CN113557109A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- CN113557109A CN113557109A CN201980093855.4A CN201980093855A CN113557109A CN 113557109 A CN113557109 A CN 113557109A CN 201980093855 A CN201980093855 A CN 201980093855A CN 113557109 A CN113557109 A CN 113557109A
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- Prior art keywords
- cable
- industrial robot
- hole
- bushing
- robot
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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
Abstract
The industrial robot comprises: a base part having a protection box (11) for accommodating the control substrate (7); a bendable and extendable arm having a joint, extending from the base section, and having a wrist section on which an end effector is mounted at a tip end thereof; a plurality of motors which are provided inside the arm and drive the joints to perform the flexion and extension of the arm and the change of the posture of the wrist; an internal cable (5) which is led out from the protective box (11) and is wound inside the arm to be connected with the motor; and a cable bush (112) which is pressed into an intra-machine cable hole (111) that leads out the intra-machine cable (5) in the protective box (11), wherein the cable bush (112) is formed of an elastic material and has a cable hole (113) that disposes the intra-machine cable (5), and the cable hole (113) is smaller than the outer diameter of the intra-machine cable (5) when the intra-machine cable (5) is not disposed.
Description
Technical Field
The present invention relates to an industrial robot having an arm.
Background
The industrial robot includes an arm that has a joint and can be bent and extended. The arms are covered by a cover. Industrial robots having a waterproof and dustproof structure that can operate even in an oil mist environment in which cutting oil is scattered are used for loading and unloading workpieces to and from a machine tool. Industrial robots include components that need to be protected, such as a substrate and a connector, inside the robot, and therefore the entire robot needs to have a waterproof and dustproof structure.
In order to make the entire robot have a waterproof and dustproof structure, oil seals or V-seals are required for all joints, and O-rings or gaskets are required for all cover portions. Therefore, if the entire robot is configured to have a waterproof and dustproof structure, the number of components increases. Further, the attachment portion of the oil seal or the O-ring of the robot housing needs to be processed with high dimensional accuracy and fine surface roughness with respect to a material having high hardness, and productivity is lowered.
Patent document 1: japanese patent laid-open publication No. 2007 and 044767
Disclosure of Invention
However, in the industrial robot disclosed in patent document 1, since the built-in cable is routed into the housing through the connection socket, the built-in cable greatly projects toward the inside of the robot in a portion where the built-in cable penetrates the housing. Therefore, the industrial robot disclosed in patent document 1 can improve productivity, but is difficult to be miniaturized.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an industrial robot which has high productivity, waterproof and dustproof functions, and can be miniaturized.
In order to solve the above problems and achieve the object, the present invention includes: a base part having a protection box for accommodating the control substrate; a bendable and extendable arm having a joint, extending from the base section, and having a wrist section provided at a tip end thereof for mounting the end effector; a plurality of motors which are provided inside the arm and drive the joints to perform the flexion and extension of the arm and the change of the posture of the wrist; an internal cable which is led out from the inside of the protection box, is wound inside the arm and is connected with the motor; and a cable bushing pressed into an intra-machine cable hole in the protective case, the intra-machine cable hole leading out the intra-machine cable. The cable bushing is made of an elastic material and has a cable hole for disposing the built-in cable. The cable hole is smaller than the outer diameter of the built-in cable under the state that the built-in cable is not arranged.
ADVANTAGEOUS EFFECTS OF INVENTION
The industrial robot according to the present invention has the advantages of high productivity, waterproof and dustproof functions, and miniaturization.
Drawings
Fig. 1 is a perspective view showing the configuration of a robot according to embodiment 1 of the present invention.
Fig. 2 is a sectional view of the robot according to embodiment 1.
Fig. 3 is an enlarged view of a protection box of the robot according to embodiment 1.
Fig. 4 is a diagram showing a structure of a cable bushing of the robot according to embodiment 1.
Fig. 5 is a diagram showing a structure of a cable bushing of a robot according to embodiment 2 of the present invention.
Fig. 6 is a diagram showing a structure of a cable bushing of a robot according to embodiment 3 of the present invention.
Fig. 7 is a diagram showing a structure of a cable bushing of a robot according to embodiment 4 of the present invention.
