JP2014097573A - Articulated robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an articulated robot capable of eliminating interference of cables arranged in a first arm provided on a turntable and a second arm with an obstacle located around a robot.SOLUTION: A welding robot comprises a through hole 47a comprising a third rotation axis J3 in a supporting member 47 and a bearing member 48 of a first arm 40 and extending in the same direction as the third rotation axis J3. Power cable PC2 and control signal cable C2 are arranged by being passed through the inside of the first arm 40, the through hole 47a and the inside of a second arm 50.

Description

  The present invention relates to an articulated robot, and more particularly to an articulated robot having 7 or more degrees of freedom.

  In recent years, as an industrial robot, as shown in Patent Document 1, a robot having a redundant axis and having seven degrees of freedom has been proposed. The manipulator of the robot includes a swivel provided so as to be able to swivel around a first rotation axis with respect to a base, and the swivel has a first in a plane perpendicular to the first rotation axis. A first arm is rotatably provided around the two rotation axis. Further, a second arm is provided at the tip of the first arm so as to be rotatable around a third rotation axis that is orthogonal to the second rotation axis. Further, a third arm is provided at the tip of the second arm so as to be rotatable around a fourth rotation axis in a plane orthogonal to the third rotation axis. A wrist assembly is attached to the tip of the third arm, and a motor that rotationally drives the first arm, the second arm, and the third arm around their rotational axes. I have.

  The articulated robot with 7 degrees of freedom configured in this way can reduce interference with work objects or peripheral devices, or interference between arms, so that the work area around the robot can be used effectively There is.

International Publication No. 2009/069389 Pamphlet

  By the way, in an industrial robot, a drive motor provided in each arm, a power cable for supplying power to a work tool provided in a wrist assembly, and various control signals are transmitted from the robot control device or work. A communication cable for transmitting various detection signals provided in the tool to the robot control device is provided. In the articulated robot of Patent Document 1, a cable placed in the swivel from the base is exposed to the outside from the lower part of the swivel, and extends upward along the outer surface of the first arm. Like to do. In addition, the cable is fixed to the upper outer surface of the first arm with a fixed clamp, and further bent in the horizontal direction on the back side with a fixed clamp different from the fixed clamp. It is fixed to the back. Further, the cable bent in the horizontal direction is bent in a horizontal U shape and horizontally wired along the outer surface at the lower part of the second arm, and is fixed to the outside of the second arm by a fixing clamp. It is fixed to the side. Further, the cable fixed to the second arm is further bent in a vertical direction substantially in the side surface of the second arm and fixed to a substantially intermediate position of the second arm with a fixing clamp, and the upper part of the cable is fixed to the cable. It is designed to be placed in the third arm.

  However, when the cable is wired as described above, since the cable is fixed to the upper outer surface of the first arm, when the first arm is operated, the cable is slackened or overhanged. Also, when the first arm is operated, an object located in the vicinity may become an obstacle and interfere with the cable. Note that when trying to prevent the cable from protruding, it is conceivable to narrow the operating range of the robot. However, in this case, the operating range of the robot is suppressed, which is not preferable.

  An object of the present invention is to provide a multiplicity of seven degrees of freedom or more that can eliminate interference between cables arranged on the first arm and the second arm provided on the swivel base and an obstacle located around the robot. It is to provide an articulated robot.

  In order to solve the above problems, the invention according to claim 1 is directed to a base, a swivel provided so as to be turnable around a first rotation axis with respect to the base, and the swivel A first arm provided to be rotatable around a second rotation axis in a plane orthogonal to the first rotation axis, and a support portion provided at a tip of the first arm, the second rotation axis. A second arm that is pivotable about a third rotation axis perpendicular to the axis, and a tip of the second arm that rotates around a fourth rotation axis in a plane perpendicular to the third rotation axis. In an articulated robot including a third arm that is movably provided and a wrist assembly that is attached to a tip of the third arm, the third rotational axis is provided on a support portion of the first arm. Including a cable insertion hole that extends in the same direction as the third rotation axis, and the cables inside the first arm, The cable insertion hole and the second arm are disposed so as to pass through, and one side of a part of the cables is connected to the first arm through a through hole provided in the outer wall of the first arm. The other side of the part of the cable is projected to the outside through the through-hole provided in the outer wall of the second arm.

