JP2005288560A - Arm device of industrial robot - Google Patents

Arm device of industrial robot Download PDF

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JP2005288560A
JP2005288560A JP2004102883A JP2004102883A JP2005288560A JP 2005288560 A JP2005288560 A JP 2005288560A JP 2004102883 A JP2004102883 A JP 2004102883A JP 2004102883 A JP2004102883 A JP 2004102883A JP 2005288560 A JP2005288560 A JP 2005288560A
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connecting member
industrial robot
arm
tool
wrist
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JP4091928B2 (en
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Atsushi Koshino
敦 越野
Koji Ono
耕治 大野
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Nachi Fujikoshi Corp
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Nachi Fujikoshi Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an arm device of an industrial robot having an intermediate member or a connecting member for shortening a shaft direction width of the intermediate member or the connecting member for mounting a tool including a spot welding gun at a distal end of an arm as long as possible, facilitating the exchange of pipe wiring members and providing no possibilities of failures in the pipe wiring members due to interference of the pipe wiring members with peripheral equipment. <P>SOLUTION: The tool 5 including the spot welding gun is mounted at a distal end of a wrist 2 mounted at the distal end 14 of the arm 1 via the U-shaped connecting member 7. The pipe wiring member 6 is arranged from the wrist 2 to the tool 5 in the tool 5. The U-shaped connecting member 7 is provided with a connecting wall 71 on one side in the peripheral direction. An opening part 72 on an opposite side of the connecting wall 71 is provided with guide members 73 to be a pair of reversed truncated chevron shaped guides. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

この発明は、産業用ロボットのアームの先端に取付けた手首に、スポット溶接ガンを含むツールを取り付ける産業用ロボットのアーム装置に関する。   The present invention relates to an arm device for an industrial robot in which a tool including a spot welding gun is attached to a wrist attached to the tip of an arm of an industrial robot.

従来の産業用ロボットのアームの先端に取付けた手首に、スポット溶接ガンを含むツールを取り付ける産業用ロボットのアーム装置としては、例えば特許文献１の図１、図２に開示するようなものがあった。特許文献１では、産業用ロボットのアームの先端に取付けた手首に、中間部材を介してスポット溶接ガンを含むツールを取り付けており、この中間部材は手首に第１のフランジと、第１のフランジに平行で所定の間隔を空けて配置されツールに直接取り付けられる第２のフランジと、第１及び第２のフランジの中心から離れた位置にあって第１及び第２のフランジを連結する２つの部材を左右対称に配置したクランクシャフト状をなすものであった。
特開２００３−１３６４６２号公報 請求項１、図１、図２ As an arm device for an industrial robot in which a tool including a spot welding gun is attached to the wrist attached to the tip of a conventional industrial robot arm, for example, there is a device disclosed in FIGS. It was. In Patent Document 1, a tool including a spot welding gun is attached to a wrist attached to the tip of an arm of an industrial robot via an intermediate member, and the intermediate member has a first flange and a first flange on the wrist. Two flanges that are parallel to each other and spaced apart from each other and are directly attached to the tool, and two flanges that are spaced from the centers of the first and second flanges and connect the first and second flanges. It was in the shape of a crankshaft with members arranged symmetrically.
JP, 2003-136462, A Claims 1, 1 and 2