Fig. 8 is a diagram showing a structure of a cable bushing of a robot according to embodiment 5 of the present invention.
Fig. 9 is a diagram showing a structure of a cable bushing of a robot according to embodiment 6 of the present invention.
Fig. 10 is a diagram showing a structure of a cable bushing of a robot according to embodiment 7 of the present invention.
Detailed Description
Hereinafter, an industrial robot according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments.
Fig. 1 is a perspective view showing the configuration of a robot according to embodiment 1 of the present invention. Fig. 2 is a sectional view of the robot according to embodiment 1. A robot 100 as an industrial robot includes a base portion 1 and an arm 2 extending from the base portion 1.
The base part 1 includes a motor housing part 19 housing a motor 41 for rotating the entire arm 2 and a protection box 11. The arm 2 has a joint 21 and can be bent and extended. A wrist portion 3 for loading an end effector such as a hand for loading and unloading a workpiece is provided at the tip of the arm 2. The end effector mounted on the wrist portion 3 is not limited to a hand, and may be a rotary cutter for performing a deburring process by rotating a blade, a spray gun for forming a coating film on the surface of a workpiece by blowing paint or the like to the workpiece, or a dispenser for applying a sealant or the like to the workpiece. The end effector mounted on the wrist portion 3 may be a member other than the illustrated members. The arm 2 is provided with a motor 42 that drives the joint 21 to perform the flexion and extension of the arm 2, and a motor 43 that drives the joint 21 to change the posture of the wrist portion 3. In order to avoid the drawing becoming complicated, fig. 2 illustrates only a part of the plurality of motors included in the robot 100.
A control board 7 is housed in the protective case 11, and a control circuit for controlling the motors 41, 42, and 43 is formed on the control board 7. The motors 41, 42, and 43 and the control board 7 are connected by an in-line cable 5. The built-in cable 5 is a multi-core cable including a signal line 51 and a power line 52. The inner cable 5 is not provided with a relay connector between the motors 41, 42, 43 and the control board 7. The base unit 1 is connected to a robot controller 9 via an inter-device cable 6.
Fig. 3 is an enlarged view of a protection box of the robot according to embodiment 1. An external connector 76 for connecting the signal line 61 of the inter-device cable 6 and an internal connector 75 for connecting the signal line 51 of the intra-device cable 5 are mounted on the control board 7. The inter-device cable 6 is a multi-core cable including a signal line 61 and a power line 62. The signal line 61 of the inter-device cable 6 and the signal line 51 of the intra-device cable 5 are connected via a control circuit formed on the control board 7. Further, a relay connector 8 is housed in the protective box 11, and the relay connector 8 connects the power line 62 of the inter-device cable 6 and the power line 52 of the in-device cable 5.
The protection box 11 is composed of a main body 12 having an opening 121 formed therein and a cover 13 for closing the opening 121. A seal 14 is provided between the edge of the opening 121 and the cover 13, ensuring waterproof and dustproof properties in the opening 121. By opening the cover 13, the work of installing the control board 7 in the protection box 11 and the work of connecting the connector in the protection box 11 can be performed.
An inter-device cable hole 131 through which the inter-device cable 6 passes is formed in the cover 13. A connection socket 132 is provided in the inter-device cable hole 131. A cylindrical seal 133 is provided inside the connection sleeve 132, and the seal 133 is tightly attached to the inter-equipment cable 6. Therefore, the waterproof and dustproof property in the inter-device cable hole 131 is ensured.
The protection box 11 has an internal cable hole 111 formed in the motor housing portion 19 for the internal cable 5 to pass through. The intra-chassis cable hole 111 is provided with a cable bushing 112. Fig. 4 is a diagram showing a structure of a cable bushing of the robot according to embodiment 1. The cable bushing 112 is a disc-shaped member made of an elastic material such as an elastic body, and has a plurality of cable holes 113 through which the built-in cables 5 pass. The cable hole 113 is smaller than the outer diameter of the built-in cable 5 in a state where the built-in cable 5 is not arranged. The side wall of the cable hole 113 is tightly attached to the built-in cable 5, and the waterproof and dustproof performance in the cable hole 113 is ensured.
