, 상기 케이블상단결합구(120)는 제1상단오목구(121), 케이블볼트결합구(122), 제2상단오목구(123) 및 상단안착구(124)로 마련되어 있다. 즉, 상기 제1하단볼록구(111) 및 상기 제2하단볼록구(113)은 볼록형으로 마련되고 상기 제1상단오목구(121) 및 제2상단오목구(123)는 오목형으로 마련되어 상호 결합하도록 구성된다. More specifically, as shown in FIG. 2 , the cable lower coupler 110 includes a first lower convex sphere 111 , a cable nut coupler 112 , a second lower convex sphere 113 and a lower end seat hole ( 114) ( FIG. 3 ), and as shown in FIG. 4 , the cable upper coupling hole 120 includes a first upper recessed member 121 , a cable bolt coupling member 122 , and a second upper recessed member 123 . ) and an upper seat hole 124 . That is, the first lower convex sphere 111 and the second lower convex sphere 113 are provided in a convex shape, and the first upper concave sphere 121 and the second upper concave sphere 123 are provided in a concave shape. configured to combine.
상기 케이블너트결합구(112) 및 케이블볼트결합구(122)는, 도 5에 더욱 자세하게 나타내었다. 상기 케이블너트결합구(112)는 상기 제1하단볼록구(111) 및 상기 제2하단볼록구(113) 사이에 마련하고 아래에 설명할 케이블보호너트(131)의 형태와 동일하게 원형으로 마련되어 상기 케이블보호너트(131)가 안착될 수 있다. 또한, 상기 케이블볼트결합구(122)는 상기 제1상단오목구(121) 및 상기 제2상단오목구(123) 사이에 마련하고 아래에 설명할 케이블보호볼트(132)의 형태와 동일하게 정육각형으로 마련되어 상기 케이블보호볼트(132)가 안착될 수 있어 별도의 스패너 없이 고정 및 조립 할 수 있다. The cable nut coupler 112 and the cable bolt coupler 122 are shown in more detail in FIG. 5 . The cable nut coupling hole 112 is provided between the first lower convex sphere 111 and the second lower convex sphere 113 and is provided in a circular shape identical to the shape of the cable protection nut 131 to be described below. The cable protection nut 131 may be seated. In addition, the cable bolt coupling hole 122 is provided between the first upper concave sphere 121 and the second upper concave sphere 123 and has the same hexagonal shape as the cable protection bolt 132 to be described below. The cable protection bolt 132 can be seated therein, so that it can be fixed and assembled without a separate spanner.
또한, 상기 하단안착구(114) 및 상단안착구(124)는 상기 나선형부(140)의 외주면에 홈으로 마련되어 있어 상기 케이블하단결합구(110) 및 케이블상단결합구(120)가 결합된 후 아래에 설명할 보호결합구(130)가 결합되어 상기 서로 다른 나선형부(140)가 상기 케이블보호너트(131) 및 케이블보호볼트(132)에 의해 수직축 방향으로 결합할 수 있도록 공간을 마련한다. In addition, since the lower end seat 114 and the upper end seat 124 are provided as grooves on the outer circumferential surface of the spiral part 140, the cable lower coupler 110 and the upper cable coupler 120 are coupled to each other. The protective coupler 130 to be described below is coupled to provide a space so that the different spiral parts 140 can be coupled in the vertical axis direction by the cable protection nut 131 and the cable protection bolt 132 .
