CN103707287A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- CN103707287A CN103707287A CN201310330443.2A CN201310330443A CN103707287A CN 103707287 A CN103707287 A CN 103707287A CN 201310330443 A CN201310330443 A CN 201310330443A CN 103707287 A CN103707287 A CN 103707287A
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- Prior art keywords
- shell body
- component
- fixed
- outer cover
- cable bearer
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- 238000005520 cutting process Methods 0.000 claims description 39
- 238000009826 distribution Methods 0.000 claims description 24
- 230000002093 peripheral effect Effects 0.000 abstract description 21
- 238000012423 maintenance Methods 0.000 abstract 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/105—Programme-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot capable of carrying out the cable support of the joint part and carrying out the maintenance operation of the wiring in the cable support. One part of the wiring (31) is accommodated in the cable support (31), and then is disposed on the joint part. One end of the cable support (32) is fixedly disposed on an outer housing (33) of a cylindrical-shaped outer side cylinder part (33a) covering of the whole cable support (32) from the outer peripheral side. The other end of the cable support (32) is fixedly disposed on a support maintaining part (34), which is rotatably connected with a pedestal frame fixedly provided with the outer housing (33). The outer housing (33) is formed by combining a plurality of divided outer housings (33c,33d) divided along the peripheral direction of the outer side cylinder part (33a). The outer cover part covering one side of the outer side cylinder part (33a) is formed by combining a plurality of divided outer cover parts divided along the peripheral direction of the outer side cylinder part (33a).
Description
Technical field
The present invention relates to a kind of industrial robot with the cable bearer that is disposed at joint portion.
Background technology
In the past, known had a kind of industrial robot, and this robot has the turntable (for example,, with reference to patent documentation 1) that fixed station is connected with fixed station with mode rotating.In the industrial robot of recording at patent documentation 1, fixed station has base and turntable bearing support, and described base has cylinder cylindraceous portion in outer circumference end, and described turntable bearing support covers the upper end side of cylinder portion.Turntable bearing support supports the turntable that is configured in turntable bearing support upside for rotating, and disposes bearing between turntable bearing support and turntable.On turntable, be formed with the rotating cylinder cylindraceous portion of the inner circumferential side of the cylinder portion that is configured in base.
And, in the industrial robot of recording at patent documentation 1, at the joint portion that fixed station is connected with turntable, dispose cable bearer.That is to say, in this industrial robot, in the space forming in rotating cylinder portion of the cylinder portion by base, turntable bearing support and turntable etc., dispose cable bearer.The internal configurations of cable bearer have between fixed station and turntable, wear around distribution.One end of cable bearer is fixed on the outer peripheral face of the rotating cylinder portion of turntable, and the other end of cable bearer is fixed on the inner peripheral surface of the cylinder portion of base.
Prior art document
Patent documentation
Patent documentation 1: Japan Patent is opened clear 60-186193 communique in fact
In the industrial robot of recording at patent documentation 1, because the inner circumferential side forming the cylinder portion of base cylindraceous disposes cable bearer, if therefore, not by covering the turntable bearing support dismounting of the upper end side of cylinder portion, cannot be configured in the distribution of cable bearer inside and the upkeep operations such as replacing of cable bearer.And, for by this turntable bearing support dismounting, must will by bearing, be rotated the turntable dismounting of platform branching bolster supporting.Therefore to that is to say, in this industrial robot, in order being configured in the distribution of cable bearer inside and the upkeep operation of cable bearer, turntable must to be dismantled, be disposed at the distribution of cable bearer inside and the upkeep operation of cable bearer becomes loaded down with trivial details.
Summary of the invention
Therefore, technical problem of the present invention is to provide and a kind ofly can be easily configured in the cable bearer of joint portion and be disposed at the industrial robot of upkeep operation of the distribution of this cable bearer inside.
For solving the problems of the technologies described above, the feature of industrial robot of the present invention is, there is first component, second component, distribution and cable bearer, described second component is connected with first component in the mode that can rotate, described distribution at least between first component and second component, wear around, described cable bearer is disposed at the joint portion that first component is connected with second component, and a part for distribution is disposed at the inside of cable bearer, first component is fixed in one end of cable bearer, and the other end of cable bearer is fixed on second component, first component or second component have shell body, described shell body has side tube part from outer circumferential side covering cable support integral body tubular, first component or second component have a distolateral outer cover part that covers outer side tube part, shell body is combined and is formed by the divided a plurality of shell body of cutting apart that makes progress in the week of side tube part outside, outer cover part is combined and is formed by the divided a plurality of outer cover part of cutting apart that makes progress in the week of side tube part outside.