The cable bushing 112 has a structure in which a cable hole 113 is formed in a plate-shaped elastic body, and therefore has a smaller thickness dimension than a connection sleeve. Therefore, the size of the in-machine cable 5 protruding into the protection box 11 or the motor housing portion 19 can be reduced in the portion passing through the in-machine cable hole 111. Therefore, the robot 100 according to embodiment 1 can reduce the size of the protection box 11 and the motor housing portion 19, and can be downsized. Further, since the cable bushing 112 has a structure in which the cable hole 113 is opened in the plate-shaped elastic body, high-precision machining is not required. Further, both the portion where the signal line 51 of the built-in cable 5 is led out from the protective box 11 and the portion where the power line 52 is led out from the protective box 11 can be provided with waterproof and dustproof properties by one cable bushing 112, and therefore, increase in the number of assembly steps can be suppressed. Therefore, the robot 100 according to embodiment 1 has high productivity. Further, since there is no need to provide a gap between the member for imparting water-and dust-proof property to the portion for leading out the signal line 51 of the in-vehicle cable 5 from the protective box 11 and the member for imparting water-and dust-proof property to the portion for leading out the power line 52 from the protective box 11, the opening area of the in-vehicle cable hole 111 can be reduced. The relay connector 8 for connecting the power line 62 of the inter-device cable 6 and the power line 52 of the in-device cable 5 is housed in the protective box 11. Therefore, waterproof and dustproof properties at the connection portion of the power cord 62 of the inter-device cable 6 and the power cord 52 of the in-vehicle cable 5 are ensured. Since there is no relay connector between the motors 41, 42, and 43 and the control board 7, it is not necessary to provide a waterproof and dustproof structure in the joint 21.
The robot 100 according to embodiment 2 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 5 is a diagram showing a structure of a cable bushing of a robot according to embodiment 2 of the present invention. The cable bushing 112 of the robot 100 according to embodiment 2 is formed with slits 114 that are continuous from the outer edge portion to the respective cable holes 113.
Since the cable bushing 112 of the robot 100 according to embodiment 2 can arrange the inner cable 5 in the cable hole 113 after connecting the end of the inner cable 5 to the connector, the workability of the connector connection work in the protective box 11 and the workability of maintenance such as replacement of the cable bushing 112 can be improved.
The robot 100 according to embodiment 3 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 6 is a diagram showing a structure of a cable bushing of a robot according to embodiment 3 of the present invention. The cable bushing 112 of the robot 100 according to embodiment 3 is a rectangular plate with rounded corners, and the cable holes 113 are arranged in series along the long side.
Since the cable bushing 112 of the robot 100 according to embodiment 3 is compressed and deformed in the width direction as a whole at each portion in the longitudinal direction when it is fitted to the main body 12 of the protection box 11, a gap is less likely to be generated between the cable bushing 112 and the main body 12 of the protection box 11, and water-proof and dust-proof properties can be improved.
Embodiment 4.
The robot 100 according to embodiment 4 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 7 is a diagram showing a structure of a cable bushing of a robot according to embodiment 4 of the present invention. The cable bushing 112 of the robot 100 according to embodiment 4 is a rectangular plate with rounded corners, and the cable holes 113 are arranged in series along the long side. The cable bushing 112 of the robot 100 according to embodiment 4 is formed with slits 114 that are continuous from the edge portion to each cable hole 113.
Since the cable bushing 112 of the robot 100 according to embodiment 4 can arrange the inner cable 5 in the cable hole 113 after connecting the end of the inner cable 5 to the connector, the workability of the connector connection work in the protective box 11 and the workability of maintenance such as replacement of the cable bushing 112 can be improved.
Embodiment 5.
The robot 100 according to embodiment 5 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 8 is a diagram showing a structure of a cable bushing of a robot according to embodiment 5 of the present invention. The cable bushing 112 of the robot 100 according to embodiment 5 is a rectangular plate with rounded corners, and the cable holes 113 are arranged in series along the long side. The cable bushing 112 of the robot 100 according to embodiment 5 is formed with a slit 114 that connects the cable holes 113 to each other.
When the cable bushing 112 of the robot 100 according to embodiment 5 is fitted to the main body 12 of the protective box 11, the cable bushing 112 is deformed so as to close the slit 114, and therefore, the waterproof and dustproof properties can be improved. Further, since the cable bushing 112 can be brought into a state in which an opening having a large diameter is formed by expanding the plurality of cable holes 113 connected by the slit 114, the inner cable 5 can be disposed in the cable holes 113 even in a state in which a connector is mounted on an end portion of the inner cable 5.
