Robot arm stanchion unit and multi-joint collaborative robot equipped with this

Abstract

The present invention relates to a robot arm mounting unit for stably maintaining the posture of a robot arm member and minimizing power consumption of a robot arm member even when the power supplied to the robot arm member is cut off in an idle state, and to a multi-joint collaborative robot equipped with the same. To this end, the robot arm support unit is a robot arm support unit that is coupled to a robot body so as to be vertically movable and supports a robot arm member that is rotatably coupled to the robot body, and includes a support head that supports the robot arm member, and further includes at least one head lifting module among a head lifting module coupled to the robot body and moving the support head vertically, and a micro lifting module coupled to the robot body and moving the head lifting module vertically.

Description

Technology Field

[0001] The present invention relates to a robot arm support unit and a multi-joint collaborative robot equipped with the same. More specifically, it relates to a robot arm support unit and a multi-joint collaborative robot equipped with the same, which maintains a stable posture of a robot arm member and minimizes power consumption of the robot arm member even when the power supplied to the robot arm member is cut off while in an idle state. Background Technology

[0002] Generally, collaborative robots perform tasks through physical cooperation in the same space as human workers. Collaborative robots may also include industrial robots that perform tasks independently in a space separate from the workers. Such collaborative robots are used across various industrial sectors, including manufacturing, agriculture, and the service industry.

[0003] Meanwhile, if an obstacle is located on the movement trajectory of a collaborative robot, the movement and operation of the collaborative robot may be hindered, and in particular, if the obstacle is a worker, there may even be a problem of safety accidents caused by collision with the collaborative robot.

[0004] Furthermore, since collaborative robots switch to an idle state depending on the work environment, significant power is consumed to maintain the posture of the robotic arm. In particular, when the collaborative robot moves, battery consumption increases due to the power required to maintain the arm's posture, leading to an increase in the frequency of charging. Prior art literature

[0005] Republic of Korea Published Patent Application No. 2026-0059919 (Title of Invention: Mobile Collaborative Welding Robot Device, Published May 4, 2026) The problem to be solved

[0006] The objective of the present invention is to solve the problems of the prior art by providing a robot arm mounting unit and a multi-joint collaborative robot equipped with the same, which maintains a stable posture of the robot arm member and minimizes power consumption of the robot arm member even when the power supplied to the robot arm member is cut off in an idle state. means of solving the problem

[0007] According to a preferred embodiment for achieving the objectives of the present invention described above, a robot arm mounting unit according to the present invention is a robot arm mounting unit that is movably coupled to a robot body and supports a robot arm member that is rotatably coupled to the robot body, and comprises: a mounting head that supports the robot arm member; and a head lifting module that is coupled to the robot body and moves the mounting head up and down.

[0008] A robot arm mounting unit according to the present invention is a robot arm mounting unit that supports a robot arm member rotatably coupled to a robot body so as to be vertically movable and comprises: a mounting head that supports the robot arm member; a head lifting module coupled to the robot body and vertically moving the mounting head; and a micro lifting module coupled to the robot body and vertically moving the head lifting module.

[0009] At this time, the mounting head includes an anti-slip part that provides frictional force to the robot arm member.

[0010] Here, the mounting head can pivot rotate with respect to the head lifting module.

[0011] Here, the head lifting module is subjected to any one of the following lifting methods: a piston lifting method that moves the mounting head up and down according to the upward movement of a piston; a screw lifting method that moves the mounting head up and down according to the upward movement of a screw; a ball nut lifting method that moves the mounting head up and down according to the upward movement of a ball nut; and a cross link lifting method that moves the mounting head up and down according to the movement of a cross link.

[0012] Here, the micro lifting module comprises: a lifting block to which the head lifting module is coupled; a lifting base spaced below the lifting block and coupled to the robot body; a lifting screw rotatably coupled to the lifting block; a nut wheel gear to which the lifting screw is screw-coupled; and a micro drive unit for rotating the nut wheel gear in forward and reverse directions.

[0013] Here, the micro-drive unit includes a worm gear that meshes with the nut wheel gear; and a gear drive unit that rotates the worm gear in forward and reverse directions.

[0014] Here, the micro-drive unit comprises: a first drive unit that meshes with the lifting nut wheel gear and rotates the lifting nut wheel gear in forward and reverse directions; and a second drive unit that is spaced apart from the first drive unit, meshes with the lifting nut wheel gear, and rotates the lifting nut wheel gear in forward and reverse directions together with the first drive unit.

