Cable guide device for articulated robots

Abstract

A cable guide device for a multi-joint robot is disclosed. The disclosed cable guide device may include: a base; at least one rotating arm rotatably connected to the base in a joint form; at least one cable passing through the base to be connected to the rotating arm; a cable guide block connected to a driving unit in the base; a sliding groove formed on an outer peripheral surface of the cable guide block; and a cable friction reducing device member connected to a portion of a cable accommodated in the base and rotating along the sliding groove together with the portion of the cable according to the rotation of the rotating arm.

Description

Technical Field

[0001] Various embodiments of the present disclosure relate to a guide device for protecting a cable provided in a base in an articulated robot having embedded cables. Background Art

[0002] Various types of industrial 6-axis articulated robots have been developed for automated / unmanned factories and have been rapidly installed in various manufacturing sites.

[0003] According to the wiring type, industrial 6-axis multi-articulated robots can be divided into external wiring robots with various cables exposed to the outside and internal wiring robots with cables embedded in the robot body. Summary of the invention

[0004] Technical issues

[0005] However, since the externally mounted cables increase the operation radius and thus need to secure a larger operation space, the external wiring robot has a problem regarding reduced utilization of the operation space.

[0006] Furthermore, in the case of an internal wiring robot, it is easy to ensure an operating space, but the cables integrated in the narrow body of the robot cause friction with the body during robot joint operation. Therefore, an internal wiring robot without a structure / mechanical device for reducing friction may be very disadvantageous in terms of cable life relative to an external wiring robot.

[0007] Various embodiments of the present disclosure may provide a cable guiding device in combination with an internally wired multi-articulated robot having a movable friction reducing mechanism mounted in a single-axis base (through which a maximum number of cables extend), thereby reducing the risk of cable disconnection and maximizing the service life of the robot cables.

[0008] Various embodiments of the present disclosure may provide a cable guide device that uses a common cable protection tube instead of a high-rigidity protection tube, thereby reducing costs and reducing the size of the base.

[0009] Technical Solution

[0010] A cable guiding device according to various embodiments of the present disclosure may include: a base; one or more rotating arms rotatably connected to the base in a joint form; one or more cables connected to the rotating arms via the base; a cable guide block connected to a driver in the base; a sliding groove provided on an outer peripheral surface of the cable guide block; and a cable friction reducing mechanism connected to a portion of the cable accommodated in the base and configured to rotate together with the portion of the cable in the sliding groove as the rotating arm rotates.

[0011] Beneficial Effects

[0012] The present disclosure may reduce the risk of cable disconnection associated with an articulated robot having embedded cables.

[0013] Furthermore, the present disclosure employs a friction reduction mechanism in combination with a multi-joint robot in which cables are embedded, so that an inexpensive cable protection tube can be used, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a perspective view showing a multi-joint robot according to various embodiments of the present disclosure.

[0015] Figure 2 is a cross-sectional view illustrating an internal configuration of a base according to various embodiments of the present disclosure.

[0016] Figure 3a is a perspective view illustrating a state in which a cable is provided in a base according to various embodiments of the present disclosure.

[0017] Figure 3b and Figure 3c is a perspective view illustrating a state in which a cable is protected by a friction reducing mechanism according to various embodiments of the present disclosure and a base is omitted.

[0018] Figure 3d and Figure 3e is a perspective view showing a state in which a cable is protected by a friction reducing mechanism according to various embodiments of the present disclosure and an inner wall of a base is omitted.

[0019] Figure 3f is a perspective view showing a base in a state of accommodating a cable protected by a friction reducing mechanism according to various embodiments of the present disclosure.

[0020] Figure 4a is a perspective view illustrating a first cable protection member according to various embodiments of the present disclosure.

[0021] Figure 4b is a perspective view illustrating a movable cable guide according to various embodiments of the present disclosure.

[0022] Figure 4c is a perspective view illustrating a second cable protection member according to various embodiments of the present disclosure.