The robot 100 according to embodiment 6 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 9 is a diagram showing a structure of a cable bushing of a robot according to embodiment 6 of the present invention. The side surface of the cable bushing 112 of the robot 100 according to embodiment 6 is a tapered surface, and the width is narrower as it is inserted into the main body 12 of the protection box 11. That is, the cable bushing 112 of the robot 100 according to embodiment 6 has a tapered shape with a small area on the distal end side in the insertion direction into the cable hole 111 inside the robot.
The cable hole 113 may be a straight hole or a tapered hole having the same inclination as the side surface of the cable bushing 112.
The cable bushing 112 of the robot 100 according to embodiment 6 facilitates setting of the amount of squashing of the elastic body when inserted into the main body 12 of the protective box 11. Further, the insertion work of the cable bushing 112 into the cable hole 111 inside the machine is easy.
The robot 100 according to embodiment 7 of the present invention has the same structure as the robot 100 according to embodiment 1, but the cable bush 112 has a different structure. Fig. 10 is a diagram showing a structure of a cable bushing of a robot according to embodiment 7 of the present invention. The cable bushing 112 of the robot 100 according to embodiment 7 has an elliptical cable hole 113. The major axis direction of the cable hole 113 is the width direction of the cable bush 112, and the minor axis direction of the cable hole 113 is the length direction of the cable bush 112.
In the cable bushing 112 of the robot 100 according to embodiment 7, the cable hole 113 is formed in a circular shape in a state of being inserted into the built-in cable hole 111 and deformed, and therefore, a gap is not easily generated between the built-in cables 5. Therefore, the robot 100 according to embodiment 7 can improve the waterproof and dustproof properties of the protection box 11.
The configuration described in the above embodiment is an example of the content of the present invention, and may be combined with other known techniques, and a part of the configuration may be omitted or modified without departing from the scope of the present invention.
Description of the reference numerals
Claims (11)
1. An industrial robot, comprising:
a base part having a protection box for accommodating the control substrate;
a bendable and extendable arm having a joint, extending from the base section, and having a wrist section on which an end effector is mounted at a distal end;
a plurality of motors that are provided inside the arm and drive the joints to perform flexion and extension of the arm and change the posture of the wrist;
an inboard cable which is led out from the inside of the protective case, is wound around the inside of the arm, and is connected to the motor; and
a cable bushing pressed into an inside cable hole in the protective case, the inside cable hole leading out the inside cable,
the cable bushing is made of an elastic material, and is formed with a cable hole for disposing the built-in cable,
the cable hole is smaller than the outer diameter of the built-in cable in a state that the built-in cable is not configured.
2. The industrial robot of claim 1,
the cable bushing has a plurality of the cable holes,
the built-in cable is a multi-core cable including power lines and signal lines,
the power line and the signal line are respectively configured in the cable holes.
3. The industrial robot of claim 2,
the control board is provided with an in-machine cable connector for connecting signal lines of the in-machine cable.
4. The industrial robot of claim 3,
the control board is mounted with an inter-device cable connector for connecting a signal line of an inter-device cable drawn out from the protective box and connected to another device.
5. The industrial robot of claim 4,
a connection sleeve is provided in a portion of the protection box, from which the inter-equipment cable is drawn out, and a cylindrical seal is disposed inside the connection sleeve,
the inner diameter of the cylindrical sealing element is smaller than or equal to the outer diameter of the cable between the devices.
6. Industrial robot according to claim 4 or 5,
the inter-device cable is a multi-core cable including power lines and signal lines,
a relay connector for connecting a power line of the inter-device cable and a power line of the in-device cable is housed in the protection box.
7. The industrial robot according to any one of claims 2 to 6,
the cable bushing is formed with a plurality of slits each connected from an outer edge portion to the cable hole.
8. The industrial robot according to any one of claims 2 to 6,
the cable bushing is formed with a slit connecting the adjacent cable holes to each other.
9. The industrial robot according to any one of claims 2 to 8,
the cable bushing is a rectangular plate with four rounded corners, and a plurality of the cable holes are arranged in a direction along a long side.
