CN103707287B - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- CN103707287B CN103707287B CN201310330443.2A CN201310330443A CN103707287B CN 103707287 B CN103707287 B CN 103707287B CN 201310330443 A CN201310330443 A CN 201310330443A CN 103707287 B CN103707287 B CN 103707287B
- Authority
- CN
- China
- Prior art keywords
- fixed
- shell body
- component
- outer cover
- cable bearer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
A kind of industrial robot that can easily carry out the cable bearer being configured at joint portion and the upkeep operation of the distribution being configured within this cable bearer.A part for distribution (31) is contained in the cable bearer (32) of inside and is configured at joint portion.One end of cable bearer (32) is fixed in the shell body (33) of the outer side tube part (33a) with the tubular from outer circumferential side covering cable support (32) entirety, the other end of cable bearer (32) is fixed on support holding member (34), and described support holding member (34) is connected with the bedframe being fixed with shell body (33) in the way of can rotating.Shell body (33) in the circumference by side tube part outside (33a) combination of divided multiple segmentation shell bodies (33c, 33d) and formed, covers divided multiple segmentation outer cover parts in the outer cover part of end side of outer side tube part (33a) circumference by side tube part outside (33a) and combines and formed.
Description
Technical field
The present invention relates to the industrial robot of a kind of cable bearer having and being configured at joint portion.
Background technology
Conventionally, there is known a kind of industrial robot, this robot has fixed station and rotatably with solid
Determine the turntable (for example, referring to patent documentation 1) that platform connects.In the industrial robot described in patent documentation 1, fixed station
Having base and turntable bearing support, described base has the cylinder portion of cylindrical shape in outer circumference end, and described turntable bearing support covers
The upper end side in cylinder portion.Turntable bearing support supports being arranged in the turntable on the upside of turntable bearing support as rotating, and
It is configured with bearing between turntable bearing support and turntable.It is formed with the inner circumferential side in the cylinder portion being arranged in base on a spinstand
Cylindric rotating cylinder portion.
Further, in the industrial robot described in patent documentation 1, at the joint portion that fixed station and turntable are connected
It is configured with cable bearer.It is to say, in this industrial robot, by the cylinder portion of base, turntable bearing support and rotation
It is configured with cable bearer in the space that the rotating cylinder portion of turntable etc. are formed.It is configured with in fixed station and rotation in the inside of cable bearer
The distribution passed around between turntable.One end of cable bearer is fixed on the outer peripheral face in the rotating cylinder portion of turntable, and cable bearer
The other end is fixed on the inner peripheral surface in the cylinder portion of base.
Prior art literature
Patent documentation
Patent documentation 1: Japan Patent is real opens clear 60-186193 publication
In the industrial robot described in patent documentation 1, due in being formed as the cylinder portion of base of cylindrical shape
All sides are configured with cable bearer, if the most will not cover the turntable bearing support dismounting of the upper end side in cylinder portion, then cannot be carried out
The upkeep operations such as the replacing being configured at the distribution within cable bearer and cable bearer.Further, in order to by this turntable bearing support
Dismounting, it is necessary to will be dismantled by the turntable of turntable branching bolster supporting by bearing.It is to say, at this industrial robot
In, in order to carry out being configured at the upkeep operation of distribution and cable bearer within cable bearer, it is necessary to turntable is dismantled, therefore
The upkeep operation being configured at the distribution within cable bearer and cable bearer becomes loaded down with trivial details.
Summary of the invention
Therefore, the technical problem of the present invention be to provide a kind of cable bearer that can easily carry out being configured at joint portion and
It is configured at the industrial robot of the upkeep operation of distribution within this cable bearer.
For solve above-mentioned technical problem, the feature of the industrial robot of the present invention is, have first component, second
Part, distribution and cable bearer, described second component is rotatably connected with first component, and described distribution at least exists
Passing around between first component and second component, described cable bearer is configured at joint first component and second component connected
Portion, and a part for distribution is configured at the inside of cable bearer, and first component is fixed in one end of cable bearer, and cable props up
The other end of frame is fixed on second component, first component or second component and has shell body, and described shell body has from outer circumferential side
The tubular outer side tube part that covering cable support is overall, first component or second component have the end side covering outer side tube part
Outer cover part, shell body in the circumference by side tube part outside divided multiple segmentation shell bodies combination and formed, sheath portion
Part in the circumference by side tube part outside divided multiple segmentation outer cover parts combination and formed.
In the industrial robot of the present invention, shell body is in the circumference by side tube part outside outside divided multiple segmentations
Shell combination and formed, outer cover part in the circumference by side tube part outside divided multiple segmentation outer cover parts combination and shape
Become.Therefore, in the present invention, even if when first component is connected with second component, it is also possible to by towards outer side neck
The radial outside in portion will segmentation outer cover part dismounting, and towards outer side tube part radial outside will segmentation shell body dismounting, and incite somebody to action
Outer cover part and shell body dismounting, thus cable bearer is exposed and dismantles.Therefore, in the present invention, it is possible to easily carry out
It is configured at the cable bearer of joint portion and is configured at the upkeep operation such as replacing of distribution within this cable bearer.
