KR101830849B1 - Manipulator with length adjustment means of cable - Google Patents

Abstract

The present invention relates to a manipulator having a cable length adjusting means, and more particularly, to a manipulator having a cable length adjusting means, and more particularly, And a cable length adjusting means for preventing damage to the cable.
The present invention relates to a manipulator including a main body rotatably mounted on an upper portion of a traveling module, a driving arm rotatably connected to one side of the main body, and a gripper provided at an end of the driving arm to perform gripping operation, The arm is rotatably installed on one side of the upper portion of the main body; A stretchable portion provided at an end portion of the rotating portion so as to be stretchably driven; And a cable length adjusting unit provided inside the rotation unit and adjusting the length of a cable passing through the rotating part and the inside of the stretchable and contractible part in the main body to correspond to the stretching and shrinking drive of the stretchable and contractible part. And a manipulator provided with a length adjusting means.

Description

[0001] The present invention relates to a manipulator with length adjustment means,

The present invention relates to a manipulator having a cable length adjusting means, and more particularly, to a manipulator having a cable length adjusting means, and more particularly, And a cable length adjusting means for preventing damage to the cable.

Generally, a manipulator is a robotic device that is designed to capture objects in order to carry out dangerous, difficult, and inefficient tasks to be performed by an operator.

Such a manipulate is provided with a body mounted on an upper portion of a bracket or a movable module capable of being moved, a drive arm provided on one side of the body for joint movement, and a gripper for holding an object on the end of the drive arm.

On the other hand, in the manipulate, a cable including a power cable and a signal cable for supplying power to the drive arm and the gripper and controlling the drive is continuously connected from the main body to the gripper through the drive arm.

However, the conventional manipulate does not have a structure in which the length of the cable is adjusted so as not to correspond to the driving mode when the driving arm is driven. That is, only the configuration that the driving arm constitutes the length of the cable in accordance with the maximum driving length and guides the cable so as not to be twisted when the driving arm is driven is provided.

Therefore, since the length of the cable is not adjusted to correspond to the driving of the driving arm, the cable is easily damaged, which makes it difficult to perform maintenance. In addition, when the driving length of the driving arm is minimized, the cable meanders and the space of the cable is increased, thereby increasing the size of the driving arm.

Korean Registered Patent No. 10-1509275, Apr. 21, 2014. Korean Registered Patent No. 10-1164378, 2012.07.09.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cable length adjusting device capable of preventing the cable from being damaged by automatically adjusting the length of the cable according to the driving form of the driving arm, And it is an object of the present invention to provide a manipulator equipped therewith.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood from the following description.

According to an aspect of the present invention, there is provided a manipulator including a cable length adjusting unit. The manipulator includes a main body rotatably mounted on an upper portion of a traveling module, a driving arm rotatably connected to one side of the main body, And a gripper for holding the gripper, wherein the driving arm is rotatably installed on one side of the upper portion of the main body; A stretchable portion provided at an end portion of the rotating portion so as to be stretchably driven; And a cable length adjusting unit provided on the inside of the rotation unit to adjust a length of a cable passing through the rotation unit and the inside of the expansion and contraction unit in the main body to correspond to the expansion and contraction of the expansion unit,
The cable length adjuster
A cable spool wound around the outer circumferential surface of the cable; A screw gear fixed to one side of the cable spool; And a first servo motor provided at one side of the screw gear and driven together with the stretchable and contractible portion to rotate the screw gear in normal and reverse directions to wind or unwind the cable to or from the cable spool,
The cable spool
A rotary shaft rod connected to the screw gear at one end; A cable passage hole penetratingly formed from the center of the other end of the rotary shaft rod to the intermediate outer circumferential surface side, through which the cable passes; And a pair of guide discs protruding in a circular shape at predetermined intervals from both ends of the rotary shaft rod and guiding the cable to be wound or unwound in a circular shape on the outer circumferential surface of the rotary shaft rod.

The manipulator provided with the cable length adjusting means according to the present invention has the cable length adjusting means so that the length of various power and signal cables passing through the driving arm is automatically adjusted to correspond to the driving / Accordingly, it is possible to prevent the cable from being damaged, thereby preventing the operation failure due to the cable damage, minimizing the space occupied by the cable, and further reducing the size of the drive arm.

1 is a cross-sectional view of a manipulator having a cable length adjusting means according to the present invention;
FIG. 2 is a longitudinal sectional view showing a reduced length state of a drive arm of a manipulator having a cable length adjusting means according to the present invention. FIG.
3 is a perspective view showing a state in which a length of a driving arm of a manipulator having a cable length adjusting means according to the present invention is reduced.
4 is a cross-sectional view illustrating a state in which a length of a driving arm of a manipulator having a cable length adjusting means according to the present invention is reduced.
FIG. 5 is a perspective view illustrating a state where a cable is wound by a cable length adjusting unit of a manipulator having a cable length adjusting unit according to the present invention. FIG.
6 is a perspective view showing a state in which a length of a drive arm of a manipulator having a cable length adjusting means according to the present invention is elongated.
FIG. 7 is a perspective view illustrating a state in which a cable is loosened by a cable length adjusting unit of a manipulator having a cable length adjusting unit according to the present invention. FIG.