상기 보호결합구(130)는 상기 케이블하단결합구(110)와 케이블상단결합구(120)가 결합 후 상기 케이블보호너트(131) 및 케이블보호볼트(132) 결합되도록 마련된다. 보다 구체적으로, 도 4 및 도 5에 나타난 바와 같이, 상기 보호결합구(130)는 케이블보호너트(131) 및 케이블보호볼트(132)로 구성된다. 도 4(b)에 나타난 바와 같이, 상기 케이블보호너트(131)는 상기 하단안착구(114)의 홈을 통해 삽입되어 상기 케이블너트결합구(112)에 안착되고, 상기 케이블보호볼트(132)는 상기 상단안착구(124)의 홈을 통해 삽입되어 상기 케이블볼트결합구(122)에 안착된다. The protective coupler 130 is provided to be coupled to the cable protection nut 131 and the cable protection bolt 132 after the cable lower coupler 110 and the cable upper coupler 120 are coupled. More specifically, as shown in FIGS. 4 and 5 , the protective coupler 130 includes a cable protection nut 131 and a cable protection bolt 132 . As shown in Figure 4 (b), the cable protection nut 131 is inserted through the groove of the lower mounting hole 114 is seated in the cable nut coupling hole 112, the cable protection bolt 132 is inserted through the groove of the upper end seating hole 124 and is seated on the cable bolt coupling hole 122 .
상기 케이블하단결합구(110)와 상기 케이블상단결합구(120)가 반대 형상으로 마련되어 있어 어느 하나의 피치에 마련된 상기 케이블하단결합구(110)와 또 다른 피치의 상기 케이블(C)상단결합부가 서로 맞물려 결합될 수 있다. 또한, 상기 보호결합구(130)를 통해 이중으로 상기 서로 다른 나선형부(140)가 결합된다. The cable lower coupler 110 and the cable upper coupler 120 are provided in opposite shapes, so that the cable lower coupler 110 provided at any one pitch and the cable (C) upper coupling part of another pitch are provided in opposite shapes. may be interlocked and coupled to each other. In addition, the different helical parts 140 are double coupled through the protective coupling hole 130 .
다음으로, 상기 파손방지링(200)은 상기 케이블보호부(100) 외주면의 일정 간격을 따라 감싸도록 마련하되, 상기 케이블(C)이 내부를 관통하도록 링 형태로 다수개로 마련된다. 상기 파손방지링(200)은, 도 12에 나타난 바와 같이, 로봇암과의 직접적인 마찰이 발생되는 구간에 마모되지 않도록 하여 로봇암의 수명을 향상시킬 수 있다. Next, the breakage prevention ring 200 is provided so as to wrap along a predetermined interval of the outer peripheral surface of the cable protection part 100, the cable (C) is provided in plurality in the form of a ring so as to penetrate the inside. The breakage prevention ring 200, as shown in FIG. 12, can improve the lifespan of the robot arm by preventing it from being worn in a section in which direct friction with the robot arm occurs.
상기 파손방지링(200)은 도 6 내지 도 9에 나타난 바와 같이, 링하단결합구(210), 링상단결합구(220), 방지링결합구(230), 케이블고정구(240) 및 케이블보호돌기(250)로 구성된다. As shown in FIGS. 6 to 9, the anti-break ring 200 is a ring lower coupler 210, a ring upper coupler 220, an anti-ring coupler 230, a cable fixture 240, and a cable protection. It is composed of protrusions 250 .
먼저, 상기 방지링결합구(230)는 방지링결합볼트(231) 및 방지링결합너트(232)로 구성된다. 상기 방지링결합볼트(231)는 상기 파손방지링의 결합을 위해 볼트 형태로 마련되어 아래에 설명할 링하단안착구(214)를 통해 상기 방지링결합볼트(231)가 삽입되고, 방지링결합너트(232)는 너트 형태로 마련되어 아래에 설명할 링상단안착구(224)를 통해 상기 방지링결합너트(232)가 삽입된다. First, the prevention ring coupling sphere 230 is composed of an prevention ring coupling bolt 231 and an prevention ring coupling nut 232 . The prevention ring coupling bolt 231 is provided in the form of a bolt for coupling of the breakage prevention ring, and the prevention ring coupling bolt 231 is inserted through the ring bottom seat hole 214 to be described below, and the prevention ring coupling nut 232 is provided in the form of a nut, and the anti-ring coupling nut 232 is inserted through the ring upper end seat 224 to be described below.
