CN104889974B - The cable of robot constructs and used its robot - Google Patents
The cable of robot constructs and used its robot Download PDFInfo
- Publication number
- CN104889974B CN104889974B CN201510245658.3A CN201510245658A CN104889974B CN 104889974 B CN104889974 B CN 104889974B CN 201510245658 A CN201510245658 A CN 201510245658A CN 104889974 B CN104889974 B CN 104889974B
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- Prior art keywords
- cable
- robot
- forearm
- axle
- large arm
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Abstract
The present invention relates to a kind of cable of device people construction and use its robot.A kind of cable construction of robot, wherein, controlling cable is introduced in large arm with downward concave manner via base, and it is configured in the side opposite with the side for installing forearm, welding torch cable is introduced from the base end part close to forearm, and wrist is introduced along on the outside of forearm by guide wire together with controlling cable, conduit division has the region of the controlling cable of close forearm side and the region of welding torch cable in the outer part.
Description
Technical field
The present invention relates to the cable of robot construction and the line using its robot, more particularly to articulated robot
Cable arrangement.
Background technology
As the development of robot technology is, it is necessary to which the processing that is carried out of robot is more and more, action also becomes increasingly complex.
Currently there is multi-axis robot, such as six-joint robot, during it is acted, the configuration of cable to robot just
Often operating plays an important role.
The content of the invention
Problems be present in the cable arrangement of conventional robot：When cable is independently arranged outside robot, cause machine
Space shared by device man-hour is larger, and neighbouring other robot is interfered, is unfavorable for integration of operation.In addition, also deposit
In problems with：When cable is arranged in robots arm, due to the action of robot, caused various bendings are made to cable
Into damage.
The present invention solve at least at least one in above mentioned problem.A kind of cable structure of robot of the present invention
Make, the robot includes：Pedestal, the pedestal are used to support the robot, and can be around perpendicular to plane where pedestal
First axle rotation；Large arm, the large arm link with pedestal, and can be revolved around the second axle parallel to plane where the pedestal
Turn；Forearm, the forearm link with the large arm, and can be rotated around threeth axle parallel with second axle, and can
Rotated around fourth axle vertical with the 3rd axle；Wrist, the wrist are connected with the forearm, and can be around with the described 3rd
The 5th parallel axle of axle is rotated, and can be rotated around sixth axle vertical with the 5th axle, in the robot
Cable construction in, controlling cable is introduced in the large arm with downward concave manner via the base, and be configured in
The opposite side in the side of the forearm is installed, welding torch cable is introduced from the base end part close to the forearm, and with the control
Cable processed is incorporated into the wrist along on the outside of the forearm by guide wire together, and the conduit division has close forearm side
The region of controlling cable and the region of welding torch cable in the outer part.
According to above-mentioned, controlling cable is introduced in the large arm with downward concave manner via the base, and is configured
In the opposite side in the side with installing the forearm, welding torch cable is introduced from the base end part close to the forearm, and with institute
State controlling cable and the wrist is introduced along on the outside of the forearm by guide wire together, the conduit division has close to small
The region of the controlling cable of arm side and the region of welding torch cable in the outer part.Therefore, it is possible to make controlling cable have enough
Length, not produce damage when base rotates.In addition, being constructed based on above-mentioned cable, the shared sky of wiring can be reduced
Between.Above-mentioned cable construction is additionally based on, the interference between cable can be reduced.
The cable construction of above-mentioned robot, wherein, the controlling cable is via the rear side of second axle along described big
Arm extends.
According to above-mentioned, radius of curvature when controlling cable bends is larger, and can reduce makes control because large arm rotates
Cable processed repeatedly bends the influence brought.
The cable construction of above-mentioned robot, wherein, the controlling cable extends via the rear side of the 3rd axle.
According to above-mentioned, radius of curvature when controlling cable bends is larger, and can reduce makes control because forearm rotates
Cable processed repeatedly bends the influence brought.
The cable construction of above-mentioned robot, wherein, the controlling cable and the welding torch cable are in the guide wire
Along the forearm, with the large arm where side identical side extend.
According to above-mentioned, controlling cable and welding torch cable space occupied in wiring can be reduced.