In the present invention, it is preferred to formed by two segmentation shell body combinations for shell body, outer cover part is by two segmentations
Outer cover part combines and is formed.If constituting by this way, as long as then by two segmentation outer cover parts and two segmentation shell bodies
Dismounting, it becomes possible to cable bearer is exposed and dismantles, therefore, it is possible to more easily carry out the upkeep operation of cable bearer and distribution.
Further, it is possible to reduce the components number of industrial robot.
In the present invention, such as, first component has shell body and the bedframe fixed for shell body, and second component has
There are outer cover part and the swing frame being rotatably connected with bedframe.
In the present invention, such as industrial robot has motor and decelerator, and described motor is configured at joint portion,
Described decelerator is configured at joint portion transmission of can being slowed down by the rotating speed of motor.The shell of motor and decelerator is fixed on
Swing frame, the outlet side of decelerator is fixed on bedframe, and outer cover part is fixed on the shell of decelerator.
In the present invention, it is preferred to there is shell body and the bedframe fixed for shell body, cable bearer for first component
One end side tube part outside circumferentially-adjacent segmentation shell body between seam crossing be fixed on shell body.If structure by this way
Become, then the seam crossing between segmentation shell body can be utilized to be fixed on one end of cable bearer of shell body, improve segmentation
Fixing intensity between shell body.
In the present invention, it may be desirable to, industrial robot has support plate, and described support plate is in order to support cable
Support and be configured between cable bearer and outer cover part, second component has tubular inboard cylinder portion, described tubular interior
Side tube part is arranged in the inner circumferential side of outer side tube part and is fixed with another side of cable bearer, is used for preventing from contacting with inboard cylinder portion
Notch part be formed at support plate from the outer circumference end of support plate towards the radially inner side in inboard cylinder portion.If structure by this way
Become, even if when first component is connected with second component, if outer cover part is dismantled, then can be towards outer side tube part
Radial outside by support plate dismantle.Therefore, even if support plate is configured between cable bearer and outer cover part, it is also possible to easily
Ground carries out cable bearer and the upkeep operation of the distribution being configured within this cable bearer.
As it has been described above, according to the industrial robot of the present invention, it is possible to the cable easily carrying out being configured at joint portion props up
Frame and be configured at the upkeep operation of distribution within this cable bearer.
Accompanying drawing explanation
Fig. 1 is the side view of the schematic configuration for the industrial robot involved by embodiments of the present invention is described.
Fig. 2 is the rearview representing the industrial robot observed in the E-E direction from Fig. 1.
Fig. 3 is the figure of the structure for the joint portion shown in explanatory diagram 1.
Fig. 4 is the top view representing the joint portion observed in the F-F direction from Fig. 1.
Fig. 5 is the figure for the state after outer cover part is dismantled by the state shown in Fig. 4 is described.
Fig. 6 is the figure for the state after support plate is dismantled by the state shown in Fig. 5 is described.
Fig. 7 is will to split the figure of the state after shell body decomposes for explanation from the state shown in Fig. 6.
(symbol description)
1 robot (industrial robot)
2 bedframes (part for first component)
A 3 swing frame (part 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 split 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 split outer cover part
40 support plates
40a notch part
Detailed description of the invention
Hereinafter, referring to the drawings, embodiments of the present invention are illustrated.
(schematic configuration of industrial robot)
Fig. 1 is the side view of the schematic configuration for the industrial robot 1 involved by embodiments of the present invention is described.
Fig. 2 is the rearview representing the industrial robot 1 observed in the E-E direction from Fig. 1.
The industrial robot 1(of present embodiment hereinafter referred to as " robot 1 ") for having the vertical many of multiple joint portion
Articulated robot.The welding robot of robot 1, specifically joint type, the most so-called six many passes of axle
The welding robot of nodal pattern.This robot 1 has bedframe 2, swing frame the 3, first arm the 4, second arm 5 and wrist portion 6,
Described bedframe 2 be fixed on specify arrange on face, described swing frame 3 is rotatably with bedframe 2 even
Connecing, described first arm 4 is rotatably connected with swing frame 3, and described second arm 5 is rotatably with
One arm 4 connects, and described wrist portion 6 is rotatably connected with the second arm 5.Wrist portion 6 has convolution portion 8, swing part 9
And tool mounting-portion 10, described convolution portion 8 is rotatably connected with the second arm 5, and described swing part 9 is turning
Dynamic mode is connected with convolution portion 8, and described tool mounting-portion 10 is rotatably connected with swing part 9.
Swing frame 3 is in the mode that can rotate centered by first axle A1 (i.e., it is possible to axial with first axle A1
The mode of the axial rotation for rotating) it is connected with bedframe 2.At the joint portion 11 that bedframe 2 and swing frame 3 are connected
It is configured with motor 12.Concrete structure about joint portion 11 will be described below.
