JP2015085454A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot which is small in size and is provided with a wiring structure of a rotating section having high electrical connection reliability.SOLUTION: A robot 10 includes: a joint 79 serving as a first member; a link 80 which rotates about a third rotating shaft 95 with respect to the joint 79 and serves as a second member; and an operating body coupled to the link 80. The robot 10 comprises a relay substrate 61 provided with: a first connector 67a to which the other end of a first FPC 68a extending from a reel 68w is connected; a second connector 67b to which the other end of a second FPC 68b extending from the reel 68w is connected; a third connector 67'a connected to the first connector 67a via first connection wiring; and a fourth connector 67'b connected to the second connector 67b via second connection wiring. Any two pairs of the first connector 67a, the second connector 67b, the third connector 67'a and the fourth connector 67'b are disposed on a first surface and a second surface of the relay substrate 61.

Description

  The present invention relates to a robot.

  2. Description of the Related Art Conventionally, industrial robots have been widely used for automation and labor saving in assembly processes of industrial products at manufacturing sites such as factories or welding processes. In recent years, as the work process has become more complicated in order to cope with the downsizing and higher functionality of industrial products, a plurality of members constituting the arm of the robot are relatively moved by the joint drive shaft (rotation shaft). There is an increasing demand for multi-axis controlled robots having articulated arms combined to rotate. For example, Patent Document 1 discloses a double-arm robot in which 6-axis articulated arms are connected to the left and right sides of a base body (body). Such a 6-axis multi-joint arm is configured with, for example, a shoulder portion, an upper arm portion, a forearm portion, and a wrist portion as members in order to realize a movement similar to the movement of a human arm. An end effector as an operating body such as a robot hand that performs a predetermined operation performed by the robot is attached to the distal end side of the member that becomes the wrist portion of the articulated arm.

  In such a robot, a cable for supplying power to a motor that is a driving source such as a connected adjacent member or an end effector, or for transmitting / receiving a control signal between the motor and the robot controller is wired. The In this case, there are two types of wiring: an internal wiring system that allows cables to pass through the base or arm, and an external wiring system that performs wiring along the outer surface of the robot. The method is advantageous. In the wiring by the internal wiring system of the robot, the wiring that does not hinder the relative rotation of the adjacent rotating members (base and arm, arm and arm, arm and wrist, etc.) at the rotating joint. It needs to be structured.

For example, Patent Document 2 introduces a wiring structure in which a first member and a second member that rotate relative to each other are wired using a flat cable. Specifically, one end of the flat cable is connected to a first connector as a connecting portion provided on the first member, and the flat cable is connected to the second member via a reel provided on the other end of the flat cable. Is connected to a second connector provided on a relay board disposed on the second member.
Thus, the flat cable having both ends connected to the first connector and the second connector follows the relative rotation between the first member and the second member at the reel portion around which the flat cable is wound. By moving in the rewinding direction or rewinding direction, the pulling force applied to the wiring particularly when moving in the rewinding direction is absorbed, and problems such as disconnection of wiring and early deterioration can be avoided.

JP 2008-188699 A JP 2003-230223 A

By the way, although not specified in the robot wiring structure described in Patent Document 2, a third connector connected to the second connector is arranged on the relay board, and the flat cable connected to the third connector. Is connected to the end effector (operating body), thereby forming a wiring structure of the first member and the end effector using a flat cable through a relay substrate. As described above, by relaying the wiring between the first member and the end effector using the relay board, it is possible to avoid the complexity of the flat cable routing and the cost increase due to the lengthening of the flat cable.
Here, along with the progress of miniaturization of robots, in order to construct a flat cable relay wiring structure using a relay board on the wrist (second member), which is particularly downsized, the arrangement of connectors provided on the relay board, It is necessary to devise the route of the flat cable connected to the connector.
However, in the robot wiring structure described in Patent Document 2, the arrangement of the connectors and the flat cable routing route between the members and the operating parts are not clarified. For this reason, there has been a problem that it becomes difficult to incorporate the relay wiring structure into the second member, or that the connection may become unstable or the reliability may be lowered due to excessive routing of the flat cable.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A robot according to this application example includes a first member, a second member that rotates about one rotation axis with respect to the first member, and an operating body connected to the second member. A first flat cable and a second flat cable, one end of which is connected to the first member, and the other end side of the first flat cable and the second flat cable provided in the first turn. A reel wound around a rotation axis that is substantially parallel to the moving axis, and a relay board provided on the second member, the first end of the first flat cable from the reel being connected to the first A second connection portion to which the other end of the second flat cable from the reel is connected; a third connection portion connected to the first connection portion via a first connection wiring; 4th connection connected to 2 connection part via 2nd connection wiring , A third flat cable having one end connected to the third connecting portion and the other end connected to the operating body, and one end connected to the fourth connecting portion and the other end operating the A fourth flat cable connected to the body, and any one of the first connection part to the fourth connection part is provided on the first surface and the second surface, which are both surfaces of the relay board, The flat cable to the fourth flat cable are arranged so as to be connected substantially parallel to the first surface or the second surface.

In this application example, “substantially parallel” means that a configuration that intersects within a range of 10 ° is included in addition to a configuration that is completely parallel.
According to this application example, the first member and the operating body coupled to the second member rotating with respect to the first member are connected by the flat cable while being relayed by the relay board provided on the second member. In the wiring structure, the arrangement of the connecting portion of the relay board that relays the wiring in a space-saving manner is clarified while absorbing the rotation of the second member relative to the first member with the reel so that the flat cable does not hinder the rotation. In particular, any one of the first connection portion to the fourth connection portion is disposed on each of both the first surface and the second surface of the relay board, and the first flat cable to the fourth flat cable are the first surface. Alternatively, by being arranged so as to be connected substantially parallel to the second surface, it is possible to relay wiring by a flat cable in a space-saving manner.