The present invention relates to a manipulator provided with a cable length adjusting means used when a worker takes an object which is difficult to carry out directly.

Particularly, in the manipulator having the cable length adjusting means according to the present invention, the length of the cable passing through the inside of the driving arm from the main body can be automatically adjusted when the driving arm provided at one side of the main body is extended and retracted.

This feature is achieved by a structure in which a cable length adjusting unit for automatically adjusting the length of a cable through a cable spool rotates corresponding to a length of the driving arm due to the expansion and contraction drive of the driving arm.

Therefore, since the length of the cable is automatically adjusted to correspond to the length of the driving arm, the cable can be prevented from being damaged due to friction with the driving arm when driving the driving arm, It is possible to exclude maintenance work such as maintenance work.

As the cable is wound around the cable spool or loosened from the cable spool, the space occupied by the cable inside the drive arm is greatly reduced as a result of the length of the drive arm being reduced, thereby further reducing the size of the drive arm and reducing the weight.

Hereinafter, a manipulator having a cable length adjusting unit according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1, a manipulator 100 having a cable length adjusting unit according to a preferred embodiment of the present invention includes a main body 10, a driving arm 20, a gripper 30, and a controller (not shown) .

First, the main body 10 is installed to be rotatable in a horizontal direction on an upper part of a traveling module (not shown) having a position movable structure.

At this time, the traveling module may be configured to travel while rotating in an endless track by the driving means, or may be configured such that the plurality of traveling wheels travel while rotating by the driving means. The main body 10 may be provided with a controller to be described later.

Next, the driving arm 20 is installed on one side of the upper portion of the main body 10 and has a structure capable of rotating and expanding and contracting.

At this time, the driving arm 20 includes a cable length adjusting means, which is a characteristic feature of the present invention. That is, the driving arm 20 is composed of the rotation part 21, the stretching part 22 and the cable length adjusting part 23 as shown in FIG.

The rotation unit 21 is mounted on the upper side of the main body 10 so as to be rotatably driven up and down. That is, the rotary unit 21 has a structure that is rotated up and down about a rotary shaft (not shown) provided at one end of the rotary unit 21 driven by a driving motor (not shown) provided inside the body 10.

The stretchable and contractible portion 22 is provided at the other end of the rotary portion 21 to stretch and drive. 2 and 3, the stretchable and contractible portion 22 is constituted by an outer boom 221, an inner boom 222, a ball nut 223, a screw rod 224, and a second servo motor 225 do.

The outer boom (221) is fixed to the other end of the rotary part (21). The inner boom 222 is slidably inserted inside the outer boom 221 so as to enter and exit the inside of the outer boom 221.

The ball nut 223 is fixed to the inner side of the inner boom 222 and has a female screw on its inner peripheral surface. The screw rod 224 is rotatably supported on the inner side of the inner or outer boom 221 of the rotary part 21 through the ball nut 223 and is rotatably supported on the outer peripheral surface of the screw rod 224 in correspondence with the female thread of the ball nut 223 A male thread is formed.

The second servo motor 225 is connected to a gear unit provided inside the rotary part 21 and connected to the end of the screw rod 224 via a driving gear provided on the motor shaft, 224 in the forward or reverse direction.

When the screw rod 224 is rotated in accordance with the driving of the second servomotor 225, the ball nut 223 is moved from the outer side of the screw rod 224 along the rotating direction of the screw rod 224 The inner boom 222 is extended from the inside of the outer boom 221 in accordance with the moving direction of the ball nut 223 so that the length is extended from the state of Fig. 2 to the state of Fig. 6, 22 are inserted into the inside of the outer boom 221, the length is shortened from the state of Fig. 6 to the state of Fig.

3, the stretchable and contractible portion 22 is provided on the inner side of the inner boom 222 on the outer side of the screw rod 224, and guides the ball nut 223 when the ball nut 223 moves along the screw rod 224 Member 226 is further included.

The cable C is inserted into the outer side of the guide member 226 and the inner boom 222 to prevent the cable C from flowing in the outer circumferential direction when the inner boom 222 enters and exits from the inside of the outer boom 221 A guide groove 226a is formed.

A guide roller (not shown) is provided on the outer side of the guide member 226 to reduce friction while rolling on the inner surface of the outer boom 221 so that the inner boom 222 can smoothly enter and exit from the inside of the outer boom 221 Respectively.

The cable length adjuster 23 is provided inside the rotary part 21 so that the length of the cable C passing through the drive arm 20 from the main body 10 corresponds to the expansion and contraction drive of the stretchable and contractible part 22 It is automatically adjusted.

4 and 5, the cable length adjusting unit 23 includes a cable spool 231, a screw gear 232, and a first servo motor 233.

The cable spool 231 is rotatably installed inside the rotary part 21 so that the cable C is wound around the outer circumferential surface of the cable C or the cable C wound around the outer circumferential surface of the cable spool 231 is released.