The base end side of the first arm 4 is in the mode that can rotate centered by the second axis A2 orthogonal with first axle A1
(i.e., it is possible in the axial mode for the axial rotation rotated of the second axis A2) is connected with swing frame 3.In swing frame 3
On be fixed with motor 14, the first arm 4 utilizes the power of motor 14 relative to swing frame 3 turns centered by the second axis A2
Dynamic.
The base end side of the second arm 5 is in the mode that can rotate centered by the 3rd axis A3 parallel for axis A2 with second
(i.e., it is possible in the axial mode for the axial rotation rotated of the 3rd axis A3) is connected with the front of the first arm 4.Second
The base end side of arm 5 is fixed with motor 16, and the second arm 5 utilizes the power of motor 16, centered by the 3rd axis A3 relative to
First arm 4 rotates.
The base end side in convolution portion 8 is in the mode that can rotate centered by the four axistyle A4 orthogonal for axis A3 with the 3rd
(i.e., it is possible in the axial mode for the axial rotation rotated of four axistyle A4) is connected with the front of the second arm 5.Second
Being fixed with motor 20 on arm 5, convolution portion 8 utilizes the power of motor 20 relative to the second arm 5 centered by four axistyle A4
Rotate.
The base end side of swing part 9 is in the mode that can rotate centered by the 5th axis A5 orthogonal with four axistyle A4
(i.e., it is possible in the axial mode for the axial rotation rotated of the 5th axis A5) is connected with the front in convolution portion 8.In convolution
Being fixed with motor 21 in portion 8, swing part 9 utilizes the power of motor 21, relative to convolution portion 8 centered by the 5th axis A5
Rotate.
The base end side of tool mounting-portion 10 is can rotate centered by the 6th axis A6 orthogonal for axis A5 with the 5th
Mode (i.e., it is possible in the axial mode for the axial rotation rotated of the 6th axis A6) is connected with the front of swing part 9.?
Being fixed with motor 22 on swing part 9, tool mounting-portion 10 utilizes the power of motor 22, centered by the 6th axis A6 relatively
Rotate in swing part 9.
Tool mounting-portion 10 can be installed the retainer 24 keeping welding gun 23.Further, the second arm 5 can be installed
The wire feeding device 25 of wire rod for welding is carried to welding gun 23.
(structure of joint portion)
Fig. 3 is the figure of the structure for the joint portion 11 shown in explanatory diagram 1.Fig. 4 is that the F-F direction from Fig. 1 represents joint
The top view in portion 11.Fig. 5 is the figure for the state after outer cover part 35 is dismantled by the state shown in Fig. 4 is described.Fig. 6 is to use
Figure in explanation state after support plate 40 is dismantled by the state shown in Fig. 5.Fig. 7 is from the state shown in Fig. 6 for explanation
The figure of the state after segmentation shell body 33c, 33d are decomposed.It addition, in the following description, with the axial (figure of first axle A1
The Z-direction of 3) it is above-below direction.Further, using the side, Z1 direction of Fig. 3 as " upside ", side, Z2 direction is as " downside ".
It is configured with above-mentioned motor 12 and the decelerator 30 of transmission of being slowed down by the rotating speed of motor 12 at joint portion 11.And
And, be configured with many distributions 31 and cable bearer 32 at joint portion 11, described many distributions 31 from bedframe 2 towards convolution frame
Frame 3 passes around, and is configured with a part for distribution 31 in the inside of described cable bearer (CABLEVEYOR (registered trade mark)) 32.And
And, it being configured with shell body 33, support holding member 34 and outer cover part 35 at joint portion 11, described shell body 33 has from outward
The outer side tube part 33a that overall and current supply cable support 32 the one end of week side covering cable support 32 is fixing, described support holding member
The inboard cylinder portion 34a that 34 other ends with current supply cable support 32 are fixed, described outer cover part 35 covers the upper of outer side tube part 33a
Side.It addition, include the power feed line for providing electric power to motor 12,14,16,20 to 22 at many distributions 31
Deng.
Bedframe 2 is formed by casting.Further, bedframe 2 is formed as having columned post portion 2a and plectane
The flange part 2b's of shape is flanged cylindric.Flange part 2b is formed in the lower end of post portion 2a.Post Bu2aZhou center and convex
The center of edge 2b is consistent with first axle A1.
Decelerator 30 is eccentric rocking type reduction gear (RV decelerator), and has to be arranged in and with the axle center of decelerator 30 be
Multiple input gear 30a on the concentric circular at center.This decelerator 30 is joined in the way of its axle center is consistent with first axle A1
Put.The shell 30b of decelerator 30 is fixed on swing frame 3.The outlet side of decelerator 30 is fixed on bedframe 2.Specifically,
The output shaft 30c of the outlet side part constituting decelerator 30 is fixed on the upper end of the post portion 2a of bedframe 2.It addition, at Fig. 5 extremely
In Fig. 7, eliminate the diagram of decelerator 30.
