Patent Description:
Various types of industrial <NUM>-axis multi-articulator joint robots have been developed for automated/unmanned factories and have rapidly been installed at various manufacturing sites.

Industrial <NUM>-axis multi-articulator joint robots may be classified, according to the wiring type, into externally wired robots having various cables exposed to the outside, and internally wired robots having cables embedded in the robot body.

Reference is made here to <CIT>, <CIT>, which are acknowledged here to constitute the closest prior-art.

<CIT> proposes a cable guide device, in which a frictional resistance generated while a cable portion moves is applied to a cable friction reducing mechanism into which said cable portion is arranged, thereby protecting the cable portion, while <CIT> describes a cable guide designed to prevent cables from interfering with the robotic joint.

Moreover, <CIT>, <CIT>, <CIT>, <CIT>, <CIT> and <CIT> are acknowledged here as constituting further prior-art bearing at least some relevance to the present invention.

However, externally wired robots have a problem in that the degree of utilization regarding the operation space is degraded because externally installed cables increase the operation radius, thereby requiring a larger operation space to be secured.

In addition, in the case of an internally wired robot, the operation space may be be easily secured, but the cables integrated in the narrow body of the robot cause friction with the body during a robot joint operation. Therefore, internally wired robots, without a structure/mechanical device for alleviating friction, may be at a substantial disadvantage against externally wired robots, in terms of the cable lifespan.

Various embodiments of the disclosure may provide a cable guide device having a movable friction reducing mechanism installed in a one-axis base, through which the largest number of cables extend, in connection with an internally wired multi-articulator joint robot, thereby reducing the risk of cable disconnection and maximizing the lifespan of robot cables.

Various embodiments of the disclosure may provide a cable guide device employing a normal cable protective pipe instead of a high-rigidity protecting pipe, thereby reducing the cost and decreasing the base size.

A cable guide device according to the present invention includes the features specified in the appended independent claim.

Preferred embodiments of a cable guide device according to the present invention are subject of the appended dependent claims.

The disclosure can reduce the risk of cable disconnection in connection with a cable-embedded multi-articulator joint robot.

In addition, the disclosure employs a cable friction reducing mechanism in connection with a cable-embedded multi-articulator joint robot such that an inexpensive cable protecting pipe can be used, thereby reducing the cost.

Hereinafter, various embodiments of the disclosure will be described with reference to the accompanying drawings. With regard to the description of drawings, similar components may be marked by similar reference numerals.

<FIG> is a perspective view illustrating a multi-articulator joint robot according to various embodiments of the disclosure.

Referring to <FIG>, a multi-articulator joint robot <NUM> according to various embodiments is a <NUM>-axis multi-articulator joint robot, and a plurality of multi-articulator joint robots <NUM> may be installed for factory automation or unmanned processes of various manufacturing fields. The multi-articulator joint robots may be classified into externally wired robots, in which various cables are exposed to the outside, and internally wired robots, in which cables are embedded in a robot body according to cable wiring manners, and the multi-articulator joint robot <NUM> according to various embodiments may be an internal wiring robot. A power supply of the multi-articulator joint robot <NUM> may be electrically connected to a driver (not illustrated) of a plurality of rotary arms <NUM> to <NUM> and an operation device <NUM> through wired cables. The mentioned cables (e.g., a cable <NUM> of <FIG>) may be a cable provided in a cable protecting pipe.

The multi-articulator joint robot <NUM> according to various embodiments may include a base <NUM>, and one or more rotary arms <NUM> to <NUM> rotatably connected to the base <NUM>. The operation device <NUM> may be coupled to the last rotary arm <NUM>, among the rotary arms <NUM> to <NUM> to perform a desired operation. For example, the multi-articulator joint robot <NUM> may include a multi-articulator joint robot having four axes or six axes or more according to the number of the rotary arms.

