RoboChain

Abstract

The present invention provides a RoboChain that connects plates without separate connecting members, improves assembly, minimizes contact between plates, and prevents noise. In the RoboChain of the present invention, a plate and a corresponding plate are rotatably connected while overlapping partially in a circular overlapping region, and the pivot protrusion formed on the plate rotates while moving along the pivot groove formed in the corresponding plate, and the connection pin of the plate is fitted into the connection pin coupling groove of the corresponding plate to fasten them together.

Description

[Technical field]

[0001] The present invention relates to a RoboChain, and more particularly to a RoboChain that is easily assembled without separate connecting members, does not generate noise, and has reduced wear phenomena of built-in cables, etc. [Background technology]

[0002] Generally, RoboChain is a device used in industrial sites that handle various types of machinery, and has a chain structure that allows it to bend between a straight and curved state. Through this bending motion, it reciprocates hydraulic and pneumatic hoses, cables, etc. (hereinafter referred to as "cables") housed within its internal space.

[0003] In this regard, Korean Patent Publication KR10-1196888B1 (Patent Document 1), an earlier application by the present applicant, is disclosed as prior art related to RoboChain.

[0004] Patent Document 1 relates to a RoboChain and a connecting member used therein, and includes a plurality of link units (or plates), a connecting member that connects the link units, and a recessed portion formed on the inside of the link unit so that the connecting member can be detachably coupled to each of the link units, and a neck portion formed on the connecting member so that the connecting member will not easily come off when fastened to the recessed portion.

[0005] However, in conventional RoboChains, the connecting members are pulled into recesses to connect the link units. This not only makes it inconvenient to fasten the connecting members, but also complicates the assembly process because the link units must be connected through the connecting members. In addition, the necks of the connecting members protrude into the inside of the chain links, causing wear on the cables. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been devised in light of the above-mentioned points, and has an object to provide a RoboChain that connects plates without separate connecting members to improve assembly, minimizes contact between plates to prevent noise, and forms flat the inner surfaces of the plates that come into contact with the cables, thereby reducing wear on the built-in cables. [Means for solving the problem]

[0007] In order to achieve the above-mentioned objects, the present invention provides a RoboChain in which chain links, each including a pair of plates facing each other with a certain distance between them and links connecting the upper or lower parts of the pair of plates, are continuously connected in the longitudinal direction of the chain, and the corresponding plate connected to one of the plates is formed in the same shape and is connected with a partial overlap in a circular overlapping area having a concave step, and in the overlapping area, a cylindrical connection pin is protrudingly formed in the center of the plate and three pivot protrusions are protrudingly formed at equal intervals on the edges, the corresponding plate has inner and outer rings protrudingly formed with connection pin coupling grooves, three stoppers are formed at equal intervals between the inner and outer rings, and three pivot grooves are formed between the stoppers, and the plate and the corresponding plate rotate as the pivot protrusions move along the pivot grooves, and the connection pins are fitted into the connection pin coupling grooves to fasten them together.

[0008] A rail groove may be formed around an outer periphery of the connection pin, and a rail protrusion may be formed around an inner periphery of the connection pin coupling groove to couple with the rail groove.

[0009] The rotation groove is formed so that the length on the outer ring side is longer than the length on the inner ring side, and the side surface of the rotation protrusion and the side surface of the stopper may not come into contact with each other.

[0010] The lower surface of the plate that contacts the bottom surface on which the RoboChain is placed may be rounded.

[0011] The plate and the counter plate may further be provided with a rotation space extending from the overlapping region outside the overlapping region.

[0012] A width of the overlapping region where the plate and the corresponding plate are fastened may be greater than a combined width of the plate and the corresponding plate at an edge of the overlapping region.

[0013] The inner side of the plate exposed to the inside of the chain link may be formed with a flat surface.

[0014] The contact pin may be cylindrical.

[0015] The rotation protrusion, the stopper and the rotation groove may each be configured as a pair arranged at equal intervals. Effect of the Invention

[0016] The RoboChain of the present invention can be configured so that the plate and the counter plate are fastened to each other only by the undercut and the corresponding shape, and can be easily fastened without a separate connecting member.

[0017] Furthermore, the RoboChain of the present invention can be easily disassembled and assembled since the plates and corresponding plates are fastened only by the connecting pins and the connecting pin coupling grooves.