Motor 12 is fixed on swing frame 3 in the way of its axle center is consistent with first axle A1.That is, motor 12 with
The mode that the axle center of its output shaft 12a is consistent with first axle A1 is fixed on swing frame 3.Further, motor 12 is configured at
The upside of decelerator 30.The output shaft 12a of motor 12 is formed the gear engaged with input gear 30a.In this enforcement
In mode, if motor 12 rotates, then swing frame 3 rotates relative to bedframe 2 centered by first axle A1.Separately
Outward, in Fig. 5 to Fig. 7, eliminate the diagram of motor 12.
Shell body 33 has outer side tube part 33a as mentioned above.Outer side tube part 33a is formed as cylindric.Further, shell body 33
There is the fixed part 33b of flange part 2b for shell body 33 is fixed on bedframe 2.Fixed part 33b be formed as with up and down
The tabular that direction is orthogonal.Further, fixed part 33b is fixed on the lower end of outer side tube part 33a.This fixed part 33b is formed as annulus
Shape, and stretch out from the lower end of outer side tube part 33a towards the radially inner side of outer side tube part 33a.Shell body 33 is with its outer side tube part 33a
The axle center mode consistent with first axle A1 be fixed on the upper surface of flange part 2b of bedframe 2.Further, shell body 33
It is fixed on flange part 2b by screw.For shell body 33 being fixed on the header arrangement of the screw of flange part 2b in fixed part
The upside of 33b.
Further, shell body 33 is by multiple segmentation shell body 33c, 33d structures being split to form in the circumference of side tube part 33a outside
Become.In the present embodiment, shell body 33 is made up of two segmentations shell body 33c, 33d, by two segmentations shell body 33c, 33d
Combine and form shell body 33.
Segmentation shell body 33c is formed as being shaped as substantially semicircle arcuation when above-below direction is observed.Segmentation shell body 33c
Segmentation fixed part 33f by the split cylinder portion 33e of the part constituting outer side tube part 33a He the part constituting fixed part 33b
Constitute.Segmentation shell body 33d forms the shape identical with segmentation housing main body 33c.It is to say, segmentation shell body 33d is formed
For the substantially semicircle arcuation that is shaped as when above-below direction is observed, and by the split cylinder portion of the part constituting outer side tube part 33a
The segmentation fixed part 33h of a part of 33g and composition fixed part 33b is constituted.
Terminal box 37 is fixed on segmentation shell body 33c.Terminal box 37 is provided with for by distribution 31 and external connection
Multiple terminals such as terminal (omit diagram).Further, segmentation shell body 33c is provided with for guiding drawing of cable bearer 32
Lead parts 38.Guide member 38 is installed on the upper surface of segmentation fixed part 33f.It addition, in Figure 5, guide member 38 is eliminated
Diagram.
Upper surface at the segmentation fixed part 33h of segmentation shell body 33d is fixed with the supporting for supporting cable bearer 32
Plate 36.Support plate 36 is formed as tabular and substantially semicircle arcuation, and can contact with the lower surface of cable bearer 32.Further,
Support plate 36 is fixed on segmentation fixed part 33h by screw.For support plate 36 being fixed on the screw of segmentation fixed part 33h
Header arrangement is in the upside of support plate 36.
Support holding member 34 has inboard cylinder portion 34a as mentioned above.Inboard cylinder portion 34a is formed as cylindric.Further, prop up
Frame holding member 34 has the flange part 34b of the upper end being fixed on inboard cylinder portion 34a and is fixed on the lower end of inboard cylinder portion 34a
Flange part 34c.Flange part 34b, 34c are formed as the tabular orthogonal with above-below direction and in circular.Flange part 34b is from inner side
The upper end of cylinder portion 34a is stretched out towards the radial outside of inboard cylinder portion 34a.Flange part 34c from the lower end of inboard cylinder portion 34a towards interior
The radial outside of side tube part 34a stretches out.It addition, in Fig. 6, Fig. 7, eliminate the diagram of flange part 34b.
The mode that within the upper end side of support holding member 34, the axle center of side tube part 34a is consistent with first axle A1 is fixed
Lower end side in the shell 30b of decelerator 30.Further, support holding member 34 is fixed on the lower end side of shell 30b by screw.
Inboard cylinder portion 34a configures in the way of the outer peripheral face of the post portion 2a of covering base framework 2, and is configured to inboard cylinder portion 34a's
Across the state of specified gap between the outer peripheral face of inner peripheral surface and post portion 2a.Further, inboard cylinder portion 34a is configured at shell body 33
The inner circumferential side of outer side tube part 33a.Specifically, 34a side tube part 33a outside in inboard cylinder portion radially, is configured at and compares guide portion
Part 38 position in the inner part.
Upper surface at flange part 34c is fixed with the support plate 39 for supporting cable bearer 32.Support plate 39 is formed as
Central angle is the substantially arc-shaped of about 270 ° and in tabular, and can contact with the lower surface of cable bearer 32.Further, prop up
Board 39 is fixed on flange part 34c by screw.For support plate 39 is fixed on the header arrangement of the screw of flange part 34c in
The upside of support plate 39.
