CN104889974A - Robot cable structure and robot using same - Google Patents
Robot cable structure and robot using same Download PDFInfo
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- CN104889974A CN104889974A CN201510245658.3A CN201510245658A CN104889974A CN 104889974 A CN104889974 A CN 104889974A CN 201510245658 A CN201510245658 A CN 201510245658A CN 104889974 A CN104889974 A CN 104889974A
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Abstract
The invention relates to a robot cable structure and a robot using the same. A control cable is lead into an upper arm through a base in a concave mode to be arranged on one side opposite to one side where a lower arm is arranged. A welding torch cable is led in from a position close to the lower arm base end and is led into a wrist portion with the control cable through a guide tube along the outside of the lower arm. A cable guide tube is divided into a control cable region close to the lower arm side and a welding torch cable region close to the outside.
Description
Technical field
The present invention relates to the cable construction of robot and use its robot, particularly the cable configurations structure of articulated robot.
Background technology
Along with the development of Robotics, the process needing robot to carry out gets more and more, and action also becomes increasingly complex.Currently occurred multi-axis robot, such as six-joint robot, carried out in the process of action at it, the configuration of cable runs well to robot and plays an important role.
Summary of the invention
The cable of robot in the past arranges to there is following problem: when cable is independently arranged outside robot, causes space shared by machine man-hour comparatively large, causes interference, be unfavorable for integration of operation to contiguous other robot.In addition, also there is following problem: when cable is arranged in robots arm, various the bending produced due to the action of robot causes damage to cable.
The present invention solve at least at least one in the problems referred to above.The cable construction of a kind of robot that the present invention relates to, described robot comprises: pedestal, and described pedestal for supporting described robot, and can rotate around the first axle perpendicular to pedestal place plane, large arm, described large arm and pedestal link, and can rotate around the second axle being parallel to described pedestal place plane, forearm, described forearm and described large arm link, and can rotate around the 3rd axle parallel with described second axle, and can rotate around the 4th axle vertical with described 3rd axle, wrist, described wrist is connected with described forearm, and can rotate around the 5th axle parallel with described 3rd axle, and can rotate around the 6th axle vertical with described 5th axle, in the cable construction of described robot, control cable and be introduced in described large arm with downward concave manner via described base, and be configured in the side contrary with the side of installing described forearm, welding torch cable is introduced by from the base end part near described forearm, and described wrist is incorporated into by guide wire along the outside of described forearm together with described control cable, described conduit divides the region of the region that has the control cable of close forearm side and welding torch cable in the outer part.
According to above-mentioned, control cable and be introduced in described large arm with downward concave manner via described base, and be configured in the side contrary with the side of installing described forearm, welding torch cable is introduced by from the base end part near described forearm, and described wrist is incorporated into by guide wire along the outside of described forearm together with described control cable, described conduit divides the region of the region that has the control cable of close forearm side and welding torch cable in the outer part.Therefore, it is possible to make control cable have enough length, not produce damage when base rotates.In addition, based on above-mentioned cable construction, the space shared by wiring can be reduced.In addition based on above-mentioned cable construction, the interference between cable can be reduced.
The cable construction of above-mentioned robot, wherein, described control cable extends along described large arm via the rear side of described second axle.
According to above-mentioned, the radius of curvature controlled when cable bends is comparatively large, can reduce because large arm rotates and make control cable repeatedly bend the impact brought.
The cable construction of above-mentioned robot, wherein, described control cable extends via the rear side of described 3rd axle.
According to above-mentioned, the radius of curvature controlled when cable bends is comparatively large, can reduce because forearm rotates and make control cable repeatedly bend the impact brought.
The cable construction of above-mentioned robot, wherein, described control cable and described welding torch cable in described guide wire along described forearm, the side identical with the side at described large arm place extend.
According to above-mentioned, can reduce and control cable and the space of welding torch cable occupied by wiring.