In industrial robot of the present invention, shell body is combined and is formed by the divided a plurality of shell body of cutting apart that makes progress in the week of side tube part outside, and outer cover part is combined and formed by the divided a plurality of outer cover part of cutting apart that makes progress in the week of side tube part outside.Therefore, in the present invention, even under the state being connected with second component at first component, also can will cut apart outer cover part by the radial outside of side neck portion outward dismantles, and the radial outside of side neck portion will be cut apart shell body dismounting outward, and by outer cover part and shell body dismounting, thereby cable bearer is exposed and dismantle.Therefore, in the present invention, can easily be configured cable bearer and the upkeep operations such as replacing that are disposed at the distribution of this cable bearer inside in joint portion.
In the present invention, be preferably shell body and by two, cut apart shell body combination and form, outer cover part is cut apart outer cover part combination by two and is formed.If form by this way, as long as cut apart outer cover part and two by two, cut apart shell body dismounting, just cable bearer can be exposed and dismantle, so can more easily carry out the upkeep operation of cable bearer and distribution.And, can reduce the components number of industrial robot.
In the present invention, for example, first component has shell body and for shell body fixing bedframe, and second component has the convolution framework that outer cover part is connected with bedframe with mode rotating.
In the present invention, for example industrial robot has motor and decelerator, and described motor configurations is in joint portion, and described decelerator is disposed at joint portion and the rotating speed of motor can be slowed down and transmits.The shell of motor and decelerator is fixed on convolution framework, and the outlet side of decelerator is fixed on bedframe, and outer cover part is fixed on the shell of decelerator.
In the present invention, be preferably first component and have shell body and supply the fixing bedframe of shell body, shell body is fixed in one end of cable bearer the outside circumferential adjacent seam crossing of cutting apart between shell body of side tube part.If form by this way, can utilize in one end of cutting apart seam crossing between shell body and being fixed on the cable bearer of shell body, improved the constant intensity of cutting apart between shell body.
In the present invention, comparatively it is desirable to, industrial robot has support plate, described support plate is disposed between cable bearer and outer cover part for supporting cable support, second component has tubular inboard cylinder portion, the inboard cylinder portion of described tubular is configured in the inner circumferential side of outer side tube part and is fixed with another of cable bearer distolateral, for the notch part that prevents from contacting with inboard cylinder portion from the outer circumference end of support plate towards the radially inner side of inboard cylinder portion and be formed at support plate.If form by this way, even under the state that first component is connected with second component, if by outer cover part dismounting, the radial outside of side neck portion is dismantled support plate outward.Therefore,, even if support plate is disposed between cable bearer and outer cover part, also can easily carry out cable bearer and the upkeep operation that is disposed at the distribution of this cable bearer inside.
As mentioned above, according to industrial robot of the present invention, can easily be configured cable bearer and the upkeep operation that is disposed at the distribution of this cable bearer inside in joint portion.
Accompanying drawing explanation
Fig. 1 is for the side view of the schematic configuration of the industrial robot that embodiments of the present invention are related is described.
Fig. 2 means the rearview of the industrial robot of observing from the E-E direction of Fig. 1.
Fig. 3 is the figure for the structure of the joint portion shown in key diagram 1.
Fig. 4 means the top view of the joint portion of observing from the F-F direction of Fig. 1.
Fig. 5 is for illustrating from the state shown in Fig. 4 the figure of the state outer cover part dismounting.
Fig. 6 is for illustrating from the state shown in Fig. 5 the figure of the state support plate dismounting.
Fig. 7 will be cut apart the figure of the state shell body decomposes for illustrating from the state shown in Fig. 6.
(symbol description)
1 robot (industrial robot)
2 bedframes (part for first component)
3 convolution framework (parts for second component
11 joint portions
12 motor
30 decelerators
30b shell
31 distributions
32 cable beareves
33 shell bodies (part for first component)
The outer side tube part of 33a
33c, 33d are cut apart shell body
33j seam
34 support holding members (part for second component)
34a inboard cylinder portion
35 outer cover parts (part for second component)
35c, 35d are cut apart outer cover part
40 support plates
40a notch part
The specific embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.
(schematic configuration of industrial robot)
Fig. 1 is for the side view of the schematic configuration of the related industrial robot of embodiments of the present invention 1 is described.Fig. 2 means the rearview of the industrial robot 1 of observing from the E-E direction of Fig. 1.
