WO2013180352A1 - Wire guide and driving device using same - Google Patents

Description

Wire guide and drive device using it

The present invention relates to a wire guide, and more particularly to a wire guide and a drive device using the same to prevent the twist of the wire is installed on the robot arm and thereby the connector short circuit.

Previously, the robot arm as a driving device has been carrying out tasks such as carrying, assembling, welding, etc. in a space that is inaccessible to human beings, but nowadays, it needs high technology because it needs to coexist with humans and provide services. .

With the development of the gears and motors that make up the robot arm, it has become much easier to manufacture a robot arm with high reliability in terms of functionality.

In the case of a robot arm that provides services to general users, it is necessary to prepare for various types of safety accidents that may occur due to contact with the user. To this end, the robot arm becomes complicated in structure for sensors and precision control, The number and type of wires used increases.

In order to wire the wires with minimal effect on the operation of the robot arm, the size of the robot arm increases, and the internal structure of the robot arm becomes asymmetric, which makes it difficult to arrange the design and device structure.

In addition, in addition to the problem of wiring, in the wrist and other joints of the robot arm that can be rotated 360 degrees infinitely, a malfunction occurs due to the short circuit of the connector by twisting or hooking the wire.

An object of the present invention for solving the above problems is to provide a wire guide and a drive device using the same to prevent the malfunction of the drive device due to the twist of the wire using the wire guide.

The wire guide of the present invention for achieving the above object is composed of a mounting portion for mounting to the drive device, an insertion portion for preventing the drop of the wire, and a connecting portion for connecting the mounting portion and the insertion portion, the insertion portion is an opening for wire insertion It further comprises.

The mounting unit may further include an anti-rotation unit to prevent rotation of 360 degrees during a rolling operation of the driving device.

The mounting portion and the insertion portion further comprises a screw hole for coupling with the drive device.

In addition, the driving device using the wire guide of the present invention is located in the first driving unit, the second driving unit, the third driving unit, the fourth driving unit, the fifth driving unit, the first driving unit and connected to the second driving unit to pitch the second driving unit ( A first motor to be pitched, a second motor positioned in the second driving unit and connected to a third driving unit, and a third motor pitched in a third driving unit, and a fourth motor located in the third driving unit and connected to a fourth driving unit A third motor to be pitched, a fourth motor positioned in the fourth driving unit and connected to a fifth driving unit to roll the fifth driving unit, a fifth motor positioned in the fifth driving unit, and the first to fifth motors. One or more wires having connectors at both ends, and mounted to the first motor, the second motor, and the third motor, respectively, to one or more first to third wire guides to assist the connection of the wires, and to the fourth motor. 4th wire to help connect wires Jethro comprises the wire guide is characterized by comprising a mounting portion, the insertion portion, connection portion.

The fourth wire guide further includes an anti-rotation part and a fourth locking part further includes a locking part to prevent the fourth motor from rotating 360 degrees when the fourth motor is rolled.

The surface coupled to the insertion part and the driving device is made in the same shape as the insertion part, characterized in that the opening and closing part is formed by changing only the direction of the opening.

The wire guide and the driving device using the same according to the present invention have an effect of preventing malfunction due to wire twist or connector short circuit when the robot arm operates.

1A, 1B, and 3C are diagrams illustrating wire guides according to various embodiments of the present disclosure.

Figure 2 is a perspective view showing a drive device equipped with a wire guide according to an embodiment of the present invention.

3 is a view showing the opening and closing portion of the drive device shown in FIG.

4 (a) and 4 (b) are enlarged views of the locking portion of the fourth driving portion and the rotation preventing portion of the fourth wire guide in the driving apparatus shown in FIG. 2.

5 is a view showing a wire connected in the drive device equipped with a wire guide according to an embodiment of the present invention.

Hereinafter, the wire guide of the present invention and a driving device using the same will be described in detail with reference to the accompanying drawings.

First, as shown in (a), (b), (c) of Figure 1, the structure of the wire guide 20 according to various embodiments of the present invention is the mounting portion 21, the insertion portion 22 and the mounting portion ( It consists of a connecting portion 23 for connecting between the 21 and the insertion portion 22.

The mounting part 21 is fixed to the driving device having a wire, and the shape of the mounting part 21 may vary according to the shape of the driving device to be mounted, and various embodiments thereof are as follows.

Referring to Figure 1 (a), the mounting portion 21 of the wire guide 20 according to an embodiment of the present invention has a cylindrical shape provided with a screw hole 26, the interior for fixing to the drive device The surface has a square groove with one side open.