[0023] Figure 4d is a perspective view illustrating a cable guide block according to various embodiments of the present disclosure.

[0024] Figure 5 is a cross-sectional view illustrating an installed state of a movable cable guide according to various embodiments of the present disclosure.

[0025] Figure 6 is a perspective view illustrating a mounted state of a first cable protection member according to various embodiments of the present disclosure. DETAILED DESCRIPTION

[0026] Hereinafter, various embodiments of the present disclosure will be described with reference to the accompanying drawings. Therefore, those of ordinary skill in the art will recognize that the various embodiments described herein may be modified, equivalent and / or replaced without departing from the scope and spirit of the present disclosure. With respect to the description of the accompanying drawings, similar components may be identified by similar reference numerals.

[0027] Figure 1 is a perspective view showing a multi-joint robot according to various embodiments of the present disclosure.

[0028] Reference Figure 1 According to various embodiments, the multi-joint robot 10 is a 6-axis multi-joint robot, and a plurality of multi-joint robots 10 can be installed for unmanned operation processes in factory automation or various manufacturing fields. The multi-joint robot can be divided into external wiring robots in which various cables are exposed to the outside and internal wiring robots in which the cables are embedded in the robot body according to the cable wiring method. According to various embodiments, the multi-joint robot 10 can be an internal wiring robot. The power supply of the multi-joint robot 10 can be electrically connected to the drives (not shown) of the plurality of rotating arms 12 to 14 and the operating device 16 through the wired cables. The cables mentioned (for example, Figure 3a The cable 30) may be a cable provided in a cable protection tube.

[0029] The multi-joint robot 10 according to various embodiments may include a base 11 and one or more rotating arms 12 to 15 rotatably connected to the base 11. The operating device 16 may be connected to the last rotating arm 15 among the rotating arms 12 to 15 to perform a desired operation. For example, the multi-joint robot 10 may include a multi-joint robot having four axes or six axes or more axes according to the number of rotating arms.

[0030] The rotating arm according to various embodiments may include: a first rotating arm 12, which rotates around a first hinge axis h1 relative to the base 11; a second rotating arm 13, which rotates around a second hinge axis h2 relative to the first rotating arm 12; a third rotating arm 14, which rotates around a third hinge axis h3 relative to the second rotating arm 13; a fourth rotating arm 15, which rotates around a fourth hinge axis h4 relative to the third rotating arm 14; and an operating device 16, which rotates around a fifth hinge axis h5 relative to the fourth rotating arm 15. A driving motor not shown is mounted on the base 11, and the driving motor is connected to the first rotating arm 12 through a reduction gear 113, so that the base 11 rotates at a predetermined angle or less. For example, the first rotating arm 12 can rotate at (-)175 degrees to (+)175 degrees relative to the base 11.

[0031] Figure 2 is a cross-sectional view illustrating an internal configuration of a base according to various embodiments of the present disclosure.

[0032] Reference Figure 2 , in the multi-joint robot according to various embodiments (e.g., Figure 1 In the articulated robot 10), a cable (eg, Figure 3a The cable 30) should be directed toward the first rotating arm (eg, Figure 1 The base 11 is a fixed body, and the first rotating arm is a rotating body, so that the multi-joint robot can be installed with a cable (for example, Figure 3a One or more cable protection mechanisms for the cable 30 shown.

[0033] The base 11 according to various embodiments may be divided into three regions. For example, the base 11 may include an upper region 110, a lower region 114, and an intermediate region 112 between the upper region 110 and the lower region 114. The lower region 114 of the base 11 may be a fixed portion, and the upper region of the base 11 may be a rotating portion and the first rotating arm (e.g., Figure 1 The middle area 112 of the base 11 may be a portion connected to the first rotating arm 12 of the base 11, and the middle area 112 of the base 11 may be a region to which tension of the cable is applied as the upper end area 110 rotates.