従来の特許文献１の産業用ロボットのアーム装置では、中間部材は第１及び第２のフランジを連結する２つの部材を左右対称に配置しているので、ツールに配管配線部材を前記手首からツールまで配置するときは、２つの部材の間を通さねばならないので、配管配線部材の交換が易しくなく、配管配線部材はそれぞれ各端部にコネクタを有するので、中間部材の第１及び第２のフランジの間隔は配管配線部材の幅の他、各端部にコネクタの幅を含めた間隔が必要となり、中間部材の軸方向幅が長くなった。スポット溶接ガンを含むツールは極めて重いので、中間部材の軸方向幅が長いとロボットの作動遅れにつながった。さらにフランジを連結する２つの部材の間で前記配管配線部材を保持するとき、経年による配管配線部材の曲がり癖、ロボットの予測できない動作など、配管配線部材の予期できない経年変化、ロボットの予測できない動作により、配管配線部材がフランジを連結する２つの部材など周辺機器と干渉し、配管配線部材が不具合を起こすおそれがあった。   In the conventional arm device for an industrial robot disclosed in Patent Document 1, since the intermediate member has two members that connect the first and second flanges symmetrically arranged, a pipe wiring member is attached to the tool from the wrist to the tool. Since the pipe wiring member is not easily exchanged and each pipe wiring member has a connector at each end, the first and second flanges of the intermediate member are required. In addition to the width of the pipe wiring member, an interval including the width of the connector is required at each end, and the axial width of the intermediate member is increased. Since the tool including the spot welding gun is extremely heavy, if the axial width of the intermediate member is long, the operation of the robot will be delayed. Furthermore, when holding the pipe wiring member between the two members that connect the flange, the pipe wiring member may be bent due to aging, the robot may not be able to predict the unpredictable secular change of the pipe wiring member, or the robot may be unpredictable. As a result, the pipe wiring member may interfere with peripheral devices such as two members connecting the flanges, and the pipe wiring member may cause a problem.

本発明の課題は、かかる従来技術の課題を解決した、アームの先端にスポット溶接ガンを含むツールを取付ける中間部材又は連結部材の軸方向幅を極力短くして、ロボットの作動遅れがなく、配管配線部材の交換が容易で、かつ配管配線部材の予期できない経年変化、ロボットの予測できない動作により、配管配線部材が特許文献１の中間部材のようなフランジを連結する２つの部材など周辺機器と干渉し配管配線部材が不具合を起こすおそれがない、中間部材又は連結部材を有する産業用ロボットのアーム装置を提供することにある。   An object of the present invention is to solve such a problem of the prior art, the axial width of an intermediate member or a connecting member for attaching a tool including a spot welding gun to the tip of an arm is shortened as much as possible, and there is no operation delay of the robot. Replacement of the wiring member is easy, and the piping wiring member interferes with peripheral devices such as two members connecting flanges such as the intermediate member of Patent Document 1 due to unexpected aging of the piping wiring member and unpredictable operation of the robot. An object of the present invention is to provide an arm device for an industrial robot having an intermediate member or a connecting member, in which the piping wiring member is not likely to cause a problem.

このため本発明は、アームの先端に取付けた手首の先端に、コ字形の連結部材を介してスポット溶接ガンを含むツールを取り付け、前記スポット溶接ガンを含むツールに配管配線部材を前記手首からツールまで配置し、前記コ字形の連結部材は周方向で１側に連結壁を設け、連結壁の反対側の開口部に案内部材を設けたことを特徴とする産業用ロボットのアーム装置によって上述の本発明の課題を解決した。   For this reason, the present invention attaches a tool including a spot welding gun to the tip of a wrist attached to the tip of an arm via a U-shaped connecting member, and connects a pipe wiring member to the tool including the spot welding gun from the wrist to the tool. The U-shaped connecting member is provided with a connecting wall on one side in the circumferential direction, and a guide member is provided on the opening on the opposite side of the connecting wall. The problem of the present invention has been solved.

本発明では、アームの先端に取付けた手首の先端に、コ字形の連結部材を介してスポット溶接ガンを含むツールを取り付けたので、コ字形の連結部材の開口部の軸方向幅は配管配線部材の幅とほぼ同じでよく、中間部材又は連結部材を極力短くし、ロボットの作動遅れがなくなった。又、連結部材の連結壁の反対側に開口部を設けたので、配管配線部材の交換が容易で、かつ連結部材の開口部に案内部材を設けたので、配管配線部材の予期できない経年変化、ロボットの予測できない動作により、配管配線部材が特許文献１の中間部材のようなフランジを連結する２つの部材、などの周辺機器と干渉し配管配線部材が不具合を起こすおそれがない中間部材又は連結部材を有する産業用ロボットのアーム装置を提供するものとなった。   In the present invention, since the tool including the spot welding gun is attached to the tip of the wrist attached to the tip of the arm via the U-shaped connecting member, the axial width of the opening of the U-shaped connecting member is the piping wiring member. The intermediate member or the connecting member is shortened as much as possible, and the operation delay of the robot is eliminated. In addition, since the opening is provided on the opposite side of the connecting wall of the connecting member, it is easy to replace the pipe wiring member, and the guide member is provided in the opening of the connecting member. Intermediate member or connecting member in which pipe wiring member does not interfere with peripheral devices such as two members connecting flanges such as the intermediate member of Patent Document 1 due to unpredictable operation of the robot, and the piping wiring member does not cause a problem An arm device for an industrial robot having