The rotary arm according to various embodiments may include a first rotary arm <NUM> that rotates about a first hinge axis h1 with respect to the base <NUM>, a second rotary arm <NUM> that rotates about a second hinge axis h2 with respect to the first rotary arm <NUM>, a third rotary arm <NUM> that rotates about a third hinge axis h3 with respect to the second rotary arm <NUM>, a fourth rotary arm <NUM> that rotates about a fourth hinge axis h4 with respect to the third rotary arm <NUM>, and an operation device <NUM> that rotates about a fifth hinge axis h5 with respect to the fourth rotary arm <NUM>. A driving motor, which is not illustrated, is mounted on the base <NUM> and the driving motor is connected to the first rotary arm <NUM> by a reduction gear <NUM> such that the base <NUM> rotates at a predetermined angle or less. For example, the first rotary arm <NUM> may rotate at (-)<NUM> degrees to (+)<NUM> degrees with respect to the base <NUM>.

<FIG> is a cross-sectional view illustrating an internal configuration of a base according to various embodiments of the disclosure.

Referring to <FIG>, in the multi-articulator joint robot (e.g., the multi-articulator joint robot <NUM> of <FIG>) according to various embodiments, the cable (e.g., the cable <NUM> of <FIG>) extracted from an external connector, which is not illustrated, should be extracted toward the first rotary arm (e.g., the first rotary arm <NUM> of <FIG>) after being inserted into the base <NUM>. The base <NUM> is a fixed body and the first rotary arm is a rotary body whereby one or more cable protecting mechanisms for protecting the cable (e.g., the cable <NUM> illustrated in <FIG>) accommodated in the base <NUM> may be installed in the multi-articulator joint robot.

The base <NUM> according to various embodiments may be classified into three areas. For example, the base <NUM> may include an upper end area <NUM>, a lower end area <NUM>, and a middle area <NUM> between the upper end area <NUM> and the lower end area <NUM>. The lower end area <NUM> of the base <NUM> may be a fixed part, the upper end area of the base <NUM> may be a part, to which the first rotary arm (e.g., the first rotary arm <NUM> of <FIG>) is coupled and which rotates, and the middle area <NUM> of the base <NUM> may be an area, to which a tension of the cable is applied as the upper end area <NUM> rotates.

One or more mechanisms that may protect the cable <NUM> disposed in the three areas <NUM>, <NUM>, and <NUM> may be installed in the multi-articulator joint robot <NUM> according to various embodiments. For example, the mechanism may be a protection device for protecting the cable <NUM> from rotation of the first rotary arm <NUM>.

A driving motor M, a reduction gear <NUM>, a cable (e.g., the cable <NUM> of <FIG>), a movable cable guide <NUM> (the movable cable guide <NUM> of <FIG>), a cable guide block <NUM>, and one or more cable protecting members <NUM> and <NUM> may be accommodated in the base <NUM> according to various embodiments. The base <NUM> may include the driving motor M, the cable guide block <NUM>, and the reduction gear <NUM> along the first hinge axis h1.

The driving motor M, the cable guide block <NUM>, and the reduction gear <NUM> may be disposed on the same axis, and may be disposed to be stacked.

The first cable protecting member <NUM> may be disposed in the upper end area <NUM> of the base <NUM> according to various embodiments, the second cable protecting member <NUM> may be disposed in the lower end area <NUM>, and the movable cable guide <NUM> may be disposed between an inner wall of the base <NUM> and the guide block <NUM> in the middle area <NUM>. The reduction gear <NUM> may be engaged with the guide block <NUM> by a plurality of engaging members. Reference numeral <NUM> may denote a sliding groove disposed at at least a portion of an outer peripheral surface of the cable guide block <NUM>.

According to various embodiments, the reduction gear <NUM> may be coupled to an upper end of the cable guide block (e.g., the cable guide block <NUM> of <FIG>), and a lower end of the cable guide block may be coupled to the base <NUM>. According to the coupling structure of the cable guide block <NUM>, the cable guide block <NUM> may function as an adapter. For example, a portion of the base <NUM>, to which the cable guide block <NUM> is coupled, may be a driving motor M.