[0015] Additionally, the micro-lifting module further includes a slider that is spaced apart from the lifting screw, protrudes from the lifting block, and is coupled to the lifting base so as to be movable up and down.

[0016] A multi-joint collaborative robot according to the present invention comprises: a robot body; a robot arm member rotatably coupled to the robot body; and a lifting support connected to the robot body so as to be vertically movable and supporting the robot arm member. In this case, the robot arm member comprises: a robot base rotatably coupled to the robot body; a robot arm rotatably coupled to the robot base; and a robot end coupled to the end of the robot arm.

[0017] Here, the robot arm includes a first arm rotatably coupled to the robot base; and an Nth arm (wherein N is a natural number greater than or equal to 2) to which the robot end is coupled.

[0018] Here, the lifting support comprises a robot arm support unit according to the present invention.

[0019] Here, the robot body includes at least the lifting mounting portion among a head mounting portion on which the mounting head is mounted and a lifting mounting portion on which the head lifting module is mounted.

[0020] Herein, the lifting support comprises a robot arm mounting unit according to the present invention; and the robot body comprises at least the lifting mounting portion and the micro-mounting portion among a head mounting portion on which the mounting head is seated; a lifting mounting portion to which the head lifting module is coupled so as to be able to lift and move; and a micro-mounting portion on which the micro-lifting module is seated.

[0021] Here, the lifting support comprises at least one of the first arm, the joint support that supports any one of the first arm and the second arm and the second arm; and the end support that supports the robot end.

[0022] The multi-joint collaborative robot according to the present invention further includes a driving unit to which the robot body is coupled and which moves the robot unit.

[0023] Here, the driving unit comprises: a driving body to which the robot body is coupled; a driving wheel coupled to the driving body to enable rolling movement on the floor; a driving drive unit for rotating the driving wheel in forward and reverse directions; and a support wheel coupled to the driving body to enable rolling movement on the floor, spaced apart from the driving wheel.

[0024] Here, the driving wheels are arranged in a pair spaced apart from each other and symmetrically with respect to the driving body, and the support wheels are arranged in two or more spaced-apart from each other.

[0025] Herein, the driving unit further includes a LiDAR unit coupled to the driving body for laser visualization detection and distance measurement. Effects of the invention

[0026] According to the robot arm mounting unit of the present invention and the multi-joint collaborative robot equipped therewith, even if the power supplied to the robot arm member in an idle state is cut off, the posture of the robot arm member can be stably maintained and the power consumption of the robot arm member can be minimized. In addition, the zero point of the end effector coupled to the robot end can be clearly defined by maintaining the posture of the robot arm member.

[0027] Furthermore, the present invention allows the lifting support to be embedded within the robot body through the detailed coupling relationship of the robot body, and enables the robot body's appearance to be aesthetically pleasing. Additionally, the head mounting portion prevents the mounting head from interfering with the operation of the robot arm member. Moreover, the detailed coupling relationship of the robot arm member facilitates the smooth coupling of the end effector. Furthermore, the detailed coupling relationship of the robot arm clarifies the multi-joint collaborative robot and allows for the diversification of the degrees of freedom of the robot arm member.

[0028] Furthermore, the present invention allows the posture of the robot arm member to be stably maintained solely through the lifting movement of the mounting head, through the detailed coupling relationship of the lifting support. Additionally, the posture of the robot arm can be stably maintained through the joint support. Moreover, the positioning force of the robot end can be secured through the end support. Furthermore, the contact force between the mounting head and the robot arm member can be improved in response to the inclination of the robot arm member through the pivot rotation of the mounting head and the anti-slip part.

[0029] Furthermore, the present invention enables the mounting head to be rapidly raised and lowered in response to the inclination of the robot arm member through the coupling relationship of the head lifting module. Additionally, in the piston lifting method, the hydraulic pressure acting on the head cylinder can be stably maintained and the raised position of the mounting head can be stably maintained even if the hydraulic pump stops, through the coupling relationship of the lifting valve. Furthermore, through the screw lifting method, the raised position of the mounting head can be stably maintained even if the nut drive unit stops. Additionally, through the ball nut lifting method, the raised position of the mounting head can be stably maintained even if the screw drive unit stops. Moreover, through the cross-link lifting method, the lifting amount of the mounting head can be increased relatively compared to other lifting methods.