本発明を実施するための最良の形態を図１を参照して説明する。図１は本発明を実施するための第１の最良の形態の産業用ロボットのアーム装置を示し、（ａ）は平面図、（ｂ）は（ａ）のｂ−ｂ線に沿った断面図、（ｃ）は（ａ）の右側面図である。この産業用ロボットのアーム装置では、１は図示しない産業用ロボットに取付けられたアームを示し、２はアーム１の先端14に第１の軸線11の回りで回転可能に取付けた手首、３は手首２に第２の軸線12の回りで回転装置31により回転可能に取付けられた第２手首部、４は第２手首部に第３の軸線13の回りで回転装置41により回転可能に取付けられたスポット溶接ガンを含むツール５を取付けるようにされたツールフランジ、６は手首２からツール５まで配置された配管配線部材６、７はアーム１の先端に取付けた手首２の先端にツール５を連結するコ字形の連結部材、である。コ字形の連結部材７には、周方向で一側に連結壁71を設け、連結壁71の反対側の開口部72には案内部材 73、73が設けられている。図１では、案内部材 73、73は、開口部72の両側に設けた逆ハ字形の１対のガイド 73、73である。61は手首２に固定された配管配線部材固定具で、62は第２手首部３に固定された配管配線部材固定具である。   The best mode for carrying out the present invention will be described with reference to FIG. 1A and 1B show an arm device for an industrial robot according to a first best mode for carrying out the present invention. FIG. 1A is a plan view, and FIG. 1B is a cross-sectional view taken along line bb in FIG. (C) is a right side view of (a). In this industrial robot arm device, reference numeral 1 denotes an arm attached to an unillustrated industrial robot, 2 denotes a wrist attached to the tip 14 of the arm 1 so as to be rotatable around a first axis 11, and 3 denotes a wrist. 2 is attached to the second wrist so as to be rotatable around the second axis 12 by means of a rotating device 31 and 4 is attached to the second wrist so as to be rotatable around the third axis 13 by means of a rotating device 41. A tool flange on which a tool 5 including a spot welding gun is attached, 6 is a pipe wiring member 6 arranged from the wrist 2 to the tool 5, and 7 is a tool 5 connected to the tip of the wrist 2 attached to the tip of the arm 1 A U-shaped connecting member. The U-shaped connecting member 7 is provided with a connecting wall 71 on one side in the circumferential direction, and guide members 73 and 73 are provided in an opening 72 on the opposite side of the connecting wall 71. In FIG. 1, the guide members 73 and 73 are a pair of inverted guides 73 and 73 provided on both sides of the opening 72. 61 is a pipe wiring member fixture fixed to the wrist 2, and 62 is a pipe wiring member fixture fixed to the second wrist 3.

図２は本発明を実施するための図１とは異なる第２の最良の形態の産業用ロボットのアーム装置を示し、（ａ）は平面図、（ｂ）は（ａ）のｂ−ｂ線に沿った断面図、（ｃ）は（ａ）の右側面図である。図２の産業用ロボットのアーム装置では、連結壁71の反対側の開口部72に設けられた案内部材74は、開口部72の一側に設けたかぎ形の１個のガイド74であること以外は、図１と同じであり、詳細な説明を省略する。
〔本発明の最良の実施形態の効果〕 FIG. 2 shows an arm device of an industrial robot of the second best mode different from FIG. 1 for carrying out the present invention, (a) is a plan view, and (b) is a line bb in (a). (C) is a right side view of (a). In the arm device for the industrial robot of FIG. 2, the guide member 74 provided in the opening 72 on the opposite side of the connecting wall 71 is a single hook-shaped guide 74 provided on one side of the opening 72. These are the same as those in FIG.
[Effect of Best Embodiment of the Present Invention]