The cable construction of above-mentioned robot, wherein, the welding torch cable is in the end of the forearm with enough
The mode for tackling the wrist and the surplus capacity of forearm rotation reaches welding torch feed arrangement via wrist.
According to above-mentioned, even if wrist neatly moves, big influence will not be also caused to welding torch cable.
The cable construction of above-mentioned robot, wherein, the controlling cable extends in the inside of the wrist.
According to above-mentioned, the cable near wrist can be avoided to disturb.
The cable construction of above-mentioned robot, wherein, the controlling cable is fixed in institute on the outside of large arm by buckle
State in large arm, the guide wire is fixed on the forearm in the outside of the forearm via buckle.
According to above-mentioned, cable and conduit is avoided to interfere robot motion.
The present invention relates to a kind of robot, the cable that the robot has the robot described in any of the above-described constructs.
Following at least one effect can at least be played according to the present invention：Avoid cable to itself robot and surrounding other
The interference of robot；Avoid the interference between controlling cable and welding torch cable；Reduce cable tie is come due to robot motion
Loss.
Brief description of the drawings
Fig. 1 is the schematic diagram of robot；
Fig. 2 is the partial schematic diagram for the cable construction for showing robot；
Fig. 3 is the schematic diagram for showing guide wire.
Embodiment
Below, refer to the attached drawing, the embodiment of the present invention is illustrated.In the explanation of the present invention, in order that
Structure, the function that spirit of the invention is clearer, is not directly dependent upon for related known function and with the present invention are obtained, is saved
Slightly illustrate.
Fig. 1 shows the industrial robot in one embodiment of the present invention.As shown in figure 1, the outside of industrial robot
Structure mainly includes：Pedestal 10, large arm 20, forearm 30, wrist body 40, balancer 50 and multiple motors 60.Certainly, depend on
In the concrete application environment of industrial robot, it can also include various other parts.
In Fig. 1, three-dimensional system of coordinate XYZ is defined by basis of reference of reference plane P0.For convenience of description, also general+X-axis side
Referred to as front side, general-X-axis side are referred to as rear side, and general+Y direction is referred to as outside, and general-Y direction is referred to as inboard, and general+Z-direction claims
For upside, general-Z-direction is referred to as downside.Wherein, X/Y plane is parallel with reference plane P0, and Z axis is perpendicular to reference plane P0.Institute in Fig. 1
The industrial robot shown is in following state：Pedestal 10 is fixed in reference plane P0；Large arm 20 can be carried out relative to pedestal 10
Rotate against；Forearm 30 can be rotated against relative to large arm 20, and wrist body 40 can be carried out relatively relative to forearm 30
Rotation.
Below, each part of industrial robot is specifically described.
Pedestal 10 is the base of industrial robot, for robot to be mounted on into workplace, and supports robot
Miscellaneous part, pedestal includes bottom and rotating part.Under normal circumstances, pedestal 10 can be by the firm material such as metal, alloy
It is made, can also be made up of other various materials, as long as the performance meet demand such as its rigidity, flexibility.Pedestal can pass through
The manufacturing process such as casting are formed.The inside of pedestal 10 in Fig. 1 is hollow, wherein accommodate motor not shown in figure etc. its
His part.Certainly, the part such as motor can also be arranged on the outside of pedestal 10 according to demand or be provided separately.The rotation of pedestal 10
Transfer part is connected with large arm 20 and balancer 50.The bottom of pedestal 10 is fixed to reference plane P0 by modes such as mechanical links
On.It should be noted that although the bottom of most cases bottom base 10 is directly fixed on ground, (now ground is reference plane
P0), but this is not limited to, other planes such as workbench can also be fixed in.For example, when need by industrial robot be inverted into
When row suspension is set, pedestal 10 can be fixed on the lower surface of ceiling etc..The rotating part of pedestal 10 can be around perpendicular to base
Quasi- face P0 first axle A1 is rotated (the first rotary motion).As seen from Figure 1, first rotary motion is located at X/Y plane
It is interior.
Large arm 20 can passing power, increase the rotary freedom of industrial robot.One end of large arm 20 is supported in base
Seat 10.Large arm 20 can rotate with the rotating part of pedestal 10 around the rotation perpendicular to reference plane P0 first axle A1.In addition,
Large arm 20 can also be rotated (the second rotary motion) around the second axle A2 (Y direction) parallel to reference plane.Such as Fig. 1
Shown, second rotary motion is located in XZ planes.The other end of large arm 20 is connected with forearm 30.