상기 링하단결합구(210)는, 도 8(a)에 나타난 바와 같이, 상기 링상단결합구(220)와 결합한다. 상기 링하단결합구(210)는 제1오목홈(211), 볼트결합홈(212), 제1볼록홈(213) 및 링하단안착구(214)로 구성되고, 상기 링상단결합구(220)는 제2볼록홈(221), 너트결합홈(222), 제2오목홈(223) 및 링상단안착구(224)로 구성된다. 상기 제1오목홈(211)은 상기 제2볼록홈(221)과 결합되고, 상기 제1볼록홈(213)은 상기 제2오목홈(223)과 결합하여 상기 링하단결합구(210)와 상기 링상단결합구(220)가 먼저 결합하게 된다. The ring lower coupler 210 is coupled to the ring upper coupler 220, as shown in FIG. 8 (a). The ring lower end coupling hole 210 is composed of a first concave groove 211, a bolt coupling groove 212, a first convex groove 213 and a ring lower end seat hole 214, and the ring upper end coupler 220 ) is composed of a second convex groove 221 , a nut coupling groove 222 , a second concave groove 223 , and a ring upper end seating hole 224 . The first concave groove 211 is coupled to the second convex groove 221 , and the first convex groove 213 is coupled to the second concave groove 223 to form the ring lower end coupling hole 210 and The ring top coupler 220 is coupled first.
이후 도 8(b)에 나타난 바와 같이, 상기 너트결합홈(222)는 상기 방지링결합너트(232)의 너트 모양과 동일하게 마련되어 상기 너트결합홈(222)에 상기 방지링결합너트(232)를 고정시킨다. 상기 볼트결합홈(212)는 상기 방지링결합볼트(231)의 볼트 모양과 동일하게 마련되어 상기 볼트결합홈(212)에 상기 방지링결합볼트(231)를 고정한다. Thereafter, as shown in FIG. 8(b), the nut coupling groove 222 is provided in the same shape as the nut of the prevention ring coupling nut 232, and the prevention ring coupling nut 232 is provided in the nut coupling groove 222. to fix The bolt coupling groove 212 is provided to have the same bolt shape as the prevention ring coupling bolt 231 and fixes the prevention ring coupling bolt 231 to the bolt coupling groove 212 .
이후 도 8(c)에 나타난 바와 같이, 상기 방지링결합너트(232)와 방지링결합볼트(231)를 결합하여 상기 파손방지링(200)의 결합을 완성한다.Then, as shown in FIG. 8(c), the coupling of the anti-breakage ring 200 is completed by combining the prevention ring coupling nut 232 and the prevention ring coupling bolt 231.
상기 케이블고정구(240)는, 도 9에 나타난 바와 같이, 상기 케이블보호부(100) 내부를 통과한 다수개의 케이블(C)이 하나씩 관통하도록 일정 간격의 홀이 마련되는 케이블고정홈(241)이 마련된다. 상기 케이블고정구(240)는 상기 케이블(C)을 고정하되 상기 케이블(C)을 보호하도록 고무 재질로 마련하는 것이 바람직하다. 또한, 상기 케이블(C)을 더욱 잘 보호하기 위해 상기 케이블보호돌기(250)를 마련한다. 즉, 상기 케이블보호부(100) 내부를 통과하는 상기 케이블(C)을 상기 케이블보호돌기(250)가 아래로 휘어지지 않도록 내부로 받쳐주는 역할을 한다. As shown in FIG. 9 , the cable fixing hole 240 has a cable fixing groove 241 in which holes at regular intervals are provided so that a plurality of cables C passing through the inside of the cable protection unit 100 pass through one by one. will be prepared The cable fixture 240 is preferably made of a rubber material to secure the cable (C) but protect the cable (C). In addition, the cable protection protrusion 250 is provided to better protect the cable (C). That is, it serves to support the cable (C) passing through the inside of the cable protection part 100 to the inside so that the cable protection protrusion 250 is not bent downward.