Lower surface at flange part 34b is fixed with support plate 40, and described support plate 40 is at the shape spun upside down by robot 1
When using under state, it is used for supporting cable bearer 32.Support plate 40 is fixed on flange part 34b by screw.For by support plate 40
It is fixed on the header arrangement of screw of flange part 34b in the upside of flange part 34b.This support plate 40 is formed as tabular.Further,
Support plate 40 is formed as being shaped as generally U-shaped shape when above-below direction is observed.It is to say, be formed with use on support plate 40
In preventing the notch part 40a(contacted with inboard cylinder portion 34a with reference to Fig. 5).This notch part 40a from the outer circumference end of support plate 40 towards
The radially inner side of inboard cylinder portion 34a is formed.Support plate 40 is configured between cable bearer 32 and outer cover part 35, and can be with electricity
The upper surface of cable support 32.
Outer cover part 35 is formed as the flat substantially bottomed cylindrical with bottom 35a and cylinder portion 35b.Bottom 35a shape
Become the most circular.It is to say, at the through hole that is centrally formed with of bottom 35a, and it is configured with deceleration in this through hole
The lower end side of device 30.Cylinder portion 35b is formed as cylindric.This 35b extends towards downside from the outer circumference end of bottom 35a.Outer housing
Parts 35 are fixed on the flange part 34b's of support holding member 34 in the way of the center of bottom 35a is consistent with first axle A1
Upper surface.It is to say, outer cover part 35 clips support holding member 34 and is fixed on the shell 30b of decelerator 30.Further, outward
Cap assembly 35 is fixed on flange part 34b by screw.Join for outer cover part 35 being fixed on the head of the screw of flange part 34b
It is placed in the upside of outer cover part 35.
A part of bottom 35a is configured at the downside of swing frame 3.Cylinder portion 35b is at the outer side tube part 33a of shell body 33
Radially, it is configured at than outer side tube part 33a position in the outer part, and, the lower end side of cylinder portion 35b is upper with outer side tube part 33a's
Side side tube part 33a's outside is radially overlapping.Side tube part 33a is radially outside, at the inner peripheral surface of the lower end side of cylinder portion 35b
And it is formed with gap between the outer peripheral face of the upper end side of outer side tube part 33a.
Further, outer cover part 35 by the multiple segmentation outer cover part 35c being split to form in the circumference of side tube part 33a outside,
35d is constituted.In the present embodiment, outer cover part 35 is made up of two segmentations outer cover part 35c, 35d, if outside splitting two
Cap assembly 35c, 35d combine, then can form outer cover part 35.
Segmentation outer cover part 35c is formed as being shaped as substantially semicircle arcuation when above-below direction is observed.Segmentation sheath portion
Part 35c is by 35e bottom the segmentation of the part constituting bottom 35a and the split cylinder portion 35f structure constituting a part of portion 35b
Become.Segmentation outer cover part 35d forms the shape identical with segmentation outer cover part 35c.It is to say, segmentation outer cover part 35d shape
Become the substantially semicircle arcuation that is shaped as when above-below direction is observed, and by 35g bottom the segmentation of the part constituting bottom 35a
Constitute with the split cylinder portion 35h of the part constituting cylinder portion 35b.
It addition, at two seams 35j split between outer cover part 35c and segmentation outer cover part 35d, 35k(with reference to Fig. 4)
In seam 35j at, bottom segmentation, the lower surface of 35g is fixed with fixed plate (omitting diagram), and this fixed plate passes through spiral shell
Nail is fixed on 35e bottom segmentation.Further, at another seam 35k, bottom segmentation, the lower surface of 35e is fixed with fixed plate
(omitting diagram), this fixed plate is fixed on 35g bottom segmentation by screw.It is to say, at seam 35j, 35k, split the end
Bottom portion 35e and segmentation, 35g connects by fixed plate and screw.For at seam 35j, 35k connect segmentation bottom 35e and
Bottom segmentation, the header arrangement of the screw of 35g is 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 Fig. 6, at seam 33j in two seams 33j, 33k between segmentation shell body 33c and segmentation shell body 33d,
The inner peripheral surface of outer side tube part 33a is fixed in one end of cable bearer 32.Specifically, for fixing one end of cable bearer 32
Fixed component 41 is fixed in one end of cable bearer 32, and the inner circumferential of the split cylinder portion 33e in the both sides being configured at seam 33j
The inner peripheral surface both sides of face and split cylinder portion 33g are respectively and fixedly provided with fixed component 41.It is to say, at seam 33j, split cylinder portion
33e and split cylinder portion 33g connects by fixed component 41 and screw.For fixed component 41 is fixed on split cylinder portion 33e,
The header arrangement of the screw of 33g is in the outer circumferential side of split cylinder portion 33e, 33g.
It addition, at another seam 33k, the inner peripheral surface at split cylinder portion 33g is fixed with fixed plate 42.This fixed plate 42
It is fixed on split cylinder portion 33e by screw.It is to say, at seam 33k, split cylinder portion 33e and split cylinder portion 33g is by solid
Determine plate 42 and screw and connect.For fixed plate 42 being fixed on the header arrangement of the screw of split cylinder portion 33e in split cylinder portion
The outer circumferential side of 33e.