本発明の最良の実施形態では、アームの先端に取付けた手首の先端に、コ字形の連結部材を介してスポット溶接ガンを含むツールを取り付けたので、コ字形の連結部材の開口部の軸方向幅は配管配線部材の幅とほぼ同じでよく、中間部材又は連結部材を極力短くしロボットの作動遅れがなくなった。又、連結部材の連結壁の反対側の開口部を設けたので、配管配線部材の交換が容易で、かつ連結部材の開口部に案内部材を設けたので、配管配線部材の予期できない経年変化、ロボットの予測できない動作により、配管配線部材が特許文献１の中間部材のようなフランジを連結する２つの部材など周辺機器と干渉し配管配線部材が不具合を起こすおそれがない、中間部材又は連結部材を有する産業用ロボットのアーム装置を提供するものとなった。   In the best mode of the present invention, since the tool including the spot welding gun is attached to the tip of the wrist attached to the tip of the arm via the U-shaped connecting member, the axial direction of the opening of the U-shaped connecting member The width may be almost the same as the width of the pipe wiring member, and the intermediate member or the connecting member is shortened as much as possible to eliminate the operation delay of the robot. Also, since the opening on the opposite side of the connecting wall of the connecting member is provided, it is easy to replace the pipe wiring member, and the guide member is provided in the opening of the connecting member. An intermediate member or a connecting member in which the piping wiring member does not interfere with peripheral devices such as two members that connect the flange like the intermediate member of Patent Document 1 due to an unpredictable operation of the robot, causing the piping wiring member to malfunction. An industrial robot arm device is provided.

好ましくは、本発明を実施するための第１の最良の形態の産業用ロボットのアーム装置では、案内部材は開口部の両側に設けた逆ハ字形の１対のガイドであるので、配管配線部材の交換が容易で、かつ連結部材の開口部の両側に設けた逆ハ字形の１対のガイドは、配管配線部材が開口部から外れたとき配管配線部材はゆるく１対のガイドで案内され、容易にもとに戻ることができる中間部材又は連結部材を有する産業用ロボットのアーム装置を提供するものとなった。
さらに好ましくは、本発明を実施するための第２の最良の形態の産業用ロボットのアーム装置では、連結部材の連結壁の反対側の開口部に設けられた案内部材は、連結部材の開口部の一側に設けたかぎ形の１個のガイドであるので、配管配線部材が開口部から外れないように配管配線部材はゆるくガイドで案内されている中間部材又は連結部材を有する産業用ロボットのアーム装置を提供するものとなった。 Preferably, in the arm device for the industrial robot according to the first best mode for carrying out the present invention, the guide members are a pair of inverted C-shaped guides provided on both sides of the opening. The pair of inverted C-shaped guides provided on both sides of the opening of the connecting member is easily guided by the pair of guides when the pipe wiring member is removed from the opening. An arm device for an industrial robot having an intermediate member or a connecting member that can be easily returned to the original state is provided.
More preferably, in the arm device for the industrial robot of the second best mode for carrying out the present invention, the guide member provided in the opening on the opposite side of the connecting wall of the connecting member is the opening of the connecting member. Since the pipe wiring member is loosely guided by the guide so that the piping wiring member does not come off from the opening, the arm of the industrial robot having the intermediate member or the connecting member which is a hook-shaped guide provided on one side Equipment was provided.

図１は本発明を実施するための第１の最良の形態の産業用ロボットのアーム装置を示し、（ａ）は平面図、（ｂ）は（ａ）のｂ−ｂ線に沿った断面図、（ｃ）は（ａ）の右側面図である。1A and 1B show an arm device for an industrial robot according to a first best mode for carrying out the present invention. FIG. 1A is a plan view, and FIG. 1B is a cross-sectional view taken along line bb in FIG. (C) is a right side view of (a). 図２は本発明を実施するための図１とは異なる第２の最良の形態の産業用ロボットのアーム装置を示し、（ａ）は平面図、（ｂ）は（ａ）のｂ−ｂ線に沿った断面図、（ｃ）は（ａ）の右側面図である。FIG. 2 shows an arm device of an industrial robot of the second best mode different from FIG. 1 for carrying out the present invention, (a) is a plan view, and (b) is a line bb in (a). (C) is a right side view of (a).