[0030] Furthermore, the present invention allows for clear zero-point adjustment of the end effector through the additional coupling relationship of the micro-lift module. Additionally, the amount of lifting movement of the mounting head can be precisely controlled through the detailed coupling relationship of the micro-lift module. Moreover, through the coupling relationship of the micro-drive unit, the rotation of the nut wheel gear can be clearly defined and reverse movement of the nut wheel gear can be prevented. Furthermore, through the coupling relationship between the first drive unit and the second drive unit, play with the nut wheel gear can be prevented, and the lifting movement of the nut wheel gear and the movement of the mounting head can be prevented. Additionally, through the coupling relationship of the slider, the lifting movement of the head lifting module can be clearly defined and tilting of the lifting block can be prevented.

[0031] Furthermore, the present invention enables smooth movement of the robot unit through the coupling relationship of the driving unit. Additionally, the movement of the robot unit can be clearly defined through the detailed coupling relationship of the driving unit. Moreover, the forward, backward, cornering, and rotation in place of the driving body can be stably implemented through the coupling relationship between the driving wheel and the support wheel. Furthermore, autonomous driving of the driving unit can be implemented through the coupling relationship of the LiDAR unit. Brief explanation of the drawing

[0032] FIG. 1 is a schematic side view illustrating a multi-joint collaborative robot according to one embodiment of the present invention. FIG. 2 is a schematic side view illustrating a driving unit included in a multi-joint collaborative robot according to one embodiment of the present invention. FIG. 3 is a side view schematically illustrating the coupling relationship between a robot unit and a lifting stand included in a multi-joint collaborative robot according to one embodiment of the present invention. FIG. 4 is an enlarged side cross-sectional view schematically illustrating the coupling relationship of a lifting support included in a multi-joint collaborative robot according to one embodiment of the present invention, showing the state in which the lifting block is lowered. FIG. 5 is an enlarged side cross-sectional view schematically illustrating the main part of a robot body for explaining a lifting stand included in a multi-joint collaborative robot according to one embodiment of the present invention. FIG. 6 is an enlarged side cross-sectional view schematically illustrating the coupling relationship between a head lifting module and a mounting head to which a piston lifting method is applied in a multi-joint collaborative robot according to one embodiment of the present invention. FIG. 7 is an enlarged side cross-sectional view schematically illustrating the coupling relationship between a head lifting module and a mounting head with a modified lifting method applied in a multi-joint collaborative robot according to one embodiment of the present invention, (a) shows the coupling relationship between a head lifting module and a mounting head with a screw lifting method applied, (b) shows the coupling relationship between a head lifting module and a mounting head with a ball nut lifting method applied, and (c) shows the coupling relationship between a head lifting module and a mounting head with a cross-link lifting method applied. FIG. 8 is an enlarged cross-sectional view schematically illustrating a micro-lifting module of a lifting stand included in a multi-joint collaborative robot according to one embodiment of the present invention, (a) is an enlarged side cross-sectional view showing the state in which the lifting block is raised, and (b) is an enlarged plan cross-sectional view schematically illustrating the coupling relationship of the micro-lifting module. FIG. 9 is a schematic side view illustrating a modified example of a multi-joint collaborative robot according to one embodiment of the present invention. Specific details for implementing the invention

[0033] Hereinafter, an embodiment of a robot arm mounting unit according to the present invention and a multi-joint collaborative robot equipped therewith will be described with reference to the attached drawings. At this time, the present invention is not limited or restricted by the embodiments. Furthermore, in describing the present invention, specific descriptions of known functions or configurations may be omitted to clarify the gist of the present invention.

[0034] Now, with reference to FIGS. 1 to 8, a multi-joint collaborative robot according to an embodiment of the present invention will be described. A multi-joint collaborative robot according to an embodiment of the present invention includes a robot unit (2) and a lifting stand (3), and may further include a driving unit (1).

[0035] The robot unit (2) moves the end effector in three-dimensional space. The robot unit (2) may include a robot body (21), a robot arm member, and a robot end (24).

[0036] The robot body (21) forms the body of the robot unit (2).

[0037] When the lifting support (3) described below includes a mounting head (31) and a head lifting module (32), the robot body (21) includes at least one of the head mounting portion (211) on which the mounting head (31) is mounted and the lifting mounting portion (212) on which the head lifting module (32) is mounted.

[0038] When the lifting support (3) described below includes a mounting head (31), a head lifting module (32), and a micro lifting module (33), the robot body (21) includes at least the lifting mounting part (212) and the micro mounting part (213) among the head mounting part (211) on which the mounting head (31) is mounted, the lifting mounting part (212) to which the head lifting module (32) is coupled to enable lifting movement, and the micro mounting part (213) on which the micro lifting module (33) is mounted.

