Robot arm

Abstract

The present invention relates to a robot arm of a novel structure that minimizes the movement of a power line connected to a work device provided at the tip, thereby minimizing the fatigue applied to the power line. The robot arm according to the present invention is further provided with a holder (50) provided on the side of the second pivot bar (20) and through which the power lines (41, 42, 43) pass, and a support (60) provided on the side of the front end of the second pivot bar (20) through which the power lines (41, 42, 43) pass. Accordingly, the middle portion of the power line (41, 42, 43) is fixed by the holder (50), and the front portion of the power line (41, 42, 43) is supported by the support (60), so that when the third pivot bar (31) is rotated in the up-and-down direction or the work device (32) is rotated, the support (60) rotates in accordance with the flow of the power line (41, 42, 43), thereby minimizing the flow of the power line (41, 42, 43). Therefore, by minimizing the fatigue applied to the power lines (41, 42, 43), there is an advantage in extending the lifespan of the power lines (41, 42, 43).

Description

Technology Field

[0001] The present invention relates to a robot arm, and more specifically, to a robot arm of a new structure that minimizes the movement of a power line connected to a work device provided at the tip, thereby minimizing the fatigue applied to the power line. Background Technology

[0002] FIGS. 1 and 2 illustrate a general example of a robot arm used for various purposes, comprising a base (11), a pivot bar (12) directionally adjustable on the base (11), a first pivot bar (13) rotatably coupled to the pivot bar (12) in an up-and-down direction, a second pivot bar (20) rotatably coupled to the tip of the first pivot bar (13) in an up-and-down direction, and a third pivot bar (31) rotatably coupled to the tip of the second pivot bar (20) in an up-and-down direction, with a work device (32) coupled to the tip.

[0003] At this time, first to fourth control motors (33, 34, 35, 36), which are operated by a control means (39), are respectively connected to the above-mentioned pivoting member (12), first pivoting bar (13), second pivoting bar (20), and third pivoting bar (31), so that the direction of the pivoting member (12) and the inclination of each pivoting bar can be adjusted to allow the position and direction of the work device (32) to be adjusted in various ways.

[0004] In addition, the second pivot bar (20) is composed of a pivot part (21) whose rear end is coupled to the first pivot bar (13) and a rotating part (22) which is coupled to the front end of the pivot part (21) and rotated by a fifth control motor (37), so that the direction of the second pivot bar (20) and the work device (32) can be adjusted more diversely by rotating the rotating part (22) laterally.

[0005] Additionally, the above-mentioned working device (32) is rotatably coupled to the tip of the third rotating bar (31) in a lateral direction and configured to be directionally adjustable by the sixth control motor (38).

[0006] At this time, the fifth and sixth control motors (38) are operated by the control means (39).

[0007] The above-mentioned work device (32) can be a variety of things, including a spot welder.

[0008] Meanwhile, this robot arm is equipped with a power line (40) connected to the above-mentioned work device (32).

[0009] The above power line (40) uses a thick wire, so the power line (40) provided in the robot arm is provided to pass through the outside of the robot arm.

[0010] However, in this robot arm, the first to third rotating bar (31) described above rotates and the work device (32) also rotates laterally, causing the power line (40) connected to the work device (32) to bend or be pulled in various directions, and as a result, severe fatigue occurs in the power line (40), causing the lifespan of the power line (40) to be shortened.

[0011] In particular, extreme fatigue occurs in the power line (40) when the third rotating bar (31) rotates in the up and down direction or when the work device (32) rotates in the side direction.

[0012] Therefore, a new method to solve these problems became necessary. Prior art literature

[0013] Registered Patent No. 10-2225252, The problem to be solved

[0014] The present invention aims to solve the above problems by providing a robot arm with a new structure that minimizes fatigue applied to a power line connected to a work device equipped at the tip and minimizes movement of the power line, thereby minimizing direct damage to the power line from the hazardous environment applied to the multi-joint robot in industrial sites with poor environmental conditions, so that the multi-joint robot can perform its work safely. means of solving the problem