[0034] According to various embodiments, one or more mechanisms that can protect the cables 30 disposed in the three areas 110, 112, and 114 may be installed in the multi-joint robot 10. For example, the mechanism may be a protection device for protecting the cables 30 from the rotation of the first rotating arm 12.

[0035] According to various embodiments, the drive motor M, the reduction gear 113, the cable (e.g., Figure 3aThe cable 30), the movable cable guide 22 ( Figure 3a A movable cable guide 22, a cable guide block 111, and one or more cable protection members 21 and 23 may be accommodated in the base 11. The base 11 may include a driving motor M, a cable guide block 111, and a reduction gear 113 along the first hinge axis h1.

[0036] The driving motor M, the cable guide block 111, and the reduction gear 113 may be disposed on the same axis, and may be disposed to be stacked.

[0037] The first cable protection member 21 may be provided in the upper end region 110 of the base 11 according to various embodiments, the second cable protection member 23 may be provided in the lower end region 114, and the movable cable guide 22 may be provided between the inner wall of the base 11 and the guide block 111 in the middle region 112. The reduction gear 113 may be engaged with the guide block 111 through a plurality of engagement members. Reference numeral 1110 may denote a sliding groove provided at least a portion of the outer circumferential surface of the cable guide block 111.

[0038] According to various embodiments, the reduction gear 113 may be coupled to a cable guide block (eg, Figure 2 The upper end of the cable guide block 111 of the base 11 is connected to the upper end of the cable guide block 111, and the lower end of the cable guide block can be connected to the base 11. According to the connection structure of the cable guide block 111, the cable guide block 111 can be used as an adapter. For example, the part of the base 11 connected to the cable guide block 111 can be a driving motor M.

[0039] Figure 3a is a perspective view illustrating a state in which a cable is provided in a base according to various embodiments of the present disclosure. Figure 3b and Figure 3c is a perspective view illustrating a state in which a cable is protected by a friction reducing mechanism according to various embodiments of the present disclosure and a base is omitted. Figure 3d and Figure 3e is a perspective view showing a state in which a cable is protected by a friction reducing mechanism according to various embodiments of the present disclosure and an inner wall of a base is omitted. Figure 3f is a perspective view showing a base in a state of accommodating a cable protected by a friction reducing mechanism according to various embodiments of the present disclosure.

[0040] Reference Figures 3a to 3f The cable 30 according to various embodiments is an electrical connection device and may be covered by a cable protection tube. A pair of cables 30 may be led out toward the first rotating arm 12 after being disposed in the base 11 to be substantially symmetrical with each other, and may be led out toward the first arm 12 in a state where the cables 30 are accommodated in the space between the base 11 and the driving motor M.

[0041] The cable 30 according to various embodiments may include a first portion 302 to a third portion 306 accommodated in the base 11. For example, when the inner space of the base 11 is divided into an upper region (eg, Figure 2 The upper region 110), the lower region (eg, Figure 2 The lower end region 114) and the middle region between the upper end region and the lower end region (for example, Figure 2 When the first portion 302 is accommodated in the upper end region 110, the third portion 306 is accommodated in the lower end region 114, and the second portion 304 is accommodated in the middle region.

[0042] For example, the first portion 302 of the cable is curved, and one end of the first portion 302 can face the first rotating arm to be led into the first rotating arm. The second portion 304 is linear and can be arranged in the inner space of the base in a vertical state. The third portion 306 is curved, and one end of the third portion 306 can face an external connector not shown to be led out to the outside of the base 11. A curved portion can be provided between the first portion 302 and the second portion 304, and a curved portion can be provided between the second portion 304 and the third portion 306.

[0043] The third portion 306 of the cable 30 according to various embodiments may be horizontally disposed in the lower end region 114 of the base 11. One end of the third portion 306 may be bent to be connected to the second portion 304, which faces a vertically upward direction in a straight line. One end of the second portion 304 may be bent to be horizontally connected to the first portion 302 in a bent form.

