JP2012081528A - Articulated robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow an articulated robot to smoothly turn a joint without having cables entangled with one another irrespective of an increased number of cables accommodated inside the joint.SOLUTION: The articulated robot 1 includes: a supporting plate 14 having a rotation shaft part 6B fixed inside a joint housing 6b while a rotation shaft 16a is inserted to fixedly support the cables; a connecting plate 20 having the rotation shaft 16a fixed, and fixed inside a third arm 7 to oppose the supporting plate 14 so as to fixedly support the cables inside the third arm 7; and a cylindrical member formed to be cylindrical to surround the rotation shaft 16a in a circumferential direction, having one of cylinder ends fixed to the connecting plate 20 and the another cylinder end disposed in the vicinity of the supporting plate 14. A plurality of cables and a plurality of cylindrical members are concentrically provided on the rotation shaft part 6B. The cable fixed to the supporting plate 14 and the connecting plate 20 is routed along each circumference of the cylindrical member separately from an outer peripheral surface of the cylindrical member.

Description

  The present invention relates to an articulated robot.

Conventionally, for example, in devices such as manipulators that perform various operations, articulated robots in which a plurality of arm members are connected by a plurality of joint portions that can be independently driven are widely used.
The joint portion of the multi-joint robot includes a rotary actuator that rotates the driven arm member positioned on the distal end side relative to the driving arm member positioned on the proximal end side. For this reason, a cable for supplying power or transmitting a signal is connected to each rotary actuator of the articulated robot.
There are various types of cable distribution. However, when the cable is distributed outside, the cable is exposed, so that it may be easily damaged depending on the work environment, and may be an obstacle to the work itself. Therefore, there is known a distribution in which the cable is accommodated inside the joint portion and the arm member.
As an articulated robot that distributes such a cable inside, for example, in Patent Document 1, a support column is attached along the rotation center axis of an arm, and a cable such as an air pipe or an electric wiring is routed around the support column. Describes a horizontal articulated robot that is housed inside an arm while being elastically wound in a winding direction.

JP-A-8-57992

However, the conventional articulated robot as described above has the following problems.
The technique described in Patent Document 1 is to wind a cable elastically in a winding direction around a support shaft formed along a rotation center axis. There is a problem that the cable may be pulled and may be damaged or disconnected.
Although it is conceivable to consolidate the cables, the articulated robot has a large degree of freedom for performing complicated work, and accordingly, the number of cables increases. For this reason, when the cables are combined, there is a problem that flexibility is lost particularly on the base end side of the apparatus, and the cable cannot be elastically wound around the support shaft.

  The present invention has been made in view of the above problems, and even if the number of cables accommodated in the joint portion increases, the joint portion can be smoothly rotated without being entangled with each other. An object of the present invention is to provide an articulated robot.

  In order to solve the above-described problem, in the invention according to claim 1, the joint portion that rotates the driven housing by the rotation shaft of the rotary actuator provided in the driving housing is arranged from the device proximal end to the device distal end. A multi-joint robot in which a plurality of cables that are arranged toward the side and transmit power or signals are housed inside the drive-side casing, the driven-side casing, and the joint portion, The portion is fixed inside the drive-side housing with the rotation shaft inserted, and a drive-side cable support member that fixes and supports the cable inside the drive-side housing, and the rotation shaft is inserted or fixed. And a driven-side cable support member fixed inside the driven-side housing so as to face the drive-side cable support member, and fixedly supporting the cable inside the driven-side housing; and The one end of the cylinder is fixed to one of the drive side cable support member and the driven side cable support member, and the other end of the cylinder is fixed to the drive side cable support member and the follower. A cylindrical member disposed in the vicinity of the other of the side cable support members, and the joint portion includes a plurality of cables and a plurality of the cylindrical members concentrically housed therein. The cable fixed to the drive side cable support member and the driven side cable support member is wound around the outer periphery of each of the cylindrical members in a state of being separated from the outer peripheral surface of the cylindrical member. The configuration is distributed.

  According to a second aspect of the present invention, in the articulated robot according to the first aspect, the other of the driving side cable support member and the driven side cable support member is the other cylindrical end portion of the cylindrical member. Cable guide holes for guiding the plurality of cables fixedly supported along the direction in which the rotation shaft extends are provided at positions opposed to the ring-shaped regions partitioned by each other.

  According to a third aspect of the present invention, in the articulated robot according to the first or second aspect, each of the cylindrical members has a cylindrical shape surrounding the rotation axis, and the rotation axis is centered on the rotation axis. It is set as the arrangement | positioning structure arrange | positioned concentrically.

  According to a fourth aspect of the present invention, in the articulated robot according to any one of the first to third aspects, the cylindrical member is one of the drive side cable support member and the driven side cable support member. On the other hand, it is set as the structure provided so that attachment or detachment was possible independently.

  According to a fifth aspect of the present invention, in the articulated robot according to any one of the first to fourth aspects, the cylindrical member is formed of a transparent material.

  According to the articulated robot of the present invention, even if the number of cables accommodated in the joint portion increases, the joint portion can be smoothly rotated without being entangled with each other.