  According to a second aspect of the present invention, in the first aspect, a cable movement suppressing means for suppressing movement of the cables in the cable insertion hole is provided in the cable insertion hole, and the second arm is the third rotation axis. The cable movement restraining means restrains the movement of the cables when turning around the cable.

  According to a third aspect of the present invention, in the second aspect, the cable movement restraining means is provided coaxially with the third rotation axis and provided with a rotation axis passage hole that allows the cables to pass therethrough. The cable movement restraining means is provided with a plurality of holding holes positioned around the rotation axis passage hole, and the cables are passed through and held in the plurality of holding holes. And

  The invention of claim 4 is characterized in that, in claim 3, a plurality of the holding holes are formed so as to have different diameters.

  A fifth aspect of the present invention is characterized in that, in the fourth aspect, the rotation axis passage hole is formed to have a larger diameter than the holding hole.

  According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the one end portion of the cable is a first terminal provided on an outer surface of the outer wall of the first arm. And the other end of the part of the cables is detachably connected to a second terminal provided on the outer surface of the outer wall of the second arm. It is characterized by.

  The invention of claim 7 is the invention according to claim 6, wherein the cables include a power cable as the partial cable and a plurality of control signal cables, and the first arm interior, the cable insertion hole, and the first Inside the two arms, the plurality of control signal cables are arranged separately from each other.

  According to an eighth aspect of the present invention, in any one of the first to seventh aspects, an opening is formed in the outer wall of the second arm, and a cover covering the opening is detachably attached to the second arm. It is characterized by that.

  As described above in detail, according to the first aspect of the present invention, by arranging the cables in the first arm, the cable insertion hole, and the second arm located on the swivel base side with respect to the support portion. In the operation of the robot, interference between cables arranged on the first arm and the second arm and an obstacle located around the robot can be eliminated.

  According to the invention of claim 2, since the movement of the cables can be suppressed by the cable movement suppressing means when the second arm is turned, the movement of the cable insertion hole is limited, and the durability of the cables is improved. Can be made.

  According to the invention of claim 3, the cables passing through the rotation axis passage hole are twisted when the second arm is turned, whereas the cables passing through the holding hole are not twisted. Accompanied by deformation and movement. For this reason, the cables which can respond to this deformation | transformation and a movement can be penetrated in a holding hole. Further, cables having a high durability against twisting can be inserted through the rotation axis passing hole.

  According to the invention of claim 4, cables having different diameters can be inserted and held in the plurality of holding holes, for example, cables for signal transmission can be inserted and arranged.

  According to the fifth aspect of the present invention, cables having a large diameter (for example, power cables) can be inserted because the rotation axis passage hole is formed to have a larger diameter than the holding hole. For this reason, when the second arm turns, a large load other than twisting is not applied to the cables having a large diameter inserted through the rotation axis passing hole.

  According to the invention of claim 6, replacement of some of the cables arranged in the first arm, the cable insertion hole, and the second arm located on the swivel base side with respect to the support portion is performed. Can do.

  According to the invention of claim 7, since the plurality of control signal cables are arranged separately from each other inside the first arm, the cable insertion hole, and the second arm, the second arm is When turning, the control signal cables are not restrained from each other, can move freely, and do not interfere with the operation of the second arm.

1 is a side view of an articulated robot according to an embodiment of the present invention. The principal part plane sectional drawing similarly cut | disconnected by the AA line of FIG. The principal part sectional side view which shows the connection structure of the 1st arm and 2nd arm which were similarly cut | disconnected by the BB line of FIG. The principal part sectional side view which similarly shows the connection structure of the 1st arm and 2nd arm which were cut | disconnected by CC line of FIG. The top view of a cable holder similarly. (A)-(c) is explanatory drawing of an effect | action.

  Hereinafter, an embodiment in which the present invention is embodied in a welding robot having seven degrees of freedom will be described with reference to FIGS.