The cable construction of above-mentioned robot, wherein, described welding torch cable arrives welding torch feed arrangement in the mode of the surplus capacity with the described wrist of enough replies and the rotation of described forearm via wrist at the end of described forearm.
According to above-mentioned, even if wrist moves neatly, also large impact can not be caused on welding torch cable.
The cable construction of above-mentioned robot, wherein, described control cable extends in the inside of described wrist.
According to above-mentioned, the cable near wrist can be avoided to disturb.
The cable construction of above-mentioned robot, wherein, described control cable is fixed in described large arm by buckle outside large arm, and described guide wire is fixed on described forearm via buckle in the outside of described forearm.
According to above-mentioned, cable and conduit is avoided to cause interference to robot motion.
The present invention relates to a kind of robot, this robot has the cable construction of the robot described in above-mentioned any one.
At least at least one effect below can be played: avoid cable to the interference of self robot and around other robot according to the present invention; Avoid controlling the interference between cable and welding torch cable; Reduce the loss because robot motion brings cable.
Accompanying drawing explanation
The schematic diagram of Tu1Shi robot;
Fig. 2 is the partial schematic diagram of the cable construction that robot is shown;
Fig. 3 is the schematic diagram that guide wire is shown.
Detailed description of the invention
Below, with reference to accompanying drawing, the specific embodiment of the present invention is described.In explanation of the present invention, in order to make aim of the present invention clearly, do not have structure, the function of direct relation for related known function and with the present invention, omission illustrates.
Fig. 1 shows the industrial robot in one embodiment of the present invention.As shown in Figure 1, the external structure of industrial robot mainly comprises: pedestal 10, large arm 20, forearm 30, wrist body 40, balancer 50 and multiple motor 60.Certainly, depend on the embody rule environment of industrial robot, it can also comprise various miscellaneous part.
In Fig. 1, with datum level P0 for basis of reference defines three-dimensional system of coordinate XYZ.For convenience of explanation, also general+X-axis side is called front side, and general-X-axis side is called rear side, and general+Y direction is called outside, and general-Y direction is called inboard, and general+Z-direction is called upside, and general-Z-direction is called downside.Wherein, XY plane is parallel with datum level P0, and Z axis is perpendicular to datum level P0.Industrial robot shown in Fig. 1 is in following state: pedestal 10 is fixed in datum level P0; Large arm 20 can rotate relatively relative to pedestal 10; Forearm 30 can rotate relatively relative to large arm 20, and wrist body 40 can rotate relatively relative to forearm 30.
Below, each part of industrial robot is specifically described.
Pedestal 10 is bases of industrial robot, for robot is mounted on workplace, and supports the miscellaneous part of robot, and pedestal comprises bottom and rotating part.Under normal circumstances, pedestal 10 can be made up of the material that metal, alloy etc. are firm, also can be made up of other various materials, as long as its performance such as rigidity, flexibility satisfies the demands.Pedestal can be formed by manufacturing process such as castings.The inside of the pedestal 10 in Fig. 1 is hollow, wherein accommodates the miscellaneous parts such as not shown motor.Certainly, the parts such as motor also can be arranged on the outside of pedestal 10 according to demand or be provided separately.The rotating part of pedestal 10 and large arm 20 and balancer 50 are connected.The bottom of pedestal 10 is fixed on datum level P0 by modes such as mechanical links.It should be noted that, although the bottom of most cases bottom base 10 is directly fixed on ground (now ground is datum level P0), is not limited to this, also can be fixed in other planes such as workbench.Such as, when needs by industrial robot be inverted carry out suspension arrange time, pedestal 10 can be fixed on the lower surface of ceiling etc.The rotating part of pedestal 10 can carry out around the first axle A1 perpendicular to datum level P0 rotating (the first rotary motion).As seen from Figure 1, this first rotary motion is positioned at XY plane.