The other end of cable bearer 32 is fixed on the outer peripheral face of the inboard cylinder portion 34a of support holding member 34.Specifically,
The other end of cable bearer 32, and fixed component 43 it is fixed in for fixing the fixed component 43 of the other end of cable bearer 32
It is fixed on the outer peripheral face of inboard cylinder portion 34a.Fixed component 43 is fixed on inboard cylinder portion 34a by screw.For by fixed component
The header arrangement of 43 screws being fixed on inboard cylinder portion 34a is in the outer circumferential side of fixed component 43.Further, solid in fixed component 43
Surely there is the guide member 44 for being passed around by the distribution 31 drawn from another side of cable bearer 32 towards upside.
It addition, in the present embodiment, bedframe 2 and shell body 33 etc. first component is constituted.Further, by convolution frame
Frame 3, support holding member 34 and outer cover part 35 etc. constitute second component, described second component rotatably with
First component connects.
(method for dismounting of cable bearer)
In the present embodiment, as mentioned below, dismounting cable bearer 32.First, in the present embodiment, being used for will outward
Cap assembly 35 is fixed on the screw of the flange part 34b of support holding member 34 and by 35e bottom segmentation at seam 35j, 35k
The screw being connected with 35g bottom segmentation is configured at position nonoverlapping with swing frame 3 in the vertical direction, accordingly, it is capable in peace
Under the state being filled with swing frame 3, these screws are pulled down towards upside.After having dismantled these screws, towards outer side tube part 33a
Radial outside will segmentation outer cover part 35c, 35d dismounting.
If will segmentation outer cover part 35c, 35d dismounting, then as it is shown in figure 5, the upper end side of shell body 33, support maintaining part
The upper end side of part 34 and support plate 40 etc. expose.In the present embodiment, for support plate 40 is fixed on flange part 34b's
Screw is configured at position nonoverlapping with swing frame 3 in the vertical direction, therefore, in this state, and can be by this screw court
Dismantle to upside, and towards the radial outside of outer side tube part 33a, support plate 40 can be dismantled.
If dismounting support plate 40, the most as shown in Figure 6, a part of the fixed part 33b of shell body 33 is exposed.For will outward
Housing 33 is fixed on the screw of flange part 2b and configures, by making back in mode nonoverlapping with swing frame 3 in the vertical direction
Rotation framework 3 rotates can be dismantled this screw from upside, is therefore dismantled towards upside by this screw.Further, for by solid
At seam 33j, the screw of split cylinder portion 33e, 33g, Yi Ji it is fixed on due to the fixed component 41 of one end of cable bearer 32
The screw at seam 33k, split cylinder portion 33e and split cylinder portion 33g being connected towards outer side tube part 33a radial outside dismantle after,
As it is shown in fig. 7, segmentation shell body 33c, 33d can be dismantled towards the radial outside of outer side tube part 33a.
Further, if segmentation shell body 33c, 33d are dismantled, then can be for fixed component 43 be fixed on inboard cylinder
The screw of portion 34a is dismantled towards the radial outside of outer side tube part 33a, and this fixed component 43 is fixed on another of cable bearer 32
End, therefore by after this screw disassembling, as shown in the double dot dash line of Fig. 7, can dismantle cable bearer 32 from inboard cylinder portion 34a.
(main efficacy results of present embodiment)
As described above, in the present embodiment, shell body 33 is by two be split to form in the circumference of side tube part 33a outside
Individual segmentation shell body 33c, 33d combine and are formed, and outer cover part 35 is by two be split to form in the circumference of side tube part 33a outside
Segmentation outer cover part 35c, 35d combine and are formed.Therefore, in the present embodiment, even if in the state being mounted with swing frame 3
Under, as mentioned above, it is also possible to segmentation outer cover part 35c, 35d are dismantled and by segmentation towards the radial outside of outer side tube part 33a
Shell body 33c, 33d dismantle, as a result of which it is, can be exposed by cable bearer 32 and dismantle.Therefore, in the present embodiment, energy
Enough easily carry out the replacing etc. of the cable bearer 32 and distribution 31 being configured within cable bearer 32 being configured at joint portion 11
Upkeep operation.
The most in the present embodiment, shell body 33 is formed, sheath portion by two segmentation shell body 33c, 33d combinations
Part 35 by two segmentation outer cover part 35c, 35d combination and formed, if therefore by two segmentation outer cover part 35c, 35d and
Two segmentation shell body 33c, 33d dismountings, it becomes possible to cable bearer 32 is exposed and dismantles.Therefore, in the present embodiment, energy
Enough more easily carry out distribution 31 and the upkeep operation of cable bearer 32.Further, it is possible to reduce the components number of robot 1.
In the present embodiment, fixed component 41 is fixed on one end of cable bearer 32, and is fixed on split cylinder portion 33e's
On both inner peripheral surfaces of inner peripheral surface and split cylinder portion 33g, the inner peripheral surface of described split cylinder portion 33e and split cylinder portion 33g's is interior
Side face is configured at the both sides of seam 33j between segmentation shell body 33c and segmentation shell body 33d.Therefore, in present embodiment
In, utilize the one end of the cable bearer 32 being fixed on shell body 33 at seam 33j, it is possible to increase split shell body 33c and divide
Cut the fixing intensity between shell body 33d.