Forearm 30 is in shaft-like, as shown in figure 1, forearm 30 can be rotated (the 3rd rotary motion) around rotary shaft A3.Separately
Outside, forearm 30 can be under the driving of motor 60, and around central shaft, i.e. the 4th axle A4 is rotated (the 4th rotary motion).Such as
Upper described, 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, as shown in figure 1, forearm 30 can be around parallel to reference plane P0 (i.e. Y-axis
Direction) the 5th axle A5 rotated against (the 5th rotary motion).
Except the above-mentioned first to the 5th rotary motion, the industrial robot of the present embodiment also includes the 6th rotary motion.Institute
It is the motion (not shown) that wrist body 40 rotates around its axle center to state the 6th rotary motion.Thus, the industrial machine of the present embodiment
The rotary motion of all parts of device people is total to have six rotary shafts, therefore the industrial robot is also referred to as six axle machines
People.
The motor for providing power for above-mentioned first rotary motion is arranged at the inside (not shown) of pedestal 10.To be upper
The motor for stating the second rotary motion offer power is arranged at the second axle A2 (not shown)s nearby.For above-mentioned third and fourth
The motor that rotary motion provides power is arranged at the 3rd axle A3 (not shown)s nearby.For the above-mentioned 5th and the 6th rotation fortune
The dynamic motor for providing power is arranged in forearm 30, and its power is by power transmissions such as decelerators to wrist body transmission.
As the motor for providing above-mentioned driving force, such as it can be electro-motor.But the species not limited to this of motor, as long as can meet to carry
For the condition of driving force, in addition to an electric motor or hydraulic motor or air motor etc..
Balancer 50 is supported on pedestal 10.Balancer 50 is connected with large arm 20.Balancer 50 can enter with large arm 20
Row rotates against.In the state of shown in Fig. 1, balancer 6 is in initial position, does not apply active force to large arm 20.With large arm
20 are rotated around the second axle A2, and the relative distance between balancer 50 and large arm 20 changes.Along with the change, balance
Device 50 applies pulling force or thrust to large arm 20.By active force as offer, large arm 20 is contributed to more easily to return to
Equilbrium position.That is, balancer 50 has the function of assisting large arm 20 to restore balance.
" vertical " designated herein, " parallel " etc., it is not required that its angulation is 90 degree or 0 degree, but allows one
Fixed tolerance or error.
In addition to the parts mentioned above, industrial robot at least also includes：Power-transmission system, energy supply system, Yi Jidong
Action control system.Driving force caused by each motor can be transferred to each moving component by the power-transmission system, such as greatly
Arm, forearm, wrist body etc..The energy supply system can provide the energy needed for its work to each motor.When using electricity
It is described to be capable of supply that system is electric power supply system during dynamic motor.By scientifically planning arrangement power transmission line, to expire
The power demand of each electro-motor of foot.In addition, the motion control system can be controlled to the action of each moving component
System.The motion control system can control the action of each moving component according to user's program set in advance.
By taking above-mentioned robot as an example, the cable construction of robot is described in detail below.
Fig. 2 shows the partial schematic diagram of the cable construction of robot.
Robot control unit 70 is controlled to robot, such as is provided driving, carried out information gathering etc..Robot controls
Portion 70 be located at base 10-X-axis side, set by the position, can ensure that large arm 20, forearm 30, wrist body portion 40 etc. are revolving
It is not interfered when turning.In fact, as long as robot control unit 70 is arranged on the position for not influenceing robot work.The bottom of at
Seat 10-lower section of x-axis side has opening, the controlling cable 71 of robot control unit 70 is incorporated into base 10 from the opening
Portion, and it is introduced to large arm 20 via base 10.Controlling cable 71 arranges in base 10 in a manner of to lower recess, controlling cable
71 have enough surplus capacities in length, to ensure that controlling cable 71 is not damaged when base 10 rotates.