The industrial robot 1(of present embodiment is hereinafter referred to as " robot 1 ") for thering is the vertical articulated robot of a plurality of joint portions.Robot 1, is specifically the welding robot of joint type, is more particularly the welding robot of so-called six axle joint types.This robot 1 has bedframe 2, convolution framework 3, the first arm 4, the second arm 5 and wrist portion 6, described bedframe 2 is fixed in the installation surface of appointment, described convolution framework 3 is connected with bedframe 2 in the mode that can rotate, described the first arm 4 is connected with convolution framework 3 in the mode that can rotate, described the second arm 5 is connected with the first arm 4 in the mode that can rotate, and described wrist portion 6 is connected with the second arm 5 in the mode that can rotate.Wrist portion 6 has convolution portion 8, swing part 9 and instrument installation portion 10, described convolution portion 8 is connected with the second arm 5 in the mode that can rotate, described swing part 9 is connected with convolution portion 8 in the mode that can rotate, and described instrument installation portion 10 is connected with swing part 9 in the mode that can rotate.
In the mode that can rotate centered by the second axis A2 with first axle A1 quadrature (that is, can take the second axis A2 axially for the mode of the axial rotation of rotating), framework 3 is connected the base end side of the first arm 4 with circling round.On convolution framework 3, being fixed with motor 14, the first arms 4 utilizes the power of motor 14 with respect to convolution framework 3, to rotate centered by the second axis A2.
The base end side of the second arm 5 is connected with the front of the first arm 4 in the mode that can rotate centered by the 3rd axis A3 parallel with the second axis A2 (that is, can take the 3rd axis A3 axially for the mode of the axial rotation of rotation).Base end side at the second arm 5 is fixed with the power that motor 16, the second arms 5 utilize motor 16, centered by the 3rd axis A3, with respect to the first arm 4, rotates.
The base end side of convolution portion 8 is connected with the front of the second arm 5 in the mode that can rotate centered by the four axistyle A4 with the 3rd axis A3 quadrature (that is, can take four axistyle A4 axially for the mode of the axial rotation of rotation).On the second arm 5, be fixed with motor 20, convolution portion 8 utilizes the power of motor 20 with respect to the second arm 5, to rotate centered by four axistyle A4.
The base end side of swing part 9 is connected with the front of convolution portion 8 in the mode that can rotate centered by the 5th axis A5 with four axistyle A4 quadrature (that is, can take the 5th axis A5 axially for the mode of the axial rotation of rotation).In convolution portion 8, be fixed with motor 21, swing part 9 utilizes the power of motor 21, centered by the 5th axis A5, with respect to convolution portion 8, rotates.
The base end side of instrument installation portion 10 is connected with the front of swing part 9 in the mode that can rotate centered by the 6th axis A6 with the 5th axis A5 quadrature (that is, can take the 6th axis A6 axially for the mode of the axial rotation of rotation).On swing part 9, be fixed with motor 22, instrument installation portion 10 utilizes the power of motor 22, centered by the 6th axis A6, with respect to swing part 9, rotates.
The retainer 24 that keeps welding gun 23 can be installed on instrument installation portion 10.And, on the second arm 5, wire rod feedway 25 from wire rod for welding to welding gun 23 that carry can be installed.
(structure of joint portion)
Fig. 3 is the figure for the structure of the joint portion 11 shown in key diagram 1.Fig. 4 is the top view from the F-F direction indication joint portion 11 of Fig. 1.Fig. 5 is for illustrating from the state shown in Fig. 4 the figure of the state outer cover part 35 dismountings.Fig. 6 is for illustrating from the state shown in Fig. 5 the figure of the state support plate 40 dismountings.Fig. 7 will be cut apart the figure of the state shell body 33c, 33d decompose for illustrating from the state shown in Fig. 6.In addition, in the following description, axial (the Z direction of Fig. 3) of first axle A1 of take is above-below direction.And using the Z1 direction side of Fig. 3 as " upside ", Z2 direction side is as " downside ".
The decelerator 30 that disposes above-mentioned motor 12 and the rotating speed of motor 12 is slowed down and transmitted at joint portion 11.And, at joint portion 11, dispose many distributions 31 and cable bearer 32, described many distributions 31 from bedframe 2 towards convolution framework 3 wear around, in described cable bearer (CABLEVEYOR (registration mark)) 32 internal configurations, have a part for distribution 31.And, at joint portion 11, dispose shell body 33, support holding member 34 and outer cover part 35, described shell body 33 have one end of and current supply cable support 32 whole from outer circumferential side covering cable support 32 fixing side tube part 33a, the fixing 34a of inboard cylinder portion of the other end that described support holding member 34 has current supply cable support 32, described outer cover part 35 covers the upper end side of outer side tube part 33a.In addition, at many distributions 31, comprise for electric power supply line of electric power etc. is provided to motor 12,14,16,20 to 22.