[0039] The robot arm member is rotatably coupled to the robot body (21). The robot arm member includes a robot base (22), a robot arm (23), and a robot end (24).

[0040] The robot base (22) is rotatably coupled to the robot body (21). Although not illustrated, either the robot body (21) or the robot base (22) is provided with a base drive unit that rotates the robot base (22) relative to the robot body (21).

[0041] A robot arm (23) is rotatably coupled to a robot base (22). The robot arm (23) includes a first arm (231) rotatably coupled to the robot base (22) and an Nth arm (where N is a natural number greater than or equal to 2) to which a robot end (24) is coupled. In one embodiment of the present invention, the robot arm (23) is illustrated as including a first arm (231) rotatably coupled to the robot base (22) and a second arm (232) rotatably coupled to the first arm (231), with a robot end (24) coupled to the second arm (232). Accordingly, two or more robot arms (23) are rotatably coupled to each other, with the first arm (231) rotatably coupled to the robot base (22) and the robot end (24) coupled to the Nth arm (where N is a natural number greater than or equal to 2).

[0042] Although not illustrated, either the robot base (22) or the first arm (231) is provided with a first joint drive unit that rotates the first arm (231) relative to the robot base (22). Although not illustrated, either the first arm (231) or the second arm (232) is provided with a second joint drive unit that rotates the second arm (232) relative to the first arm (231). Accordingly, either the N-1 arm or the N arm is provided with an N joint drive unit that rotates the N arm relative to the N-1 arm.

[0043] The robot end (24) is coupled to the N-arm, which is the end of the robot arm (23). An end effector is coupled to the robot end (24). Although not illustrated, either the N-arm or the robot end (24) may be equipped with an end drive unit that rotates the robot end (24) relative to the N-arm.

[0044] The lifting support (3) is coupled to the robot body (21) so as to be movable up and down. The lifting support (3) supports the robot arm member as it rises from the robot body (21). The lifting support (3) includes a robot arm support unit according to one embodiment of the present invention. The robot arm support unit according to one embodiment of the present invention includes a support head (31) and a head lifting module (32), and may further include a micro lifting module (33).

[0045] The mounting head (31) supports the robot arm member. Since the mounting head (31) includes an anti-slip portion (311) that provides frictional force to the robot arm member, the posture of the robot arm member can be maintained smoothly. Since the mounting head (31) can pivotally rotate with respect to the head lifting module (32), it is advantageous for the mounting head (31) to be equipped with a head connection portion (312) for pivot rotation. It is advantageous for the head connection portion (312) to be pivotally rotatably coupled to the head support portion (32-1) of the head lifting module (32) via the pivot axis (301).

[0046] The head lifting module (32) is coupled to the robot body (21). The head lifting module (32) can be embedded in the robot body (21). The head lifting module (32) moves the mounting head (31) up and down.

[0047] The head lifting module applies one of the following lifting methods: a piston lifting method that moves the mounting head (31) up and down according to the movement of the piston; a screw lifting method that moves the mounting head (31) up and down according to the movement of the screw; a ball nut lifting method that moves the mounting head (31) up and down according to the movement of the ball nut; and a cross link lifting method that moves the mounting head (31) up and down according to the movement of the cross link.

[0048] As illustrated in FIG. 6, the head lifting module (32) to which the piston lifting method is applied may include a head piston (322) to which the mounting head (31) is coupled via a head support part (32-1), a head cylinder (321) for moving the head piston (322) up and down, and a hydraulic pump (324) for generating hydraulic pressure provided to the head cylinder (321) for moving the head piston (322) up and down. The head lifting module (32) may adopt either a single-acting method or a double-acting method. The head piston (322) may be provided in one or more stages. When the head cylinder (321) is coupled to the robot pad (21), the head cylinder (321) may be seated on the lifting mounting part (212). When the head cylinder (321) is coupled to the lifting block (331) of the micro-lifting module (33), the head cylinder (321) can move up and down in the lifting mounting portion (212). The head lifting module (32) may further include a lifting valve (323) that selects whether to transmit hydraulic pressure between the head cylinder (321) and the hydraulic pump (324). The lifting valve (323) can select whether to transmit hydraulic pressure through various known forms.