<FIG> is a perspective view illustrating a state of a cable disposed in a base according to various embodiments of the disclosure. <FIG> and <FIG> are perspective views illustrating states in which a cable is protected by a friction reducing mechanism according to various embodiments of the disclosure, and a base is omitted. <FIG> and <FIG> are perspective views illustrating states in which a cable is protected by a friction reducing mechanism according to various embodiments of the disclosure, and an inner wall of a base is omitted. <FIG> is a perspective view illustrating a base in a state in which a cable protected by a friction reducing mechanism is accommodated, according to various embodiments of the disclosure.

Referring to <FIG>, the cable <NUM> according to various embodiments is an electrical connection device and may be covered by a cable protecting pipe. A pair of cables <NUM> may be extracted toward the first rotary arm <NUM> after being disposed in the base <NUM> to be substantially symmetrical to each other, and may be extracted toward the first arm <NUM> in a state in which the cables <NUM> are accommodated in a space between the base <NUM> and the driving motor M.

The cable <NUM> according to various embodiments may include first to third portions <NUM> to <NUM> accommodated in the base <NUM>. For example, when the interior space of the base <NUM> is classified into an upper end area (e.g., the upper end area <NUM> of <FIG>), a lower end area (e.g., the lower end area <NUM> of <FIG>), and a middle area (e.g., the middle area <NUM> of <FIG>) between the upper end area and the lower end area, the first portion <NUM> may be accommodated in the upper end area <NUM>, the third portion <NUM> may be accommodated in the lower end area <NUM>, and the second portion <NUM> may be accommodated in the middle area.

For example, the first portion <NUM> of the cable is curved, and an end of the first portion <NUM> may face the first rotary arm to be extracted into the first rotary arm. The second portion <NUM> is linear, and may be disposed in the interior space of the base in a vertical state. The third portion <NUM> is curved, and an end of the third portion <NUM> may face an external connector, which is not illustrated, to be extracted to the outside of the base <NUM>. A bending portion may be disposed between the first portion <NUM> and the second portion <NUM>, and a bending portion may be disposed between the second portion <NUM> and the third portion <NUM>.

The third portion <NUM> of the cable <NUM> according to various embodiments may be disposed horizontally in the lower end area <NUM> of the base <NUM>. An end of the third portion <NUM> may be bent to be connected to the second portion <NUM> that linearly faces a vertically upward direction. An end of the second portion <NUM> may be bent to be connected to the first portion <NUM> horizontally in a curved form.

The first cable protecting member <NUM> may rotate as the first rotary arm (e.g., the first rotary arm <NUM> of <FIG>) according to various embodiments rotates, the first portion <NUM> of the cable may rotate as the first cable protecting member <NUM> rotates, and the second portion <NUM>, that is, the movable cable guide <NUM> in a state in which the second portion <NUM> passes through the movement cable guide <NUM> may slide and move by a predetermined distance along the sliding groove <NUM> disposed on an outer peripheral surface of the cable guide block <NUM> due to the influence of the rotation of the cable. Then, the second portion <NUM> may be protected by the movable cable guide <NUM>.

The first portion <NUM> of the cable according to various embodiments may be connected to the first rotary arm <NUM> and be located at an upper end portion of the base <NUM>, and may be a portion, to which the strongest forward frictional force is applied due to movement of the cable because the movement speed of the first portion <NUM> is the same as the rotational speed of the first rotary arm along the first axis and, among the first to third portions <NUM>, <NUM>, and <NUM>, the first portion <NUM> moves fastest.

Since the second portion <NUM> of the cable according to various embodiments connects the first and third portions <NUM> and <NUM> and rotates and moves forwards at the same time, a forward frictional force may be applied to the second portion <NUM> due to the rotational frictional force and the movement of cable. The movement speed of the second portion <NUM> may be about a half of the rotational speed of the first rotary arm along the first axis.