  Application Example 2 A robot according to this application example includes a base body and a multi-joint arm including a plurality of members and connected by a joint mechanism in which the adjacent members rotate relatively, The articulated arm is connected so as to rotate around a shoulder axis that intersects the surface of the base body, and the adjacent members intersect with each other with one rotation axis or with the one rotation. Are connected so as to rotate around any one of two rotation axes substantially orthogonal to the axis, the one rotation axis being the first rotation axis to the first rotation in order from the base. A robot having n number of rotation axes, wherein the member includes a first member on the base body connected by the nth number of rotation axes, and the nth number of first members relative to the first member. A second member that rotates about a rotation axis, and an operating body coupled to the second member, and one end connected to the first member The first flat cable and the second flat cable, and the second member, provided on the second member, around the rotation axis in which the other end side of the first flat cable and the second flat cable is substantially parallel to the one rotation axis. A reel wound around the first member, a relay board provided on the second member, the first connection portion to which the other end of the first flat cable from the reel is connected, and the first connection from the reel. A second connecting portion to which the other end of the two flat cable is connected; a third connecting portion connected to the first connecting portion via a first connecting wire; and a second connecting wire connected to the second connecting portion. A relay board provided with a fourth connection portion connected to each other, a third flat cable having one end connected to the third connection portion and the other end connected to the operating body, and one end connected to the fourth connection portion. Is connected and the other end is connected to the operating body. A first flat cable, wherein the first connection portion to the fourth connection portion are provided on the first surface and the second surface, which are both surfaces of the relay substrate, respectively. The fourth flat cable is arranged so as to be connected substantially parallel to the first surface or the second surface.

  According to this application example, in a robot having a multi-joint arm, a wrist (second member) that is a dominant element particularly for downsizing, and a member (first member) connected to the base side of the wrist And a wiring structure that is advantageous for downsizing the joint structure. Therefore, a multi-axis type robot that is small and has high functionality can be provided.

  Application Example 3 In the robot according to the application example described above, the first connection portion to the fourth connection portion are arranged closer to the operating body than the one rotation shaft or the n-th rotation shaft. Preferably it is.

  According to this application example, in the wiring structure for connecting the first member and the operating body while relaying the flat cable by the relay board, the space saving of the first to fourth connection portions provided on the relay board and the relay board is achieved. An advantageous arrangement is clarified.

  Application Example 4 In the robot according to the application example described above, the first connection portion and the third connection portion are provided on the first surface, and the second connection portion and the fourth connection surface are provided on the second surface. A connection portion is provided, and the third flat cable and the fourth flat cable are wired in the direction of the operating body through the first surface side.

  According to this application example, in the wiring structure that connects the first member and the operating body while relaying the flat cable by the relay board, it is possible to clarify one aspect of relaying the wiring of the flat cable in a space-saving manner. it can. In particular, it is possible to provide a wiring structure in which the bending angle of the fourth flat cable is suppressed among the third flat cable and the fourth flat cable that are connected to the third connection part or the fourth connection part and folded back to the first surface side. Can do.

  Application Example 5 In the robot according to the application example described above, the second connection portion and the fourth connection portion are provided on the first surface, and the first connection portion and the third connection surface are provided on the second surface. A connection portion is provided, and the first connection portion, the second connection portion, and the third connection portion are arranged with the connection ports directed in the same direction, and the fourth connection portion includes the first connection, It is preferable that the connection port is disposed in a direction opposite to the connection port of the second connection part and the third connection part.

  According to this application example, in the wiring structure that connects the first member and the operating body while relaying the flat cable by the relay board, it is possible to clarify one aspect of relaying the wiring of the flat cable in a space-saving manner. it can. In particular, the bending angle of the third flat cable connected to the third connecting portion and folded back to the first surface side is suppressed, and the fourth flat cable connected to the fourth connecting portion is hardly bent to the working body side. It can be wired.

  Application Example 6 In the robot according to the application example described above, the first flat cable and the third flat cable are wirings for power supply lines, and the second flat cable and the fourth flat cable are for signal lines. A wiring is preferable.

Generally, the wiring pattern formed on the signal cable flat cable is narrower than the power cable flat cable on which relatively thick wiring is formed, so cracks or breaks occur when the flat cable is bent. It is easy to do.
In any of the above application examples, the bending radius of the flat cable is larger in the second flat cable and the fourth flat cable for signal lines than in the first flat cable and the third flat cable for power lines, or Then, it is routed so as to have a wiring shape that is not bent. Therefore, according to this application example, it is possible to provide a wiring structure in which wiring cracks and disconnections are unlikely to occur between members connected to the robot.

  Application Example 7 In the robot according to the application example described above, the first connection portion and the second connection portion are arranged on either the first surface or the second surface, and the third connection portion. Is disposed on a surface opposite to the surface on which the first connection portion is disposed, and is connected to the first connection portion via the first connection wiring including a via, and the fourth connection portion is The second connection portion is disposed on a surface opposite to the surface on which the second connection portion is disposed, and is connected to the second connection portion via the second connection wiring including a via, and the first connection portion to the first connection portion The four connection portions are provided with the connection ports directed in the same direction.