[0044] The first cable protection member 21 may be provided with a first rotating arm (eg, Figure 1 The first rotating arm 12 of the cable guide block 111 rotates, the first portion 302 of the cable can rotate as the first cable protection member 21 rotates, and the second portion 304, that is, the movable cable guide 22 in a state where the second portion 304 passes through the movable cable guide 22, may slide and move a predetermined distance along the sliding groove 1110 provided on the outer peripheral surface of the cable guide block 111 due to the influence of the cable rotation. Then, the second portion 302 can be protected by the movable cable guide 22.

[0045] The first portion 302 of the cable according to various embodiments may be connected to the first rotating arm 12 and located at the upper end portion of the base 11, and may be the portion to which the strongest forward friction force is applied due to the movement of the cable because the moving speed of the first portion 302 is the same as the rotation speed of the first rotating arm along the first axis, and among the first to third portions 302, 304, and 306, the first portion 302 moves the fastest.

[0046] Because the second portion 304 of the cable according to various embodiments connects the first portion 302 and the third portion 306, and rotates and moves forward at the same time, due to the rotational friction and the movement of the cable, a forward friction force may be applied to the second portion 304. The moving speed of the second portion 304 may be about half of the rotation speed of the first rotating arm along the first axis.

[0047] The third portion 306 of the cable according to various embodiments may be located at the lower end region 114 of the base 11, and one end of the third portion 306 may be connected to an external connector of the robot to communicate with the controller before the third portion 306 enters or leaves the second portion 304. The moving speed of the third portion 306 is zero, so there may be no friction. Reference numeral 24 denotes a holding member, and may be a member that fixes one end of the third portion 306.

[0048] Figure 4a is a perspective view illustrating a first cable protection member according to various embodiments of the present disclosure.

[0049] 4, according to various embodiments of the base (eg, Figure 1 The base 11 of the embodiment of the present invention may further include a first cable protection member 21 that accommodates the first portion 302 of the cable. For example, the first cable protection member 21 is C-shaped and is engaged with the rotating frame to rotate with the rotating frame, and the first portion of the cable accommodated in the first cable protection member 21 can also rotate. For example, the first cable protection member 21 may have a plurality of engagement holes 210 for engaging the first protection member 21 with the rotating frame.

[0050] Figure 4b is a perspective view illustrating a movable cable guide according to various embodiments of the present disclosure.

[0051] Reference Figure 4b The movable cable guide 22 according to various embodiments may include one end disposed to have a gap with the inner wall of the base 11 and the other end inserted into the sliding groove of the cable guide block.

[0052] The movable cable guide 22 according to various embodiments may include a body 220 and a boss 222. A hole 224 may be provided along the longitudinal direction of the body 220. The hole 224 may be a hole through which the cable passes. The second portion 304 of the cable may be provided while passing through the hole 224. The boss 222 may be provided at a portion of the body 220 and inserted into the sliding groove. For example, the boss 222 may be provided at the upper end or the middle portion of the body 220.

[0053] The boss 222 according to various embodiments may include a curved surface 222a having a curvature. The curved surface 222a may contact the sliding groove (eg, Figure 2 The sliding groove 1110) can slide in the sliding groove while being in contact with the sliding groove surface.

[0054] The movable sliding guide 22 according to various embodiments is formed of an industrial synthetic resin (e.g., plastic), and may be formed of any one of MC nylon, acetyl, or Teflon. A ball bushing may be attached to the movable cable guide 22 so that when the movable cable guide 22 rotates, the ball of the ball bushing contacts the second portion 304, thereby minimizing the rotational friction resistance of the movable cable guide 22. The ball bushing may be a commercially available ball bushing suitable for the cable diameter.

[0055] Figure 4c is a perspective view illustrating a second cable protection member according to various embodiments of the present disclosure.