다음으로, 상기 체결부(300)는 상기 파손방지링(200)의 하단에 마련되어 상기 파손방지링(200)과 로봇관절고정부(400)를 결합시킨다. Next, the fastening part 300 is provided at the lower end of the breakage prevention ring 200 to couple the breakage prevention ring 200 and the robot joint fixing part 400 .
상기 체결부(300)는, 도 10에 나타난 바와 같이, 측면걸림구(310), 링회전구(320), 회전베어링(330) 및 베어링보호구(340)로 구성된다.As shown in FIG. 10 , the fastening part 300 includes a side hook 310 , a ring rotating sphere 320 , a rotating bearing 330 , and a bearing protector 340 .
상기 측면걸림구(310)는 상기 파손방지링(200)의 하단에 연장 연결되면서 상기 파손방지링(200)과 비교할 때 수직축을 기준으로 너비가 좁은 형태로 단차가 마련되어 상기 파손방지링(200)의 측면 움직임을 제한한다. The side hook 310 is extended and connected to the lower end of the breakage prevention ring 200 and is provided with a step in a narrow form with respect to the vertical axis compared to the breakage prevention ring 200. The breakage prevention ring 200 restrict lateral movement of
상기 링회전구(320)는 상기 측면걸림구(310)의 하단에 연장 연결되고 하부가 볼 형태로 마련되어 있어 상기 링회전구(320)에 의해 360˚ 회전할 수 있도록 마련된다. The ring rotating sphere 320 is extended to the lower end of the side hook 310 and has a lower portion provided in the form of a ball so that it can be rotated 360° by the ring rotating sphere 320 .
상기 회전베어링(330)은 상기 링회전구(320)의 하단 일부가 삽입되어 상기 파손방지링(200)의 수직축을 중심으로 360° 회전 된다. The rotating bearing 330 is rotated by 360° around the vertical axis of the breakage prevention ring 200 by inserting a portion of the lower end of the ring rotating sphere 320 .
상기 베어링보호구(340)는 상기 회전베어링(330)을 감싸도록 마련되고 상기 회전베어링(330) 보다 너비가 넓도록 마련되어 상기 회전베어링(330)을 보호한다. The bearing protector 340 is provided to surround the rotating bearing 330 and is provided to be wider than the rotating bearing 330 to protect the rotating bearing 330 .
상기 측면걸림구(310)와 상기 회전베어링(330)이 일부 이격되고 상기 측면걸림구(310)와 상기 링회전구(320)과 단차가 마련되어 있어 상기 파손방지링(200)의 측면 움직임이 기설정된 각도인 좌우 10˚를 초과하지 못하도록 상기 베어링보호구(340)에 의해 걸림이 형성된다. The side engaging member 310 and the rotating bearing 330 are partially spaced apart, and a step is provided between the side engaging member 310 and the ring rotating member 320, so that the lateral movement of the breakage prevention ring 200 is delayed. A lock is formed by the bearing protector 340 so as not to exceed the set angle of 10° left and right.
다음으로, 상기 로봇관절고정부(400)는 상기 로봇에 결합되도록 밴드(420)가 마련된다.Next, the robot joint fixing part 400 is provided with a band 420 to be coupled to the robot.
보다 구체적으로, 도 11에 나타난 바와 같이, 상기 로봇관절고정부(400)는 밴드연결구(410), 밴드(420), 고정볼트구(430) 및 미끄럼방지구(440)로 구성된다. More specifically, as shown in FIG. 11 , the robot joint fixing unit 400 includes a band connector 410 , a band 420 , a fixing bolt sphere 430 , and an anti-slip device 440 .
상기 밴드연결구(410)는 상기 베어링보호구(340)의 일측에 마련되고 상기 밴드(420)가 걸릴 수 있도록 고리가 마련되어 있어 상기 밴드(420)와 상기 케이블보호부(100), 파손방지링(200) 및 체결부(300)를 연결한다. 상기 밴드(420)는 다양한 로봇 형체에 조립 가능하도록 밸크로 밴드(420) 방식이 적용되는 것이 바람직하다. The band connector 410 is provided on one side of the bearing protector 340 and a ring is provided so that the band 420 can be caught, so that the band 420, the cable protector 100, and the breakage prevention ring 200 ) and the fastening part 300 are connected. The band 420 is preferably a Velcro band 420 method so that it can be assembled in various robot shapes.