In the present embodiment, for preventing the notch part 40a contacted with inboard cylinder portion 34a from the outer circumference end of support plate 40
The support plate 40 being arranged between cable bearer 32 and outer cover part 35 it is formed at towards the radially inner side of inboard cylinder portion 34a.Cause
This, in the present embodiment, even if when being mounted with swing frame 3, if as it has been described above, torn open by outer cover part 35
Unload, it becomes possible to support plate 40 is dismantled towards the radial outside of outer side tube part 33a.It is to say, notch part 40a is from support plate 40
Outer circumference end towards inboard cylinder portion 34a radially inner side be formed at support plate 40, and support plate 40 is not done with inboard cylinder portion 34a
Relate to, if therefore outer cover part 35 is dismantled, it becomes possible to the radial outside of support plate 40 side tube part 33a outwardly is dismantled.Therefore,
In the present embodiment, even if being configured with support plate 40 between cable bearer 32 and outer cover part 35, it is also possible to easily enter
Row cable bearer 32 and the upkeep operation of 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 party
Formula, in the range of the purport not changing the present invention, can carry out various change and be carried out.
In the above-described embodiment, outer cover part 35 is fixed on the flange part 34b of support holding member 34.May also be other
Situation, such as outer cover part 35 are fixed on shell body 33.Further, in the above-described embodiment, shell body 33 is fixed on base
The flange part 2b of framework 2, but shell body 33 is also securable to support holding member 34 or outer cover part 35.Further, above-mentioned
In embodiment, the shell 30b of motor 12 and decelerator 30 is fixed on swing frame 3, and the output shaft 30c of decelerator 30 fixes
In bedframe 2, but the shell 30b that may also be motor 12 and decelerator 30 is fixed on bedframe 2, the output of decelerator 30
Axle 30c is fixed on swing frame 3.
In the above-described embodiment, shell body 33 is made up of two segmentations shell body 33c, 33d, but shell body 33 also can be by
The segmentation shell body of more than three is constituted.Further, in the above-described embodiment, outer cover part 35 is by two segmentation outer cover parts
35c, 35d are constituted, but outer cover part 35 also can be made up of the segmentation outer cover part of more than three.Further, above-mentioned embodiment party
In formula, segmentation shell body 33c, 33d, segmentation outer cover part 35c, 35d split are formed, but such as may also be segmentation shell body 33c
Form one with segmentation outer cover part 35c, and split shell body 33d and be integrally formed with segmentation outer cover part 35d.
In the above-described embodiment, support plate 40 is formed as the generally U-shaped shape that is shaped as when above-below direction is observed, but props up
Board 40 also can be combined by multiple segmentation support plates divided in the circumference of side tube part 33a outside.In this case, divide
Cut branch board is formed as being shaped as substantially arc-shaped when above-below direction is observed.
In the above-described embodiment, robot 1 is six axis articulated robots, but robot 1 both can be 5 axle multi-joints
The robot of type, it is possible to be the robot of 4 axis articulated.Further, robot 1 is alternatively the robot of 7 axis articulated.?
In this case, the first arm 4 is divided into two, and axial with the direction the most orthogonal with the second axis A2 for rotate, quilt
The arm section of one side of segmentation relatively rotates relative to the arm section of the opposing party.Further, in the above-described embodiment, robot
1 is welding robot, but robot 1 alternatively applies in japanning, seals or the robot of other purposes such as assembling.Further, machine
Device people 1 is alternatively the robots such as the horizontal articulated robot in addition to vertical multi-joint robot.
In the above-described embodiment, as a example by the joint portion 11 bedframe 2 and swing frame 3 connected, illustrate this
The embodiment of invention, but the structure of the present invention is equally applicable to the joint portion that swing frame 3 and the first arm 4 connected or by the
The joint portion etc. that one arm 4 and the second arm 2 connect.
Claims (5)
1. an industrial robot, it is characterised in that have:
First component；
Second component, it is rotatably connected with described first component；
Distribution, it at least passes around between described first component and described second component；And
Cable bearer, it is configured at the joint portion described first component and described second component connected, of described distribution
Distribution is put therein,
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
Parts,
Described first component or described second component have shell body, described shell body have from outer circumferential side cover described cable prop up
The tubular outer side tube part that frame is overall,
Described first component or described second component have the outer cover part of the end side covering described outer side tube part,
Described shell body is formed by the combination of divided multiple segmentation shell bodies in the circumference of described outer side tube part,
Described outer cover part is formed by the combination of divided multiple segmentation outer cover parts in the circumference of described outer side tube part,
Described industrial robot also has support plate, and this support plate is configured at described cable to support described cable bearer
Between support and described outer cover part,
Described second component has tubular inboard cylinder portion, and described inboard cylinder portion is configured at the inner circumferential side of described outer side tube part,
And it is fixed with another side of described cable bearer,
For preventing the notch part contacted with described inboard cylinder portion from the outer circumference end of described support plate towards described inboard cylinder portion
Radially inner side is formed at described support plate.