  According to this application example, in the wiring structure that connects the first member and the operating body while relaying the flat cable by the relay board, it is possible to clarify one aspect of relaying the wiring of the flat cable in a space-saving manner. it can. In particular, since the third flat cable connected to the third connecting portion and the fourth flat cable connected to the fourth connecting portion can be wired to the operating body side with almost no bending, it is small and more reliable. It is possible to provide a high-wiring structure for a robot.

FIG. 2 is a perspective view schematically showing a schematic configuration of the robot according to the first embodiment. FIG. 3 is a perspective view schematically illustrating a structure of a drive transmission unit of the robot according to the first embodiment. FIG. 3 is a perspective view schematically illustrating a schematic configuration of an electrical component of the robot according to the first embodiment. (A) is a schematic plan view which shows FPC as a flat cable in the electrical equipment part of the robot of Embodiment 1, (b) is a BB schematic sectional drawing of (a). FIG. 3 is a partial perspective view schematically illustrating a wiring relay unit of the robot according to the first embodiment. The detail of the wiring relay part of Embodiment 1 is expanded and shown, and the partial side view seen from the direction of arrow B of FIG. The partial side view which shows the modification of a wiring relay part and was seen from the direction of arrow B of FIG. The detail of the wiring relay part of Embodiment 2 is expanded and shown, (a) is a fragmentary sectional view which shows typically the cross section of the wiring relay part of the part which can see the cross section of 2nd connection wiring, (b). These are the fragmentary sectional views which show typically the cross section of the wiring relay part of the part which can see the cross section of 1st connection wiring.

  Hereinafter, an embodiment of a robot according to the present invention will be described with reference to the drawings. Note that the drawings to be used are appropriately enlarged or reduced so that the part to be described can be recognized.

(Embodiment 1)
First, a schematic configuration of the robot according to the first embodiment will be described. FIG. 1 is a perspective view schematically showing a schematic configuration of the robot according to the first embodiment. Note that “rotation” in the embodiments means forward rotation and reverse rotation.

  A robot 10 shown in FIG. 1 is a six-axis vertical articulated robot having six rotation axes, which are basic drive axes, in the height direction (Z-axis) imitating the structure of a human arm. Since links (arms) as a plurality of arm members are connected in series by joints (joints, joints) as a plurality of arm members, it is possible to perform complicated work with a high degree of freedom.

The robot 10 includes a base portion 70 and a main body portion 71 as a base, a control portion 72, a joint 73, a link 74, a joint 75, a link 76, a joint 77, a link 78, a joint 79, a link 80, and an end as members. It has a link 81 to which an effector (not shown) is attached, and has an articulated arm in which adjacent links and / or joints are rotatably connected by a joint mechanism.
The base portion 70 is a pedestal of the robot 10 and is firmly fixed to a floor of a work space in the factory or a plane such as a work table by a plurality of bolts (screws). The fixed place is not limited to a horizontal plane (a plane including the X axis and the Y axis), and can be placed on a movable carriage, a wall surface, a ceiling, Or the arm connection part etc. which were provided in the robot unit which are mentioned later may be sufficient.

Although not shown, the control unit 72 is provided with an interface panel such as RS232C for inputting an operation program and USB (Universal Serial Bus) in addition to an operation panel for operating the robot 10. Alternatively, a configuration provided with an interface device such as a wireless LAN (Local Area Network) terminal or an infrared transceiver may be used.
The control unit 72 may be provided separately from the robot body.

On the main body 71, a joint 73 and a link 74 are arranged in this order.
First, the multi-joint arm structure (from the arm to the hand) from the joint 73 to the link 80 of the robot 10 turns in the horizontal direction around the shoulder shaft 91 penetrating the main body 71 in the Z-axis direction. That is, the joint 73 is a rotation axis that intersects the surface to which the articulated arm of the main body 71 is connected. In this embodiment, the joint 73 is a rotation axis that is substantially orthogonal to the surface of the main body 71. ing.
The link 81 to which the end effector is attached is one end (terminal) in the multi-joint arm structure, and the joint 73 attached to the main body 71 (base 70 side) corresponds to the other end (base) in the robot arm structure. To do. In the following description, the expression “terminal side” refers to the side close to the link 81 in the robot arm structure, and “root side” refers to the side close to the base portion 70.
Further, the main body 71 incorporates a motor for rotationally driving the robot arm structure, a speed reduction mechanism including a plurality of gears, and the like. A motor for driving the corresponding link and end effector, a speed reduction mechanism, and the like are also incorporated in the vicinity of each rotation shaft described below.

A joint 75 is combined with the end side of the link 74 disposed so as to extend to the end side of the joint 73. The joint 75 is a rotation shaft that is substantially orthogonal to the shoulder shaft 91 and is driven to rotate around a first first rotation shaft 92 that penetrates the link 74 in the X-axis direction. . The first first rotation shaft 92 is located on the end side of the link 74. Here, “substantially orthogonal” is defined to include a configuration that intersects within a range of 85 ° to 95 ° in addition to a configuration that is completely orthogonal.
In the multi-joint arm of the first embodiment, the first rotation shaft that is substantially parallel to the first first rotation shaft 92 and the first to nth rotation shafts in order from the main body side are additionally provided. Give a name with a number. Here, “substantially parallel” is defined to include a configuration that intersects within a range of 10 ° in addition to a configuration that is completely parallel.
Further, since the extending direction of the rotating shaft changes when the robot 10 moves (for example, when the robot 10 turns around the shoulder shaft 91), the state of the articulated arm shown in FIG. A description will be given on the assumption that the apparatus is installed in the initial state.