[0018] Furthermore, the ROBOCHAIN ​​of the present invention minimizes contact between the plates and the corresponding plates, significantly reducing noise and dust generation.

[0019] Furthermore, the inner surface of the plate in the RoboChain of the present invention that comes into contact with the cables is flat, which has the effect of reducing wear and damage to the built-in cables. [Brief description of the drawings]

[0020] [Figure 1]FIG. 1 is a perspective view showing the assembled state of a RoboChain according to an embodiment of the present invention. [Diagram 2] 1 is a perspective view showing one chain link in an assembled state in a RoboChain according to an embodiment of the present invention. FIG. [Diagram 3] FIG. 3 is an exploded perspective view of one of the chain links of FIG. 2. [Figure 4] FIG. 2 is an exploded perspective view showing a connection state between a plate and a corresponding plate according to an embodiment of the present invention. [Diagram 5] 1 is an exploded perspective view showing a connection state between a plate and a counter plate according to an embodiment of the present invention, viewed from a different angle. [Figure 6] 4 is a partial cross-sectional view of a state in which a connection pin is coupled to a connection pin coupling groove according to an embodiment of the present invention; FIG. [Figure 7-9] 1 is a view showing an example of a main part of a plate and a corresponding plate in a coupled state according to an embodiment of the present invention; [Figure 10] 4A and 4B are a side view and a top view showing a coupled state of a plate and a corresponding plate according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, the ROBOCHAIN ​​of the present invention will be described in detail with reference to the drawings.

[0022] The present invention can be modified in various ways and can have various embodiments, but a specific embodiment will be illustrated in the drawings and described in detail in the detailed description. However, it is understood that this is not intended to limit the present invention to the specific embodiment, and includes all modifications, equivalents, and alternatives included within the spirit and technical scope of the present invention.

[0023] When a component is referred to as being "connected" or "coupled" to another component, it should be understood that the component may be directly connected or coupled to the other component, but that there may be other intervening components. Conversely, when a component is referred to as being "directly connected" or "directly coupled" to another component, it should be understood that there are no other intervening components.

[0024] The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless otherwise clearly indicated in the context.

[0025] As used herein, terms such as "comprise" or "have" are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, but are to be understood as not precluding the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0026] Furthermore, the components of the embodiments described with reference to each drawing are not limited to the applicable embodiment only, but may be implemented to be included in other embodiments within the scope that maintains the technical spirit of the present invention, and it is of course possible that even if separate descriptions are omitted, multiple embodiments can be realized again in a single integrated embodiment.

[0027] In addition, in the description with reference to the accompanying drawings, the same components are given the same or related reference symbols regardless of the drawing symbols, and duplicated descriptions thereof will be omitted. In the description of the present invention, if it is determined that a detailed description of related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

[0028] Fig. 1 is a perspective view showing an assembled state of a RoboChain according to an embodiment of the present invention, Fig. 2 is a perspective view showing one chain link in an assembled state of the RoboChain according to an embodiment of the present invention, Fig. 3 is a perspective view showing one chain link of Fig. 2 in an exploded state, Fig. 4 is an exploded perspective view showing a connection state between a plate and a corresponding plate according to an embodiment of the present invention, Fig. 5 is an exploded perspective view showing the connection state between a plate and a corresponding plate according to an embodiment of the present invention from a different angle, Fig. 6 is a partially cut-away cross-sectional view of a state in which a connection pin according to an embodiment of the present invention is coupled to a connection pin coupling groove, Figs. 7 to 9 are exemplary views of the main part showing the coupled state between a plate and a corresponding plate according to an embodiment of the present invention, and Fig. 10 is a side view and a top view showing the coupled state between a plate and a corresponding plate according to an embodiment of the present invention.

[0029] As shown in the drawings, the Robochain according to one embodiment of the present invention is a Robochain in which chain links 200, each of which includes a pair of plates 100, 140 facing each other with a certain distance between them and a link 160 connecting the upper or lower parts of the plates 100, 140, are continuously connected in the longitudinal direction of the chain. The corresponding plate 120 connected to the plate 100 on one side is formed in the same shape and is connected to the corresponding plate 120 in a partially overlapping circular overlapping area 110 having a concave step. In the overlapping area 110, The plate 100 has a cylindrical connecting pin 105 protruding from the center thereof, and three pivot protrusions 107 protruding from the edge at equal intervals. The corresponding plate 120 has an inner ring 123 and an outer ring 124 protruding therefrom, each having a connecting pin coupling groove 121. Three stoppers 126 are formed between the inner ring and the outer ring at equal intervals, and three pivot grooves 128 are formed between the stoppers. The plate and the corresponding plate are characterized in that the pivot protrusions 107 rotate while moving along the pivot grooves 128, and the connecting pin 105 is fitted into the connecting pin coupling grooves 121 to fasten them together.