The motor 12Yi Qizhou center mode consistent with first axle A1 is fixed on convolution framework 3.That is, motor 12 is fixed on convolution framework 3 in its output shaft 12aZhou center mode consistent with first axle A1.And motor 12 is disposed at the upside of decelerator 30.On the output shaft 12a of motor 12, be formed with the gear engaging with input gear 30a.In the present embodiment, if motor 12 rotations, the framework 3 that circles round rotates with respect to bedframe 2 centered by first axle A1.In addition, in Fig. 5 to Fig. 7, omitted the diagram of motor 12.
And shell body 33 consists of a plurality of shell body 33c, the 33d cut apart that are upwards split to form in the week of side tube part 33a outside.In the present embodiment, shell body 33 is cut apart shell body 33c, 33d by two and is formed, and by two, cuts apart shell body 33c, 33d combination and formation shell body 33.
Cut apart shell body 33c and form the roughly semicircle arcuation that is shaped as while observing from above-below direction.Cutting apart shell body 33c consists of with the fixed part 33f of cutting apart that forms a part of fixed part 33b the 33e of split cylinder portion that forms a part of outer side tube part 33a.Cut apart shell body 33d and form the shape identical with cutting apart housing main body 33c.That is to say, cut apart shell body 33d and form the roughly semicircle arcuation that is shaped as while observing from above-below direction, and formed with the fixed part 33h of cutting apart that forms a part of fixed part 33b by the 33g of split cylinder portion that forms a part of outer side tube part 33a.
At the upper surface of cutting apart fixed part 33h of cutting apart shell body 33d, be fixed with the support plate 36 for supporting cable support 32.Support plate 36 forms tabular and semicircle arcuation roughly, and can contact with the lower surface of cable bearer 32.And support plate 36 is fixed on and is cut apart fixed part 33h by screw.The header arrangement that is used for support plate 36 to be fixed on the screw of cutting apart fixed part 33h is in the upside of support plate 36.
The upper end side of support holding member 34 is fixed on the lower end side of the shell 30b of decelerator 30 in the inboard cylinder Bu34aZhou center mode consistent with first axle A1.And support holding member 34 is fixed on the lower end side of shell 30b by screw.The 34a of inboard cylinder portion configures in the mode of the outer peripheral face of the 2a of post portion of covering base framework 2, and is configured between the inner peripheral surface of the 34a of inboard cylinder portion and the outer peripheral face of the 2a of post portion the state across specified gap.And the 34a of inboard cylinder portion is disposed at the inner circumferential side of the outer side tube part 33a of shell body 33.Specifically, the 34a of the inboard cylinder portion outside footpath of side tube part 33a makes progress, and is disposed at than guide member 38 position in the inner part.
Upper surface at flange part 34c is fixed with the support plate 39 for supporting cable support 32.It is the roughly circular-arc and be tabular of 270 ° of left and right that support plate 39 forms central angle, and can contact with the lower surface of cable bearer 32.And support plate 39 is fixed on flange part 34c by screw.For the header arrangement of screw that support plate 39 is fixed on to flange part 34c in the upside of support plate 39.
Lower surface at flange part 34b is fixed with support plate 40, while using under the state that described support plate 40Jiang robot 1 spins upside down, for supporting cable support 32.Support plate 40 is fixed on flange part 34b by screw.For the header arrangement of screw that support plate 40 is fixed on to flange part 34b in the upside of flange part 34b.This support plate 40 forms tabular.And support plate 40 forms the roughly U-shaped shape that is shaped as while observing from above-below direction.That is to say, on support plate 40, be formed with for preventing that the notch part 40a(contacting with the 34a of inboard cylinder portion is with reference to Fig. 5).This notch part 40a forms towards the radially inner side of the 34a of inboard cylinder portion from the outer circumference end of support plate 40.Support plate 40 is disposed between cable bearer 32 and outer cover part 35, and can contact with the upper surface of cable bearer 32.
A part of bottom 35a is disposed at the downside of convolution framework 3.The 35b of cylinder portion upwards, is disposed at the position in the outer part than outer side tube part 33a in the footpath of the outer side tube part 33a of shell body 33, and the lower end side of the 35b of cylinder portion and the upper end side of outer side tube part the 33a outside footpath of side tube part 33a are upwards overlapping.The footpath of side tube part 33a upwards, is formed with gap between the inner peripheral surface of lower end side of the 35b of cylinder portion and the outer peripheral face of the upper end side of outer side tube part 33a outside.