[0049] As illustrated in FIG. 7(a), the head lifting module (32) with a screw lifting method applied may include a head screw (321-2) to which a mounting head (31) is coupled via a head support member (32-1), a nut base (321-1) to which the head screw (321-2) is coupled so as to be vertically movable, a head nut (322-1) which is rotatably coupled to the end of the nut base (321-1) toward the mounting head (31) and to which the head screw (321-2) is screw-coupled, and a nut driving member (324-1) that rotates the head nut (322-1). The head lifting module (32) with a screw lifting method applied may further include a screw support member (325) which is coupled to the end of the head screw (321-2) at the bottom side of the nut base (321-1) so as to be vertically movable from the nut base (321-1). When the nut base (321-1) is coupled to the robot body (21), the nut base (321-1) and the head nut (322-2) can be seated on the lifting and seating portion (212). When the nut base (321-1) is coupled to the lifting block (331) of the micro-lifting module (33), the nut base (321-1) and the head nut (322-2) can be moved up and down on the lifting and seating portion (212).

[0050] As illustrated in FIG. 7(b), the head lifting module (32) with a ball nut lifting method applied may include a nut base (321-1) to which a mounting head (31) is coupled via a head support member (32-1), a head screw (321-2) to which the nut base (321-1) is coupled so as to be vertically movable, a head nut (322-1) which is spaced apart from the mounting head (31) and rotatably coupled to the end of the nut base (321-1) to which the head screw (321-2) is screw-coupled, and a screw drive member (324-2) that rotates the head screw (321-2). The head lifting module (32) with a ball nut lifting method applied may further include a screw support member (325) coupled to the end of the head screw (321-2) at the bottom side of the nut base (321-1) so as to be vertically movable from the nut base (321-1). When the head screw (321-2) is rotatably coupled to the robot body (21), the head screw (321-2) can be seated on the lifting mounting portion (212). When the head screw (321-2) is rotatably coupled to the lifting block (331) of the micro-lifting module (33), the head screw (321-2) can move up and down on the lifting mounting portion (212).

[0051] As illustrated in FIG. 7(c), the head lifting module (32) to which the cross-link lifting method is applied may include a support cross-link (325-3) to which the mounting head (31) is linked via a head support member (32-1), at least one connecting cross-link (325-2) to which the support cross-link (325-3) is linked, a driving cross-link (325-1) to which the connecting cross-link (325-2) is linked, a link support member (321-3) to which the driving cross-link (325-1) is linked, and a link driving member (324-3) that folds or unfolds the driving cross-link (325-1) based on the link support member (321-3). The support cross-link (325-3) represents a structure in which a first support link and a second support link are linked in an "X" shape via a support axis. Then, one end of the first support link and one end of the second support link are each linked to the head support member (32-1). The connecting cross link (325-2) represents a structure in which the first connecting link and the second connecting link are linked in an "X" shape via a connecting shaft. Then, one end of the first connecting link is linked to the other end of the second support link, and one end of the second connecting link is linked to the other end of the first support link. The driving cross link (325-1) represents a structure in which the first driving link and the second driving link are linked in an "X" shape via a driving shaft. Then, one end of the first driving link is linked to the other end of the second connecting link, and one end of the second driving link is linked to the one end of the first connecting link. Additionally, at least one of the other end of the first driving link and the other end of the second driving link is connected to the link support member (321-3) so as to be reciprocally movable. The link drive unit (324-3) can fold or unfold the drive cross link (325-3) by adjusting the distance between the other end of the first drive link and the other end of the second drive link.In one embodiment of the present invention, the link drive unit (324-3) is illustrated as reciprocating only the other end of the second drive link, but is not limited thereto. It may reciprocate only the other end of the first drive link, reciprocate both the other end of the first drive link and the other end of the second drive link simultaneously, or move the drive shaft up and down, thereby allowing the drive cross link (325-3) to be folded or unfolded. When the link support unit (321-3) is coupled to the robot body (21), the link support unit (321-3) may be seated on the lifting and settling unit (212). When the link support unit (321-3) is coupled to the lifting block (331) of the micro-lifting module (33), the link support unit (321-3) may move up and down on the lifting and settling unit (212). In particular, when the link drive unit (324-3) is a ball screw drive type and a valve and pump drive type such as a lifting valve (323) and a hydraulic pump (324) is applied, the folded state of the drive cross link (325-1) can be stably maintained and the drive cross link (325-1) can be prevented from unfolding arbitrarily.