상기 미끄럼방지구(440)는 상기 로봇의 일측에 결합할 때 미끄럼을 방지하도록 마찰력을 발생시킨다. 도 11에 나타난 바와 같이, 상기 미끄럼방지구(440)는 연결안착구(441) 및 하단볼록구(442)로 구성된다. 상기 연결안착구(441)는 상기 베어링보호구(340)가 안착되도록 마련되고, 상기 하단볼록구(442)는 상기 연결안착구(441)의 하단에 일부 볼록형으로 마련되어 있어 상기 로봇암에 상기 밴드(420)가 결합된 후에 추가로 상기 로봇암과의 결합을 견고하게 한다. 상기 미끄럼방지구(440)는 고무 재질의 패드로 마련되어 상기 로봇암과의 형합 시 고정력을 강화한다. The non-slip device 440 generates a frictional force to prevent sliding when coupled to one side of the robot. As shown in FIG. 11 , the non-slip sphere 440 includes a connection seating sphere 441 and a lower convex sphere 442 . The connection seating hole 441 is provided so that the bearing protection device 340 is seated, and the lower convex hole 442 is provided in a convex shape at the lower end of the connection seating hole 441, so that the band ( After the 420) is coupled, the coupling with the robot arm is further strengthened. The non-slip device 440 is provided with a rubber pad to strengthen the fixing force during mating with the robot arm.
상기 고정볼트구(430)는 상기 베어링보호구(340)가 상기 연결안착구(441)에 안착될 때 견고한 결합을 위해 볼트로 고정시킨다. The fixing bolt hole 430 is fixed with a bolt for a firm coupling when the bearing protection device 340 is seated on the connection seating hole 441 .
상기 과제의 해결 수단에 의해, 본 발명은 로봇 케이블(C)의 고정을 위해 고무 방식 적용으로 케이블(C)의 수명 및 고정력을 향상시킬 수 있다. 또한, 본 발명은 케이블(C) 보호 부분과 로봇암의 형합 시 고정력이 강화된 로봇 케이블(C) 보호 장치를 제공할 수 있다. 또한, 본 발명은 로봇암의 다양한 형체에 조립 가능한 로봇 케이블(C) 보호 장치를 제공할 수 있다. 또한, 본 발명은 로봇의 다양한 움직임에 보다 유연하게 대응 가능한 로봇 케이블(C) 보호 장치를 제공할 수 있다. 또한, 본 발명은 케이블(C)이 로봇과의 직접적인 마찰이 발생되는 구간에 마모 방지 링이 마련되어 수명을 향상시킬 수 있다. 또한, 본 발명은 볼트 및 너트가 조립되는 위치에 볼트의 육각 형상과 동일한 홈을 마련하여 별도의 스패너 없이 고정 및 조립 할 수 있다. 또한, 본 발명인 로봇 케이블(C) 보호 장치는 케이블보호부(100)가 나선형으로 마련되어 유연성을 확보하고, 일정 구간 마다 교체 할 수 있도록 조립 구조로 마련되어 유지 보수가 용이하다. By means of solving the above problems, the present invention can improve the lifespan and fixing force of the cable (C) by applying a rubber method for fixing the robot cable (C). In addition, the present invention can provide a robot cable (C) protection device in which the fixing force is strengthened when the cable (C) protection part and the robot arm are matched. In addition, the present invention can provide a robot cable (C) protection device that can be assembled in various shapes of the robot arm. In addition, the present invention can provide a robot cable (C) protection device that can more flexibly respond to various movements of the robot. In addition, the present invention can improve the life of the cable (C) is provided with an anti-wear ring in the section where direct friction with the robot occurs. In addition, the present invention can be fixed and assembled without a separate spanner by providing a groove identical to the hexagonal shape of the bolt at the position where the bolt and the nut are assembled. In addition, the robot cable (C) protection device of the present invention is provided in an assembly structure so that the cable protection part 100 is spirally provided to secure flexibility, and to be replaced at regular intervals, so that maintenance is easy.