10. The industrial robot of claim 9,
the cable hole is in an oval shape,
the long axis direction of the cable hole is the width direction of the cable bush,
the short axis direction of the cable hole is the length direction of the cable bush.
11. Industrial robot according to any of the claims 1 to 10,
the cable bushing has a tapered shape with a small area on a distal end side in an insertion direction of the in-machine cable hole.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/010974 WO2020188659A1 (en) | 2019-03-15 | 2019-03-15 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113557109A true CN113557109A (en) | 2021-10-26 |
Family
ID=72520632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980093855.4A Pending CN113557109A (en) | 2019-03-15 | 2019-03-15 | Industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6843317B2 (en) |
| CN (1) | CN113557109A (en) |
| WO (1) | WO2020188659A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997323A (en) * | 2021-12-08 | 2022-02-01 | 珠海格力电器股份有限公司 | Cable assembly and horizontal multi-joint industrial robot |
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| JPH09317951A (en) * | 1996-05-27 | 1997-12-12 | Rinnai Corp | Seal structure, cable holding member, and equipment using seal structure |
| JP2002247743A (en) * | 2001-02-19 | 2002-08-30 | Mitsubishi Cable Ind Ltd | Method and bushing for support cable |
| JP2007044767A (en) * | 2005-08-05 | 2007-02-22 | Yaskawa Electric Corp | Industrial robot |
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| JP2016068207A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | Robot, control device, and robot system |
| JP2016142309A (en) * | 2015-01-30 | 2016-08-08 | ファナック株式会社 | Tool for drawing out cable from housing of electronic apparatus, and electronic apparatus |
| JP2018051708A (en) * | 2016-09-30 | 2018-04-05 | セイコーエプソン株式会社 | Horizontal multijoint type robot |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
| JP2019005820A (en) * | 2017-06-21 | 2019-01-17 | セイコーエプソン株式会社 | Robot and robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61182793A (en) * | 1985-02-09 | 1986-08-15 | フアナツク株式会社 | Cable leading-in device for robot |
| JP2005014159A (en) * | 2003-06-26 | 2005-01-20 | Fanuc Ltd | Robot |
| JP5670588B2 (en) * | 2014-02-28 | 2015-02-18 | 株式会社ダイヘン | Articulated robot |
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2019
- 2019-03-15 CN CN201980093855.4A patent/CN113557109A/en active Pending
- 2019-03-15 JP JP2020564967A patent/JP6843317B2/en active Active
- 2019-03-15 WO PCT/JP2019/010974 patent/WO2020188659A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09317951A (en) * | 1996-05-27 | 1997-12-12 | Rinnai Corp | Seal structure, cable holding member, and equipment using seal structure |
| JP2002247743A (en) * | 2001-02-19 | 2002-08-30 | Mitsubishi Cable Ind Ltd | Method and bushing for support cable |
| JP2007044767A (en) * | 2005-08-05 | 2007-02-22 | Yaskawa Electric Corp | Industrial robot |
| CN101083389A (en) * | 2006-05-31 | 2007-12-05 | 烙克赛克股份有限公司 | A plug unit for a cable entry |
| JP2016068207A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | Robot, control device, and robot system |
| JP2016142309A (en) * | 2015-01-30 | 2016-08-08 | ファナック株式会社 | Tool for drawing out cable from housing of electronic apparatus, and electronic apparatus |
| CN104889974A (en) * | 2015-05-14 | 2015-09-09 | 湖北骐通智能科技股份有限公司 | Robot cable structure and robot using same |
| JP2018051708A (en) * | 2016-09-30 | 2018-04-05 | セイコーエプソン株式会社 | Horizontal multijoint type robot |
| JP2019005820A (en) * | 2017-06-21 | 2019-01-17 | セイコーエプソン株式会社 | Robot and robot system |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997323A (en) * | 2021-12-08 | 2022-02-01 | 珠海格力电器股份有限公司 | Cable assembly and horizontal multi-joint industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2020188659A1 (en) | 2021-04-08 |
| JP6843317B2 (en) | 2021-03-17 |
| WO2020188659A1 (en) | 2020-09-24 |
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Effective date of abandoning: 20230721 |