[0052] The micro-lift module (33) is coupled to the robot body (21). The micro-lift module (33) can be embedded in the robot body (21). The micro-lift module (33) moves the head lifting module (32) up and down. At this time, the micro-lift module (33) is seated on the micro-seating portion (213), and the head cylinder (321) of the head lifting module (32) can move up and down on the lifting seating portion (212). The micro-lift module (33) may include a lifting block (331), a lifting base (332), a lifting screw (333), a nut wheel gear (334), and a micro-drive portion (335).

[0053] The head cylinder (321) of the head lifting module (32) is coupled to the lifting block (331). The lifting block (331) is capable of lifting and moving in the micro-seating portion (213). The lifting base (332) is spaced apart from the lower side of the lifting block (331) and coupled to the robot body (21). The lifting screw (333) is rotatably coupled to the lifting block (331). The lifting screw (333) is movably coupled to the lifting base (332). It is preferable that the lifting screw (333) be positioned coaxially with the head cylinder (321). The lifting screw (333) is screw-coupled to the nut wheel gear (334). The nut wheel gear (334) can be rotatably coupled to the lifting base (332). The micro-drive portion (335) rotates the nut wheel gear (334) in forward and reverse directions. The micro-drive unit (335) may include a worm gear (336) that meshes with a nut wheel gear (334) and a gear drive unit (337) that rotates the worm gear (336) in forward and reverse directions.

[0054] These micro-drive units (335) can be divided into a first drive unit (335-1) and a second drive unit (335-2). The first drive unit (335-1) meshes with the lifting nut wheel gear (334) and rotates the lifting nut wheel gear (334) in forward and reverse directions. The first drive unit (335-1) may include the worm gear (336) described above and a gear drive unit (337). The second drive unit (335-2) is spaced apart from the first drive unit (335-1) and meshes with the lifting nut wheel gear (334), and rotates the lifting nut wheel gear (334) in forward and reverse directions together with the first drive unit (335-1). The second drive unit (335-2) may include the worm gear (336) described above and a gear drive unit (337). Here, it is preferable that the worm gear (336) of the first drive unit (335-1) and the worm gear (336) of the second drive unit (335-2) are parallel to each other or symmetrical with respect to the lifting screw (333).

[0055] The micro-lift module (33) may further include a slider (338). The slider (338) is formed protruding from the lifting block (331) spaced apart from the lifting screw (333). The slider (338) is coupled to the lifting base (332) so as to be movable up and down. A pair of sliders (338) may be spaced apart on both sides of the lifting screw (333).

[0056] The lifting support (3) may include at least one of an articulated support (3a) that supports the first arm (231) and an end support (3b) that supports the robot end (24). Then, the articulated support (3a) may include the aforementioned mounting head (31) and head lifting module (32), and may further include a micro-lifting module (33). Likewise, the end support (3b) may include the aforementioned mounting head (31) and head lifting module (32), and may further include a micro-lifting module (33). It is advantageous for the articulated support (3a) to be installed adjacent to the robot base (22) and for the end support (3b) to be installed adjacent to the edge of the robot body (21). In particular, since the end support (3b) supports the robot end (24) such that the first virtual line passing through the center of the robot end (24) along the longitudinal direction of the robot end (24) intersects with the second virtual line passing through the center of the end support (3b) along the longitudinal direction of the end support (3b), the zero point adjustment of the end effector can be clearly made.

[0057] The driving unit (1) moves the robot unit (2). A robot body (21) is attached to the driving unit (1).

[0058] The driving unit (1) may include a driving body (11) to which a robot body (21) is coupled, a driving wheel (12) coupled to the driving body (11) to enable rolling movement on the floor, a driving drive unit (13) that rotates the driving wheel (12) in forward and reverse directions, and a support wheel (14) coupled to the driving body (11) to enable rolling movement on the floor while spaced apart from the driving wheel (12). A pair of driving wheels (12) are arranged so as to be spaced apart from each other and symmetrically positioned with respect to the driving body (11). At this time, the driving drive unit (13) rotates the pair of driving wheels (12) individually. Two or more support wheels (14) are arranged spaced apart from each other. Then, since the driving unit (1) is equipped with 4 to 6 wheels, the forward, backward, cornering, and rotation in place of the driving body (11) can be stably implemented. In one embodiment of the present invention, the driving unit (1) is shown to be equipped with six wheels, but it is not limited thereto, and the driving unit (1) may be equipped with four to six wheels through various known forms. Then, since the driving body (11) exhibits a minimum three-point support structure based on the floor by means of the driving wheel (12) and the support wheel (14), the driving unit (1) can stably move the robot unit (2).