Large arm 20 can transmit power, increases the rotary freedom of industrial robot.One end of large arm 20 is supported in pedestal 10.Large arm 20 can rotate around the rotation of the first axle A1 perpendicular to datum level P0 along with the rotating part of pedestal 10.In addition, large arm 20 can also be rotated (the second rotary motion) around the second axle A2 (Y direction) being parallel to datum level.As shown in Figure 1, this second rotary motion is positioned at XZ plane.The other end of large arm 20 is connected with forearm 30.
Forearm 30 is in shaft-like, and as shown in Figure 1, forearm 30 can carry out rotating (the 3rd rotary motion) around rotating shaft A3.In addition, forearm 30 can, under the driving of motor 60, carry out rotating (the 4th rotary motion) around its central shaft, i.e. the 4th axle A4.As mentioned above, one end of forearm 30 is connected with large arm 20.In addition, the other end of forearm 30 is connected with wrist body 40.
One end of wrist body 40 is connected with forearm 30, and as shown in Figure 1, forearm 30 can rotate around the 5th axle A5 being parallel to datum level P0 (i.e. Y direction) (the 5th rotary motion) relatively.
Except the above-mentioned first to the 5th rotary motion, the industrial robot of the present embodiment also comprises the 6th rotary motion.Described 6th rotary motion is the motion (not shown) that wrist body 40 rotates around its axle center.Thus, the rotary motion total of all parts of the industrial robot of the present embodiment has six rotating shafts, and therefore this industrial robot is also referred to as six-joint robot.
For the inside (not shown) that above-mentioned first rotary motion provides the motor of power to be arranged at pedestal 10.For above-mentioned second rotary motion provides the motor of power to be arranged at (not shown) near the second axle A2.For above-mentioned third and fourth rotary motion provides the motor of power to be arranged at (not shown) near the 3rd axle A3.For the above-mentioned 5th and the 6th rotary motion provides the motor of power to be arranged in forearm 30, its power is transmitted to wrist body by power transmissions such as decelerators.As the motor providing above-mentioned driving force, such as, it can be electro-motor.But the kind of motor is not limited thereto, as long as can the condition providing driving force be met, in addition to an electric motor, also can be hydraulic motor or air motor etc.
Balancer 50 is supported on pedestal 10.Balancer 50 is connected with large arm 20.Balancer 50 can carry out relative rotation with large arm 20.Under state shown in Fig. 1, balancer 6 is in initial position, does not apply active force to large arm 20.Along with large arm 20 rotates around the second axle A2, the relative distance between balancer 50 and large arm 20 changes.Along with this change, balancer 50 applies pulling force or thrust to large arm 20.By providing such active force, contributing to large arm 20 and turning back to equilbrium position more easily.That is, balancer 50 has the function of assisting large arm 20 to restore balance.
Here alleged " vertically ", " parallel " etc., do not require that its angulation is 90 degree or 0 degree, but allow certain tolerance or error.
In addition to the parts mentioned above, industrial robot at least also comprises: power-transmission system, energy supply system and motion control system.The driving force that each motor produces can be passed to each moving component by described power-transmission system, such as large arm, forearm, wrist body etc.Described energy supply system can provide the energy needed for its work to each motor.When adopting electro-motor, describedly supply system electric power supply system can be.By scientifically planning layout power transmission line, meet the need for electricity of each electro-motor.In addition, described motion control system can control the action of each moving component.The program that described motion control system can preset according to user, controls the action of each moving component.
Artificially routine with above-mentioned machine, below the cable construction of robot is described in detail.
Fig. 2 illustrates the partial schematic diagram of the cable construction of robot.