The link 76 is disposed so as to extend to the end side of the joint 75.
A joint 77 is assembled on the end side of the link 76, and a link 78 is assembled on the end side of the joint 77. The link 78 is disposed so as to extend to the end side of the joint 77. The joint 77 assembled with the link 78 is driven around a second first rotation shaft 93 penetrating the distal end side of the link 76 in the X-axis direction.
A joint 79 having a drive transmission unit 50 and an electrical component 60 is combined on the end side of the link 78. The joint 79 is driven so that the joint 79 rotates with respect to the link 78 around two rotation axes that penetrate the end side of the link 78 in the Y-axis direction.
Further, a link 80 is combined with the end side of the joint 79, and the link 80 is driven around a third first rotation shaft 95 penetrating the end side of the joint 79 in the X-axis direction. The

  As described above, one rotation axis of the multi-joint arm of the robot 10 of this embodiment is the first rotation axis 92 and the second first rotation in order from the main body 71 as the base. A moving shaft 93 and a third first rotating shaft 95 are provided. That is, the n-th first rotation shaft referred to in claim 2 of the present invention refers to the third first rotation shaft 95. Therefore, among the joint 79 and the link 80 that are rotatably connected by the third first rotation shaft 95, the joint 79 refers to the first member in the claims. It refers to the second member in the claims. The link 80 as the second member corresponds to the wrist in the articulated arm of the robot 10.

  A link 81 is disposed on the end side of the link 80 so as to extend to the link 80. The link 81 has a distal end side of the link 80 in the Y-axis direction along the extending direction of the link 81 from the link 80, that is, a link centering around two rotation shafts 96 passing through the substantially center of the columnar link 81. 81 is driven to rotate with respect to the link 80.

  As described above, an end effector as an operating body that performs a predetermined operation performed by the robot 10 is combined with the distal end side of the articulated arm (not shown). Various types of end effectors can be used depending on the application of the robot 10. For example, it is used as a robot 10 that performs various operations by attaching a gripping mechanism such as a robot hand that grips a product part or the like, or a tool that performs processing such as soldering or welding to the end side of the link 81. be able to.

  Next, in the articulated arm of the robot 10 according to the present embodiment, the joint driving mechanism of the third first rotation shaft 95 which is the most distal side one rotation shaft (nth first rotation shaft). The drive transmission part 50 is demonstrated along drawing. FIG. 2 is a perspective view schematically showing the structure of the drive transmission unit 50 that rotates the link 80 as the second member with respect to the joint 79 as the first member of the robot 10. In FIG. 2, a part of the members other than the drive transmission unit 50 is partially omitted, and a part of the members is seen through for the convenience of describing the structure of the drive transmission unit 50 inside the joint 79.

  As described above, in the multi-joint arm of the robot 10 having a plurality of joint driving mechanisms in which arm members such as a plurality of links and joints are connected by two rotation shafts and one rotation shaft, A drive transmission unit 50 serving as a joint drive mechanism using a third first rotation shaft 95 as a rotation shaft as a rotation shaft is installed in a joint 79 (see FIG. 1). More specifically, the drive transmission unit 50 is disposed on one of the side surfaces of the joint 79 in a direction substantially orthogonal to the third first rotation shaft 95. In the present embodiment, “substantially orthogonal” means a configuration that intersects within a range of 10 ° in addition to a configuration that is completely orthogonal.

In FIG. 2 showing the details of the drive transmission unit 50 including the third first rotation shaft 95, the joint 79 is a driven wheel that rotates using the third first rotation shaft 95 as a rotation shaft. And a motor 80M as a drive rotation source of the third first rotation shaft 95, and the motor 80M rotates around the same rotation axis as the third first rotation shaft 95. And a drive pulley 85 as a drive wheel that is rotated by a motor 80M via the drive shaft 97. Further, a rotational position detector (rotational speed detector) 80D is provided in the vicinity of the motor 80M, but the position to be provided may be other than the illustrated position. The rotational position detector 80D may use a unit structure or a module structure.
The driving pulley 85 and the driven pulley 86 are connected via a timing belt 87 as an unrelated power transmission line. Between the driving pulley 85 and the driven pulley 86, an idler 88 having a pulley that is rotatably contacted according to the movement of the timing belt 87 is disposed in order to adjust the tension of the timing belt 87.
As described above, according to the drive transmission unit 50 provided in the joint 79 serving as the first member having the above-described configuration, the first transmission shaft 95 is connected to the motor serving as the drive rotation source directly than the third rotation shaft 95. The joint 79 as an arm member for installing the third first rotation shaft 95 can be downsized. Specifically, an increase in the width of the joint 79 in the arm width direction orthogonal to the extending direction of the articulated arm due to the motor being arranged in the axial direction of the third first rotation shaft 95 is suppressed.

  Next, the electrical component 60 of the joint 79 including the wiring structure of the joint 79 as the first member and the link 80 as the second member, and the wiring relay portion provided in the link 80 will be described. FIG. 3 is a perspective view schematically showing a schematic configuration of the electrical unit 60 of the robot 10. In FIG. 3, members other than the electrical component 60 are partially omitted, and a part of the members 79 is shown in a perspective view for convenience of explanation of the wiring structure inside the joint 79 and the link 80. 4A is a schematic plan view showing an FPC as a flat cable used for the wiring structure in the electrical component 60, and FIG. 4B is a schematic cross-sectional view taken along line BB in FIG. 4A. . FIG. 5 is a partial perspective view schematically showing a wiring relay unit that relays the wiring routed from the electrical component 60 of the joint 79 to the link 80.