And outer cover part 35 consists of a plurality of outer cover part 35c, the 35d cut apart that are upwards split to form in the week of side tube part 33a outside.In the present embodiment, outer cover part 35 is cut apart outer cover part 35c, 35d by two and is formed, if cut apart outer cover part 35c, 35d by two, combines, and can form outer cover part 35.
Cut apart outer cover part 35c and form the roughly semicircle arcuation that is shaped as while observing from above-below direction.Cutting apart outer cover part 35c consists of with the 35f of split cylinder portion that forms a part of the 35b of portion the bottom 35e of cutting apart that forms a part of bottom 35a.Cut apart outer cover part 35d and form the shape identical with cutting apart outer cover part 35c.That is to say, cut apart outer cover part 35d and form the roughly semicircle arcuation that is shaped as while observing from above-below direction, and formed with the 35h of split cylinder portion that forms a part of the 35b of portion by the bottom 35g of cutting apart that forms a part of bottom 35a.
In addition, cutting apart outer cover part 35c and cutting apart two seam 35j, 35k(between outer cover part 35d with reference to Fig. 4) in a seam 35j place, at the lower surface of cutting apart bottom 35g, be fixed with fixed head (omitting diagram), this fixed head is fixed on and is cut apart bottom 35e by screw.And, at another seam 35k place, at the lower surface of cutting apart bottom 35e, being fixed with fixed head (omitting diagram), this fixed head is fixed on and is cut apart bottom 35g by screw.That is to say, at seam 35j, 35k place, bottom cutting apart bottom 35e and cutting apart, 35g is connected with screw by fixed head.For at seam 35j, 35k place, connect cut apart bottom 35e and cut apart bottom the header arrangement of screw of 35g in the upside of bottom 35a.
The inner peripheral surface of the outer side tube part 33a of shell body 33 is fixed in one end of cable bearer 32.In the present embodiment, as shown in Figure 6, cutting apart shell body 33c and cutting apart a seam 33j place in two seam 33j, 33k between shell body 33d, the inner peripheral surface of outer side tube part 33a is fixed in one end of cable bearer 32.Specifically, for the fixed part 41 of one end of attached cable support 32, be fixed in one end of cable bearer 32, and be all fixed with fixed part 41 the inner peripheral surface of the 33e of split cylinder portion and the inner peripheral surface both sides of the 33g of split cylinder portion that are disposed at the both sides of seam 33j.That is to say, at seam 33j place, the 33e of split cylinder portion is connected with screw by fixed part 41 with the 33g of split cylinder portion.For the header arrangement of screw that fixed part 41 is fixed on to the 33e of split cylinder portion, 33g in the outer circumferential side of the 33e of split cylinder portion, 33g.
In addition, at another seam 33k place, at the inner peripheral surface of the 33g of split cylinder portion, be fixed with fixed head 42.This fixed head 42 is fixed on the 33e of split cylinder portion by screw.That is to say, at seam 33k place, the 33e of split cylinder portion is connected with screw by fixed head 42 with the 33g of split cylinder portion.For the header arrangement of screw that fixed head 42 is fixed on to the 33e of split cylinder portion in the outer circumferential side of the 33e of split cylinder portion.
The other end of cable bearer 32 is fixed on the outer peripheral face of the 34a of inboard cylinder portion of support holding member 34.Specifically, for the fixed part 43 of the other end of attached cable support 32, be fixed in the other end of cable bearer 32, and fixed part 43 is fixed on the outer peripheral face of the 34a of inboard cylinder portion.Fixed part 43 is fixed on the 34a of inboard cylinder portion by screw.For the header arrangement of screw that fixed part 43 is fixed on to the 34a of inboard cylinder portion in the outer circumferential side of fixed part 43.And, on fixed part 43, be fixed with for by another the distolateral distribution of drawing 31 from cable bearer 32 towards upside wear around guide member 44.
In addition, in the present embodiment, by bedframe 2 and shell body 33 etc., form first component.And, by convolution framework 3, support holding member 34 and outer cover part 35 etc., forming second component, described second component is connected with first component in the mode that can rotate.