[0015] The present invention for achieving the above-mentioned purpose comprises a base (11), a pivot bar (12) laterally adjustable on the base (11), a first pivot bar (13) rotatably coupled to the pivot bar (12) in an up-and-down direction, a second pivot bar (20) rotatably coupled to the tip of the first pivot bar (13) in an up-and-down direction, a third pivot bar (31) rotatably coupled to the tip of the second pivot bar (20) in an up-and-down direction and having a work device (32) coupled to the tip, and first to fourth control motors (33, 34, 35, 36) connected to the pivot bar (12), the first pivot bar (13), the second pivot bar (20), and the third pivot bar (31) and operated by a control means (39), wherein the work device (32) A robot arm is provided that includes a power line (41, 42, 43) connected thereto, a holder (50) provided on the side of the second pivot bar (20) through which the power line (41, 42, 43) passes, and a support member (60) provided on the front end side of the second pivot bar (20) through which the power line (41, 42, 43) passes, wherein the support member (60) includes a pivot plate (61) rotatably coupled to the front end side of the second pivot bar (20), an extension shaft (62) extending laterally from the upper and lower ends of the pivot plate (61), a support shaft (63) extending in the upper and lower directions and having its upper and lower ends coupled to the extension shaft (62), and a roller member (64) rotatably coupled to the outside of the support shaft (63).

[0016] According to another feature of the present invention, the second pivot bar (20) comprises a pivot part (21) with a base portion coupled to the first pivot bar (13), a rotating part (22) coupled to the front portion of the pivot part (21) and rotated by a fifth control motor (37), a front case (24) configured in a tubular shape with an open rear side and coupled to the outside of the rear portion of the rotating part (22), and a rear case (25) configured in a tubular shape with an open front portion and coupled to the outside of the front portion of the pivot part (21), wherein a front opening (24a) and a rear opening (25a) are respectively formed on one side of the front case (24) and the rear case (25), and the power lines (41, 42, 43) are provided inside the front case (24) and the rear case (25), with both ends passing through the front opening (24a) and the rear opening (25a). A robot arm is provided, characterized in that it includes a connecting part (41) extending outwardly from the front case (24) and the rear case (25), and front and rear extension parts (42, 43) provided on the outer side of the second pivot bar (20) and connected to both ends of the connecting part (41), wherein the connecting part (41) is arranged to form a U-shape with the middle part extending downward.

[0017] According to another feature of the present invention, a robot arm is provided that further comprises a rotating ring body (70) which is rotatably coupled laterally to the outer side of the front end of the rotating part (21) and has a through hole (72a) formed on one side through which a connection part (41) of the power line (41, 42, 43) passes, and a rotary drive motor (80) connected to the rotating ring body (70) to rotate the rotating ring body (70), and the control means (39) controls the rotary drive motor (80) to rotate the rotating ring body (70) in the same direction as the rotating part (22) by half the angle at which the rotating part (22) is rotated. Effects of the invention

[0018] The robot arm according to the present invention comprises a holder provided on the side of the second pivot bar and configured to allow the power line to pass through, and a support provided on the side of the front end of the second pivot bar and configured to allow the power line to pass through. In this configuration, the middle portion of the power line is fixed by the holder, and the front end of the power line is supported by the support. When the third pivot bar rotates in the up-and-down direction or the working device rotates, the support rotates in accordance with the movement of the power line, thereby minimizing the movement of the power line and minimizing the fatigue applied to the power line, which has the advantage of extending the lifespan of the power line.

[0019] In addition, the invention provides a robot arm with minimized power line movement by preventing the connecting part, which is arranged to form a U shape when the rotating part rotates, from being damaged by friction against the inner surface of the front and rear cases, thereby minimizing the fatigue applied to the power line connected to the work device provided at the tip, and thereby minimizing the direct exposure of the power line to the hazardous environment applied to the multi-joint robot in industrial sites with poor environmental conditions, as well as enabling long-term use of the multi-joint robot with improved safety and aesthetics. Brief explanation of the drawing

[0020] FIG. 1 is a side view illustrating a conventional robot arm, FIG. 2 is a block diagram illustrating a conventional robot arm, FIG. 3 is a left perspective view illustrating a robot arm according to the present invention. FIG. 4 is a right perspective view illustrating a robot arm according to the present invention. FIG. 5 is a left side view illustrating a robot arm according to the present invention, FIG. 6 is a right cross-sectional view illustrating a robot arm according to the present invention, FIG. 7 is a cross-sectional view showing the section along line AA of FIG. 5, FIG. 8 is a reference diagram for explaining the operation of a support of a robot arm according to the present invention. FIG. 9 is a perspective view illustrating the state in which the right side of the front and rear cases of a robot arm according to the present invention is removed. FIG. 10 is a right side view illustrating the state in which the right side of the front and rear cases of a robot arm according to the present invention has been removed. FIG. 11 is a cross-sectional view showing the BB line cross-section of FIG. 6, FIG. 12 is a cross-sectional view showing the CC line cross-section of FIG. 6, FIG. 13 is a side view illustrating the operation of the power line connection part of a robot arm according to the present invention. FIG. 14 is a side view illustrating a second embodiment of a robot arm according to the present invention, FIG. 15 is a side cross-sectional view of a second embodiment of a robot arm according to the present invention, FIG. 16 is a block diagram of a second embodiment of a robot arm according to the present invention, FIGS. 17 and 18 are cross-sectional views illustrating the operation of a second embodiment of a robot arm according to the present invention. Specific details for implementing the invention

[0021] The present invention will be described in detail below with reference to the attached exemplary drawings.