Referring to Figure 1 (b), the mounting portion 21 of the wire guide 20 according to an embodiment of the present invention is the same as (a) having a cylindrical shape provided with a screw hole 26, but in the middle It has a circular hole, one side of the outer peripheral surface is cut off, the plane shape has a 'D' shape.

Referring to Figure 1 (c), the mounting portion 21 of the wire guide 20 according to an embodiment of the present invention has a cylindrical shape with a screw hole 26 and the center circular hole (a) and The same, but having a circular hole in the middle, it is possible to further include a rotation preventing portion 25 of the projection shape on the upper surface.

The insertion portion 22 is formed in the same manner as shown in Figs. 1A, 1B, and 3C.

The insertion portion 22 has a ring shape, has a horseshoe shape having an opening portion 24 formed in a part of the side surface, and the opening portion 24 is formed to fit the wire into the insertion portion 22, and with the driving device. A screw hole 26 is provided for fixing.

Here, the width w of the opening 24 may vary depending on the thickness or the number of wires to be inserted.

In addition, when the mounting portion 21 is screwed with the driving device, the screw in the lower surface direction of the inserting portion 22 passes through the screw hole 26 of the mounting portion 21 and is coupled to the center ring of the inserting portion 22. A hole through which the screw passes is added.

The connecting portion 23 is made the same as shown in (a), (b) and (c) of FIG.

The connecting portion 23 connects the mounting portion 21 and the insertion portion 22 integrally or assembling between the mounting portion 21 and the insertion portion 22, which is one side of the mounting portion 21 and the insertion portion 22. Connecting to one side of the), the length (h) of the connecting portion 23 may vary depending on the driving device.

Next, with reference to FIG. 2, an example in which the wire guide 20 shown in (a), (b) and (c) of FIG. 1 is mounted on a robot arm that is a driving value will be described.

As shown in FIG. 2, the driving device in the present embodiment represents a robot arm, which is the first driving unit 100, the second driving unit 200 connected to the first driving unit 100, and the second driving unit 200. ) Is provided with a third driving unit 300 connected to the third driving unit 300, a fourth driving unit 400 connected to the third driving unit 300, and a fifth driving unit 500 connected to the fourth driving unit 400.

The first to fifth driving units 100, 200, 300, 400, and 500 are connected to the first to fifth motors 110, 210, 310, 410, and 510, respectively, and each motor is a wire guide 20. )

In addition, each wire guide 20 is connected to an adjacent drive unit.

The first to fifth motors 110, 210, 310, 410, and 510 configured as described above are connected with one or more wires having connectors at both ends for power supply.

When connecting such wires, the first to fourth to prevent the robot arm from malfunctioning, such as wires are twisted as the robot arm drives, the wires are damaged due to the phenomenon caught in the drive, or the connector is dropped. The wire guides are arranged using the wire guides 120, 220, 320, and 420.

That is, as shown in Figure 2, the motor is mounted on one surface of the drive unit, the mounting portion 21 of the wire guide 20 is screwed using the screw hole 26 on one side of the motor.

In addition, as shown in Figure 3, the insertion portion 22 of the wire guide 20 is connected to the adjacent driving portion, in this case the insertion portion 22 in the opening and closing portion 30 that is integrally configured on the side of the driving portion or configured as a separate assembly It is screwed using the screw hole 26 of).

The opening and closing portion 30 is the portion connected to the insertion portion 22 is the same as the shape of the insertion portion 22, but only the opening direction is different, the opening and closing portion after inserting the wire in the insertion portion 22 of the wire guide 20 By connecting the drive unit and the wire guide 20 by using the 30 it is possible to fix the wire does not fall out.

Next, the fourth wire guide 420 of FIG. 2 will be described with reference to FIG. 4.

Here, (a) is a rear view of the locking portion 401 of the fourth driving unit 400 and the rotation preventing portion 25 of the fourth wire guide 420 in the drive device.

Here, (b) is a perspective view of the locking portion 401 of the fourth driving unit 400 and the rotation preventing portion 25 of the fourth wire guide 420 in the drive device.

As shown in (c) of FIG. 1, the wire guide 20 in which the anti-rotation part 25 of the protrusion shape is added to the upper surface of the mounting portion 21 is used as the fourth wire guide 420.

As shown in (a) and (b) of FIG. 4, protrusions are caught on both sides of the fourth driving part 400 so that the rotating copper wire of the rotation preventing part 25 of the fourth wire guide 420 abuts. When the fourth wire guide 420 is rotated due to the driving of the fourth motor 410 by forming the portion 401, the anti-rotation portion 25 on the upper surface of the mounting portion 21 of the fourth wire guide 420 ) Is caught by the locking portion 401 of the fourth driving unit 400 in any direction to prevent the wire twisted by 360 degrees rotation.