[0030] The RoboChain 10 of the present invention is formed by continuously connecting chain links 200 in the longitudinal direction of the chain, each of which includes a pair of plates 100, 140 facing each other with a certain distance between them and links 160 connecting the upper or lower parts of the plates 100, 140. Here, the facing plate 140 is formed substantially symmetrically to the plate 100, and the adjacent corresponding plate 120 connected to the plate 100 on one side is formed to have the same shape as the plate 100, and the plate 100 and the corresponding plate 120 are connected to each other so as to be rotatable.

[0031] The pair of plates 100, 140 are connected at least at the upper or lower portions by a link 160. Link connecting portions 162 to which the link 160 is connected are formed at the upper and lower portions of the plates, and the link 160 has a link connecting hole 161 that can be connected to the link connecting portion 162. The fastening structure between the plate 100 and the link 160 can be formed in various other forms as long as it can connect the two together.

[0032] 2, a chain link 200, which is made up of a pair of opposing plates 100, 140 and a link 160, has a roughly rectangular space S formed therein, and cables are housed in this space S. The RoboChain 10 is formed by continuously connecting such chain links 200 in the longitudinal direction of the chain so that they can rotate with each other.

[0033] As described above, the opposing plate 140 has a shape and structure that is substantially symmetrical to the plate 100, and the corresponding plate 120, which is adjacent to the right side of the plate 100 and connected to the plate 100, has the same shape and structure as the plate 100. In the present invention, the left plate will be described as the plate 100, and the right plate will be described as the corresponding plate 120.

[0034] 3, the plate 100 has a fixed length in the longitudinal direction of the chain and has an upper surface 102, a lower surface 101, an inner side surface 104 and an outer side surface 103, with both ends formed into an approximately semicircular shape. In the present invention, the lower surface 101 of the plate 100 that comes into contact with the bottom surface on which the RoboChain 10 is placed can be formed in a rounded shape. Because a plate with a rounded lower surface comes into smooth contact with the bottom surface, noise caused by contact with the bottom surface as the RoboChain runs can be reduced.

[0035] 4 and 5, a concave step is formed on the inner side surface 104 of one end on the right side of the plate 100, and the concave step has a substantially circular shape. Correspondingly, a concave step is also formed on the outer side surface 103 of the other end on the left side of the corresponding plate 120, and the concave step also has a substantially circular shape. The corresponding plate 120 adjacent to the plate 100 is connected while partially overlapping in such a circular overlapping region 110 (see FIG. 7).

[0036] The plate 100 and the corresponding plate 120 are assembled so as to be rotatable at a certain angle. As shown in the drawing, in the overlapping region 110, a cylindrical connection pin 105 is formed protruding from the center of the plate 100, and three rotation protrusions 107 are formed protruding at equal intervals from the edge. In this embodiment, the connection pin 105 is formed cylindrically, but the connection pin 105 can also be formed columnarly. However, the cylindrical connection pin 105 is more preferable from the viewpoint of reducing the weight of the parts and reducing the manufacturing cost.

[0037] In the overlapping region 110, the corresponding plate 120 is formed with an inner ring 123 and an outer ring 124 each having a connecting pin coupling groove 121. Here, the inner ring 123 is formed to protrude further than the outer ring 124. And, between the inner ring and the outer ring, three stoppers 126 are formed at equal intervals and extending at the same height as the inner ring 123. Therefore, three rotation grooves 128 are formed in the space bounded by the inner ring 123, the outer ring 124 and the stoppers on both sides. The rotation grooves 128 are spaces in which the plate 100 can rotate, and the maximum rotation angle can be adjusted by adjusting the length of the circular arc of the rotation grooves 128.

[0038] The rotation groove 128 is configured so that the length on the outer ring side is longer than the length on the inner ring side. As shown in Fig. 9, when the plate 100 rotates at the maximum rotation angle, the side surface 108 of the rotation protrusion 107 does not come into contact with the side surface 129 of the rotation groove 128, thereby preventing the rotation protrusion 107 from coming into contact with the side surface of the rotation groove 128 and generating noise when the RoboChain runs. This will be described later.