1 is a schematic perspective view showing a schematic configuration of an articulated robot according to an embodiment of the present invention. It is typical sectional drawing which shows schematic structure of the joint part of the articulated robot which concerns on embodiment of this invention. It is a typical perspective view which shows the structure of the drive side cable support member of the articulated robot which concerns on embodiment of this invention. It is a typical exploded perspective view showing composition of a follower side cable support member and a cylindrical member of an articulated robot concerning an embodiment of the present invention. It is operation | movement explanatory drawing of the joint part of the articulated robot which concerns on embodiment of this invention.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view showing a schematic configuration of an articulated robot according to an embodiment of the present invention. FIG. 2 is a schematic cross-sectional view showing a schematic configuration of a joint portion of the articulated robot according to the embodiment of the present invention. FIG. 3 is a schematic perspective view showing the configuration of the drive side cable support member of the articulated robot according to the embodiment of the present invention. FIG. 4 is a schematic exploded perspective view showing the configuration of the driven cable support member and the cylindrical member of the articulated robot according to the embodiment of the present invention.

An articulated robot according to an embodiment of the present invention will be described.
As shown in FIG. 1, the multi-joint robot 1 of the present embodiment has a plurality of rotary joints arranged between a base end portion and a distal end portion via a plurality of arms, thereby A robot body 1A that can move and control the tip, a hand unit 11 that is connected to the tip of the robot body 1A and grips a work target, and a controller that controls the operations of the robot body 1A and the hand unit 11. 1B.
For this reason, the articulated robot 1 can be suitably used, for example, for gripping and releasing a component and moving the component in a component assembly process or the like, or performing an assembly operation between components.

The schematic configuration of the robot main body 1A includes a first joint portion 2, a first arm 3, a second joint portion 4, a second arm 5, a third joint portion 6, a third arm 7, a fourth joint portion 8, and a fourth arm. 9 and the 5th joint part 10, and these are connected in this order toward the front end side from the base end side.
Hereinafter, for the sake of simplicity, the first joint unit 2, the second joint unit 4, the third joint unit 6, the fourth joint unit 8, and the fifth joint unit 10 are collectively referred to as “first joint unit 2”. Or the like ". In addition, the first arm 3, the second arm 5, the third arm 7, and the fourth arm 9 may be collectively referred to as “an arm such as the first arm 3”.

The first joint portion 2 has a joint housing 2a, which is a drive-side housing for the first joint portion 2, placed on a horizontal plane, and vertically moves a first arm 3 which is a driven-side housing for the first joint portion 2. It is rotated around a rotation axis O ₁ parallel to the axis.
The first arm 3 is a hollow cylindrical housing that extends along the rotation axis O ₁ , and serves as a rotation shaft (not shown) of the first joint portion 2 that rotates around the rotation axis O ₁ at the lower end. It is connected.

The second joint portion 4 is a driven housing for the second joint portion 4 a fixed to the upper end portion of the first arm 3, and is a driven housing for the second joint portion 4. The two arms 5 are rotated around a rotation axis O ₂ extending in a direction orthogonal to the rotation axis O ₁ .
The second arm 5 is an elongated hollow cylindrical housing is extended along the rotation axis O ₃ that is set on the plane containing the axis of rotation O ₁ as well as perpendicular to the rotation axis O _2, one end Is connected to a rotating shaft (not shown) of the second joint 4.

The third joint portion 6 is composed of a bending shaft portion 6A and a rotation shaft portion 6B that perform rotation about the rotation axes O ₄ and O ₅ intersecting each other at 90 degrees, thereby providing a rotational degree of freedom of two degrees of freedom. It has a joint part. Here, the rotation axis O ₄ is set to a position relation of parallel and perpendicular to the rotation axis O ₃ and rotation axis O _2.
The bending shaft portion 6A is such that the joint housing 6a, which is a drive-side housing for the bending shaft portion 6A, is the other end portion of the second arm 5 (the opposite end portion to which the second joint portion 4 is connected). the fixed and the joint housing 6b of a driven side housing for the bent shaft portion 6A rotary shaft portion 6B, which is intended to rotate the rotation axis O ₄ around.
The rotation shaft portion 6B has a joint housing 6b that is a drive-side housing for the rotation shaft portion 6B fixed to the joint housing 6a, and the third arm 7 that is a driven-side housing for the rotation shaft portion 6B. it is intended to rotate the O ₅ around.
The third arm 7 is an elongated hollow cylindrical casing extending along the rotation axis O ₅ , and is connected to a rotation shaft (not shown) of the rotation shaft portion 6B at one end.

The fourth joint portion 8 includes a joint housing 8a that is a drive-side housing for the fourth joint portion 8 and the other end portion of the third arm 7 (the end portion on the opposite side to which the rotation shaft portion 6B is connected). ) to be fixed, to rotate the fourth arm 9 perpendicular to the axis of rotation O ₅ and the rotational axis O ₆ around which extends in a direction parallel to the rotational axis O ₄ is a driven side housing for the fourth joint section 8 It is.
The fourth arm 9 is an elongated hollow cylindrical housing that extends along the rotation axis O ₇ that is an axis orthogonal to the rotation axis O _6. It is connected to the illustrated rotating shaft.

