KR-20260067559-A - Robot arm

KR20260067559AKR 20260067559 AKR20260067559 AKR 20260067559AKR-20260067559-A

Abstract

A reduction gear according to one embodiment of the present invention comprises: an arm body; a reduction gear coupled to the arm body; and a coupling member for coupling the reduction gear to the arm body, wherein the reduction gear comprises: a gear portion that rotates around a first axis by receiving power from an external source; a disk portion that surrounds the gear portion and receives power from the gear portion; and a sealing member installed on the disk portion and surrounding the gear portion, wherein the disk portion has a first connection hole capable of receiving a part of the coupling member, and the sealing member is located between the gear portion and the first connection hole, and the arm body may have an O-ring groove having at least a part of the sealing member positioned thereon and having the first axis as a central axis.

Inventors

정재용
강재봉
남현성
김헌국

Assignees

에이치디현대로보틱스 주식회사

Dates

Publication Date: 20260513
Application Date: 20241106

Claims (9)

Cancer body; A reduction gear coupled to the above-mentioned arm body; A coupling member for coupling the above reduction gear to the above arm body; and It includes a sealing member located between the arm body and the reduction gear, The above reduction gear is: A gear section that rotates around a first axis by receiving power from an external source; and It includes a disk portion that surrounds the gear portion and receives power from the gear portion, The above disk portion is provided with a first connect hole capable of accommodating a part of the above coupling member, and The sealing member is located between the gear portion and the first connect hole and surrounds the gear portion, and A robot arm having an O-ring groove having a first axis as a central axis, wherein the arm body can position at least a portion of the sealing member.
In Article 1, A robot arm in which the cross-section of the O-ring groove is a rounded rectangle to prevent damage to the sealing member.
In Article 1, The above gear part is: An input gear that receives power from the above arm body and rotates around the first axis; and A robot arm comprising a spur gear that rotates in mesh with the above input gear.
In Article 1, The above arm body accommodates the coupling member and has a second connect hole corresponding to the first connect hole, and The above second connect hole is provided in multiple numbers, A plurality of the above-mentioned second connect holes form a pitch circle, and A virtual first circle, having a radius of the first distance from the first axis to the nearest O-ring groove, is a robot arm smaller than the pitch circle.
In Paragraph 4, A virtual second circle, with a radius of the second distance from the first axis to the O-ring groove furthest away, is a robot arm larger than the pitch circle.
In Article 1, The above reduction gear further includes a gasket covering the gear portion and the first connect hole, and The above O-ring groove is a robot arm larger than the inner diameter of the above gasket.
In Article 1, A robot arm in which the ten-point mean roughness (Rz) of the arm body defining the O-ring groove is 10 μm to 15 μm.
In Article 1, The above sealing member is a robot arm including an O-ring.
In Article 8, A robot arm comprising a sealing member that further includes a cover plate capable of surrounding the O-ring and covering at least a portion of the disk portion.

Description

Robot arm The present invention relates to a robot arm capable of preventing oil leakage between a gear part and a connect hole. Precise control of machinery is becoming increasingly important in various industrial machines and robots. In particular, reduction gears are devices that transmit power to driven devices by reducing the rotational force of a prime mover by a predetermined reduction ratio, and they can amplify the rotational force by that ratio. Among these, RV reduction gears have separate power receiving and power transmitting sections, resulting in high rigidity, the ability to achieve high-output rotation, and high resistance to overload. However, if the space between the gear section and the connecting hole where the connecting member is located is insufficient, the liquid gasket applied to the reduction gear may rub against the reduction gear when the reduction gear and the arm body are combined or operated, and as a result, lubricating oil may leak between the connecting hole and the gear section. Therefore, a configuration is required that can prevent lubricant leakage by sealing the space between the reducer and the arm body. FIG. 1 is a perspective view illustrating a robot arm according to one embodiment of the present invention. FIG. 2 is an exploded perspective view illustrating a robot arm according to one embodiment of the present invention. FIG. 3 is a perspective view showing a reduction gear according to one embodiment of the present invention. FIG. 4 is a front view showing a reduction gear according to one embodiment of the present invention. FIG. 5 is a front view showing a reduction gear including a sealing member according to one embodiment of the present invention. FIG. 6 is a perspective view showing a part of an arm body according to one embodiment of the present invention. FIG. 7 is a cross-sectional view showing an O-ring groove according to one embodiment of the present invention. FIG. 8 is a perspective view showing a sealing member according to one embodiment of the present invention. The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and/or" includes a combination of a plurality of related described items or any of a plurality of related described items. Terms such as "~part," "~section," "~part," etc. may be used to describe various components, but said components should not be limited by said terms. These terms may refer not only to physically or visibly distinguishable components but also to descriptions of the function or configuration of a relevant part, even if the distinction or division is not clearly defined. The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application. In the description below, terms related to direction such as "front," "rear," "side," "front," "back," "up and down," "top," "upper," "top," "bottom," "lower," "bottom," and "left and right" are defined based on the vehicle or vehicle body. Furthermore, while terms such as "first," "second," etc., may be used to describe various components, the order, size, location, or importance of these components is not limited by these terms; they are named solely for the purpose of distinguishin