이와 같이, 상술한 본 발명의 기술적 구성은 본 발명이 속하는 기술분야의 당업자가 본 발명의 그 기술적 사상이나 필수적 특징을 변경하지 않고서 다른 구체적인 형태로 실시될 수 있다는 것을 이해할 수 있을 것이다.As such, those skilled in the art to which the present invention pertains will understand that the above-described technical configuration of the present invention may be implemented in other specific forms without changing the technical spirit or essential characteristics of the present invention.
그러므로 이상에서 기술한 실시예들은 모든 면에서 예시적인 것이며 한정적인 것이 아닌 것으로서 이해되어야 하고, 본 발명의 범위는 상기 상세한 설명보다는 후술하는 특허청구범위에 의하여 나타나며, 특허청구범위의 의미 및 범위 그리고 그 등가 개념으로부터 도출되는 모든 변경 또는 변형된 형태가 본 발명의 범위에 포함되는 것으로 해석되어야 한다.Therefore, the embodiments described above are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the following claims rather than the above detailed description, and the meaning and scope of the claims and their All changes or modifications derived from the concept of equivalents should be construed as being included in the scope of the present invention.
[부호의 설명][Explanation of code]
C. 케이블C. cable
1. 다관절 로봇1. Articulated Robot
100. 케이블보호부100. Cable protection
110. 케이블하단결합구110. Cable bottom connector
111. 제1하단볼록구111. First lower convex sphere
112. 케이블너트결합구112. Cable nut connector
113. 제2하단볼록구113. Second lower convex sphere
114. 하단안착구114. Bottom seat
120. 케이블상단결합구120. Cable top joint
121. 제1상단오목구121. The first upper concave
122. 케이블볼트결합구122. Cable bolt joint
123. 제2상단오목구123. 2nd upper concave sphere
124. 상단안착구124. Upper seat hole
130. 보호결합구130. Protective fittings
131. 케이블보호너트131. Cable protection nut
132. 케이블보호볼트132. Cable protection bolt
140. 나선형부140. Spiral
200. 파손방지링200. Anti-break ring
210. 링하단결합구210. Ring bottom joint
211. 제1오목홈211. First concave groove
212. 볼트결합홈212. Bolted groove
213. 제1볼록홈213. First convex groove
214. 링하단안착구214. Ring bottom seat
220. 링상단결합구220. Ring top joint
221. 제2볼록홈221. Second convex groove
222. 너트결합홈222. Nut coupling groove
223. 제2오목홈223. Second concave groove
224. 링상단안착구224. Ring top seat
230. 빙지링결합구230. Bingji ring joint
231. 방지링결합볼트231. Prevention ring coupling bolt
232. 방지링결합너트232. Prevention ring coupling nut
240. 케이블고정구240. Cable Fixtures
241. 케이블고정홈241. Cable fixing groove
250. 케이블보호돌기250. Cable protection projection
300. 체결부300. Fastening
310. 측면걸림구310. Side catch
320. 링회전구320. Ring swivel
330. 회전베어링330. Rotating bearings
340. 베어링보호구340. Bearing protection
400. 로봇관절고정부400. Robot joint fixation part
410. 연결고리구410. Link Sphere
420. 밴드420. Band
430. 고정볼트구430. Fixing bolt hole
440. 미끄럼방지구440. Non-slip
441. 연결안착구441. Connection seat
442. 하단볼록구442. Bottom convex sphere

Claims (5)

  1. 다관절 로봇(1)에 연결되는 케이블(C)을 감싸며 통과시키고, 다수개의 조립형으로 마련되어 부분 교체가 가능한 케이블보호부(100);A cable protection unit 100 that wraps and passes the cable (C) connected to the articulated robot (1), and is provided in a plurality of assembly types and can be partially replaced;