The fifth joint portion 10 is configured such that the joint housing 10a, which is a drive-side housing for the fifth joint portion 10, is connected to the other end of the fourth arm 9 (the opposite end to which the fourth joint portion 8 is connected). is fixed to the part), which rotates the hand section housing 11a of the hand unit 11 is a driven side housing for the fifth joint portion 10 in the rotation axis O ₇ around.
Hand unit 11 can hand 11b of a pair provided on the positional relationship sandwiching the rotation axis O ₇ is moved in the direction perpendicular to the rotational axis O _7, to release the grip and the gripping parts such as the work object It is what I did. The hand unit housing 11 a is connected to a rotation shaft (not shown) of the fifth joint unit 10.

The control unit 1B controls the entire operation of the articulated robot 1, and is at least the distal end of the articulated robot 1 with respect to the installation position of the first joint unit 2 that is the base end of the articulated robot 1. In order to control the position of the hand unit 11, the amount of rotation of each joint unit such as the first joint unit 2 is controlled. Further, the control unit 1B controls the operation of the hand 11b of the hand unit 11 to perform operations for gripping and releasing the work target.
In order to perform such control, the control unit 1B and the joint unit such as the first joint unit 2 and the hand unit 11 are electrically connected by a plurality of wirings (not shown) that transmit power or signals.
In addition, the plurality of wirings are appropriately bundled to form a plurality of cables (not shown). Further, as will be described later, a plurality of cables (not shown) are arranged inside the robot body 1A, and as shown in FIG. 1, the joint of the first joint portion 2 which is the base end portion of the robot body 1A. The cable assembly 12 extends from the housing 2a and is guided to the control unit 1B.
In addition, the control unit 1B is provided with an input unit such as an operation panel or a keyboard for performing operations such as inputting a position for moving the hand unit 11 and controlling a gripping operation of the hand unit 11. 1C is connected.

The configurations of the joint portions such as the first joint portion 2 are such that the driven-side housing is rotated by the rotation axis of the rotary actuator provided in the driving-side housing, and the detailed configuration is almost the same. is there. Thus, if any one example is described, others will be readily understood by those skilled in the art.
Below, the detailed structure of the rotating shaft part 6B and the 4th joint part 8 is demonstrated with the structure of the 3rd arm 7 as an example of the joint part of this embodiment.
In the following, when the positional relationship along the axial direction in the joint housing 6b is expressed, the end on the third arm 7 side is the tip of the joint housing 6b, and the end on the bending shaft 6A side. This is referred to as the proximal end side of the joint housing 6b. Moreover, when expressing the positional relationship along the axial direction in the 3rd arm 7, the direction of the edge part by the side of the joint housing | casing 6b is called the base end side of the 3rd arm 7, and the other side is called the front end side.

The joint housing 6b of the rotating shaft 6B is a hollow cylindrical member as shown in FIG.
As shown in FIG. 2, a support plate 14, a rotary actuator 16A, and cables 12A, 12B, 12C, and 12D are provided inside the joint housing 6b.

Supporting plate 14, inside the end portion of the front end side of the joint housing 6b, a disc-shaped member fixed in a positional relationship perpendicular to the rotational axis O ₅ passing through the center of the joint housing 6b, the center The part is provided with a rotation shaft insertion hole 14a through which the rotation shaft 16a of the rotation actuator 16A is inserted.
The support plate 14 is provided with cable insertion holes 14b, 14c, and 14d through which the cables 12B, 12C, and 12D are inserted radially outward from the rotation shaft insertion hole 14a. .
As shown in FIG. 3, the distances from the centers of the cable insertion holes 14b, 14c, and 14d are r _b , r _c , and r _d (where r _b > r _c > r _d ), respectively, in this embodiment. Has been.
Further, as shown in FIG. 2, a plurality of support columns 15 for fixing the rotary actuator 16 </ b> A are erected on the surface on the base end side of the support plate 14. The fixing method of the support | pillar 15 with respect to the support plate 14 is not specifically limited, For example, appropriate fixing methods, such as screwing and welding, are employable.

In this embodiment, the rotary actuator 16A is composed of an electric motor that rotates the rotary shaft 16a. The rotary actuator 16A is inserted into the rotary shaft insertion hole 14a from the base end side in a state where the rotary shaft 16a is inserted from the base end side. It is fixed via a column 15.
The rotation shaft 16a extends to the end portion on the proximal end side of the joint housing 6b, and is fixed to a connection plate 20 of the third arm 7 described later. In the following, the radius of the rotary shaft 16a is expressed as _{r R.}
An appropriate configuration can be adopted as the motor configuration of the rotary actuator 16A, but in this embodiment, a servo motor is adopted as an example. For this reason, the rotary actuator 16A is provided with an encoder 16b for detecting the rotation amount, the rotation direction, and the rotation speed, and a brake 16c for stopping at the target rotation position.

The cable 12A is electrically connected to a rotary actuator 16A provided on the rotary shaft portion 6B, and is connected to a power supply line for supplying power to the rotary actuator 16A, a wiring 12a for supplying a drive control signal, and an encoder 16b. The wiring 12b for transmitting the signal output to the control unit 1B and the wiring 12c for supplying the control signal to the brake 16c are bundled into one cable.
The end of the cable 12A in the joint housing 6b is fixed to the inner wall of the joint housing 6b in the vicinity of the rotary actuator 16A via the cable fixing member 13.
As the cable fixing member 13, an appropriate cable clamp, a binding band, or the like can be adopted.
The wirings 12a, 12b, and 12c of the cable 12A are branched and extended individually from the ends fixed by the cable fixing member 13, and are electrically connected to the rotary actuator 16A, the encoder 16b, and the brake 16c, respectively. Yes.