Robot of 70 pairs, robot controlling portion controls, such as, provide driving, carry out information gathering etc.Robot controlling portion 70 be positioned at base 10-X-axis side, set by this position, can ensure that large arm 20, forearm 30, wrist body 40 etc. are not interfered when rotated.In fact, as long as robot controlling portion 70 is arranged on the position not affecting robot work.Base 10-below of x-axis side has opening, the control cable 71 in robot controlling portion 70 is incorporated into the inside of base 10 from this opening, and is introduced into large arm 20 via base 10.Control cable 71 to arrange in the mode to lower recess in base 10, control cable 71 and there is enough surplus capacities in length, to ensure that controlling cable 71 can not sustain damage when base 10 rotates.
Control cable 71 upwards to extend via the side of base 10 along large arm 20.Control the side at place when cable 71 extends along large arm 20 contrary with the side of the installation forearm 20 of large arm 10.And control cable 71 rotating shaft A2-X-direction side pass through, be fixed in large arm 20 by buckle (not shown), and at the rotating shaft A3 place that large arm 20 and forearm 30 link, control cable 71 with from rotating shaft A3-mode of X-direction side process is configured, thus, can motor that easily subtend is positioned at forearm 30 cable of power be provided to carry out extraction configuration, and due to control cable 71 be positioned at rotating shaft A2-X-direction side, the radius of curvature controlling cable is large, even if therefore large arm rotates, it is also less on the impact of the generation controlling cable 71 when large arm 20 rotates.In addition, due to control cable 71 be positioned at rotating shaft A3-X-direction side, the radius of curvature therefore controlling cable is large, although cable 71 can rotate along with the rotation of forearm 30, large radius of curvature can avoid the damage caused when controlling cable alternating bending.
On the other hand, welding torch cable 81 is sent from wire reel (not shown), and extends along the side identical with the side at large arm 20 place of forearm 30.Control cable 71 with welding torch cable 81 by difference bale packing, and draw forward via identical guide wire 90 in forearm side.Fig. 3 is the schematic diagram that guide wire is shown.As shown in Figure 3, have separating part 91 in guide wire 90, guide wire 90 is divided into two parts by separating part 91, and a part controls cable 70 for guiding, and another part is for guiding welding torch cable 81.Control cable 71 position compared with welding torch cable 81 more close with forearm 30.In addition, the part that the part residing for welding torch cable 81 is set to than controlling residing for cable 71 is large.Guide wire 90 extends to forearm 30 end, and welding torch cable 81 is extended by the inside of wrist body 40 at forearm 30 end, and enters into wire feed unit at wrist body 40 end, with to welding welding torch feeding welding wire.Control cable 71 to extend in wrist along wrist body 40 independently.Bend with larger bending curvature with control cable 71 from forearm 30 end to the welding torch cable 81 that wrist body 40 is bending, when pivoting to enable the welding torch being installed on wrist body 40, there is enough surplus capacities, thus can allow that appropriate distortion occurs welding wire.Because guide wire 90 is positioned at the side identical with large arm 20, because this reducing due to involved space of connecting up.In addition, configuration is separated with welding torch cable 81 owing to controlling cable 71, therefore, it is possible to reduce the friction of control the cable 71 and welding torch cable 81 caused due to the feeding of welding torch cable 81 or the rotation of all parts, avoid the mutual interference between control cable and welding torch cable and wearing and tearing.
Above, with reference to accompanying drawing, the specific embodiment of the present invention is illustrated, but content disclosed in these accompanying drawings and description and the specific term that is suitable for be only used for illustrating of the present invention, and be not intended to limit the scope of the invention recorded in implication or restriction claims.Therefore; those skilled in the art can make various distortion and other equivalent embodiments according to thought of the present invention without departing from the spirit and scope of the present invention, and can understand these distortion and other equivalent embodiments is also comprised in protection scope of the present invention of limiting in the application's claims.