[0056] Reference Figure 4c According to various embodiments, the base 11 may include a second cable protection member 23 disposed to face the first cable protection member (eg, Figure 4a The first cable protection member 21) is provided to accommodate the third portion of the cable (eg, Figure 3a For example, the second cable protection member 23 is C-shaped and engages with the bottom of the base 11, so it can be fixed to the bottom of the base 11. For example, the second cable protection member 23 can have a plurality of engagement holes 230 for engaging the second protection member 23 with the base.

[0057] Figure 4d is a perspective view illustrating a cable guide block according to various embodiments of the present disclosure.

[0058] Reference Figure 4d According to various embodiments, the cable guide block 111 has a structure coupled to a drive motor (eg, Figure 2The cable guide block 111 may be a drive motor M of the cable guide block 111, the coupling hole 1112 may be provided at the center of the cable guide block 111, and the sliding groove 1110 may be provided at the outer peripheral surface of the cable guide block 111. The sliding groove 110 may be a boss (e.g., Figure 4b A portion into which the boss 222 of the cable guide block 111 is inserted to slide. A coupling recess 1113 may be provided at the periphery of the coupling hole 1112 of the cable guide block 111 to be coupled to the upper end of the driving motor, and a plurality of coupling holes 1114 to be coupled to the housing of the reduction gear 113 may be provided.

[0059] The following will describe Figures 1 to 4d Describe the structure and operation of the multi-joint robot.

[0060] If the first rotating arm (eg, Figure 1 The first rotating arm 12 of the base 11 rotates, and a pair of cables (for example, Figure 3a The cable 30) can repeatedly enter or leave different areas according to the rotation operation of the first rotating arm along the first axis. The movable cable guide 22 can be used as a mechanism for reducing friction generated as the cable moves.

[0061] The second portion 304 of the cable is routed unconstrained in a state where the second portion 304 is placed in the movable cable guide 22, and the routed second portion 304 can move freely according to the movement of the cable in a state where the second portion 304 is protected by the cable guide 22. The friction resistance generated when the second portion 304 moves can be applied to the movable cable guide 22 instead. The third portion 306 of the cable is set in a fixed state, but the second cable protection member 23 can be set to prevent the friction force that can be generated by the second portion 304.

[0062] Figure 5 is a cross-sectional view illustrating an installed state of a movable cable guide according to various embodiments of the present disclosure.

[0063] Reference Figure 5 At least a portion of the movable cable guide 22 according to various embodiments may be disposed to have a gap g with the inner wall 11a of the base 11, and the boss 222 may be inserted into the sliding groove 1110 while contacting the surface of the sliding groove 1110 to slide.

[0064] A portion of the movable cable guide 22 can slide along the inner wall 11a during operation of the multi-joint robot, and the boss 222 can slide on the sliding groove 1110. Lubricant is introduced into the area a1 between the inner wall 11a of the base and a portion of the movable sliding guide 22 or the area a2 between the boss 222 and the sliding groove 1110, so that the movable sliding guide 22 can slide and move smoothly. Figure 5 is a cross-sectional view illustrating an installed state of a movable cable guide according to various embodiments of the present disclosure.

[0065] Figure 6 is a perspective view illustrating a mounted state of a first cable protection member according to various embodiments of the present disclosure.

[0066] Reference Figure 6 , the first cable protection member 21 according to various embodiments may be coupled to the bottom surface of the rotating frame 120 coupled to the first rotating arm 12 by using a plurality of coupling members.

[0067] According to various embodiments of the present disclosure, for a multi-joint robot (e.g., Figure 1 The cable guide device of the multi-joint robot 10 shown in FIG. 1 may include: a base (eg, Figure 1 base 11); one or more rotating arms (e.g., Figure 1 The rotating arms 12, 13, 14 and 15) are rotatably connected to the base in a joint form; one or more cables (e.g., Figure 3a The cable 30 is connected to the rotating arm via the base; the cable guide block (e.g., Figure 2 The cable guide block 111 is connected to the drive in the base; the sliding slot (e.g., Figure 2 The sliding groove 1110 is provided on the outer peripheral surface of the cable guide block; and the cable friction reducing mechanism (eg, Figure 3a A movable cable guide 22) is coupled to a portion of the cable housed in the base and is configured to rotate with the portion of the cable in the slide slot as the rotating arm rotates.