The cable 12B transmits power to a rotary actuator 16B having a configuration similar to that of the rotary actuator 16A provided in the fourth joint portion 8 described later, and controls the rotary actuator 16B, the encoder 16b of the rotary actuator 16B, the brake 16c, and the control. This is for transmitting / receiving signals to / from the section 1B, and consists of a cable in which wirings 12a, 12b, and 12c similar to the cable 12A are bundled together.
The cable 12C transmits power to a rotary actuator (not shown) having the same configuration as that of the rotary actuator 16A provided in the fifth joint portion 10, and this rotary actuator, its encoder and brake (none are shown), In order to exchange signals with the control unit 1B, the wiring 12a, 12b, and 12c similar to the cable 12A are bundled into one cable.
The cable 12D transmits power to a hand drive mechanism (not shown) provided in the hand unit 11 and transmits / receives a signal to / from the control unit 1B. The cable 12D corresponds to the control configuration of the hand unit 11. It consists of a cable in which a plurality of wires are bundled together.
The distribution of the cables 12B, 12C, and 12D will be described together after the configuration of the third arm 7 and the fourth joint portion 8 is described.

As shown in FIG. 1, the third arm 7 is a cylindrical member having a rectangular cross section, and a connecting plate 20 is fixed inside the proximal end, and a fourth joint is located at the distal end. The joint housing 8a of the part 8 is fixed.
As shown in FIGS. 2 and 4, the connecting plate 20 is a disc-like shape fixed at the proximal end of the third arm 7 inside the joint housing 6 b in a positional relationship orthogonal to the rotational axis O _5. A rotation shaft fixing hole 20a for fixing the rotation shaft 16a of the rotation actuator 16 of the rotation shaft portion 6B is provided in the center portion. For this reason, in the assembled state in which the rotary shaft 16a is fixed to the rotary shaft fixing hole 20a, the connecting plate 20 is opposed to the support plate 14 in parallel with a distance h.
Further, the connecting plate 20 is provided with cable insertion holes 20b, 20c, and 20d through which the cables 12B, 12C, and 12D are inserted radially outward from the rotation shaft fixing hole 20a. .
Cable insertion holes 20b, 20c, the distance from the center of the 20d, as shown in FIG. 4, in this embodiment, are _{respectively,} r _b, r c, and _{r d.}
Further, in order to fix the cylindrical members 17, 18, 19 to at least the base end side surface of the connecting plate 20, for example, radii r _b , r _c , r _d with the center of the rotation shaft fixing hole 20 a as the center. The female screw part 20e is provided on the concentric circle.

A plate surface on the proximal end side of the connecting plate 20 includes a cylindrical cylindrical portion 17a that surrounds the rotation shaft 16a in the circumferential direction, and an annular flange portion 17b that extends radially outward from the end of the cylindrical portion 17a. Is fixed so as to be coaxial with the rotating shaft 16a.
Outer radius _{r 17} of the cylinder section 17a, a cylindrical portion 17a is a cable insertion hole 20b of the connecting plate 20, so that the positional relationship passing between the _20c, there is a _{r b> r 17> r c} .
Further, the outer radius of the flange portion 17 b is the same as or slightly smaller than the outer radius of the connecting plate 20.
The axial length of the cylindrical portion 17a is set to be slightly shorter than the distance h between the support plate 14 and the connecting plate 20.
In the flange portion 17b, a cable insertion hole 17c that is opened slightly larger than the cable insertion hole 20b at a position overlapping the cable insertion hole 20b provided in the connecting plate 20 is provided so as to penetrate in the thickness direction of the flange portion 17b. It has been.
Further, the flange portion 17b has a screw insertion hole 17d opened slightly larger than the female screw portion 20e at a position overlapping with the plurality of female screw portions 20e provided on the connecting plate 20, and penetrates in the thickness direction of the flange portion 17b. Is provided.
For this reason, in this embodiment, the cylindrical member 17 has the male screw 24 (see FIG. 4) inserted into each screw insertion hole 17d at the position where the cable insertion hole 17c is overlapped with the cable insertion hole 20b of the connecting plate 20. It is detachably fixed to the connecting plate 20 by being screwed into the portion 20e.

Inside the cylindrical member 17, a cylindrical shape is provided with a cylindrical cylindrical portion 18 a that surrounds the rotating shaft 16 a in the circumferential direction and an annular flange portion 18 b that extends radially outward from the end of the cylindrical portion 18 a. The member 18 is fixed so as to be coaxial with the rotating shaft 16a.
The outer radius r ₁₈ of the cylindrical portion 18 a is set to r _c > r ₁₈ > r _d so that the cylindrical portion 18 a passes through the cable insertion holes 20 c and 20 d of the connecting plate 20.
Further, the outer radius of the flange portion 18 b is the same as or slightly smaller than the inner radius of the cylindrical member 17.
The axial length of the cylindrical portion 18a is set slightly shorter than the distance h between the support plate 14 and the connecting plate 20.
In the flange portion 18b, a cable insertion hole 18c that is slightly larger than the cable insertion hole 20c is provided at a position overlapping with the cable insertion hole 20c provided in the connecting plate 20 so as to penetrate in the thickness direction of the flange portion 18b. It has been.
In addition, a screw insertion hole 18d that is slightly larger than the female screw portion 20e is opened in the flange portion 18b in a thickness direction of the flange portion 18b at a position overlapping the plurality of female screw portions 20e provided on the connecting plate 20. Is provided.
For this reason, in the present embodiment, the cylindrical member 18 has the male screw 24 (see FIG. 4) inserted into each screw insertion hole 18d at the position where the cable insertion hole 18c is overlapped with the cable insertion hole 20c of the connecting plate 20. It is detachably fixed to the connecting plate 20 by being screwed into the portion 20e.