Controlling cable 71 upwardly extends via side of the base 10 along large arm 20.Controlling cable 71 extends when institute along large arm 20
Side and large arm 10 installation forearm 20 side it is opposite.And controlling cable 71 rotary shaft A2-X-direction side warp
Cross, be fixed on by buckle (not shown) in large arm 20, and at the rotary shaft A3 that large arm 20 and forearm 30 link, control
Cable 71 by from rotary shaft A3-X-direction side pass through in a manner of configured, thereby, it is possible to easily to positioned at forearm
The cable that 30 motor provides power carries out extraction configuration, and due to controlling cable 71 be located at rotary shaft A2-X-direction
Side, the radius of curvature of controlling cable is big, therefore even if large arm is rotated, the generation when large arm 20 rotates to controlling cable 71
Influence it is also smaller.Further, since controlling cable 71 is located at rotary shaft A3 -X direction side, therefore the radius of curvature of controlling cable
Greatly, although cable 71 can rotate with the rotation of forearm 30, big radius of curvature can avoid controlling cable repeatedly curved
Caused damage when bent.
On the other hand, welding torch cable 81 is sent out from wire reel is (not shown), and along forearm 30 and large arm 20 where one
Side identical side extends.Controlling cable 71 is packed respectively with welding torch cable 81, and is guided in forearm side via identical
Pipe 90 is drawn forward.Fig. 3 is the schematic diagram for showing guide wire.As shown in figure 3, there is lattice 91, lattice in guide wire 90
Guide wire 90 is divided into two parts by 91, and a part is used to guide controlling cable 70, and another part is used to guide welding torch cable 81.
The position compared with welding torch cable 81 of controlling cable 71 is more close with forearm 30.In addition, the part residing for welding torch cable 81 is arranged to
It is bigger than the part residing for controlling cable 71.Guide wire 90 extends to the end of forearm 30, and welding torch cable 81 passes through in the end of forearm 30
The inside of wrist body 40 is extended, and enters wire feed unit in the end of wrist body 40, to be fed to welding with welding torch
Welding wire.Controlling cable 71 extends independently along wrist body 40 in wrist.The welding torch bent from the end of forearm 30 to wrist body 40
Cable 81 and controlling cable 71 are bent with larger bending curvature, during so that the welding torch for being installed on wrist body 40 being pivoted
There can be enough surplus capacities, so as to allow welding wire that appropriate deformation occurs.Because guide wire 90 is located at and large arm 20
Identical side, therefore reduce due to connecting up involved space.Further, since controlling cable 71 is divided with welding torch cable 81
Configuration is separated, therefore the controlling cable 71 caused by the feeding of welding torch cable 81 or the rotation of all parts can be reduced
With the friction of welding torch cable 81, avoid interfering between controlling cable and welding torch cable and wear.
More than, the embodiment of the present invention is illustrated refer to the attached drawing, but in these accompanying drawings and specification
Disclosure and the specific term being applicable are only used for the explanation present invention's, and are not intended to limit implication or limit
The scope of the invention described in claims processed.Therefore, those skilled in the art can not depart from present inventive concept
In the range of according to the thought of the present invention make various modifications and other equivalent embodiments, and it will be appreciated that these deformations with
And other equivalent embodiments are also contained in the protection scope of the present invention limited in the application claims.
Claims (7)
1. a kind of cable construction of robot, the robot include：
Pedestal, the pedestal are used to support the robot, and can be around the first axle rotation perpendicular to plane where pedestal；
Large arm, the large arm link with pedestal, and can be rotated around the second axle parallel to plane where the pedestal；
Forearm, the forearm link with the large arm, and can be rotated around threeth axle parallel with second axle, and can
Rotated around fourth axle vertical with the 3rd axle；
Wrist, the wrist are connected with the forearm, and can be rotated around fiveth axle parallel with the 3rd axle, and energy
It is enough to be rotated around sixth axle vertical with the 5th axle,
In the cable construction of the robot, controlling cable is introduced in described big with downward concave manner via the pedestal
Arm, and the side opposite with the side for installing the forearm is configured in,
Welding torch cable is introduced from the base end part close to the forearm, and by described in guide wire edge together with the controlling cable
The wrist is incorporated on the outside of forearm,
Guide wire division has the region of the controlling cable of close forearm side and the region of welding torch cable in the outer part,
The controlling cable and the welding torch cable in the guide wire along the forearm, with the side where the large arm
Identical side extends.
2. the cable construction of robot as claimed in claim 1, it is characterised in that
The controlling cable extends via the rear side of second axle along the large arm.