[0059] The driving unit (1) may further include a lidar unit (15) coupled to the driving body (11) for laser visualization detection and distance measurement. It is preferable that a pair of lidar units (15) form origin symmetry with respect to the central part of the driving body (11) in a planar state.

[0060] Now, with reference to FIG. 9, a multi-joint collaborative robot according to another embodiment of the present invention will be described.

[0061] A multi-joint collaborative robot according to another embodiment of the present invention includes a robot unit (2) and a lifting stand (3), and may further include a driving unit (1). In the multi-joint collaborative robot according to another embodiment of the present invention, the same reference numerals are assigned to components identical to those in the multi-joint collaborative robot according to one embodiment of the present invention, and a description thereof is omitted.

[0062] However, in a multi-joint collaborative robot according to another embodiment of the present invention, the robot arm (23) is shown to include a first arm (231) rotatably coupled to a robot base (22), a second arm (232) rotatably coupled to the first arm (231), and a third arm (233) rotatably coupled to the second arm (232), and a robot end (24) is coupled to the third arm (233). Accordingly, two or more robot arms (23) are rotatably coupled to each other, the first arm (231) is rotatably coupled to the robot base (22), and the robot end (24) is coupled to the Nth arm (where N is a natural number greater than or equal to 2).

[0063] Accordingly, the joint support (3a) is shown as supporting the second arm (232). Thus, the joint support (3a) can support at least one of the first arm (231), the joint portion between the first arm (231) and the second arm (232), and the second arm (232).

[0064] According to the robot arm mounting unit described above and the multi-joint collaborative robot equipped with it, even if the power supplied to the robot arm member in an idle state is cut off, the posture of the robot arm member can be maintained stably and the power consumption of the robot arm member can be minimized. In addition, the zero point of the end effector coupled to the robot end (24) can be clearly defined by maintaining the posture of the robot arm member.

[0065] In addition, through the detailed connection relationship of the robot body (21), the lifting stand (3) can be embedded in the robot body (21), and the appearance of the robot body (21) can be made aesthetically pleasing. Also, through the head mounting portion (211), the mounting head (31) can be prevented from interfering with the operation of the robot arm member. Furthermore, through the detailed connection relationship of the robot arm member, the connection of the end effector can be made smooth. In addition, through the detailed connection relationship of the robot arm (23), the multi-joint collaborative robot can be clearly defined, and the degrees of freedom of the robot arm member can be diversified.

[0066] In addition, through the detailed coupling relationship of the lifting support (3), the posture of the robot arm member can be stably maintained solely by the lifting motion of the mounting head (31). In addition, the posture of the robot arm (23) can be stably maintained through the joint support (3a). In addition, the positioning force of the robot end (24) can be secured through the end support (3b). Furthermore, the contact force between the mounting head (31) and the robot arm member can be improved in response to the inclination of the robot arm member through the pivot rotation of the mounting head (31) and the anti-slip part (311).

[0067] Additionally, through the coupling relationship of the head lifting module (32), the mounting head (31) can be rapidly raised and lowered in response to the inclination of the robot arm member. Furthermore, in the piston lifting method, through the coupling relationship of the lifting valve (323), even if the hydraulic pump (324) stops, the hydraulic pressure acting on the head cylinder (321) can be maintained stably, and the raised position of the mounting head (31) can be maintained stably. Additionally, through the screw lifting method, the raised position of the mounting head (31) can be maintained stably even if the nut drive unit (324-1) stops. Additionally, through the ball nut lifting method, the raised position of the mounting head (31) can be maintained stably even if the screw drive unit (324-2) stops. Furthermore, through the cross-link lifting method, the amount of lifting of the mounting head (31) can be increased relatively compared to other lifting methods.

[0068] Additionally, the zero point adjustment of the end effector can be clearly controlled through the additional coupling relationship of the micro-lift module (33). Furthermore, the amount of lifting movement of the mounting head (31) can be precisely controlled through the detailed coupling relationship of the micro-lift module (33). Additionally, the rotation of the nut wheel gear (334) can be clearly controlled through the coupling relationship of the micro-drive unit (335), and reverse movement of the nut wheel gear (334) can be prevented. Furthermore, through the coupling relationship of the first driving unit (335-1) and the second driving unit (335-2), play with the nut wheel gear (334) can be prevented, and the lifting movement of the nut wheel gear (334) and the movement of the mounting head (31) can be prevented. Additionally, through the coupling relationship of the slider (338), the lifting movement of the head lifting module (32) can be clearly controlled, and tilting of the lifting block (331) can be prevented.