Inside the cylindrical member 18, a cylindrical shape is provided with a cylindrical cylindrical portion 19a surrounding the rotating shaft 16a in the circumferential direction, and an annular flange portion 19b extending radially outward from the end of the cylindrical portion 19a. The member 19 is fixed so as to be coaxial with the rotating shaft 16a.
The outer radius r ₁₉ of the cylindrical portion 19 a is set to r _d > r ₁₉ > r _R so that the cylindrical portion 19 a has a positional relationship passing between the cable insertion hole 20 d of the connecting plate 20 and the rotating shaft 16 a. .
Further, the outer radius of the flange portion 18 b is the same as or slightly smaller than the inner radius of the cylindrical member 17.
Further, the axial length of the cylindrical portion 19a is set slightly shorter than the distance h between the support plate 14 and the connecting plate 20.
The flange portion 19b is provided with a cable insertion hole 19c that is slightly larger than the cable insertion hole 20d at a position overlapping the cable insertion hole 20d provided in the connecting plate 20 so as to penetrate in the thickness direction of the flange portion 19b. It has been.
Further, the flange portion 19b has a screw insertion hole 19d that is slightly larger than the female screw portion 20e at a position overlapping with the plurality of female screw portions 20e provided on the connecting plate 20, and penetrates in the thickness direction of the flange portion 19b. Is provided.
For this reason, in this embodiment, the cylindrical member 19 has the male screw 24 (see FIG. 4) inserted into each screw insertion hole 19d at the position where the cable insertion hole 19c is overlapped with the cable insertion hole 20d of the connecting plate 20. It is detachably fixed to the connecting plate 20 by being screwed into the portion 20e.

Thus, the cylindrical members 17, 18, and 19 are provided in a cylindrical shape surrounding the rotating shaft 16a in the circumferential direction, and one cylindrical end portion is fixed to the connecting plate 20 that is a driven cable support member, and the other cylindrical member is fixed. The end portion is a member disposed in the vicinity of the support plate 14 which is a drive side cable support member.
Further, on the connecting plate 20, the tubular member 17, 18, 19, the cylindrical portion 17a, 18a, 19a is on a concentric circle around the rotation axis _{O 5} is the center axis of the respective rotary shafts 16a, radially Are arranged in a nested structure. And the cylindrical members 17, 18, and 19 can be attached and detached independently of each other.

In such an assembled state, the cylindrical portions 17a, 18a, and 19a are partition plates that partition the space between the support plate 14 and the connecting plate 20 into four concentric cylindrical regions. Therefore, as shown in FIG. 2, the cable insertion holes 20b, 14b is opened to the area _{S b} between the outer peripheral surface of the inner wall portion and the cylindrical portion 17a of the joint housing 6a, cable insertion hole 20c, 14c is the inner circumferential surface of the cylindrical portion 17a and the cylindrical portion 18a has an opening in the area _{S c} between the outer peripheral surface, a cable insertion hole 20d, 14d is an inner circumferential surface of the cylindrical portion 18a and the cylindrical portion 19a It opens to the area S _d between the outer peripheral surface.

Thus, the cable insertion holes 20b, 20c, 20d, 14b, 14c, and 14d are fixedly supported at positions facing the ring-shaped regions partitioned by the other cylindrical ends of the cylindrical members 17, 18, and 19, respectively. A cable guide hole for guiding the cables 12B, 12C, and 12D, which are the plurality of cables, along the direction in which the rotating shaft 16a extends is configured.
By providing the cable guide holes in such a positional relationship, each cable can be guided to the proximal end side and the distal end side in the axial direction without being routed in the radial direction. For this reason, the space between the support plate 14 and the connection plate 20 can be saved, and the total length of the cable can be reduced as compared with the case where the cable is arranged on the support plate 14 and the connection plate 20 in the radial direction. It can be shortened.

As a material of the cylindrical members 17, 18, and 19, an appropriate synthetic resin or metal material can be adopted. In particular, when a synthetic resin is employed, for example, a transparent material such as a polycarbonate resin or a polymethyl methacrylate resin can be employed.
In the present embodiment, a polycarbonate transparent grade is adopted as the cylindrical members 17, 18, and 19.
Thus, when the cylindrical members 17, 18, and 19 are made of a transparent material, the visibility of the distributed cables is improved, and in the manufacturing process, it is immediately visually checked whether the cables are not properly distributed. Since it can confirm, productivity can be improved.

