JPS62199381A - Industrial robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to electrically or pneumatically driving a rotating robot arm and a hand device mounted on the tip of this arm, and controlling these drives. This relates to industrial robots that operate using optical signals.

[Conventional technology]

FIG. 3 shows, for example, a case where the drive control of a hand device mounted on the tip of a robot arm is performed using optical signals.
FIG. 1 is an overall configuration diagram showing a normal industrial robot device. f
il is the robot body, (2) is the lifting axis, (31, (41
are robot arms and drive machines (5) respectively.

(6) makes a horizontal turn. (7) is a drive for rotating the hand device (9) that grips the workpiece (8)! rlI machine,
(10) is a lifting axis (2), a robot arm (31, [41) between the robot body (1) and the hand device (9).
This is an optical cable that is clamped at several places on the top.

In the conventional industrial robot device configured as described above, the optical cable from the robot body (1) to the hand device (9) is , (41 and hand device (9) in order to reduce the effects of stresses such as torsion and bending during the 17S degree of rotation, the clamped fixed points are formed in an upward arc shape to withstand the above-mentioned repeated stress. This increases flexibility.

[Problem that the invention seeks to solve]

In the conventional industrial robot device as described above, the optical cable (10) is connected to the drive unit f51, f6), (
In order to suppress the influence of repeated stress exerted by the rotation of the arm (3), the points fixed by the intermediate clamps are formed in an upward arc shape.
).

(4) and the hand device rotate, and this arc-shaped optical cable (10) and surrounding objects may interfere with each other, and if repeated stress effects overlap, fatigue of the material forming the optical cable (10) may occur. Therefore, (1
As exemplified in 1), when the shape changes to a shape different from the original arc shape and the flexibility against the stress mentioned above becomes extremely small, the material deteriorates at an accelerated rate, and eventually breaks, resulting in a short period of time. There was a problem where I had to replace it with a good one.

This invention was made in order to solve such problems, and there is no fear of interference with surrounding objects when the arms (31, (41) and hand device (9) rotate, and the effect of stress during the above-mentioned rotation is eliminated. The purpose of the present invention is to obtain an industrial robot device equipped with an optical cable that is not exposed to light.

[Means for solving problems]

The industrial robot device according to the present invention includes an optical cable having a plurality of control signals arranged from the robot body to the hand device, and the optical cable is divided along the arrangement direction and some of them are made of a rigid body. It is housed in the formed vibrator, and is installed so that the axis center coincides with the rotation axis of the robot arm and hand device, respectively, as a relay. Each of the plurality of optical signals is branched to a controlled swing drive machine by a splitter.

[Effect]

The rotary joint 1 in this invention is arranged so that its axis coincides with the rotation axis of the robot arm or hand device, so when the robot arm or hand device turns, this rotary joint 1 is used as a relay. Stress effects such as bending and shaking on optical cables (very rarely occur).

[Embodiments of the invention]

FIG. 1 is an overall configuration diagram of an industrial robot device according to an embodiment of the present invention, and FIG. 2 is a partial cross-sectional view showing details of the low rigidity joint in FIG. 1.

In the figure, (IJ to (9) are the same or equivalent parts as the same reference numerals in FIG. 4 showing the conventional example. (12) is an optical cable for transmitting control light (= sign); (13a);

(13b) and (13c) are this optical cable (12)
A pipe (14) made of a rigid body such as metal or hard plastic houses a drive machine (51,
+61, (with the rotary join 1- provided on the mounting bracket (18) fixed on 71, the drive ffl +51 and the other drive machine (61i71 are similarly connected to A-A in the figure) as shown in Figure 2. The rotary connector (14) is provided so that its pivot axes indicated by lines and the axis of the rotary connector (14) coincide with each other with high precision.

(15) is an optical cable (12) or a pipe (13b).
) as a relay for RF IJ aircraft (5], (6),
(Control signals to each of 71 are maintained from the optical cable (12); τ pipe (16a), (IGb).

(16c) is a branching distributor.

In the industrial robot device according to the present invention configured as described above, for example, the robot arm (3) is driven! l1
When the II machine (5) turns due to the operation, the pipe (13a) housing the optical cable (12) in Fig. 2 is fixed to the robot body (1), so this pipe (
With the flange (19) fixed to 13a),
The main body side of the rotary connector (14) rotates in accordance with the rotation of the robot arm (3) while being stopped.

Similarly, when the robot arm (4) turns,
The rotary connector (14) main body side stops and the pipe (1
3b) rotates, and when the hand device (9) rotates, the pipe (13e) side rotates, so that stress such as bending and twisting is prevented from acting on the optical cable (12) during the above rotation. It doesn't happen at all.

Although the above embodiment describes an industrial robot device in which the arm rotates horizontally, even if the arm rotates vertically or at an arbitrary angle on a flat surface, the same effect can be achieved in the Qin Dynasty. do.

〔Effect of the invention〕

As explained above, this invention divides the optical cable for control signals from the robot body to the hand device, stores a part of it in a rigid pipe, and connects these cables to the rotary joint installed above the drive machine. The optical cables are relayed at the center, and each optical signal is branched to the control wJJ machine by a distributor, so the optical cables will not interfere with the surrounding parts when the robot arm turns.
Another advantage is that an industrial robot device equipped with an optical cable that is not subject to stress such as bending or twisting can be obtained.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of an industrial robot device according to an embodiment of the present invention, FIG. 2 is a partial cross-sectional view showing the configuration of the low rigidity joint in FIG. 1, and FIG. FIG. 1 is an overall configuration diagram showing an example of an industrial robot device in which optical cables are provided. In the figure, (1) is the robot body, (31, (41) is the robot arm, [51, (61), (7) is the drive machine, (
9) is a hand device, (12) is an optical cable, (13a)
~(13c) is a vibrator, (14) is a rotary joint, and (15) is a distributor. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Patent Attorney Masaru Sato
, +30 A/13C: ), oia'12: Chemical 11
-b) and 13°

Claims (1)

[Claims] In an industrial robot device in which an optical cable for control signals is installed from the robot body to the robot arm to the hand device, the above optical cable is divided along the installation direction, and a part of these divided optical cables is is stored in a pipe made of a rigid body, and the robot arm and hand device are rotated.The above control is carried out by relaying a rotary joint installed above each swing machine so that the axes of these swing machines coincide with each other. An industrial robot device characterized by transmitting signals and branching these control signals to respective drive machines using a distributor.