[0068] According to various embodiments of the present disclosure, the cable friction reducing mechanism may have a hole through which the portion of the cable passes.

[0069] According to various embodiments of the present disclosure, the cable friction reduction mechanism may include one or more movable cable guides (e.g., Figure 3a A movable cable guide 22).

[0070] According to various embodiments of the present disclosure, the cable friction reducing mechanism is disposed on the inner wall of the base (e.g., Figure 5The cable is disposed between the inner wall 11a of the cable and the cable guide block, and moves along the sliding groove of the cable guide block due to the tension of the cable.

[0071] According to various embodiments of the present disclosure, each of the cables may include: a first portion (eg, Figure 3a The first part 302 is horizontally arranged in the base; the second part (for example, Figure 3a The second part 304) extends from one end of the first part and is vertically disposed in the base; and the third part (e.g., Figure 3a A third portion 306) extends from an end of the cable opposite to the first portion, is opposite to the first portion, and is horizontally disposed in the base.

[0072] According to various embodiments of the present disclosure, the movable cable guide ( Figure 3b One end of the movable cable guide 22) may be arranged to be aligned with an inner wall of the base (eg, Figure 5 The inner wall 11a of the cable has a gap, and the other end of the movable cable guide can be inserted into the sliding groove (for example, Figure 2 The rotating arm is in a sliding groove 1110) to move along the sliding groove as the rotating arm rotates.

[0073] According to various embodiments of the present disclosure, a movable cable guide (e.g., Figure 3b The movable cable guide 22 may include: a main body (eg, Figure 4b The main body 220 is configured such that a hole through which a cable passes is formed along its longitudinal direction; and a boss (eg, Figure 4b A boss 222) is provided at a portion of the main body and inserted into the sliding groove.

[0074] According to various embodiments of the present disclosure, a boss (e.g., Figure 4b The boss 222 may include a curved surface having a curvature (eg, Figure 4b The curved surface 222a) can slide in the sliding groove.

[0075] According to various embodiments of the present disclosure, the base may further include a first cable protection member (eg, Figure 4a The first cable protection member 21), the first cable protection member (eg, Figure 4a The first cable protection member 210) may be C-shaped and may be engaged with the rotating frame.

[0076] According to various embodiments of the present disclosure, the base may further include a second cable protection member (eg, Figure 4cThe second cable protection member 23 is arranged to face the first cable protection member to accommodate the third part, the second cable protection member (eg, Figure 4c The second cable protection member 23) may be C-shaped and may engage with the bottom of the base.

[0077] According to various embodiments of the present disclosure, a sliding slot (e.g., Figure 2 The sliding groove 1110) may extend along the outer peripheral surface of the cable guide block.

[0078] According to various embodiments of the present disclosure, the cables may be protected by a cable protection tube.

[0079] According to various embodiments of the present disclosure, a cable (e.g., Figure 3a The cable 30) may be bent at the second portion and the third portion and may be straight at the first portion, a curved shape may be provided between the first portion and the second portion, and a curved shape may be provided between the first portion and the third portion.

[0080] According to various embodiments of the present disclosure, the cable friction reducing mechanism may be formed of a synthetic resin, which is any one of MC nylon, acetyl, or Teflon.

[0081] According to various embodiments of the present disclosure, a reduction gear (e.g., Figure 2 The reduction gear 113) is coupled to the cable guide block (eg, Figure 2 The base may be connected to an upper end of a cable guide block 111 of the embodiment of the present invention, and the base may be connected to a lower end of the cable guide block so that the cable guide block serves as an adapter.