Next, referring to FIG. 5, an example of connecting wires to a driving apparatus in which the wire guide 20 shown in FIG. 2 is mounted will be described.

First, one connector of the wire is plugged into the output terminal of the first motor 110 and inserted into the insertion part 22 through the opening 24 of the first wire guide 120 and then into the input terminal of the second motor 210. Plug in the other end of the wire to connect.

Then, one connector of the wire is plugged into the output terminal of the second motor 210 and inserted into the insertion part 22 through the opening 24 of the second wire guide 220 and then to the input terminal of the third motor 310. Plug in the other end of the wire to connect.

Thereafter, one connector of the wire is inserted into the output terminal of the third motor 310 and inserted into the insertion part 22 through the opening 24 of the third wire guide 320 and then the input terminal of the fourth motor 410. Plugging the other end of the wire into the connector;

Finally, one connector of the wire is plugged into the output terminal of the fourth motor 410 and the plug is inserted into the insertion part 22 through the opening 24 of the fourth wire guide 420, and then the input terminal of the fifth motor 510 is inserted. Plug the other end of the wire into the connector.

Referring to the operation of the drive device connected to the wire as follows.

The first motor 110 mounted on the first driving unit 100 is connected to the first wire guide 120 and is operated simultaneously, according to the operation of the first motor 110 and the first wire guide 120. The second driving parts 200 connected to each of the plurality of driving parts 200 are pitched to be lifted in the direction of the first driving part 100 or lowered to their original positions.

In this case, the wire connected to the output terminal of the first motor 110 and inserted into the insertion part 22 of the first wire guide 120 is connected to the wire between the first driving part 100 and the second driving part 200. It can prevent twisting and falling off of the connector, and does not interfere with the movement of the device.

The operations of the second and third driving units 200 and 300 and the second and third motors 210 and 310 are the same as those of the first driving unit 100 and the first motor 110. The effect of the wire guide 320 is equally applied.

The rotating shaft of the fourth motor 410 mounted on the fourth driving part 400 is mounted to be perpendicular to the rotating shafts of the first to third motors 110, 210, and 310 to roll the fifth driving part 500. In operation, the anti-rotation part 25 of the fourth wire guide 420 mounted on the fourth motor 410 is caught by the locking part 401 of the fourth driving part 400 so that the wire is not rotated 360 degrees. Not twisted

As described above, in the detailed description of the present invention has been described with respect to preferred embodiments of the present invention, those skilled in the art to which the present invention pertains various modifications without departing from the scope of the present invention Of course this is possible. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents thereof, as well as the following claims.

Claims (6)

Mounting part for the drive unit, Insert to prevent the wire from falling off, and Consists of a connecting portion connecting the mounting portion and the insertion portion, The insertion part further comprises an opening for inserting a wire guide. The method of claim 1, The wire guide further comprises a rotation preventing portion to prevent the 360-degree rotation during the rolling (Rolling) operation of the drive unit. The method of claim 1, The mounting portion and the insertion portion further comprises a screw hole for coupling with the drive device. The first driving unit, the second driving unit, the third driving unit, the fourth driving unit, the fifth driving unit, A first motor positioned in the first driving part and connected to a second driving part to pitch a second driving part; A second motor positioned in the second driving part and connected to a third driving part to pitch a third driving part; A third motor positioned in the third driving part and connected to a fourth driving part to pitch a fourth driving part; A fourth motor positioned in the fourth driving part and connected to a fifth driving part to roll the fifth driving part; A fifth motor positioned in the fifth driving unit; One or more wires connecting the first to fifth motors and having connectors at both ends; One or more first to third wire guides respectively attached to the first motor, the second motor, and the third motor to assist the connection of wires; and It is made of a fourth wire guide attached to the fourth motor to help the connection of the wire, The wire guide drive device using a wire guide, characterized in that consisting of the mounting portion, the insertion portion, the connecting portion. The method of claim 4, wherein The wire guide further comprises a rotation preventing part in the fourth wire guide and a locking part in the fourth driving part, thereby preventing rotation of the fourth driving part by 360 degrees when the fourth motor is rolled. Drive system. The method of claim 4, wherein The insertion unit and the driving device is coupled to the surface is made of the same shape as the insertion portion, but the drive device using a wire guide, characterized in that for forming the opening and closing part by changing the direction of the opening only.

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