As shown in FIG. 2, a plurality of support columns 21 are erected on the inner wall portion on the distal end side of the third arm 7 in a direction along the rotation axis O ₆ , and a support plate 22 is fixed to the distal end portion of each support column 21. ing.
The support plate 22 is obtained by deleting the cable insertion hole 14b from the support plate 14 in correspondence with the two cables 12C and 12D being inserted into the fourth joint 8.
In the support plate 22, the rotation actuator 16 </ b> B of the fourth joint portion 8 is fixed to the plate surface supported by the support column 21 via the support column 15, similarly to the support plate 14. Therefore, the rotation shaft 16a of the rotary actuator 16B of the fourth joint portion 8 is inserted through the rotary shaft insertion hole 14a of the support plate 22, are extended in the rotation axis O ₆ coaxially.
A disc-shaped connecting plate 23 fixed to a cylindrical connecting plate fixing member 8b is fixed to the tip of the rotating shaft 16a.
The connecting plate 23 is a member obtained by deleting the cable insertion hole 20b and the female screw portion 20e on the same concentric circle as the cable insertion hole 20b with the rotation shaft fixing hole 20a as the center from the connecting plate 20, and the outer diameter is a connecting plate fixing member. It is adjusted to a size that can be fitted into 8b.
For this reason, in the assembled state in which the rotation shaft 16a of the rotary actuator 16 is fixed to the rotation shaft fixing hole 20a of the connection plate 23, the connection plate 23 is opposed to the support plate 22 in parallel with a distance h.
Cylindrical members 18 and 19 are detachably fixed to the plate surface of the connecting plate 23 on the support plate 22 side in the same positional relationship as in the connecting plate 20.

Coupling plate fixing member 8b is within the joint housing 8a, which is rotatably accommodated in the rotation axis O ₅ around through an opening (not shown) provided on the joint housing 8a, which is connected to the fourth arm 9.

Next, the distribution of the cables 12B, 12C, and 12D in the rotating shaft portion 6B will be described.
As shown in FIG. 2, the cable 12B fixed by the cable fixing member 13 in the joint housing 6b is inserted into the cable insertion hole 14b at the neutral position of the rotation of the rotary actuator 16A, and the distal end side of the support plate 14 is inserted. After being fixed by the cable fixing member 13, the plate surface is spirally wound along the outer peripheral surface of the cylindrical member 17 in a state of being separated from the outer peripheral surface. Are inserted into the cable insertion hole 20 b of the connecting plate 20 and led into the third arm 7.
As an example, the cable 12 </ b> B is circulated counterclockwise (opposite to the rotation direction of the right screw) from the support plate 14 toward the connecting plate 20.

The position of the cable 12B is fixed by the cable fixing member 13 on the flange portion 17b in the vicinity of the cable insertion hole 20b.
Therefore, the length of the cable 12B orbiting the tubular member 17 is kept constant in the area S _b. As a result, by the rotary actuator 16 rotates, the connecting plate 20 rotates relative to the support plate 14, the area S cable 12B in _b is, the support plate 14 and connecting plate 20 fixed and the cable fixing member 13 Will be twisted in the direction of rotation.
In this embodiment, even if the rotation actuator 16 makes one rotation, the cable 12B is fixed to the cable fixing member 13 so that the cable 12B does not contact the outer peripheral surface of the cylindrical member 17 and the inner wall portion of the joint housing 6b. The length of the cable 12B between the members 13 is adjusted.

Similarly, the cable 12C (D) fixed by the cable fixing member 13 in the joint housing 6b is inserted into the cable insertion hole 14c (14d) at the neutral position of rotation of the rotary actuator 16A, and the support plate 14 After being fixed by the cable fixing member 13 on the front plate surface, it is spirally wound along the outer peripheral surface of the tubular member 18 (19) in a state of being separated from the outer peripheral surface. After being circulated by half, it is inserted into the cable insertion hole 2 c (20 d) of the connecting plate 20 and guided into the third arm 7.
The position of the cable 12C (12D) is fixed by the cable fixing member 13 on the flange portion 18b (19b) in the vicinity of the cable insertion hole 20c (20d).
For this reason, the length of the cable 12C (12D) that circulates around the cylindrical member 18 (19) is kept constant within the region S _c (S _d ). As a result, when the connecting plate 20 rotates with respect to the support plate 14 by rotating the rotary actuator 16, the cable 12C (12D) in the region S _c (S _d ) is fixed to the support plate 14 and the connecting plate 20. The cable fixing member 13 is twisted in the rotational direction.
In the present embodiment, the cable 12C (12D) does not contact the outer peripheral surface of the cylindrical member 18 (19) and the inner peripheral surface of the cylindrical member 17 (18) even if the rotary actuator 16 makes one rotation. The fixing position of the fixing member 13 and the length of the cable 12B between the cable fixing members 13 are adjusted.

After the cable 12B led into the third arm 7 is fixed by the cable fixing member 13 in the support column 21, the wires 12a, 12b, and 12c in the cable 12B are respectively connected to the cable 12B in the same manner as the cable 12A in the rotary shaft portion 6B. The rotary actuator 16B of the fourth joint 8 and the encoder 16b and the brake 16c of the rotary actuator 16B are electrically connected.
Further, the cables 12C and 12D guided into the third arm 7 are fixed to the cable fixing member 13 at the support column 21, and then the support plate 22 and the fourth joint portion 8 as well as the rotary shaft portion 6B. Arranged between the connecting plates 23.
The cables 12C and 12D fixed on the connecting plate 23 by the cable fixing member 13 are respectively inserted into the cable insertion holes 20c and 20d of the connecting plate 23, and are connected by the connecting plate fixing member 8b, the connecting plate 23, and the joint housing 8a. It is introduced into the enclosed space and guided into a fourth arm 9 (not shown).