  As shown in FIG. 1, the swivel base 30 of the manipulator 10 is provided so as to be swivel around the first rotation axis J <b> 1 with respect to the base 20. The swivel base 30 is provided with a first arm 40 so as to be rotatable around a second rotation axis J2 in a plane orthogonal to the first rotation axis J1. In addition, a second arm 50 is turnable around a third rotation axis J3 orthogonal to the second rotation axis J2 with respect to the distal end portion of the first arm 40.

  Further, the third arm 60 is provided at the tip of the second arm 50 so as to be rotatable around a fourth rotation axis J4 in a plane orthogonal to the third rotation axis J3. A wrist assembly 70 is attached to the tip of the third arm 60.

  The wrist assembly 70 includes a body 72 provided so as to be rotatable around a fifth rotation axis J5 orthogonal to the fourth rotation axis J4 with respect to a tip end portion of the third arm 60; An oscillating body 74 is provided so as to be rotatable around a sixth rotation axis J6 orthogonal to the fifth rotation axis J5 with respect to the tip. In addition, the wrist assembly 70 includes a rotating body 76 that is provided so as to be rotatable around a seventh rotation axis J7 that is orthogonal to the sixth rotation axis J6 with respect to the tip of the swinging body 74. A welding torch 78 as a work tool is attached to the rotating body 76. The first rotation axis J1 to the seventh rotation axis J7 of the manipulator 10 are provided with a motor via a speed reducer, and are driven by inputting a command (control signal) from a robot controller (not shown). .

  Next, a connection structure between the first arm 40 and the second arm 50 will be described with reference to FIGS.

  As shown in FIG. 3, a hollow portion 41 is formed at the distal end portion of the first arm 40. The hollow portion 41 includes a peripheral wall 42 extending from the proximal end side of the first arm 40 to the distal end, a distal end wall 43, and a lower wall 44 extending from a part of the peripheral wall 42 toward the third rotational axis J3. In FIG. 3, the lateral side, upper side, and part of the lower area are surrounded. A through hole 43a having a circular cross section coaxial with the third rotation axis J3 is formed in the tip wall 43.

  In FIG. 3, an opening 45 is formed below the hollow portion 41 and the opening 45 is covered with a cover 46. The cover 46 is detachably attached to the peripheral edge of the opening 45 by a mounting means such as a screw (not shown). When the cover 46 is removed, the opening 45 and the hollow portion 41 become a manual work space in which a control signal cable C2 and a power cable PC2 can be exchanged for a signal terminal box 92 described later.

  As shown in FIGS. 3 and 4, a cylindrical support member 47 is fixed to the distal end portion (the upper end portion in FIGS. 3 and 4) of the first arm 40. The support member 47 is formed with a through hole 47a that is coaxial with the third rotation axis J3 and has the same diameter as the through hole 43a of the first arm 40. A cylindrical portion 49 that is coaxial with the through hole 47 a protrudes from the distal end surface of the support member 47. A large-diameter gear 49 a is fixed to the outer periphery of the cylindrical portion 49.

  The gear 49 a constitutes a reduction mechanism with a gear provided on the output shaft of a drive motor (not shown) provided on the second arm 50. And the 2nd arm 50 turns around the 3rd rotating shaft center J3 by the drive of the said drive motor.

  A bearing member 48 is fixed to the tip of the support member 47. As shown in FIG. 4, the base end portion of the second arm 50 is supported at the distal end portion of the bearing member 48 so as to be rotatable around the third rotation axis J <b> 3. In the present embodiment, the support member 47 and the bearing member 48 constitute a support portion. The through hole 47a corresponds to a cable insertion hole.

  A hollow portion 51 is provided at the proximal end portion of the second arm 50. The hollow portion 51 is formed to be surrounded by a bottom wall 52, a peripheral wall 53 erected upward from the bottom wall 52, and an upper wall 54.

  The hollow portion 51 is partitioned into a first chamber 56 and a second chamber 57 by a partition wall 55 formed between the bottom wall 52 and the upper wall 54. The partition wall 55 is formed with an insertion hole 59 that allows the power cable PC2 and the control signal cable C2, which will be described later, to be arranged from the first chamber 56 to the second chamber 57.