[0022] FIGS. 3 to 13 illustrate a robot arm according to the present invention, which is identical to the prior art in that it is equipped with a base (11), a pivot bar (12) that is directionally adjustable on the base (11), a first pivot bar (13) that is rotatably coupled to the pivot bar (12) in an up-and-down direction, a second pivot bar (20) that is rotatably coupled to the tip of the first pivot bar (13) in an up-and-down direction, a third pivot bar (31) that is rotatably coupled to the tip of the second pivot bar (20) in an up-and-down direction and has a work device (32) coupled to the tip, and a device connected to the pivot bar (12), the first pivot bar (13), the second pivot bar (20), and the third pivot bar (31) and operated by a control means (39).

[0023] At this time, the rotating platform (12), the first rotating bar (13), the second rotating bar (20), and the third rotating bar (31) are each equipped with first to fourth control motors (33, 34, 35, 36) that are operated by a control means (39), so that the direction of the rotating platform (12) and the inclination of each rotating bar can be adjusted to allow the position and direction of the work device (32) to be adjusted in various ways.

[0024] And, the second pivot bar (20) is composed of a pivot part (21) in which the base part is coupled to the first pivot bar (13), and a rotating part (22) coupled to the front end of the pivot part (21) and rotated by a fifth control motor (37).

[0025] At this time, the above-mentioned work device (32) utilizes a spot welder and is rotatably coupled to the tip of the third rotating bar (31) in a lateral direction, and is configured to be directionally adjustable by the sixth control motor (38).

[0026] In addition, power lines (41, 42, 43) are connected to the above-mentioned work device (32).

[0027] And, according to the present invention, the second rotating bar (20) is further provided with a front case (24) configured in a tubular shape with an open rear side and coupled to the outer side of the rear end of the rotating part (22), and a rear case (25) configured in a tubular shape with an open front side and coupled to the outer side of the front end of the rotating part (21).

[0028] The front case (24) and the rear case (25) are configured in a cylindrical shape extending in the front-rear direction, and are respectively coupled to the rotating part (22) and the pivoting part (21) so that adjacent ends overlap slightly as shown in FIG. 6, so that when the rotating part (22) rotates in the side direction, the front case (24) rotates together.

[0029] At this time, as illustrated in FIGS. 11 and 12, a front opening (24a) and a rear opening (25a) are respectively formed on one side of the front case (24) and the rear case (25), particularly on the upper right side, and a cover member (26) is respectively provided on the outer surface of the front case (24) and the rear case (25) to cover the outer upper part of the front and rear openings (25a).

[0030] Additionally, the second rotating bar (20) is further provided with a holder (50) provided on the side of the second rotating bar (20) through which the power lines (41, 42, 43) pass, and a support (60) provided on the front side of the second rotating bar (20) through which the power lines (41, 42, 43) pass.

[0031] The above holder (50) is configured such that a through hole (51) penetrates the front and rear surfaces, and is composed of a plurality of such holders, which are provided on the right side of the rotating part (22) so as to be spaced apart from each other in the front and rear directions.

[0032] As shown in FIG. 7, the support member (60) is composed of a pivot plate (61) rotatably coupled to the front end side of the second pivot bar (20), an extension shaft (62) extending laterally from the upper and lower ends of the pivot plate (61), a support shaft (63) extending in the upper and lower directions and having its upper and lower ends coupled to the extension shaft (62), and a roller member (64) rotatably coupled to the outer side of the extension shaft (62) and the support shaft (63).

[0033] At this time, a connecting part (27) is formed concavely on the right side of the tip of the second pivot bar (20).

[0034] And, a pivot shaft (61a) extending to the left is provided on the left side of the pivot plate (61), and the pivot shaft (61a) is rotatably coupled to the coupling part (27) through a bearing (61b).

[0035] Accordingly, the entire support (60) is freely rotated in the up and down direction around the pivot axis (61a).

[0036] And, the power lines (41, 42, 43) are configured such that their middle portions pass through the interior of the front case (24) and the rear case (25) through the front opening (24a) and the rear opening (25a).