(method for dismounting of cable bearer)
In the present embodiment, as mentioned below, dismounting cable bearer 32.First, in the present embodiment, for outer cover part 35 is fixed on support holding member 34 flange part 34b screw and seam 35j, 35k place by cut apart bottom 35e and cut apart bottom the screw that is connected of 35g on above-below direction, be disposed at and the nonoverlapping position of framework 3 of circling round, therefore, can under the state that convolution framework 3 is installed, these screws be pulled down towards upside.After having dismantled these screws, the radial outside of the 33a of side neck portion will be cut apart outer cover part 35c, 35d dismounting outward.
If will cut apart outer cover part 35c, 35d dismounting, as shown in Figure 5, the upper end side of the upper end side of shell body 33, support holding member 34 and support plate 40 etc. expose.In the present embodiment, for support plate 40 being fixed on to the screw of flange part 34b, on above-below direction, be disposed at and the nonoverlapping position of framework 3 of circling round, therefore, in this state, this screw can be dismantled towards upside, and the radial outside of the 33a of side neck portion is dismantled support plate 40 outward.
If dismounting support plate 40, as shown in Figure 6, a part of the fixed part 33b of shell body 33 is exposed.For screw that shell body 33 is fixed on to flange part 2b on above-below direction to configure with the nonoverlapping mode of convolution framework 3, by the framework 3 that makes to circle round, rotate and this screw can be dismantled from upside, therefore this screw is dismantled towards upside.And, at handle, be used for the fixed part 41 that is fixed on one end of cable bearer 32 at seam 33j place, to be fixed on the screw of the 33e of split cylinder portion, 33g, and after the screw 33e of split cylinder portion being connected with the 33g of split cylinder portion at the seam 33k place radial outside dismounting of the 33a of side neck portion outward, as shown in Figure 7, can shell body 33c, the 33d radial outside dismounting of the 33a of side neck portion outward will be cut apart.
And, if will cut apart shell body 33c, 33d dismounting, can be the radial outside dismounting of the 33a of side neck portion outward of the screw for fixed part 43 being fixed on to the 34a of inboard cylinder portion, this fixed part 43 is fixed on the other end of cable bearer 32, therefore by after this screw disassembling, as shown in the double dot dash line of Fig. 7, cable bearer 32 can be dismantled from the 34a of inboard cylinder portion.
(the main effect of present embodiment)
As described above, in the present embodiment, shell body 33 is cut apart shell body 33c, 33d combination by two that are upwards split to form in the week of side tube part 33a outside and is formed, and outer cover part 35 is cut apart outer cover part 35c, 35d combination by two that are upwards split to form in the week of side tube part 33a outside and formed.Therefore, in the present embodiment, even if installing under the state of convolution framework 3, as mentioned above, also can by cut apart outer cover part 35c, 35d outward the 33a of side neck portion radial outside dismounting and will cut apart shell body 33c, 33d dismounting, consequently, cable bearer 32 can be exposed and dismantles.Therefore, in the present embodiment, can easily be configured cable bearer 32 and the upkeep operations such as replacing that are disposed at the distribution 31 of cable bearer 32 inside in joint portion 11.
Particularly in the present embodiment, shell body 33 is cut apart shell body 33c, 33d combination by two and is formed, outer cover part 35 is cut apart outer cover part 35c, 35d combination by two and is formed, therefore if cut apart outer cover part 35c, 35d and two by two, cut apart shell body 33c, 33d dismounting, just cable bearer 32 can be exposed and dismantles.Therefore, in the present embodiment, can more easily carry out the upkeep operation of distribution 31 and cable bearer 32.And, can reduce the components number of robot 1.
In the present embodiment, fixed part 41 is fixed on one end of cable bearer 32, and be fixed on the inner peripheral surface of the 33e of split cylinder portion and the inner peripheral surface of the 33g of split cylinder portion on the two, the inner peripheral surface of the inner peripheral surface of the described split cylinder 33e of portion and the 33g of split cylinder portion is disposed at the both sides of cutting apart shell body 33c and cutting apart the seam 33j between shell body 33d.Therefore, in the present embodiment, utilize and at seam 33j place, be fixed on one end of the cable bearer 32 of shell body 33, can improve and cut apart shell body 33c and cut apart the constant intensity between shell body 33d.