符号の説明Explanation of symbols

１：産業用ロボットに取付けられるアーム ２：アーム先端に取付けた手首
３：手首に取付けられた第２手首部 ４：ツールフランジ
５：スポット溶接ガンを含むツール ６：配管配線線部材
７：コ字形の連結部材 14：アームの先端
71：連結部材の連結壁 72：開口部
73、73 ：逆ハ字形の１対のガイド（案内部材）
74：かぎ形の１個のガイド（案内部材） 1: Arm attached to industrial robot 2: Wrist attached to tip of arm 3: Second wrist attached to wrist 4: Tool flange 5: Tool including spot welding gun 6: Pipe wiring member 7: U-shape Connecting member 14: Arm tip
71: Connecting wall of connecting member 72: Opening
73, 73: A pair of inverted guides (guide members)
74: One hook-shaped guide (guide member)

Claims (3)

アームの先端に取付けた手首の先端に、コ字形の連結部材を介して溶接ガンを含むツールを取り付け、前記溶接ガンを含むツールに配管配線部材を前記手首からツールまで配置し、前記コ字形の連結部材は周方向で１側に連結壁を設け、連結壁の反対側の開口部に案内部材を設けたことを特徴とする産業用ロボットのアーム装置。   A tool including a welding gun is attached to the tip of the wrist attached to the tip of the arm via a U-shaped connecting member, and a piping wiring member is disposed on the tool including the welding gun from the wrist to the tool. An arm device for an industrial robot, wherein the connecting member is provided with a connecting wall on one side in the circumferential direction, and a guide member is provided in an opening on the opposite side of the connecting wall. 前記コ字形の連結部材の開口部の案内部材は、前記開口部の両側に設けた逆ハ字形の１対のガイドであることを特徴とする請求項１記載の産業用ロボットのアーム装置。   2. The arm device for an industrial robot according to claim 1, wherein the guide member of the opening of the U-shaped connecting member is a pair of inverted C-shaped guides provided on both sides of the opening. 前記コ字形の連結部材の開口部の案内部材は、前記開口部の一側に設けたかぎ形の１個のガイドであることを特徴とする請求項１記載の産業用ロボットのアーム装置。   2. The arm device for an industrial robot according to claim 1, wherein the guide member for the opening of the U-shaped connecting member is a single hook-shaped guide provided on one side of the opening.
JP2004102883A 2004-03-31 2004-03-31 Industrial robot arm device Expired - Lifetime JP4091928B2 (en)

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DE102011014150A1 (en) 2010-04-16 2011-10-20 Fanuc Corporation Supply cable arrangement unit of a robot wrist section
KR101086295B1 (en) 2011-06-01 2011-11-24 조승완 Articulated robot
WO2013041153A1 (en) * 2011-12-28 2013-03-28 Abb Technology Ltd Process turning disc with a cable guide
US20150027261A1 (en) * 2013-07-26 2015-01-29 Kabushiki Kaisha Yaskawa Denki Robot and manufacturing method of the same
CN104339367A (en) * 2013-07-30 2015-02-11 株式会社安川电机 Robot
US9764483B2 (en) 2013-07-26 2017-09-19 Kabushiki Kaisha Yaskawa Denki Robot and manufacturing method of the same
CN107866802A (en) * 2016-09-28 2018-04-03 合肥欣奕华智能机器有限公司 The construction unit and industrial robot of a kind of industrial robot

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JP2009178828A (en) * 2008-02-01 2009-08-13 Yaskawa Electric Corp Industrial robot equipped with linear body guide mechanism
WO2010052031A1 (en) * 2008-11-04 2010-05-14 Abb Technology Ab A process turning disc, a robot arm comprising a process turning disc, a robot and a use of a process turning disc
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