The third portion <NUM> of the cable according to various embodiments may be located at the lower end area <NUM> of the base <NUM> and may correspond to a state before the third portion <NUM> enters or exits the second portion <NUM>, and an end of the third portion <NUM> may be connected to an external connector of the robot to communicate with a controller. The movement speed of the third portion <NUM> is zero, and thus may have no frictional force. Reference numeral <NUM> denotes a holding member, and may be a member that fixes an end of the third portion <NUM>.

<FIG> is a perspective view illustrating a first cable protecting member according to various embodiments of the disclosure.

Referring to <FIG>, the base (e.g., the base <NUM> of <FIG>) according to various embodiments may further include a first cable protecting member <NUM> that accommodates the first portion <NUM> of the cable. For example, the first cable protecting member <NUM> is C-shaped, and is engaged with a rotary frame to rotate together with the rotary frame, and the first portion of the cable, which is accommodated in the first cable protecting member <NUM>, also may rotate. For example, the first cable protecting member <NUM> may have a plurality of engaging holes <NUM> for engaging the first protecting member <NUM> with the rotary frame.

<FIG> is a perspective view illustrating a movable cable guide according to various embodiments of the disclosure.

Referring to <FIG>, the movable cable guide <NUM> according to various embodiments may include one end disposed to have a gap with the inner wall of the base <NUM> and an opposite end that is inserted into the sliding groove of the cable guide block.

The movable cable guide <NUM> according to various embodiments may include a body <NUM> and a boss <NUM>. Holes <NUM> may be disposed along a lengthwise direction of the body <NUM>. The holes <NUM> may be holes, through which the cables pass. The second portion <NUM> of the cable may be disposed while passing through the hole <NUM>. The boss <NUM> may be disposed at a portion of the body <NUM> and be inserted into the sliding groove. For example, the boss <NUM> may be disposed at an upper end or a middle portion of the body <NUM>.

The boss <NUM> according to various embodiments may include a curved surface 222a having a curvature. The curved surface 222a may contact the sliding groove (e.g., the sliding groove <NUM> of <FIG>) and may slide in the sliding groove while surface-contacting the sliding groove.

The movable sliding guide <NUM> according to various embodiments is formed of an industrial synthetic resin (e.g., plastic), and may be formed of any one of MC nylon, acetyl, or Teflon. A ball bush may be attached to the movable cable guide <NUM> such that the balls of the ball bush contact the second portion <NUM> when the movable cable guide <NUM> rotates, whereby the rotational frictional resistance of the movable cable guide <NUM> may be minimized. The ball bush may be a commercial ball bush that is suitable for the diameter of the cable.

<FIG> is a perspective view illustrating a second cable protecting member according to various embodiments of the disclosure.

Referring to <FIG>, the base <NUM> according to various embodiments may include a second cable protecting member <NUM> disposed to face the first cable protecting member (e.g., the first cable protecting member <NUM> of <FIG>) to accommodate the third portion (e.g., the third portion <NUM> of <FIG>) of the cable. For example, the second cable protecting member <NUM> is C-shaped, and is engaged with the bottom of the base <NUM> and thus may be fixed to the bottom of the base <NUM>. For example, the second cable protecting member <NUM> may have a plurality of engaging holes <NUM> for engaging the second protecting member <NUM> with the base.

<FIG> is a perspective view illustrating a cable guide block according to various embodiments of the disclosure.

Referring to <FIG>, the cable guide block <NUM> according to various embodiments has a disk shape coupled to the driving motor (e.g., the driving motor M of <FIG>), a coupling hole <NUM> may be disposed at the center of the cable guide block <NUM>, and a sliding groove <NUM> may be disposed at an outer peripheral surface of the cable guide block <NUM>. The sliding groove <NUM> may be a portion, into which the boss (e.g., the boss <NUM> of <FIG>) of the movable cable guide <NUM> is inserted to slide. A coupling recess <NUM> may be disposed at a periphery of the coupling hole <NUM> of the cable guide block <NUM> to be coupled to an upper end of the driving motor, and a plurality of engaging holes <NUM>, which are to be coupled to the case of the reduction gear <NUM>, may be disposed.