In the present embodiment, for the notch part 40a that prevents from contacting with the 34a of inboard cylinder portion, from the outer circumference end of support plate 40, towards the radially inner side of the 34a of inboard cylinder portion, be formed at the support plate 40 being configured between cable bearer 32 and outer cover part 35.Therefore, in the present embodiment, even if installing under the state of convolution framework 3, as mentioned above, if by outer cover part 35 dismountings, just can be by the support plate 40 radial outside dismounting of the 33a of side neck portion outward.That is to say, notch part 40a from the outer circumference end of support plate 40 towards the radially inner side of the 34a of inboard cylinder portion be formed at support plate 40, and support plate 40 is not interfered with the 34a of inboard cylinder portion, if therefore by outer cover part 35 dismountings, just can be by the support plate 40 radial outside dismounting of side tube part 33a outwardly.Therefore, in the present embodiment, even dispose support plate 40 between cable bearer 32 and outer cover part 35, also can easily carry out the upkeep operation of cable bearer 32 and distribution 31.
(other embodiments)
Above-mentioned embodiment is an example in the preferred embodiment of the present invention, but is not limited to above-mentioned embodiment, in not changing the scope of purport of the present invention, can carry out various changes and be implemented.
In the above-described embodiment, outer cover part 35 is fixed on the flange part 34b of support holding member 34.Also other situations, for example outer cover part 35 is fixed on shell body 33.And in the above-described embodiment, shell body 33 is fixed on the flange part 2b of bedframe 2, but shell body 33 also can be fixed on support holding member 34 or outer cover part 35.And, in the above-described embodiment, the shell 30b of motor 12 and decelerator 30 is fixed on convolution framework 3, the output shaft 30c of decelerator 30 is fixed on bedframe 2, but also the shell 30b of motor 12 and decelerator 30 is fixed on bedframe 2, the output shaft 30c of decelerator 30 is fixed on convolution framework 3.
In the above-described embodiment, shell body 33 is cut apart shell body 33c, 33d by two and is formed, but shell body 33 also can consist of three above shell bodies of cutting apart.And in the above-described embodiment, outer cover part 35 is cut apart outer cover part 35c, 35d by two and formed, but outer cover part 35 also can consist of three above outer cover parts of cutting apart.And, in the above-described embodiment, cut apart shell body 33c, 33d, cut apart outer cover part 35c, 35d split forms, but for example also cut apart shell body 33c, forms one with cutting apart outer cover part 35c, and cut apart shell body 33d and cut apart outer cover part 35d and be integrally formed.
In the above-described embodiment, support plate 40 forms the roughly U-shaped shape that is shaped as while observing from above-below direction, but support plate 40 also can be combined by the divided a plurality of support plate of cutting apart that makes progress in the week of side tube part 33a outside.In this case, cut apart supporting plate-like become while observing from above-below direction be shaped as roughly circular-arc.
In the above-described embodiment, robot 1 is six axle articulated robots, but robot 1 both can be the robot of 5 axle joint types, also can be the robot of 4 axle joint types.And robot 1 also can be the robot of 7 axle joint types.In this case, the first arm 4 is divided into two, and the direction of take with the axial quadrature of the second axis A2 be rotate axially, a divided side's arm portion relatively rotates with respect to the opposing party's arm portion.And in the above-described embodiment, robot 1 is welding robot, but robot 1 also can be the robot of other purposes such as being applied in japanning, sealing or assembling.And robot 1 also can be the robots such as horizontal articulated robot except vertical articulated robot.
In the above-described embodiment, take bedframe 2 is example with the joint portion 11 that convolution framework 3 is connected, embodiments of the present invention have been described, but structure of the present invention is also applicable to the joint portion that convolution framework 3 is connected with the first arm 4 or the joint portion that the first arm 4 is connected with the second arm 2 etc.
Claims (6)
1. an industrial robot, is characterized in that, has:
First component;
Second component, it is connected with described first component in the mode that can rotate;
Distribution, its at least between described first component and described second component, wear around; And
Cable bearer, it is disposed at the joint portion that described first component is connected with described second component, and a part for described distribution is configured in its inside,
Described first component is fixed in one end of described cable bearer, and the other end of described cable bearer is fixed on described second component,
Described first component or described second component have shell body, and described shell body has side tube part from outer circumferential side covers described cable bearer integral body tubular,
Described first component or described second component have a distolateral outer cover part that covers described outer side tube part,
Described shell body is combined and is formed by the divided a plurality of shell body of cutting apart that makes progress in the week at described outer side tube part,
Described outer cover part is combined and is formed by the divided a plurality of outer cover part of cutting apart that makes progress in the week at described outer side tube part.
2. industrial robot according to claim 1, is characterized in that,
Described shell body forms by cutting apart shell body combination described in two,
Described outer cover part forms by cutting apart outer cover part combination described in two.