Similarly, a rotation actuator having the same configuration as that of the rotation actuator 16A is provided in each joint portion of the robot body 1A such as the first joint portion 2, and the rotation actuators are driven and controlled. Cables for transmitting power and signals necessary for the are electrically connected. Each cable is routed inside the robot body 1A.
The distribution of the cables in the joint portions such as the first joint portion 2 differs only in the number of cylindrical members according to the number of cables distributed in each joint portion.

As described above, in the multi-joint robot 1, for example, the support plates 14 and 22 are respectively connected to the inside of the drive-side housing in the state where the rotation shaft 16a is inserted in the rotation shaft portion 6B and the fourth joint portion 8 which are joint portions. The driving side cable supporting member is configured to be fixed to and fixedly supported inside the driving side casing.
Further, for example, the connection plates 20 and 23 are respectively connected to the driven side housing so that the rotary shaft 16a is fixed and faces the drive side cable support member at the rotary shaft portion 6B and the fourth joint portion 8 which are joint portions, respectively. A driven-side cable support member that is fixed inside the body and fixes and supports the cable inside the driven-side housing is configured.
In the present embodiment, the connecting plates 20 and 23 also serve as members to which the rotation shaft is fixed. However, the driven cable support member is a member that fixes only the cable to the driven housing. Also good. In this case, the rotating shaft is inserted into the driven cable support member and fixed to a member such as a connecting plate provided separately from the driven cable support member.

Next, the operation of the articulated robot 1 will be described focusing on the action of the joint portion.
FIGS. 5A and 5B are operation explanatory views of the joint portion of the articulated robot according to the embodiment of the present invention.

When the movement position of the hand unit 11 is input through the operation unit 1C, the control unit 1B rotates the joint unit such as the first joint unit 2 necessary to move the hand unit 11 to the input movement position. The amount is calculated and a control signal is sent to the rotary actuator 16 of each joint through the cable assembly 12 to rotate each rotary actuator 16.
For example, from the neutral position of rotation of the rotary shaft portion 6B, about a rotation axis O _5, the direction to be clockwise when viewed from the rotating shaft portion 6B 3 (FIG. 1, the arrow R direction in FIG. 5 (a)) when the arm 71 is rotated, as shown in FIG. 5 (a), the area _{S b,} S c, cable 12B in _{S d,} 12C, 12D is rewound one round. At this time, the cables 12B, 12C, and 12D in the regions S _b , S _c , and S _{d contact} the inner wall surface of the joint housing 6b, the inner peripheral surface of the cylindrical member 17, and the inner peripheral surface of the cylindrical member 18, respectively. The circumference diameter can be expanded without contacting. Moreover, since the cables 12B, 12C, and 12D are accommodated in the individual spaces by the cylindrical members 17, 18, and 19, respectively, they are not entangled with each other.
For this reason, the cables 12B, 12C, and 12D do not increase the rotation load of the rotating shaft portion 6B and do not hinder the rotation.

Similarly, for example, from the neutral position of rotation of the rotary shaft portion 6B, about a rotation axis O _5, direction that viewed from the rotating shaft portion 6B counterclockwise (FIG. 1, FIG. 5 (b) When the third to the arm 71 is rotated in the arrow L direction), as shown in FIG. 5 (b), the area _{S b,} S c, cable 12B in _{S d,} 12C, 12D is advanced wound one turn . At this time, the cables 12B, 12C, and 12D in the regions S _b , S _c , and S _{d contact} the inner wall surface of the joint housing 6b, the inner peripheral surface of the cylindrical member 17, and the inner peripheral surface of the cylindrical member 18, respectively. The circumference diameter can be reduced without contact. Moreover, since the cables 12B, 12C, and 12D are accommodated in the individual spaces by the cylindrical members 17, 18, and 19, respectively, they are not entangled with each other.
For this reason, the cables 12B, 12C, and 12D do not increase the rotation load of the rotating shaft portion 6B and do not hinder the rotation.

Moreover, since all joint parts, such as the 1st joint part 2, are equipped with the cable distribution structure similar to the rotating shaft part 6B, they are equipped with the effect | action similar to the rotating shaft part 6B.
Therefore, according to the multi-joint robot 1 of this embodiment, even if the number of cables accommodated in the joint portion increases, the joint portion can be smoothly rotated without the cables becoming tangled.

  In the above description, the example in which the cylindrical member is fixed to the driven cable support member has been described. However, the cylindrical member may be configured to be fixed to the drive cable support member.

  In the above description, the example in which the plurality of cylindrical members are cylindrical and are provided concentrically around the rotation axis has been described. However, the cable is distributed in a state of being separated from the outer peripheral surface. As long as a region capable of forming a region can be secured, the tubular member may have a shape other than a cylinder, for example, a tubular shape such as a square cross section or an elliptic cross section.