[0039] The connection pin 105 of the plate 100 has an outer diameter that is approximately equal to the inner diameter of the connection pin coupling groove 121 of the corresponding plate 120, and is configured in a shape that allows it to be fitted into the connection pin coupling groove 121 and coupled. Therefore, the plate 100 and the corresponding plate 120 are fastened in a rotatable state by inserting the rotation protrusion 107 of the plate 100 into the rotation groove 128 of the corresponding plate 120 while fitting the connection pin 105 of the plate 100 into the connection pin coupling groove 121 of the corresponding plate 120.

[0040] The plate 100 and the corresponding plate 120 are rotatably connected to each other while overlapping each other at the overlapping region 110, and the inner side surfaces 104 of the plate 100 and the corresponding plate 120 exposed to the inside of the chain link 160 are formed as flat surfaces. Therefore, as shown in Fig. 1, in the storage space S in which the cables are stored, the inner side surfaces of the plates are formed as flat surfaces without protruding parts, so that the cables can be protected without wear or damage.

[0041] 6, a rail groove 106 can be formed around the outer periphery of the connection pin 105, and a rail protrusion 122 that is coupled with the rail groove 106 can be formed around the inner periphery of the connection pin coupling groove 121. If the connection pin 105 and the connection pin coupling groove 121 are fastened together using the rail groove and the rail protrusion, the plate 100 and the corresponding plate 120 can be more firmly fastened together and can rotate smoothly relative to each other. Conversely, it is of course possible to form a rail protrusion on the connection pin and a rail groove in the connection pin coupling groove.

[0042] Furthermore, since the portion where the connection pin 105 and the connection pin coupling groove 121 are fastened is completely sealed by the outer side surface of the plate, even if dust is generated due to friction when the connection pin 105 rotates in the connection pin coupling groove 121, the generated dust is prevented from scattering outside the plate.

[0043] In addition, in one embodiment of the present invention, the rotation protrusion 107, the stopper 126, and the rotation groove 128 are formed in threes at equal intervals, but the rotation protrusion 107, the stopper 126, and the rotation groove 128 may be formed in pairs arranged at equal intervals. However, compared to the rotation protrusion 107, the stopper 126, and the rotation groove 128 formed in a pair, the formation of three provides stronger support at three points, improving the support strength and providing an advantageous advantage in dispersing stress.

[0044] 7 to 9 show an example of the coupling relationship between the plate 100 and the corresponding plate 120 (i.e., in the drawings, only the overlapping area of ​​the corresponding plate 120 is shown in order to show the coupling relationship with the plate 100 in more detail). Here, Fig. 7 shows the case where RoboChain is in a straight state, and Figs. 8 and 9 show the case where RoboChain is in a bent state.

[0045] As shown in FIG. 7, the connection pin 105 of the plate 100 fits into the connection pin coupling groove 121 of the corresponding plate 120, while the rotation protrusion 107 of the plate 100 is inserted into the rotation groove 128 of the corresponding plate 120, so that the two are coupled to be rotatable at a certain angle.

[0046] In this state, when the other left end of plate 100 or one right end of corresponding plate 120 is rotated upward, plate 100 and corresponding plate 120 rotate as rotation protrusion 107 moves gradually along rotation groove 128. Fig. 8 shows intermediate steps of rotation of plate 100 and corresponding plate 120, and Fig. 9 shows the state where plate 100 and corresponding plate 120 have rotated to the maximum rotation angle.

[0047] 9, when the plate 100 is rotated to the maximum rotation angle, the top A of the rotation protrusion 107 is broken while being in close contact with the inner wheel side of the rotation groove 128, and the rotation protrusion 107 stops moving. Therefore, the side surface 108 of the rotation protrusion and the side surface of the rotation groove 128 (i.e., the same as the side surface of the stopper 126) do not come into contact with each other even when the plate 100 or the corresponding plate 120 rotates. As a result, even when the plate 100 or the corresponding plate 120 rotates to the maximum rotation angle, contact is only made at the minimum number of contact points, which has the effect of greatly reducing noise caused by contact during rotation.