[0037] To this end, the power lines (41, 42, 43) are provided inside the front case (24) and rear case (25) and are composed of a connecting part (41) with both ends extended to the outside of the front case (24) and rear case (25) through the front opening (24a) and rear opening (25a), and front and rear extension parts (42, 43) provided on the outside of the second pivot bar (20) and connected to both ends of the connecting part (41).

[0038] As shown in FIGS. 9 to 13, the above connecting part (41) is arranged to form a U-shape with the middle part extending downward.

[0039] The rear extension (43) is positioned to extend rearward from the rear end of the connecting part (41) that extends outward from the rear case (25) through the rear opening (25a).

[0040] The above-mentioned front extension (42) is extended forward from the front end of the connecting part (41) that extends outward from the front case (24) through the above-mentioned front opening (24a) and is connected to the above-mentioned working device (32).

[0041] At this time, the front extension (42) passes through the through hole (51) of the holder (50) and the central part of the support (60) and is connected to the working device (32).

[0042] Accordingly, when the third pivot bar (31) is rotated in the up and down direction and the power lines (41, 42, 43) move, the support member (60) rotates in accordance with the movement of the power lines (41, 42, 43) and supports the power lines (41, 42, 43) so that the movement is minimized.

[0043] And, as illustrated in FIG. 13, when the rotating part (22) is rotated laterally by the fifth control motor (37), the rear case (25) is not rotated, and the front case (24) is rotated laterally together with the rotating part (22). At this time, as the front end of the connecting part (41) rotates together with the rotating part (22), the middle part of the connecting part (41) moves up and down, and follows the change in distance according to the rotation of the rotating part (22).

[0044] The robot arm configured in this manner is further provided with a holder (50) provided on the side of the second pivot bar (20) through which the power lines (41, 42, 43) pass, and a support (60) provided on the side of the front end of the second pivot bar (20) through which the power lines (41, 42, 43) pass.

[0045] Accordingly, the middle portion of the power line (41, 42, 43) is fixed by the holder (50), and the front portion of the power line (41, 42, 43) is supported by the support (60), so that when the third pivot bar (31) is rotated in the up-and-down direction or the work device (32) is rotated, the support (60) rotates in accordance with the flow of the power line (41, 42, 43), thereby minimizing the flow of the power line (41, 42, 43).

[0046] Therefore, by minimizing the fatigue applied to the power lines (41, 42, 43), there is an advantage in extending the lifespan of the power lines (41, 42, 43).

[0047] And, the second pivot bar (20) is composed of a pivot part (21) whose base is coupled to the first pivot bar (13), a rotating part (22) coupled to the front end of the pivot part (21) and rotated by a fifth control motor (37), a front case (24) configured in a tubular shape with an open rear side and coupled to the outside of the rear end of the rotating part (22), and a rear case (25) configured in a tubular shape with an open front and coupled to the outside of the front end of the pivot part (21), wherein a front opening (24a) and a rear opening (25a) are respectively formed on one side of the front case (24) and the rear case (25), and the power lines (41, 42, 43) are provided inside the front case (24) and the rear case (25), and both ends are connected to the front case (24) through the front opening (24a) and the rear opening (25a). It is composed of a connecting part (41) extending outwardly from the rear case (25) and front and rear extension parts (42, 43) provided on the outer side of the second pivot bar (20) and connected to both ends of the connecting part (41), and the connecting part (41) is arranged to form a U-shape with the middle part extending downwards.

[0048] Accordingly, when the rotating part (22) rotates laterally, the connecting part (41) follows this and moves up and down, following the change in distance due to the rotation of the rotating part (22).

[0049] Therefore, the power lines (41, 42, 43) remain fixed on the outside of the second rotating bar (20), and there is an advantage in that the movement of the power lines (41, 42, 43) due to the rotation of the rotating part (22) can be minimized.

[0050] FIGS. 14 to 18 illustrate a second embodiment according to the present invention, wherein a rotating ring body (70) is rotatably coupled laterally to the outer side of the front end of the rotating part (21) and has a through hole (72a) formed on one side through which the connection part (41) of the power line (41, 42, 43) passes, and a rotary driving motor (80) connected to the rotating ring body (70) to rotate the rotating ring body (70) is further provided.

[0051] The above-mentioned rotating ring body (70) is composed of a ring body (71) rotatably coupled to the outside of the rotating part (21) and an extension part (72) extending radially from one side of the ring body (71), and the through hole (72a) is formed to penetrate the front and rear surfaces of the extension part (72).

[0052] And, an extension tube portion (73) extending to the rear is formed on the rear side of the ring body (71), and a gear train (73a) is formed on the outer surface of the extension tube portion (73).