  In FIG. 3, the electrical component 60 is disposed on the side surface (the other side surface) opposite to the one side surface of the joint 79 where the drive transmission unit 50 described above is installed. The electrical component 60 includes a wiring board 161, an end effector as an operating part attached to the terminal-side link 80 of the third first rotation shaft 95 (see FIG. 1) via the wiring board 161. FPC (Flexible Printed Circuits) as a flat cable wired to supply power to a motor that forms a driving source such as (not shown) or to send and receive control signals between the motor and the robot controller 68).

  On a wiring board 161 in which circuit wiring is formed on an insulating base material, various electronic components 163 constituting a drive circuit and a connector 167 as a connecting portion to which one end side of the FPC 68 is connected are mounted. In the present embodiment, a plurality of FPCs 68 are overlapped and wired, and a plurality of connectors 167 corresponding to the FPCs 68 are mounted on the wiring board 161.

In each of the plurality of connectors 167 mounted on the wiring board 161, one end side of the FPC 68 is inserted and fixed, and the other end side is routed from the wiring path 83 on the end side of the joint 79 to the link 80. In the present embodiment, the wiring path 83 is along the winding axis Pw of the reel 68w around which the FPC 68 described later is wound, and the winding axis Pw coincides with the third first rotation axis 95.
The FPC 68 routed in the link 80 reaches the wiring relay unit in the link 80 shown in FIG. 5 (details will be described later).

As shown in FIGS. 4A and 4B, the FPC 68 has a metal wiring pattern 65 formed on one surface of a flexible insulating base 64 such as polyimide. An insulating film 66 made of an insulating resin is laminated on a part of one surface of the base material 64 on which the wiring pattern 65 is formed. One end side of the FPC 68 without the insulating film 66 is a connection portion with the connector 167 of the wiring board 161. Similarly, a connection portion without the insulating film 66 is also formed on the other end side (not shown) of the FPC 68. A reinforcing plate 69 as a reinforcing member that is harder than the base material 64 is provided on the surface opposite to the surface on which the wiring pattern 65 is formed on the base material 64 at the connection portion on one end side of the FPC 68. The reinforcing plate 69 is made of an insulating resin material, and may be formed using, for example, PET (Polyethylene Terephthalate) or the like, or formed using the same material as the base material 64 that is thicker than the base material 64. It may be. Similarly, a reinforcing plate 69 is also provided at the connection portion on the other end side of the FPC 68 (not shown).
The FPC 68 is particularly flexible among the flat cables, and is thin, which is effective in reducing the thickness and size of the mounting structure of the electrical component 60. Further, since it is easy to bend, the degree of freedom of the routing route of the wiring is high, and the reel 68w described later can be easily formed. Therefore, it is suitable as a wiring material for each member of the robot 10.
4 (a) and 4 (b), the FPC 68 ′ and the FPC 68 ′ are denoted by the reference numerals, but the FPC 68 ′ used for the wiring relay portion in the link 80 shown in FIG. This shows the same configuration as a) and (b).

Hereinafter, in a wiring structure in which wiring is routed from the joint 79 serving as the first member to the end effector via the link 80 serving as the second member, the FPC 68 (68 ′) is used using the relay substrate 61 provided on the link 80. The wiring relay unit that relays the wiring according to) will be described. In particular, the routing route of the plurality of FPCs 68 (68 ′) in the wiring relay unit, the installation position and direction of each connector as a connection unit corresponding to each FPC 68 (68 ′), and the like will be described in detail with reference to FIG.
In FIG. 5, the other end side of the FPC 68 drawn out from the wiring path 83 (see FIG. 3) of the joint 79 as the first member to the link 80 as the second member along the third first rotation axis. Is formed with a reel 68w wound around a rotation axis substantially parallel to the third first rotation axis 95. By the reel 68w of the FPC 68, the reciprocation in the length direction of the FPC 68 accompanying the relative rotation of the joint 79 and the link 80 around the third first rotation shaft 95 is absorbed, and the wiring does not hinder the relative rotation. A structure can be realized.

  The other end of the FPC 68 from the reel 68w is once drawn in the direction of the end effector and then bent as appropriate to be connected to the connection portion of the relay board 61. In this embodiment, the FPC 68 has a plurality of FPCs including two FPCs 68, a first FPC 68a as a first flat cable and a second FPC 68b as a second flat cable. And the second FPC 68b are connected to a first connector 67a as a first connection portion of the relay board 61 and a second connector 67b as a second connection portion. The first connector 67a and the second connector 67b are provided one by one on both surfaces on one end side of the relay board 61 (details will be described later).

A third connector 67′a connected to the first connector 67a and a fourth connector 67′b connected to the second connector 67b are provided on both surfaces on the other end side of the relay board 61, respectively.
One end of a third FPC 68'a as a third flat cable is connected to the third connector 67'a, and a fourth FPC 68'b as a fourth flat cable is connected to the fourth connector 67'b.

  In the present embodiment, the first FPC 68a and the third FPC 68′a connected to the first FPC 68a are wirings for the power supply line, and the second FPC 68b and the fourth FPC 68′b connected thereto are wirings for the signal line.