An operation of the multi-articulator joint robot having the structure described with reference to <FIG> will be described in the following.

If the first rotary arm (e.g., the first rotary arm <NUM> of <FIG>) rotates, the pair of cables (e.g., the cable <NUM> of <FIG>) accommodated in the interior of the base <NUM> may repeatedly enter or exit different areas according to the rotational operation of the first rotary arm along the first axis. The movable cable guide <NUM> may be utilized as a mechanism for reducing a frictional force generated as the cable moves.

The second portion <NUM> of the cable is wired in a state in which the second portion <NUM> is put into the movable cable guide <NUM>, which is not restricted, and the wired second portion <NUM> may freely move in a state in which the second portion <NUM> is protected by the cable guide <NUM> according to the movement of the cable. The frictional resistance generated while the second portion <NUM> moves may be applied to the movable cable guide <NUM> instead. The third portion <NUM> of the cable is disposed in a fixed state, but the second cable protecting member <NUM> may be disposed to prevent a frictional force that may be generated by the second portion <NUM>.

<FIG> is a cross-sectional view illustrating a mounting state of a movable cable guide according to various embodiments of the disclosure.

Referring to <FIG>, at least a portion of the movable cable guide <NUM> according to various embodiments may be disposed to have a gap g with the inner wall 11a of the base <NUM>, and the boss <NUM> may be inserted into the sliding groove <NUM> while surface-contacting the sliding groove <NUM> to slide.

A portion of the movable cable guide <NUM> may slide along the inner wall 11a during an operation of the multi-articulator joint robot, and the boss <NUM> may slide on the sliding groove <NUM>. A lubricant is introduced to an area a1 between the inner wall 11a of the base and a portion of the movable sliding guide <NUM> or an area a2 between the boss <NUM> and the sliding groove <NUM> whereby the movable sliding guide <NUM> may smoothly slide and move. <FIG> is a cross-sectional view illustrating a mounting state of a movable cable guide according to various embodiments of the disclosure.

<FIG> is a perspective view illustrating a mounting state of a first cable protecting member according to various embodiments of the disclosure.

Referring to <FIG>, the first cable protecting member <NUM> according to various embodiments may be coupled to the bottom surface of the rotary frame <NUM> coupled to the first rotary arm <NUM> by using a plurality of engaging members.

According to various embodiments of the disclosure, a cable guide device for a multi-articulator joint robot (e.g., the multi-articulator joint robot <NUM> illustrated in <FIG>) may include a base (e.g., the base <NUM> of <FIG>), one or more rotary arms (e.g., the rotary arms <NUM>, <NUM>, <NUM>, and <NUM> of <FIG>) rotatably coupled to the base in an articulated form, one or more cables (e.g., the cable <NUM> of <FIG>) connected to the rotary arm via the base, a cable guide block (e.g., the cable guide block <NUM> of <FIG>) coupled to a driver in the base, a sliding groove (e.g., the sliding groove <NUM> of <FIG>) disposed on an outer peripheral surface of the cable guide block, and a cable friction reducing mechanism (e.g., the movable cable guide <NUM> of <FIG>) coupled to portions of the cables accommodated in the base, and configured to rotate in the sliding groove together with the portions of the cables as the rotary arms rotate.

According to various embodiments of the disclosure, the cable friction reducing mechanism may have holes, through which the portions of the cables pass.

According to various embodiments of the disclosure, the cable friction reducing mechanism may include one or more movable cable guides (e.g., the movable cable guide <NUM> of <FIG>).

According to various embodiments of the disclosure, the cable friction reducing mechanism is disposed between an inner wall (e.g., the inner wall 11a of the cable of <FIG>) of the base and the cable guide block, and is moved along the sliding groove of the cable guide block by a tension of the cable.