3. the cable construction of robot as claimed in claim 2, it is characterised in that
The controlling cable extends via the rear side of the 3rd axle.
4. the cable construction of robot as claimed in claim 1, it is characterised in that
The welding torch cable is in the end of the forearm with enough richnesses for tackling the wrist and forearm rotation
The mode of surplus reaches welding torch feed arrangement via wrist.
5. the cable construction of robot as claimed in claim 1, it is characterised in that
The controlling cable extends in the inside of the wrist.
6. the cable construction of robot as claimed in claim 1, it is characterised in that
The controlling cable is fixed in the large arm on the outside of large arm by buckle, and the guide wire is in the outer of the forearm
Side is fixed on the forearm via buckle.
A kind of 7. robot, it is characterised in that
Cable construction including the robot any one of claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245658.3A CN104889974B (en) | 2015-05-14 | 2015-05-14 | The cable of robot constructs and used its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245658.3A CN104889974B (en) | 2015-05-14 | 2015-05-14 | The cable of robot constructs and used its robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104889974A CN104889974A (en) | 2015-09-09 |
| CN104889974B true CN104889974B (en) | 2017-12-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510245658.3A Expired - Fee Related CN104889974B (en) | 2015-05-14 | 2015-05-14 | The cable of robot constructs and used its robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3359054A4 (en) * | 2015-10-05 | 2019-08-14 | Flexdex, Inc. | Medical devices having smoothly articulating multi-cluster joints |
| US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
| JP6441255B2 (en) | 2016-04-07 | 2018-12-19 | ファナック株式会社 | Robot striatum processing structure |
| CN106270944B (en) * | 2016-09-07 | 2018-08-03 | 江苏菲达宝开电气股份有限公司 | 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 |
| JP6670455B2 (en) * | 2017-08-31 | 2020-03-25 | 株式会社安川電機 | Robots and robot systems |
| 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 |
| WO2020188659A1 (en) * | 2019-03-15 | 2020-09-24 | 三菱電機株式会社 | 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 |
| CN110415872B (en) * | 2019-06-26 | 2020-10-09 | 泉州市东艾机械制造有限公司 | Robot push rod driving combination cable with automatic bending compensation function |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002370190A (en) * | 2001-06-15 | 2002-12-24 | Nachi Fujikoshi Corp | Wrist-arm structure of industrial robot |
| JP3886497B2 (en) * | 2004-03-12 | 2007-02-28 | ファナック株式会社 | Striated structure for industrial robots |
| JP2006007256A (en) * | 2004-06-24 | 2006-01-12 | Matsushita Electric Ind Co Ltd | Arc welding robot |
| JP4038217B2 (en) * | 2005-07-14 | 2008-01-23 | ファナック株式会社 | Striated structure of industrial robot |
| US7800017B2 (en) * | 2005-11-15 | 2010-09-21 | Lincoln Global, Inc. | Integral handle |
| JP4326558B2 (en) * | 2006-08-24 | 2009-09-09 | ファナック株式会社 | Drive mechanism of industrial robot arm |
| DE102007008985B4 (en) * | 2007-02-23 | 2016-09-08 | Kuka Roboter Gmbh | Holding device for a power supply |
| US9375801B2 (en) * | 2008-10-23 | 2016-06-28 | Arben Cenko | Rotary welding torch |
| JP5473060B2 (en) * | 2010-01-26 | 2014-04-16 | 株式会社ダイヘン | Welding robot |
| JP2014100743A (en) * | 2012-11-16 | 2014-06-05 | Fanuc Ltd | Cable treatment structure of articulated robot |
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2015
- 2015-05-14 CN CN201510245658.3A patent/CN104889974B/en not_active Expired - Fee Related
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| CN104889974A (en) | 2015-09-09 |
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Address after: 442000 Shiyan East Economic Development Zone, East Ring Road, Hubei, No. 109 (Hubei long song industry and Trade Co., Ltd. office building) Applicant after: HUBEI QITONG INTELLIGENT TECHNOLOGY CO., LTD. Address before: 442000 Shiyan City, Hubei province Maojian District East Ring Road No. 111 Applicant before: HUBEI QITONG INTELLIGENT TECHNOLOGY CO., LTD. |
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