The third FPC 68'a and the fourth FPC 68'b whose one ends are connected to the third connector 67'a and the fourth connector 67'b are drawn out and overlapped in the direction of the other ends of the first FPC 68a and the second FPC 68b.
The other end side of the FPC 68 ′ on which the third FPC 68′a and the fourth FPC 68′b are overlapped is appropriately bent and pulled out in the direction of the link 81 (the end side). A reel 68′w around which the FPC 68 ′ is wound is formed around the rotation shaft 96. The FPC 68 ′ reel 68′w absorbs the reciprocating movement of the FPC 68 ′ in the length direction associated with the relative rotation of the link 80 and the link 81 around the two rotation shafts 96, and does not hinder the relative rotation. A structure can be realized.
The other end of the FPC 68 ′ is drawn from the reel 68′w to the end of the articulated arm, and the other end of the FPC 68 ′ is connected to an end effector (not shown).

  The first connector 67a, the second connector 67b, the third connector 67'a, and the fourth connector 67'b provided on the relay board 61 are more distal than the third first rotation shaft 95 in the articulated arm. It arrange | positions at the side, ie, an end effector (not shown) side. According to this configuration, in the wiring structure for connecting the joint 79 and the end effector by relaying the FPCs 68 and 68 ′ by the relay board 61, the first connector 67 a and the second connector provided on the relay board 61 and the relay board 61. 67b, the third connector 67'a, and the fourth connector 67'b are clarified in an advantageous arrangement for space saving.

Here, a detailed configuration of the wiring relay unit will be described with reference to the drawings. FIG. 6 is an enlarged view showing details of the wiring relay unit of the present embodiment, and is a partial side view seen from the direction of arrow B in FIG.
In the wiring relay portion shown in FIG. 6, a first connector is provided on one end side of the first surface 61a, which is the upper surface in the drawing, on both surfaces of the relay substrate 61, and on the other end side of the first surface 61a. A third connector 67′a connected to the first connector 67a by the first connection wiring 62a is provided.
A second connector 67b is provided on one end side of the second surface 61b, which is the lower surface of the relay substrate 61 in the figure, and a second connector is provided on the other end side of the second surface 61b by a second connection wiring 62b. And a fourth connector 67'b connected to the.

On one end side of the relay board 61, the first connector 67a and the second connector 67b correspond to each connection port facing outward in the horizontal direction (direction substantially parallel to the first surface 61a and the second surface 61b). The first FPC 68a and the second FPC 68b are arranged so as to be connected substantially parallel to the first surface 61a or the second surface 61b.
Further, on the other end side of the relay board 61, the third connector 67′a and the fourth connector 67′b have the corresponding third FPC 68′a and the fourth FPC 68′b with their respective connection ports facing outward in the horizontal direction. Are arranged so as to be connected substantially parallel to the first surface 61a or the second surface 61b.

Of the first FPC 68a and the second FPC 68b routed from the reel 68w, the first FPC 68a is connected to the first connector 67a substantially parallel to the first surface 61a, and the second FPC 68b is substantially parallel to the second connector 67b and the second surface 61b. It is connected to the.
The third FPC 68′a connected to the third connector 67 ′ substantially parallel to the first surface 61a and the fourth FPC 68′b connected to the fourth connector 67′b substantially parallel to the second surface 61b are Folded to the surface 61a side and stacked above the first surface 61a and pulled out in parallel with the first surface 61a, the other end side is appropriately bent to form a reel 68′w on the link 81 side ( See also FIG.

  According to the above embodiment, in the wiring structure for connecting the joint 79 as the first member to the distal end side of the articulated arm including the end effector while relaying the FPCs 68 and 68 ′ by the relay substrate 61, it is possible to save space. The relay board 61 capable of relaying the wiring of the FPCs 68 and 68 'and the arrangement and direction of the first connector 67a, the second connector 67b, the third connector 67'a, and the fourth connector 67'b provided thereon One aspect is clarified.

  In particular, according to the configuration of the wiring relay portion of the above embodiment, the third connector 67'b is connected to the fourth connector 67'b rather than the third FPC 68'a connected to the third connector 67'a and folded back to the first surface 61a side. The fourth FPC 68′b folded back to the first surface 61a is wired with a smaller bending angle. Since the wiring pattern formed on the fourth FPC 68′b, which is a flat cable for signal lines, is thinner than the third FPC 68′a, which is a flat cable for power supply lines, on which a relatively thick wiring pattern is formed, the fourth FPC 68 ′ According to the above embodiment in which the bending radius of b is larger, it is possible to provide a wiring structure in which occurrence of cracks and disconnections in the wiring pattern of the fourth FPC for signal lines is suppressed.

  Further, the wiring structure having the wiring relay portion of the above-described embodiment includes a link (second member) 80 as a wrist portion that is a dominant element for downsizing in the robot 10 having an articulated arm, and the link. It is possible to provide a wiring structure that is advantageous for downsizing the joint structure with the joint 79 as the first member that is connected to the 80 base side with the third first rotation shaft 95 as the rotation shaft. Therefore, a small and highly functional multi-axis robot 10 can be provided.

(Embodiment 2)
FIG. 8 is an enlarged view showing details of the wiring relay portion of the second embodiment. FIG. 8A schematically shows a cross section of the wiring relay portion (relay substrate) where the cross section of the second connection wiring can be seen. FIG. 7B is a partial cross-sectional view schematically showing a cross section of the wiring relay portion (relay substrate) where the cross section of the first connection wiring can be seen. In addition, about the component same as Embodiment 1, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  8A, the first connector 67a and the second connector 67b are arranged on either the first surface 61a or the second surface 61b of the relay substrate 61. The In the present embodiment, the first connector 67a is disposed on one end side of the second surface 61b with the connection port facing outward in the horizontal direction, and the second connector 67b is disposed on the other end side of the second surface 61b with the first connection port. It is provided in the same direction as the connection port of the connector 67a.