[0053] The above rotary drive motor (80) is provided on the upper circumferential surface of the above rotary part (21), and the drive motor (80) extending forward is provided with a drive gear (81) that meshes with the above gear train (73a), and is configured to operate by the control of the above control means (39) to rotate the above rotary ring body (70) in forward and reverse directions.

[0054] At this time, the control means (39) is configured to control the rotary drive motor (80) to rotate the rotary ring body (70) in the same direction as the rotary part (22) by half the angle at which the rotary part (22) is rotated.

[0055] For example, as illustrated in FIG. 18, when the rotating part (22) is rotated 90 degrees counterclockwise by the fifth driving motor (80), the control means (39) controls the rotational driving motor (80) so that the rotating ring body (70) is rotated 45 degrees counterclockwise.

[0056] The robot arm configured in this manner is further provided with a rotating ring body (70) which is rotatably coupled to the outer side of the front end of the rotating part (21) in a lateral direction and has a through hole (72a) formed on one side through which the connection part (41) of the power line (41, 42, 43) passes, and a rotary drive motor (80) connected to the rotating ring body (70) to rotate the rotating ring body (70). When the rotating part (22) rotates, the rotating ring body (70) rotates, and the middle part of the connection part (41) is supported so as to be spaced apart from the outer surface of the rotating part (21) and the rotating part (22) at a certain distance, thereby minimizing friction between the middle part of the connection part (41) and the inner surface of the front and rear cases (24, 25).

[0057] Therefore, when the rotating part (22) is rotated, the connecting part (41), which is arranged to form a U shape, has the advantage of preventing friction and damage to the inner surface of the front and rear cases (24, 25). Explanation of the symbols

[0058] 11. Bass 12. Hoedongdae 13, 20, 31. 1st to 3rd pivot bar 32. Device 33~38, 1st to 6th control motors 41, 42, 43. Power line 50. Holder 60. Support

Claims

Claim 1 A robot arm comprising a base (11), a pivot member (12) laterally adjustable on the base (11), a first pivot bar (13) rotatably coupled to the pivot member (12) in an up-and-down direction, a second pivot bar (20) rotatably coupled to the tip of the first pivot bar (13) in an up-and-down direction, a third pivot bar (31) rotatably coupled to the tip of the second pivot bar (20) in an up-and-down direction and having a work device (32) coupled to the tip, and first to fourth control motors (33, 34, 35, 36) connected to the pivot member (12), the first pivot bar (13), the second pivot bar (20), and the third pivot bar (31) and operated by a control means (39), wherein a power line (41, 42, 43) is connected to the work device (32) and a robot arm In addition; a holder (50) provided on the side of the second pivot bar (20) and configured to allow the power lines (41, 42, 43) to pass through, and a support member (60) provided on the front end side of the second pivot bar (20) and through which the power lines (41, 42, 43) pass, wherein the support member (60) comprises a pivot plate (61) rotatably coupled to the front end side of the second pivot bar (20), an extension shaft (62) extending laterally from the upper and lower ends of the pivot plate (61), a support shaft (63) extending in the vertical direction and having its upper and lower ends coupled to the extension shaft (62), and a roller member (64) rotatably coupled to the outside of the support shaft (63);The second pivot bar (20) comprises a pivot part (21) with a base portion coupled to the first pivot bar (13), a rotating part (22) coupled to the front end of the pivot part (21) and rotated by a fifth control motor (37), a front case (24) configured in a tubular shape with an open rear side and coupled to the outside of the rear end of the rotating part (22), and a rear case (25) configured in a tubular shape with an open front and coupled to the outside of the front end of the pivot part (21). A front opening (24a) and a rear opening (25a) are respectively formed on one side of the front case (24) and the rear case (25). The power lines (41, 42, 43) are provided inside the front case (24) and the rear case (25), and both ends are connected to the front case (24) through the front opening (24a) and the rear opening (25a). It includes a connecting part (41) extending outwardly from the rear case (25), and front and rear extension parts (42, 43) provided on the outer side of the second rotating bar (20) and connected to both ends of the connecting part (41), wherein the connecting part (41) is arranged to form a U-shape with the middle part extending downwardly; further includes a rotating ring body (70) which is rotatably coupled laterally to the outer side of the front end of the rotating part (21) and has a through hole (72a) formed on one side through which the connecting part (41) of the power line (41, 42, 43) passes, and a rotary drive motor (80) connected to the rotating ring body (70) to rotate the rotating ring body (70), and the control means (39) controls the rotary drive motor (80) to rotate the rotating ring body (70) in the same direction as the rotating part (22) by half the angle at which the rotating part (22) is rotated. A robot arm characterized by the following: Claim 2 delete Claim 3 delete

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