According to various embodiments of the disclosure, each of the cables may include a first portion (e.g., the first portion <NUM> of <FIG>) disposed horizontally in the base, a second portion (e.g., the second portion <NUM> of <FIG>) extending from one end of the first portion and disposed vertically in the base, and a third portion (e.g., the third portion <NUM> of <FIG>) extending from an end of the cable, which is opposite to the first portion, being opposite to the first portion, and disposed horizontally in the base.

According to various embodiments of the disclosure, one end of the movable cable guide (the movable cable guide <NUM> of <FIG>) may be disposed to have a gap with an inner wall (e.g., the inner wall 11a of the cable of <FIG>) of the base and an opposite end of the movable cable guide may be inserted into the sliding groove (e.g., the sliding groove <NUM> of <FIG>) to move along the sliding groove as the rotary arms rotate.

According to various embodiments of the disclosure, the movable cable guide (e.g., the movable cable guide <NUM> of <FIG>) may include a body (e.g., the body <NUM> of <FIG>) disposed such that the holes, through which the cables pass, are formed along a lengthwise direction thereof, and a boss (e.g., the boss <NUM> of <FIG>) disposed at a portion of the body, and inserted into the sliding groove.

According to various embodiments of the disclosure, the boss (e.g., the boss <NUM> of <FIG>) may include a curved surface (e.g., the curved surface 222a of <FIG>) having a curvature, and may be slid in the sliding groove.

According to various embodiments of the disclosure, the base may further include a first cable protecting member (e.g., the first cable protecting member <NUM> of <FIG>) accommodating the second portion, and the first cable protecting member (e.g., the first cable protecting member <NUM> of <FIG>) may be C-shaped and may be engaged with a rotary frame.

According to various embodiments of the disclosure, the base may further include a second cable protecting member (e.g., the second cable protecting member <NUM> of <FIG>) disposed to face the first cable protecting member to accommodate the third portion, and the second cable protecting member (e.g., the second cable protecting member <NUM> of <FIG>) may be C-shaped and may be engaged with a bottom of the base.

According to various embodiments of the disclosure, the sliding groove (e.g., the sliding groove <NUM> of <FIG>) may extend along an outer peripheral surface of the cable guide block.

According to various embodiments of the disclosure, the cable may be protected by a cable protecting pipe.

According to various embodiments of the disclosure, the cable (e.g., the cable <NUM> of <FIG>) may be curved at the second and third portions and may be linear at the first portion, and a bent shape may be disposed between the first and second portions and a bent shape may be disposed between the first and third portions.

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

According to various embodiments of the disclosure, a reduction gear (e.g., the reduction gear <NUM> of <FIG>) coupled to an upper end of the cable guide block (e.g., the cable guide block <NUM> of <FIG>) and the base may be coupled to a lower end of the cable guide block whereby the cable guide block functions as an adapter.

Claim 1:
A cable guide device for a multi-articulator joint robot (<NUM>), said robot comprising a base (<NUM>) with a driver, a rotary arm (<NUM>, <NUM>, <NUM>, <NUM>) rotatably coupled to the base (<NUM>) in an articulated form, and a cable (<NUM>) connected to the rotary arm via the base (<NUM>), wherein the cable (<NUM>) comprises a first portion (<NUM>), a second portion (<NUM>) and a third portion (<NUM>);
wherein the cable guide device comprises a cable guide block (<NUM>) coupled to the driver in the base (<NUM>);
the cable guide device further comprises a sliding groove (<NUM>) extending along an outer peripheral surface of the cable guide block (<NUM>), and a cable friction reducing mechanism (<NUM>), wherein the cable friction reducing mechanism comprises:
a boss (<NUM>) configured to slide inside the sliding groove (<NUM>); and
a hole (<NUM>) through which the second portion (<NUM>) of the cable (<NUM>) passes;
wherein the cable friction reducing mechanism (<NUM>) is configured to slide in the sliding groove (<NUM>) together with the second portion (<NUM>) of the cable (<NUM>) as the rotary arm (<NUM>, <NUM>, <NUM>, <NUM>) rotates.