Further, in the above description, the cable guide holes are arranged at positions facing the ring-shaped regions partitioned by the other cylindrical end of the cylindrical member, respectively, along the direction in which the rotating shaft extends with the plurality of cables fixedly supported. The example in the case of guiding was explained. With such a configuration, the distance between the cylindrical member and the drive side cable support member or the driven side cable support member provided with the cable guide hole can be shortened, and the apparatus can be downsized. Become.
However, when a gap through which the cable passes may be provided between the other cylindrical end of the cylindrical member and the driving side cable support member facing the cylindrical end, the position of the cable guide hole is a ring-shaped region. You may provide in the position shifted from the position which opposes.

  In the above description, an example in which a plurality of cylindrical members fixed to one driven-side cable support member are provided so as to be independently detachable is described. However, it is not necessary to share parts of the cylindrical member. In some cases, it may not be possible to attach and detach independently. Moreover, you may employ | adopt the fixing method which cannot be removed easily.

  In the above description, an example in which the rotary actuator is an electric motor has been described. However, the rotary actuator may be a fluid actuator that operates by a fluid pressure such as gas or oil. In this case, the cable may include a tube for supplying fluid.

  In the above description, the robot main body 1A and the control unit 1B have been described as being configured separately. However, the control unit 1B may be configured to be built in the robot main body 1A.

In the above description, an example in which one cable is provided for each of the rotary actuators has been described. However, the form of the cable may be appropriately combined or branched.
For example, when the rigidity of one cable is small, when the cable is routed to the joint portion on the proximal end side, a plurality of cables are bundled and combined into one, so that the cylindrical member in the joint portion is The number can be reduced.

Further, in the above description, the example in which the tubular member and the cable are not always in contact during the rotation operation has been described, but the degree to which the rotation of the rotary actuator is not hindered and the durability of the cable is not affected. If it is contact of this, it is good also as a structure which a part contacts between rotation operations.
That is, the cylindrical member and the cable only need to circulate away from the outer peripheral surface of the cylindrical member at least at the neutral position of rotation of the rotary actuator.

  In addition, the components described in the above embodiments can be implemented by being appropriately combined or deleted within the scope of the technical idea of the present invention.

DESCRIPTION OF SYMBOLS 1 Articulated robot 1A Robot main body 1B Control part 2 1st joint part (joint part)
2a, 4a, 6a, 6b, 8a, 10a Joint housing 2c Cable insertion hole 3 First arm 4 Second joint part (joint part)
5 2nd arm 6 3rd joint part (joint part)
6A Bending shaft portion 6B Rotating shaft portion 7 Third arm 8 Fourth joint portion (joint portion)
9 4th arm 10 5th joint part (joint part)
11 Hand unit 11a Hand unit housing 12A, 12B, 12C, 12D Cable 12a, 12b, 12c Wiring 13 Cable fixing member 14, 22 Support plate (drive side cable support member)
14b, 14c, 14d Cable insertion hole (cable guide hole)
16A, 16B Rotary actuator 16a Rotating shaft 16b Encoder 16c Brake 17, 18, 19 Cylindrical members 17a, 18a, 19a Cylindrical parts 17b, 18b, 19b Flange parts 17c, 17d, 18c, 18d, 19c, 19d Cable insertion hole 20, 23 Connecting plate (driven cable support member)
20b, 20c, 20d Cable insertion holes O ₁ , O ₂ , O ₃ , O ₄ , O ₅ , O ₆ , O ₇ rotation axis S _b , S _c , S _d region

Claims (5)

A plurality of joints for rotating the driven housing are arranged from the base end side of the apparatus toward the front end side of the apparatus by the rotation axis of the rotary actuator provided in the driving side casing, and a plurality of cables for transmitting power or signals are provided. A multi-joint robot housed in the drive-side housing, the driven-side housing, and the joint portion,
The joint is
A driving-side cable support member fixed inside the driving-side housing in a state where the rotating shaft is inserted, and fixing and supporting the cable inside the driving-side housing;
A driven-side cable support member that is fixed or supported inside the driven-side housing so that the rotating shaft is inserted or fixed and faces the driving-side cable support member; and the cable is fixedly supported inside the driven-side housing; ,
Provided in a cylindrical shape surrounding the rotation shaft in the circumferential direction, one cylinder end is fixed to one of the drive side cable support member and the driven side cable support member, and the other cylinder end is the drive side A tubular member disposed in the vicinity of the other of the cable support member and the driven cable support member; and
With
In the joint portion, the plurality of cables and the plurality of cylindrical members that are penetrated and accommodated therein are installed concentrically,
The cables fixed to the drive-side cable support member and the driven-side cable support member are circulated around each outer periphery of the tubular member in a state of being separated from the outer peripheral surface of the tubular member. An articulated robot characterized by that. One of the drive side cable support member and the driven side cable support member is
A cable guide hole for guiding the plurality of cables fixedly supported along the direction in which the rotation shaft extends is provided at a position facing each of the ring-shaped regions partitioned by the other cylindrical end of the cylindrical member. The articulated robot according to claim 1. Each of the cylindrical members is
3. The articulated robot according to claim 1, wherein a cylindrical portion surrounding the rotation shaft has a cylindrical shape and is disposed concentrically with the rotation shaft as a center. The cylindrical member is
The multiplicity according to any one of claims 1 to 3, wherein the drive side cable support member and the driven side cable support member are detachably provided independently of each other. Articulated robot. The cylindrical member is
The articulated robot according to any one of claims 1 to 4, wherein the articulated robot is made of a transparent material.

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