[0048] In addition, rotation spaces 109, 130 are further provided outside the overlapping area where plate 100 and corresponding plate 120 overlap each other, extending from overlapping area 110. Therefore, plate 100 and corresponding plate 120 can rotate smoothly without their sides touching each other when rotating due to rotation spaces 109, 130, which are marginal spaces, so that noise caused by side contact when plate 100 and corresponding plate 120 rotate is not generated, and dust generation due to friction is prevented.

[0049] Fig. 10 shows, in a side view and a top view, the coupling relationship between the plate 100 and the corresponding plate 120. The side view of Fig. 10(a) shows, by way of example, that a rotation space 130 is formed in the corresponding plate 120, allowing the plate 100 and the corresponding plate 120 to rotate smoothly without contacting each other on their side surfaces.

[0050] 10(b), the width a of the overlapping region 110 where the plate 100 and the corresponding plate 120 are fastened is greater than the width b+c obtained by adding the width c of the plate and the width b of the corresponding plate at the edge of the overlapping region, so that a gap 131 exists between the plate 100 and the corresponding plate 120 at the edge of the overlapping region. That is, the plate 100 and the corresponding plate 120 do not contact each other at the overlapping region 110 except for the portion where the connection pin 105 of the plate 100 and the rotation protrusion 107 are coupled with the connection pin coupling groove 121 and the rotation groove 128 of the corresponding plate 120. Therefore, when the plate 100 and the corresponding plate 120 rotate, the inner side surface 104 of the plate 100 and the outer side surface 103 of the corresponding plate 120 do not contact each other, so that noise due to contact is not generated, and dust generation due to friction is further prevented.

[0051] As described above, the RoboChain 10 according to the present invention can be configured so that the plates and corresponding plates are fastened to each other only through the undercuts and corresponding shapes, and can be easily fastened without separate connecting members; the plates and corresponding plates are fastened only through the connection pins and connection pin coupling grooves, and can be easily disassembled and assembled; contact between the plates and corresponding plates is minimized, greatly reducing the generation of noise and dust; and the inner surfaces of the plates that come into contact with the cables are flat, which has the effect of reducing wear and damage to the built-in cables.

[0052] While the present invention has been shown and described in connection with preferred embodiments for the purpose of illustrating the principles of the invention, the invention is not limited to the exact construction and operation so shown and described, but rather, those skilled in the art will readily appreciate that numerous changes and modifications can be made to the invention without departing from the spirit and scope of the appended claims.

Claims

1. A ROBOCHAIN ​​in which chain links each including a pair of plates facing each other with a certain distance between them and a link connecting the upper or lower part of the pair of plates are continuously connected in the longitudinal direction of the chain, The corresponding plate connected to the plate on one side is formed in the same shape and is connected to the plate on the other side while overlapping with each other in a circular overlapping region having a concave step. In the overlapping region, a cylindrical connection pin is protrudingly formed at the center of the plate, and three rotation protrusions are protrudingly formed at equal intervals on the edge of the plate; An inner ring and an outer ring each having a connecting pin coupling groove are protrudingly formed on the corresponding plate, three stoppers are formed at equal intervals between the inner ring and the outer ring, and three rotation grooves are formed between the stoppers, The RoboChain is characterized in that the plate and the corresponding plate rotate while the rotating protrusion moves along the rotating groove, and the connection pin is fitted into the connection pin coupling groove to fasten them together.

2. A rail groove is formed around the outer periphery of the connection pin, and a rail protrusion is formed around the inner periphery of the connection pin coupling groove to couple with the rail groove. The RoboChain according to claim 1.

3. The rotation groove is formed such that the length of the rotation groove on the outer ring side is longer than the length of the rotation groove on the inner ring side, and the side surface of the rotation protrusion and the side surface of the stopper do not come into contact with each other. The RoboChain according to claim 1.

4. The lower surface of the plate that comes into contact with the bottom surface on which the RoboChain is placed is rounded. The RoboChain according to claim 1.

5. The plate and the corresponding plate are further provided with a rotation space extending from the overlapping area outside the overlapping area. The RoboChain according to claim 1.

6. The width of the overlapping region where the plate and the corresponding plate are fastened is greater than the combined width of the plate and the corresponding plate at the edge of the overlapping region. The RoboChain according to claim 1.

7. The inner side of the plate exposed to the inside of the chain link is formed as a flat surface. The RoboChain according to claim 1.

8. The connection pin is cylindrical in shape. The RoboChain according to claim 1.

9. The rotation projection, the stopper and the rotation groove are arranged in pairs at equal intervals. The RoboChain according to claim 1.

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