The third connector 67'a and the fourth connector 67'b are disposed on the first surface 61a opposite to the second surface 61b on which the first connector 67a and the second connector 67b are disposed.
The third connector 67'a is arranged on the other end side of the first surface 61a (opposite side of the first connector 67a in plan view) with the connection port facing the same direction as the first connector 67a and the second connector 67b. In addition, the first connector 67a is connected by first connection wirings 62a1 and 62a2 through vias 62av for connecting the first surface 61a and the second surface 61b.
Further, as shown in FIG. 8B, the fourth connector 67′b has a connection port on one end side of the first surface 61a (opposite side of the second connector 67b in plan view) and the third connector 67′a. The second connector 67b is connected by second connection wirings 62b1 and 62b2 through vias 62bv for connecting the first surface 61a and the second surface 61b.

The first FPC 68a and the second FPC 68b drawn from the reel 68w are connected to the first connector 67a and the second connector 67b provided on the second surface 61b substantially in parallel with the first surface 61a.
In addition, the third FPC 68'a connected to the third connector 67'a substantially parallel to the first surface 61a, and the fourth FPC 68'b connected to the fourth connector 67'b substantially parallel to the first surface 61a are After being pulled out in parallel with the first surface 61a, the other end side is appropriately bent to form a reel 68'w on the link 81 side (see also FIG. 5).

According to an example of the configuration of the wiring relay unit of the second embodiment, by using the first connection wirings 62a1 and 62a2 via the vias 62av and the second connection wirings 62b1 and 62b2 via the vias 62bv, the relay substrate 61 is used. The degree of freedom of arrangement of the first connector 67a, the second connector 67b, the third connector 67'a, and the fourth connector 67'b on the first surface 61a and the second surface 61b is increased.
As a result, the third FPC 68′a connected to the third connector 67′a and the fourth FPC 68′b connected to the fourth connector 67′b are hardly bent, and the end effector side (reel 68′w side). Therefore, it is possible to provide a wiring structure for a robot that is small and more reliable.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be added to the above-described embodiment. A modification will be described below.

(Modification)
FIG. 7 shows a modification of the wiring relay part, and is a partial side view seen from the direction of arrow B in FIG. In addition, about the component same as Embodiment 1 and a modification, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.
In the modified example of the wiring relay portion of the robot shown in FIG. 7, the second connector 67b is disposed on one end side of the first surface 61a of the relay substrate 61 with the connection port facing outward in the horizontal direction. On the other end side, the fourth connector 67'b is arranged with the connection port facing in the same direction as the connection port of the second connector 67b. The second connector 67b and the fourth connector 67'b are connected by a second connection wiring 62b formed on the first surface 61a.
The first connector 67a is arranged on one end side of the second surface 61b of the relay board 61 with the connection port facing outward in the same horizontal direction as the connection port of the second connector 67b, and the other end side of the second surface 61b. In addition, the third connector 67′a is arranged with the connection port facing outward in the horizontal direction opposite to the connection port of the first connector 67a. The first connector 67a and the third connector 67'a are connected by a second connection wiring 62'a formed on the second surface 61b.

The first FPC 68a routed from the reel 68w is connected to the first connector 67a substantially parallel to the second surface 61b, and the second FPC 68b is connected to the second connector 67b substantially parallel to the first surface 61a.
The fourth FPC 68 ′ b connected to the fourth connector 67 ′ b substantially parallel to the first surface 61 a is pulled out as it is above the first surface 61 a over the second connector 67 b, and the third connector 67 ′ a. The third FPC 68'a connected substantially parallel to the second surface 61b is folded back to the first surface 61a and overlapped with the fourth FPC 68'b above the first surface 61a, and the other end is appropriately bent. A reel 68'w is formed on the link 81 side (see also FIG. 5).

  According to the wiring structure of the robot by the wiring relay unit of this modification, the bending angle of the third FPC 68'a for the power supply line connected to the third connector 67'a and turned back to the first surface 61a side is greater than that of the first embodiment. In addition, the fourth FPC 68'b connected to the fourth connector 67'b can be wired on the end effector side (reel 68w side) with almost no bending.

  Although the embodiments of the present invention made by the inventor have been specifically described above, the present invention is not limited to the above-described embodiments and modifications thereof, and various modifications can be made without departing from the spirit of the present invention. It is possible to make changes.

  For example, in the above-described embodiment, the configuration using the FPC 68 as the flat cable that is the wiring member has been described, but the configuration is not limited thereto. For example, a configuration using a flat cable which is generally called a flat cable and is thicker and harder than the FPC 68 or another flat cable called a harness may be used.

In the second embodiment, the first connector 67a and the second connector 67b are arranged on the second surface 61b of the relay board 61, and the third connector 67'a and the fourth connector 67'b are arranged on the first surface 61a. did.
On the contrary, the first connector 67a and the second connector 67b are arranged on the first surface 61a of the relay board 61, and the third connector 67'a and the fourth connector 67'b are arranged on the second surface 61b. It is good.