[0082] The embodiments of the present disclosure described and shown in the specification and the drawings are only specific examples for understanding the technical content of the present disclosure, and are not intended to limit the scope of the present disclosure. Therefore, it should be interpreted that, in addition to the embodiments disclosed herein, all changes or modifications derived based on the technical spirit of the present disclosure fall within the scope of the present disclosure.

Claims

1. A cable guiding device for a multi-joint robot, comprising: A base (11), comprising an upper region and a lower region; a cable protection member (21) disposed along the inner peripheral surface of the upper end region of the base (11); One or more rotating arms (12, 13, 14, 15) rotatably connected to the base (11) in a jointed manner; A cable (30) comprising a first portion (302) connected to the one or more rotating arms (12, 13, 14, 15) and at least partially received in the cable protection member (21), a second portion (304), and a third portion (306) located at the lower end region of the base (11), wherein the second portion (304) is configured to connect the first portion (302) and the third portion (306); a retaining member (24) configured to fix an end of the third portion (306); a cable guide block (111) coupled to a driver in the base (11) and comprising a sliding groove (1110) provided on an outer peripheral surface of the cable guide block (111); and The cable friction reducing mechanism (22) comprises a boss (222) and a hole (224), wherein the boss (222) is configured to slide inside the sliding groove (1110), and the second portion (304) of the cable (30) passes through the hole (224). wherein the first portion (302) of the cable (30) rotates along the cable protection member (21) as the one or more rotating arms (12, 13, 14, 15) rotate, and When the first portion (302) rotates, the cable friction reducing mechanism (22) is configured to rotate together with the second portion (304) of the cable (30) as the boss (222) slides inside the sliding groove (1110).

2. The cable guide device of claim 1, wherein the cable friction reducing mechanism comprises one or more movable cable guides. 3 . The cable guide device according to claim 1 , wherein the cable friction reducing mechanism is provided between an inner wall of the base and the cable guide block, and moves along the sliding groove of the cable guide block by the stretching of the cable.

4. The cable guide device according to claim 1, wherein the first portion is horizontally disposed in the base; wherein the second portion extends from one end of the first portion and is vertically disposed in the base; as well as The third portion extends from an end of the cable opposite to the first portion, is opposite to the first portion, and is horizontally disposed in the base.

5. The cable guide device according to claim 2, wherein one end of the movable cable guide is set to have a gap with the inner wall of the base, and the other end of the movable cable guide is inserted into the sliding groove to move along the sliding groove as the one or more rotating arms rotate.

6. The cable guide device according to claim 2, wherein the movable cable guide comprises: a main body configured so that a hole is formed along a longitudinal direction thereof, and the second portion of the cable passes through the hole; as well as The boss is arranged at a portion of the main body and inserted into the sliding groove. 7 . The cable guide device according to claim 6 , wherein the boss includes a curved surface having a curvature, and slides in the sliding groove.

8. The cable guide device according to claim 4, wherein the base further comprises a first cable protection member accommodating the first portion, and The first cable protection member is C-shaped and engaged with the rotating frame of the rotating arm.

9. The cable guide device according to claim 8, wherein the base further comprises a second cable protection member disposed to face the first cable protection member to accommodate the third portion, and The second cable protection member is C-shaped and engages with the bottom of the base. 10 . The cable guide device according to claim 1 , wherein the slide groove extends along an outer peripheral surface of the cable guide block. The cable guide device according to claim 1 , wherein the cable is covered by a cable protection tube.

12. The cable guide device of claim 4, wherein the cable is curved at the first portion and the third portion and is straight at the second portion, and A curved shape is arranged between the first portion and the second portion, and a curved shape is arranged between the second portion and the third portion.

13. The cable guide device according to claim 1, wherein the cable friction reducing mechanism is formed of a synthetic resin, the synthetic resin being any one of MC nylon, acetyl, or Teflon. 14 . The cable guide device of claim 1 , wherein a reduction gear is coupled to an upper end of the cable guide block, and the base is coupled to a lower end of the cable guide block, so that the cable guide block serves as an adapter.

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