[0069] In addition, the movement of the robot unit (2) can be facilitated through the connection of the driving unit (1). Furthermore, the movement of the robot unit (2) can be made clear through the detailed connection of the driving unit (1). In addition, the forward, backward, cornering, and rotation in place of the driving body (11) can be stably implemented through the connection of the driving wheel (12) and the support wheel (14). In addition, autonomous driving of the driving unit (1) can be implemented through the connection of the lidar unit (15).

[0070] As described above, preferred embodiments of the present invention have been explained with reference to the drawings; however, a person skilled in the art may make various modifications or changes to the present invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0071] 1: Driving Unit 11: Driving Body 12: Driving Wheel 13: Driving drive unit 14: Support wheel 15: LiDAR unit 2: Robot Unit 21: Robot Body 211: Head Mounting Unit 212: Lifting and settling section 213: Fine settling section 22: Robot base 23: Robot Arm 231: 1st Arm 232: 2nd Arm 233: The Third Cancer 24: Robot End 3: Lifting stand 3a: Joint stand 3b: End stand 301: Pivot axis 31: Mounting head 311: Anti-slip part 312: Head connection part 32: Head lifting module 32-1: Head support part 321: Head cylinder 322: Head piston 323: Lifting valve 324: Hydraulic pump 321-1: Nut base 322-1: Head nut 324-1: Nut drive unit 321-2: Head screw 324-2: Screw drive unit 325: Screw support 321-3: Link support 325-1: Driving cross link 325-2: Connecting intersection link 325-3: Supporting intersection link 324-3: Link drive unit 33: Micro-lift module 331: Lift block 332: Lift base 333: Lifting screw 334: Nut wheel gear 335: Micro drive unit 336: Worm gear 337: Gear drive unit 338: Slider 335-1: 1st drive unit 335-2: 2nd drive unit

Claims

Claim 1 delete Claim 2 A robot arm mounting unit that supports a robot arm member that is rotatably coupled to a robot body so as to be vertically movable and is coupled to the robot body, and comprises: a mounting head that supports the robot arm member; a head lifting module coupled to the robot body and vertically moving the mounting head; and a micro lifting module coupled to the robot body and vertically moving the head lifting module. Claim 3 A robot arm mounting unit according to paragraph 2, wherein the mounting head is pivotable with respect to the head lifting module. Claim 4 A robot arm mounting unit according to paragraph 2, wherein the head lifting module is characterized by having one of the following lifting methods applied: a piston lifting method that moves the mounting head up and down according to the lifting movement of a piston; a screw lifting method that moves the mounting head up and down according to the lifting movement of a screw; a ball nut lifting method that moves the mounting head up and down according to the lifting movement of a ball nut; and a cross link lifting method that moves the mounting head up and down according to the movement of a cross link. Claim 5 A robot arm mounting unit according to claim 2, wherein the micro lifting module comprises: a lifting block to which the head lifting module is coupled; a lifting base spaced apart from the lower side of the lifting block and coupled to the robot body; a lifting screw rotatably coupled to the lifting block; a nut wheel gear to which the lifting screw is screw-coupled; and a micro driving unit for rotating the nut wheel gear in forward and reverse directions. Claim 6 A robot arm mounting unit according to claim 5, wherein the micro-actuator comprises: a worm gear meshing with the nut wheel gear; and a gear drive unit for rotating the worm gear in forward and reverse directions. Claim 7 A robot arm mounting unit according to claim 5, wherein the micro-actuator comprises: a first driving unit that meshes with the nut wheel gear and rotates the nut wheel gear in forward and reverse directions; and a second driving unit that is spaced apart from the first driving unit, meshes with the nut wheel gear, and rotates the nut wheel gear in forward and reverse directions together with the first driving unit. Claim 8 A multi-joint collaborative robot comprising: a robot body; a robot arm member rotatably coupled to the robot body; and a lifting support member movably coupled to the robot body and supporting the robot arm member; wherein the robot arm member comprises: a robot base rotatably coupled to the robot body; a robot arm rotatably coupled to the robot base; and a robot end coupled to the end of the robot arm; and wherein the lifting support member comprises a robot arm support unit according to any one of claims 2 to 7.

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