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US 12,643,247 B2Granted
Robot having articulated arm
AssigneeLG Electronics Inc.
InventorsHanule Cho, Seungryong Han, Jinhyeok Park
Life of this patent
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Abstract
A robot is disclosed. The robot includes: arms having at least one joint; an end effector coupled to one end of the arms; and a compensation coupler coupled to the end effector.
Claims10
A robot comprising:
- an articulated arm comprising a plurality of links;
- an end effector coupled to one end of the articulated arm;
- and
- a compensation coupler coupled to the end effector,
- wherein the compensation coupler comprises:
- a case that defines an accommodation space therein;
- a rotating shaft passing through the accommodation space and configured to be rotatable;
- a bearing positioned between the case and the rotating shaft;
- and
- a plurality of swivels rotatably coupled to the case,
- wherein the rotating shaft is coupled to the end effector,
- wherein each of the plurality of swivels comprises:
- a rotary body configured to rotate on the case;
- and
- a biner pivotably coupled to the rotary body,
- wherein the case comprises:
- a body having a cylindrical shape, with openings at opposite ends of the body;
- an end rim formed at the opening of a first end of the body, the end rim having an inner diameter less than an inner diameter of the body;
- and
- a cover coupled to the opening of a second end of the body, the cover having an inner diameter less than the inner diameter of the end rim, and
- wherein the bearing comprises:
- an outer ring in contact with the body and the end rim;
- an inner ring disposed within the outer ring;
- and
- a roller inserted between the outer ring and the inner ring.
22 more elements
A payload compensation system of a robot, the payload compensation system comprising:
- a plurality of fixed rails;
- a plurality of moving blocks movable on the plurality of rails, respectively;
- a plurality of cables connected to the plurality of moving blocks, respectively;
- the robot including an end effector and an articulated arm with a plurality of links;
- and
- a compensation coupler coupled to the end effector and connected to the plurality of cables,
- wherein the compensation coupler comprises:
- a case that defines an accommodation space therein;
- a rotating shaft passing through the accommodation space and configured to be rotatable;
- and
- a bearing positioned between the case and the rotating shaft;
- a plurality of swivels rotatably coupled to the case,
- wherein the rotating shaft is coupled to the end effector,
- wherein each of the plurality of swivels comprises:
- a rotary body configured to rotate on the case;
- and
- a biner pivotably coupled to the rotary body,
- wherein the plurality of cables are coupled to the plurality of biners, respectively,
- wherein the case comprises:
- a body having a cylindrical shape, with openings at opposite ends of the body;
- an end rim formed at the opening of a first end of the body, the end rim having an inner diameter less than an inner diameter of the body;
- and
- a cover coupled to the opening of a second end of the body, the cover having an inner diameter less than the inner diameter of the end rim, and
- wherein the bearing comprises:
- an outer ring in contact with the body and the end rim;
- an inner ring disposed within the outer ring;
- and
- a roller inserted between the outer ring and the inner ring.
25 more elements
Dependencies are inferred from the claim text.