Industrial robot the most according to claim 1, it is characterised in that
Described shell body is formed by two described segmentation shell body combinations,
Described outer cover part is formed by two described segmentation outer cover part combinations.
Industrial robot the most according to claim 1 and 2, it is characterised in that
Described first component has described shell body and the bedframe fixed for described shell body,
Described second component has described outer cover part and the convolution being rotatably connected with described bedframe
Framework.
Industrial robot the most according to claim 3, it is characterised in that have:
Motor, it is configured at described joint portion；And
Decelerator, its transmission that rotating speed being configured at the described motor of described joint portion is slowed down,
The shell of described motor and described decelerator is fixed on described swing frame,
The outlet side of described decelerator is fixed on described bedframe,
Described outer cover part is fixed on the described shell of described decelerator.
Industrial robot the most according to claim 1, it is characterised in that
Described first component has described shell body and the bedframe fixed for described shell body,
The one end of described cable bearer seam crossing between the circumferentially-adjacent described segmentation shell body of described outer side tube part is solid
Due to described shell body.
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 CN103707287A (en) | 2014-04-09 |
| CN103707287B true 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) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016068199A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | robot |
| CN106687259B (en) | 2014-11-19 | 2018-11-20 | Abb瑞士股份有限公司 | Cable management system, rotary joint and robot |
| JP2018089739A (en) * | 2016-12-02 | 2018-06-14 | 日本電産サンキョー株式会社 | Industrial robot |
| CN106737869B (en) * | 2017-02-15 | 2019-06-07 | 台州施特自动化有限公司 | A kind of cable fixture applied on robotic manipulator |
| CN107962554B (en) * | 2017-12-14 | 2021-04-02 | 哈尔滨工业大学 | High-precision large-span steel-making bearing cantilever rotating platform |
| 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 |
| 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 |
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| US4906121A (en) * | 1985-12-11 | 1990-03-06 | Fanuc Ltd. | Cable guiding apparatus for industrial robot |
| US6153828A (en) * | 1997-11-07 | 2000-11-28 | Nachi-Fujikoshi Corp. | Supporting device for wiring and piping of industrial robot |
| CN102114634A (en) * | 2009-12-30 | 2011-07-06 | 鸿富锦精密工业（深圳）有限公司 | Multi-shaft robot and shaft fixing base used thereby |
| CN102136713A (en) * | 2009-12-01 | 2011-07-27 | 库卡罗伯特有限公司 | Conduit protection device for an industrial robot and industrial robot with such a conduit protection device |
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| JPS58191992U (en) * | 1982-06-16 | 1983-12-20 | 神鋼電機株式会社 | industrial robot |
| JPS6279992A (en) * | 1985-09-30 | 1987-04-13 | フアナツク株式会社 | Cable processor for industrial robot |
| JP2648184B2 (en) * | 1988-10-08 | 1997-08-27 | ファナック株式会社 | Swivel mechanism of industrial robot |
| JP2542749Y2 (en) * | 1990-12-19 | 1997-07-30 | 三菱重工業株式会社 | Industrial robot cable enclosure |
| JP3452811B2 (en) * | 1997-11-07 | 2003-10-06 | 株式会社不二越 | Wiring and piping support device for industrial robots |
| KR100624855B1 (en) * | 1999-12-29 | 2006-09-19 | 주식회사 로보테크 | Device for Guiding Rotating Cable of Industrial Robot |
| JP2006159372A (en) * | 2004-12-09 | 2006-06-22 | Kawasaki Heavy Ind Ltd | Industrial robot |
| JP5402748B2 (en) * | 2010-03-18 | 2014-01-29 | 株式会社デンソーウェーブ | Wiring device for rotary joint of industrial robot |
-
2012
- 2012-09-28 JP JP2012216444A patent/JP5972739B2/en not_active Expired - Fee Related
-
2013
- 2013-07-31 KR KR1020130090753A patent/KR101502224B1/en active IP Right Grant
- 2013-07-31 CN CN201310330443.2A patent/CN103707287B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4906121A (en) * | 1985-12-11 | 1990-03-06 | Fanuc Ltd. | Cable guiding apparatus for industrial robot |
| US6153828A (en) * | 1997-11-07 | 2000-11-28 | Nachi-Fujikoshi Corp. | Supporting device for wiring and piping of industrial robot |
| CN102136713A (en) * | 2009-12-01 | 2011-07-27 | 库卡罗伯特有限公司 | Conduit protection device for an industrial robot and industrial robot with such a conduit protection device |
| CN102114634A (en) * | 2009-12-30 | 2011-07-06 | 鸿富锦精密工业（深圳）有限公司 | Multi-shaft robot and shaft fixing base used thereby |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101502224B1 (en) | 2015-03-12 |
| KR20140042650A (en) | 2014-04-07 |
| JP2014069270A (en) | 2014-04-21 |
| JP5972739B2 (en) | 2016-08-17 |
| CN103707287A (en) | 2014-04-09 |
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