    상기 케이블보호부(100) 외주면의 일정 간격을 따라 감싸도록 마련하되, 상기 케이블(C)이 내부를 관통하도록 링 형태로 다수개로 마련된 파손방지링(200);The cable protection part 100 is provided so as to be wrapped along a predetermined interval of the outer peripheral surface, and the cable (C) is provided in a plurality of ring shape to penetrate the inside of the breakage prevention ring 200;
    상기 로봇에 결합되도록 밴드(420)가 마련되는 로봇관절고정부(400); 및A robot joint fixing unit 400 provided with a band 420 to be coupled to the robot; and
    상기 파손방지링(200)의 하단에 마련되어 상기 파손방지링(200)과 로봇관절고정부(400)를 결합시키는 체결부(300);로 구성되고,It is provided at the lower end of the breakage prevention ring 200, and the fastening part 300 for coupling the breakage prevention ring 200 and the robot joint fixing part 400; consists of,
    상기 로봇관절고정부(400)는,The robot joint fixing unit 400,
    상기 로봇의 일측에 결합할 때 미끄럼을 방지하도록 마찰력을 발생시키는 미끄럼방지구(440);가 더 마련되는 것을 특징으로 하는 로봇용 케이블 보호 장치.When coupled to one side of the robot, a non-slip device 440 for generating a frictional force to prevent slipping; a cable protection device for a robot, characterized in that it is further provided.
  2. 제 1항에 있어서,The method of claim 1,
    상기 케이블보호부(100)는,The cable protection unit 100,
    나선형으로 마련되어 상기 케이블(C)을 감싸며 통과시키는 나선형부(140);a spiral portion 140 provided in a spiral shape to surround and pass the cable (C);
    하부에서 상부로 회동하며 결합하는 케이블하단결합구(110);The cable bottom coupler 110, which rotates from the lower part to the upper part and combines;
    상부에서 하부로 회동하며 상기 케이블하단결합구(110)와 결합하는 케이블상단결합구(120);a cable upper coupler 120 that rotates from the upper part to the lower part and is coupled to the cable lower coupler 110;
    상기 케이블하단결합구(110)와 케이블상단결합구(120)가 결합 후 볼트 및 너트 결합되도록 마련된 보호결합구(130);로 구성되는 것을 특징으로 하는 로봇용 케이블 보호 장치.A cable protection device for a robot, characterized in that it consists of; the cable lower coupler 110 and the cable upper coupler 120 is provided to be coupled with a bolt and a nut after the protective coupler (130).
  3. 제 1항에 있어서,The method of claim 1,
    상기 파손방지링(200)은,The breakage prevention ring 200,
    상기 하부에서 상부로 회동하며 결합하는 링하단결합구(210);a ring lower end coupler 210 which rotates from the lower part to the upper part;
    상부에서 하부로 회동하며 상기 링하단결합구(210)와 결합하는 링상단결합구(220);a ring upper coupler 220 that rotates from the upper part to the lower part and is coupled to the ring lower coupler 210;
    상기 케이블보호부(100) 내부를 통과한 다수개의 케이블(C)이 하나씩 관통하도록 일정 간격의 홀이 마련되는 빙지링결합구(230);로 구성되는 것을 특징으로 하는 로봇용 케이블 보호 장치.A cable protection device for a robot, characterized in that it consists of; a ring coupling hole (230) provided with holes at regular intervals so that a plurality of cables (C) passing through the inside of the cable protection unit (100) pass through one by one.