3. industrial robot according to claim 1 and 2, is characterized in that,
Described first component has described shell body and supplies the fixing bedframe of described shell body,
The convolution framework that described second component has described outer cover part and is connected with described bedframe in the mode that can rotate.
4. industrial robot according to claim 3, is characterized in that, has:
Motor, it is disposed at described joint portion; And
Decelerator, it slows down the rotating speed that is disposed at the described motor of described joint portion to transmit,
The shell of described motor and described decelerator is fixed on described convolution framework,
The outlet side of described decelerator is fixed on described bedframe,
Described outer cover part is fixed on the described shell of described decelerator.
5. industrial robot according to claim 1, is characterized in that,
Described first component has described shell body and supplies the fixing bedframe of described shell body,
Described shell body is fixed at the seam crossing of cutting apart between shell body described in described outer side tube part circumferential adjacent in one end of described cable bearer.
6. industrial robot according to claim 1, is characterized in that, has:
Support plate, this support plate is disposed between described cable bearer and described outer cover part in order to support described cable bearer,
Described second component has tubular inboard cylinder portion, and described inboard cylinder portion is disposed at the inner circumferential side of described outer side tube part, and it is distolateral to be fixed with another of described cable bearer,
For the notch part that prevents from contacting with described inboard cylinder portion, from the outer circumference end of described support plate, towards the radially inner side of described inboard cylinder portion, be formed at described support plate.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012216444A JP5972739B2 (en) | 2012-09-28 | 2012-09-28 | Industrial robot |
| JP2012-216444 | 2012-09-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103707287A true CN103707287A (en) | 2014-04-09 |
| CN103707287B CN103707287B (en) | 2016-08-10 |
Family
ID=50400821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310330443.2A Expired - Fee Related CN103707287B (en) | 2012-09-28 | 2013-07-31 | Industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5972739B2 (en) |
| KR (1) | KR101502224B1 (en) |
| CN (1) | CN103707287B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459101A (en) * | 2014-09-30 | 2016-04-06 | 精工爱普生株式会社 | Robot |
| CN106737869A (en) * | 2017-02-15 | 2017-05-31 | 东莞市圣荣自动化科技有限公司 | A kind of cable fixture being applied on robotic manipulator |
| CN107962554A (en) * | 2017-12-14 | 2018-04-27 | 哈尔滨工业大学 | A kind of high accuracy large span steel-making carrying cantilever-rotating platform |
| EP3221096A4 (en) * | 2014-11-19 | 2018-11-07 | ABB Schweiz AG | A cable-management system, a rotary joint and a robot |
| CN113763798A (en) * | 2021-09-10 | 2021-12-07 | 宁波肯倍知行机器人设备制造有限公司 | Teaching type industrial robot |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018089739A (en) * | 2016-12-02 | 2018-06-14 | 日本電産サンキョー株式会社 | Industrial robot |
| JP6773718B2 (en) | 2018-04-20 | 2020-10-21 | ファナック株式会社 | robot |
| JP6875332B2 (en) | 2018-07-31 | 2021-05-19 | ファナック株式会社 | robot |
| JP7396834B2 (en) * | 2019-08-23 | 2023-12-12 | ファナック株式会社 | Interface mechanism and horizontal articulated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105459101A (en) * | 2014-09-30 | 2016-04-06 | 精工爱普生株式会社 | Robot |
| EP3221096A4 (en) * | 2014-11-19 | 2018-11-07 | ABB Schweiz AG | A cable-management system, a rotary joint and a robot |
| US10611038B2 (en) | 2014-11-19 | 2020-04-07 | Abb Schweiz Ag | Cable-management system, a rotary joint and a robot |
| CN106737869A (en) * | 2017-02-15 | 2017-05-31 | 东莞市圣荣自动化科技有限公司 | A kind of cable fixture being applied on robotic manipulator |
| CN107962554A (en) * | 2017-12-14 | 2018-04-27 | 哈尔滨工业大学 | A kind of high accuracy large span steel-making carrying cantilever-rotating platform |
| CN113763798A (en) * | 2021-09-10 | 2021-12-07 | 宁波肯倍知行机器人设备制造有限公司 | Teaching type industrial robot |
| CN113763798B (en) * | 2021-09-10 | 2023-01-06 | 宁波肯倍知行机器人设备制造有限公司 | Teaching type industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20140042650A (en) | 2014-04-07 |
| JP2014069270A (en) | 2014-04-21 |
| JP5972739B2 (en) | 2016-08-17 |
| KR101502224B1 (en) | 2015-03-12 |
| CN103707287B (en) | 2016-08-10 |
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