Claims (8)
1. a cable construction for robot, described robot comprises:
Pedestal, described pedestal for supporting described robot, and can rotate around the first axle perpendicular to pedestal place plane;
Large arm, described large arm and pedestal link, and can rotate around the second axle being parallel to described pedestal place plane;
Forearm, described forearm and described large arm link, and can rotate around the 3rd axle parallel with described second axle, and can rotate around the 4th axle vertical with described 3rd axle;
Wrist, described wrist is connected with described forearm, and can rotate around the 5th axle parallel with described 3rd axle, and can rotate around the 6th axle vertical with described 5th axle,
In the cable construction of described robot, control cable and be introduced in described large arm with downward concave manner via described base, and be configured in the side contrary with the side of installing described forearm,
Welding torch cable is introduced by near the base end part of described forearm, and is incorporated into described wrist by guide wire along the outside of described forearm together with described control cable,
Described conduit divides the region of the region that has the control cable of close forearm side and welding torch cable in the outer part.
2. the cable construction of robot as claimed in claim 1, is characterized in that,
Described control cable extends along described large arm via the rear side of described second axle.
3., as power requires the cable construction of the robot as described in 2, it is characterized in that,
Described control cable extends via the rear side of described 3rd axle.
4. the cable construction of robot as claimed in claim 1, is characterized in that,
Described control cable and described welding torch cable in described guide wire along described forearm, the side identical with the side at described large arm place extend.
5. the cable construction of robot as claimed in claim 1, is characterized in that,
Described welding torch cable arrives welding torch feed arrangement in the mode of the surplus capacity with the described wrist of enough replies and the rotation of described forearm via wrist at the end of described forearm.
6. the cable construction of robot as claimed in claim 1, is characterized in that,
Described control cable extends in the inside of described wrist.
7. the cable construction of robot as claimed in claim 1, is characterized in that,
Described control cable is fixed in described large arm by buckle outside large arm, and described guide wire is fixed on described forearm via buckle in the outside of described forearm.
8. a robot, is characterized in that,
Comprise the cable construction of the robot according to any one of claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510245658.3A CN104889974B (en) | 2015-05-14 | 2015-05-14 | The cable of robot constructs and used its robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510245658.3A CN104889974B (en) | 2015-05-14 | 2015-05-14 | The cable of robot constructs and used its robot |
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| CN104889974A true CN104889974A (en) | 2015-09-09 |
| CN104889974B CN104889974B (en) | 2017-12-08 |
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| CN106270944A (en) * | 2016-09-07 | 2017-01-04 | 泉州圆创机械技术开发有限公司 | A kind of swing welding equipment |
| CN107009355A (en) * | 2017-05-17 | 2017-08-04 | 成都理工大学 | Six-freedom hydraulic articulated robot |
| CN107263442A (en) * | 2016-04-07 | 2017-10-20 | 发那科株式会社 | The filament processing structure of robot |
| CN107650118A (en) * | 2017-09-21 | 2018-02-02 | 广州市华科尔科技股份有限公司 | A kind of robot arm |
| CN108472025A (en) * | 2015-10-05 | 2018-08-31 | 弗莱克斯德克斯公司 | The medical treatment device of more cluster connectors with smooth articulation |
| CN109421065A (en) * | 2017-08-31 | 2019-03-05 | 株式会社安川电机 | Robot and robot system |
| CN109926694A (en) * | 2019-04-22 | 2019-06-25 | 大连智汇达科技有限公司 | A kind of welding robot |
| CN110415872A (en) * | 2019-06-26 | 2019-11-05 | 南安泊阅工业设计有限公司 | It is a kind of to be bent the robot push rod driving combination cable compensated automatically |
| CN113557109A (en) * | 2019-03-15 | 2021-10-26 | 三菱电机株式会社 | Industrial robot |
| US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
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| CN107650118B (en) * | 2017-09-21 | 2024-04-30 | 广州市华科尔科技股份有限公司 | Robot arm |
| CN113557109A (en) * | 2019-03-15 | 2021-10-26 | 三菱电机株式会社 | Industrial robot |
| CN109926694A (en) * | 2019-04-22 | 2019-06-25 | 大连智汇达科技有限公司 | A kind of welding robot |
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