  4. 제 1항에 있어서,The method of claim 1,
    상기 체결부(300)는,The fastening part 300,
    상기 파손방지링(200)의 하단에 연장 연결되면서 단차가 마련되어 상기 파손방지링(200)의 측면 움직임을 제한하는 측면걸림구(310);a side hook 310 for limiting lateral movement of the damage prevention ring 200 by providing a step while extending and connected to the lower end of the damage prevention ring 200;
    상기 측면걸림구(310)의 하단에 연장 연결되고 하부가 볼형태로 마련되는 링회전구(320);a ring rotating sphere 320 extending and connected to the lower end of the side hook 310 and having a lower portion provided in a ball shape;
    상기 링회전구(320)의 하단 일부가 삽입되어 상기 파손방지링(200)의 수직축을 중심으로 360° 회전 되는 회전베어링(330);a rotating bearing 330 into which a lower portion of the ring rotating sphere 320 is inserted and rotated by 360° around the vertical axis of the breakage prevention ring 200;
    상기 회전베어링(330)을 감싸도록 마련된 베어링보호구(340);로 구성되고,A bearing protection device 340 provided to surround the rotating bearing 330; consists of,
    상기 측면걸림구(310)와 상기 회전베어링(330)이 일부 이격되고 상기 측면걸림구(310)와 상기 링회전구(320)과 단차가 마련되어 있어 상기 파손방지링(200)의 측면 움직임이 기설정된 각도를 초과할 때 상기 베어링보호구(340)에 의해 걸림이 형성되는 것을 특징으로 하는 로봇용 케이블 보호 장치.The side engaging part 310 and the rotating bearing 330 are partially spaced apart, and a step is provided between the side engaging part 310 and the ring rotating sphere 320, so that the lateral movement of the breakage prevention ring 200 is delayed. Cable protection device for a robot, characterized in that the jamming is formed by the bearing protection device (340) when the set angle is exceeded.
  5. 제 4항에 있어서,5. The method of claim 4,
    상기 로봇관절고정부(400)는,The robot joint fixing unit 400,
    상기 밴드(420)와 상기 베어링보호구(340)를 연결하는 밴드연결구(410);a band connector 410 for connecting the band 420 and the bearing protection device 340;
    상기 미끄럼방지구(440)와 상기 베어링보호구(340)를 연결하는 고정볼트구(430);를 더 포함하는 것을 특징으로 하는 로봇용 케이블 보호 장치.A cable protection device for a robot, characterized in that it further comprises; a fixing bolt sphere 430 for connecting the non-slip device 440 and the bearing protection device 340.
PCT/KR2020/016882 2019-11-26 2020-11-25 Robot cable protection device WO2021107620A1 (en)

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KR1020190153056A KR102238140B1 (en) 2019-11-26 2019-11-26 Cable protection system of robot
KR10-2019-0153056 2019-11-26

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6734367B2 (en) * 2000-02-09 2004-05-11 Kabushiki Kaisha Yaskawa Denki Cable protective spring and method for fixing the cable protective spring
KR100701926B1 (en) * 2005-09-28 2007-03-30 씨피시스템(주) The unit to bend tube of robot arm
KR20080001094A (en) * 2006-06-29 2008-01-03 최광술 Cable guide system industrial robot
KR20140146236A (en) * 2013-03-25 2014-12-26 (주)하이플 flexible duct for Piping and fixed band
JP2018085390A (en) * 2016-11-21 2018-05-31 株式会社サンメディカル技術研究所 Cable protection tool

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Publication number Priority date Publication date Assignee Title
KR101305975B1 (en) 2012-03-23 2013-09-12 김상봉 Articulated robot and cable protecting apparatus of the same

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6734367B2 (en) * 2000-02-09 2004-05-11 Kabushiki Kaisha Yaskawa Denki Cable protective spring and method for fixing the cable protective spring
KR100701926B1 (en) * 2005-09-28 2007-03-30 씨피시스템(주) The unit to bend tube of robot arm
KR20080001094A (en) * 2006-06-29 2008-01-03 최광술 Cable guide system industrial robot
KR20140146236A (en) * 2013-03-25 2014-12-26 (주)하이플 flexible duct for Piping and fixed band
JP2018085390A (en) * 2016-11-21 2018-05-31 株式会社サンメディカル技術研究所 Cable protection tool

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