At this time, the cable spool 231 has a rotating shaft bar 231a, a cable passing hole 231b formed to extend from the center of the other end of the rotating shaft bar 231a toward the intermediate outer circumferential surface side, And a pair of guide discs 231c projecting in a circular shape.

That is, the cable spool 231 rotates the rotary shaft 231a when the cable C that has entered the rotary part 21 from the main body 10 passes through the cable passage hole 231b, And is circularly wound or unwound from the guide disc 231c on the outer circumferential surface of the rotary shaft rod 231a.

The screw gear 232 is fixed to one end of the rotary shaft rod 231a of the cable spool 231 and rotates together with the cable spool 231.

The first servo motor 233 is connected to the screw gear 232 and is driven in the forward or reverse direction under the control of a controller which is provided inside the rotary part 21 and connected to the screw gear 232, Is rotated or unwound by the cable spool 231. [

The cable length adjuster 23 is driven simultaneously with the control of a controller to be described later when the length of the drive arm 20 is expanded or contracted according to the driving of the stretchable and contractible portion 22, The length of the cable C is automatically adjusted to correspond to the extension and retraction length of the driving arm 20. [

That is, when the driving arm 20 is extended and retracted to extend the stretchable and contractible portion 22 to the maximum length, the cable C wound around the cable spool 231 is completely unwound and the state shown in FIG. 7 is reached. When the cable C is shortened to the minimum length, the cable C is wound several times on the cable spool 231, and the state shown in FIG. 5 is obtained.

Next, the gripper 30 is gripped so that it can be picked up and transferred by the driving means connected to the end of the driving arm 20 and controlled by the controller to be described later.

Finally, the controller controls driving of the traveling module, the main body 10, the driving arm 20, and the gripper 30. In particular, the controller drives the cable length adjuster 23 to control the length of the cable C to be automatically adjusted in correspondence with the expansion and contraction of the stretchable and contractible portion 22 when the stretchable and contractible portion 22 is stretched and driven.

At this time, the controller may be provided in the main body 10 or in the driving arm 20 as described above. The controller can also be configured as a remote control to wirelessly control the above configurations.

As described above, in the manipulator having the cable length adjusting means according to the present invention, the length of the cable is automatically adjusted to correspond to the elongating length of the driving arm by the cable length adjusting means when the driving arm is extended and retracted, And the extension and contraction drive of the drive arm can be smoothly performed.

The above-described embodiments are merely illustrative, and various modifications may be made by those skilled in the art without departing from the scope of the present invention.

Therefore, the true technical protection scope of the present invention should include not only the above embodiments but also various other modified embodiments according to the technical idea of the invention described in the following claims.

100: Manipulator
10: Body
20: drive arm
21:
22:
221: outer boom
222: inner boom
223: Ball nut
224: Screw rods
225: Second servo motor
226: Guide member
226a: guide groove
23: Cable length adjusting section
231: Cable spool
231a:
231b: Cable through hole
231c: guide disc
232: screw gear
233: 1st servo motor

Claims (5)

A manipulator including a main body rotatably mounted on an upper portion of a traveling module, a driving arm rotatably connected to one side of the main body, and a gripper provided at an end portion of the driving arm,
The drive arm
A rotating part installed to be rotatably driven on an upper side of the main body;
A stretchable portion provided at an end portion of the rotating portion so as to be stretchably driven; And
And a cable length adjusting unit provided on the inside of the rotation unit to adjust a length of a cable passing through the rotation unit and the inside of the expansion and contraction unit in the main body to correspond to the expansion and contraction of the expansion unit,
The cable length adjuster
A cable spool wound around the outer circumferential surface of the cable;
A screw gear fixed to one side of the cable spool; And
And a first servo motor provided at one side of the screw gear and driven together with the stretchable and contractible portion to rotate the screw gear in normal and reverse directions to wind or unwind the cable to or from the cable spool,
The cable spool
A rotary shaft rod connected to the screw gear at one end;
A cable passage hole penetratingly formed from the center of the other end of the rotary shaft rod to the intermediate outer circumferential surface side, through which the cable passes; And
And a pair of guide discs protruding in a circular shape at predetermined intervals from both ends of the rotary shaft rod to guide the cable to be wound or unwound in a circular shape on the outer circumferential surface of the rotary shaft bar. A manipulator. delete delete The method according to claim 1,
The stretching /
An outer boom secured to an end of the rotary part;
An inner boom slidably installed on the inner side of the outer boom;
A ball nut fixed to the inside of the inner boom;
A screw rod penetrating through the ball nut at an inner side of the inner boom and having an end rotatably supported inside the rotary part so that the ball nut moves in the longitudinal direction along the rotation direction; And
And a second servo motor installed inside the rotating part to rotate the screw rod in the forward and reverse directions to allow the inner boom to enter and exit from the outer boom. 5. The method of claim 4,
The stretching /
Further comprising a guide member provided on an inner side of the inner boom and outside the screw rod to guide movement of the ball nut,
And a guide roller for guiding smooth movement of the inner boom and a guide groove into which the cable is inserted, are provided on the outer side of the inner boom and the guide member.

Images