  DESCRIPTION OF SYMBOLS 2 ... Actuator, 10 ... Robot, 14 ... Power transmission shaft outer cylinder, 16 ... Reduction gear output shaft outer cylinder, 22 ... Motor, 24 ... Reduction gear, 26 ... Reduction gear output shaft collar, 28 ... Linear body, 30 ... Reduction gear output shaft, 32 ... motor frame, 34 ... power transmission shaft, 36 ... frame, 38 ... rotor, 40 ... rotor shaft, 42 ... stator, 44 ... rotational speed detection unit, 46 ... mechanical brake, 50 ... drive transmission unit 60 ... Electrical unit 61 ... Relay board 61a ... First surface 61b ... Second surface 62a, 62a1, 62a2 ... First connection wiring, 62b, 62b1, 62b2 ... Second connection wiring, 62av, 62bv ... Via , 65... Wiring pattern, 66... Insulating film, 67 a... First connector as a first connection portion, 67 b... Second connector as a second connection portion, 67 ′ a. The third connector, 67'b ... the fourth connector as the fourth connecting portion, 68a ... the first FPC as the first flat cable, 68b ... the second FPC as the second flat cable, 68'a ... as the third flat cable 3rd FPC, 68'b ... 4th FPC as a 4th flat cable, 68w, 68'w ... reel, 69 ... reinforcing plate, 70 ... base part, 71 ... main part as base, 72 ... control part, 73, 75, 77 ... Joint as member, 74, 76, 78, 81 ... Link, 79 ... Joint as first member, 80 ... Link as second member, 80M ... Motor, 81 ... Link, 85 ... Drive pulley, 86 ... driven pulley, 87 ... timing belt, 88 ... idler, 91 ... shoulder shaft, 92 ... first rotation axis, 93 ... second rotation , 94, 96 ... second rotating shaft, 95 ... third one rotation axis as the n primary pivot shaft, 97 ... driving shaft, 110 ... base link 112 ... pivot link.

Claims (7)

A first member;
A second member that rotates about one rotation axis with respect to the first member;
An actuating body connected to the second member;
A first flat cable and a second flat cable, one end of which is connected to the first member;
A reel provided on the second member, wherein the other ends of the first flat cable and the second flat cable are wound around a rotation axis substantially parallel to the one rotation axis;
A relay board provided on the second member, wherein a first connection portion to which the other end of the first flat cable from the reel is connected and a second end of the second flat cable from the reel are connected A second connection portion, a third connection portion connected to the first connection portion via a first connection wiring, and a fourth connection portion connected to the second connection portion via a second connection wiring. And a relay board provided with
A third flat cable having one end connected to the third connecting portion and the other end connected to the operating body; and a fourth flat cable having one end connected to the fourth connecting portion and the other end connected to the operating body. And comprising
Any one of the first connection part to the fourth connection part is provided on the first surface and the second surface which are both surfaces of the relay board, and the first flat cable to the fourth flat cable are provided on the first surface or the second surface. A robot arranged to be connected substantially parallel to the second surface. A substrate;
A multi-joint arm including a plurality of members and connected by a joint mechanism in which adjacent members rotate relatively;
The articulated arm is connected to rotate around a shoulder axis that intersects the surface of the base body,
Adjacent members rotate about one of the rotation axes of one rotation axis intersecting with the shoulder axis or two rotation axes substantially orthogonal to the one rotation axis. Concatenated,
The one rotation axis is a robot having a first rotation axis to an n-th rotation axis in order from the base body,
The member includes a first member on the base side connected by the n-th first rotation shaft, a second member that rotates about the n-th rotation shaft with respect to the first member, Including
An actuating body connected to the second member;
A first flat cable and a second flat cable, one end of which is connected to the first member;
A reel provided on the second member, wherein the other ends of the first flat cable and the second flat cable are wound around a rotation axis substantially parallel to the one rotation axis;
A relay board provided on the second member, wherein a first connection portion to which the other end of the first flat cable from the reel is connected and a second end of the second flat cable from the reel are connected A second connection portion, a third connection portion connected to the first connection portion via a first connection wiring, and a fourth connection portion connected to the second connection portion via a second connection wiring. And a relay board provided with,
A third flat cable having one end connected to the third connecting portion and the other end connected to the operating body; and a fourth flat cable having one end connected to the fourth connecting portion and the other end connected to the operating body. And comprising
Any one of the first connection portion to the fourth connection portion is provided on each of the first surface and the second surface, which are both surfaces of the relay substrate, and the first flat cable to the fourth flat cable are the first surface. A robot arranged so as to be connected substantially parallel to a surface or the second surface. The robot according to claim 1 or 2,
The robot according to claim 1, wherein the first connection portion and the second connection portion are disposed closer to the operating body than the one rotation shaft or the nth rotation shaft. The robot according to any one of claims 1 to 3,
The first surface is provided with the first connection portion and the third connection portion,
The second connection portion and the fourth connection portion are provided on the second surface,
The robot, wherein the third flat cable and the fourth flat cable are wired in the direction of the operating body through the first surface side. The robot according to any one of claims 1 to 3,
On the first surface, the second connection portion and the fourth connection portion are provided,
The first connection portion and the third connection portion are provided on the second surface,
The first connection unit, the second connection unit, and the third connection unit are arranged with connection ports directed in the same direction, and the fourth connection unit includes the first connection, the second connection unit, and The robot according to claim 1, wherein the robot is disposed with a connection port facing in a direction opposite to the connection port of the third connection unit. The robot according to claim 4 or 5,
The first flat cable and the third flat cable are wiring for a power line,
The robot according to claim 1, wherein the second flat cable and the fourth flat cable are wirings for signal lines. The robot according to any one of claims 1 to 3,
The first connection portion and the second connection portion are arranged on either the first surface or the second surface,
The third connection portion is disposed on a surface opposite to the surface on which the first connection portion is disposed, and is connected to the first connection portion via the first connection wiring including a via,
The fourth connection portion is disposed on a surface opposite to the surface on which the second connection portion is disposed, and is connected to the second connection portion via the second connection wiring including a via,
The first to fourth connection portions are provided with the connection ports facing in the same direction.

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