  In the hollow portion 51, an opening 51 a is provided in the upper wall 54 and the peripheral wall 53 of the second arm 50. The opening 51a is covered with a cover 51b attached to the peripheral edge portion by attaching means such as a screw. Then, by removing the mounting means such as the screws, the first chamber 56, the insertion hole 59, and the second chamber 57 are connected to the signal terminal box 93, which will be described later, through the opening 51a. It becomes a manual work space in which the power cable PC2 can be replaced.

  A through hole 52a having the same diameter as the through hole 47a is formed in the bottom wall 52 of the first chamber 56. As shown in FIGS. 3 and 4, the bottom wall 52 is provided with a cylindrical tube body 58. The cylinder 58 is fixedly attached to the bottom wall 52 by a fastening means such as a screw with respect to a mounting flange provided at the tip. The cylinder 58 is slidably inserted into the through holes 52a, 47a, 43a.

  As shown in FIG. 4, power terminal portions 90 and 91 are provided on the outer surface of the peripheral wall 42 of the first arm 40 and the outer surface of the peripheral wall 53 of the second arm 50, respectively. The power terminal unit 90 corresponds to a first terminal unit. The power terminal portion 91 corresponds to the second terminal portion. The power terminal portions 90 and 91 are connected to the hollow portion 41, the through hole 47 a, and each end of the power cable PC <b> 2 disposed in the hollow portion 51. Specifically, the terminals PC2a and PC2b at each end of the power cable PC2 are projected to the outside from the hollow portions 41 and 51 through through holes (not shown) provided in the peripheral walls 42 and 53, and are bolted by B1 and B2. The power terminal portions 90 and 91 are detachably attached. The through holes (not shown) provided in the peripheral walls 42 and 53 are formed in such a size that the terminals PC2a and PC2b can be extracted when the power cable PC2 is removed.

  As shown in FIG. 4, signal terminal boxes 92 and 93 are provided on the outer surface of the peripheral wall 42 of the first arm 40 and the inner surface of the peripheral wall 53 of the second chamber 57 in the second arm 50, respectively. The signal terminal box 92 corresponds to the first terminal portion, and the signal terminal box 93 corresponds to the second terminal portion. The signal terminal boxes 92 and 93 are connected to the hollow portion 41, the through-hole 47a, and the plurality of control signal cables C2 disposed in the hollow portion 51 so as to be separated from each other and detachable at their ends.

  Next, suppression of the positions of the power cable PC2 and the control signal cable C2 inserted through the through hole 47a will be described.

  The opening on the bottom wall 52 side of the cylindrical body 58 has a diameter larger than that of the through hole 52a to form a locking step portion. A cable holder 80 is attached to the locking step. Thus, in the present embodiment, the attachment position of the cable holder 80 is positioned close to the hollow portion 51 side in the through hole 47a. The cable holder 80 is formed from an elastic member such as an elastomer, synthetic rubber, or natural rubber. The cable holder 80 corresponds to a cable movement suppressing unit.

  As shown in FIG. 5, the cable holder 80 includes a cylindrical main body portion 82 having a through hole 81 arranged coaxially with the third rotation axis J3, and a protrusion projecting from the main body portion 82 to engage with the locking step portion. A flange portion 83 is provided. The through hole 81 corresponds to a rotation axis passing hole. As shown in FIGS. 2 and 3, the cable holder 80 is attached to the flange portion 83 with the attachment ring 86, and is removed from the flange of the cylindrical body 58 by fastening means such as bolts inserted into the attachment ring 86. It is installed freely.

  The through hole 81 is formed to have a diameter slightly larger than the diameter of the power cable PC2 and larger than a holding hole 84 to be described later, and the power cable PC2 is inserted as shown in FIGS. . When the power cable PC2 is loosely inserted into the through hole 81, the portion inserted into the through hole 47a is restrained to be coaxial with the third rotation axis J3 as shown in FIGS. Yes. Then, as shown in FIG. 4, the power cable PC <b> 2 is disposed in the portion located in the hollow portion 41, the portion located in the through hole 47 a, and the hollow portion 51 (that is, the first chamber 56 and the second chamber 57). Due to the position of the second arm 50, the second arm 50 is disposed in a U shape when the second arm 50 is located at the turning origin position.

  Further, as shown in FIG. 5, a plurality of holding holes 84 are formed around the through hole 81 and the control signal cable C2 is inserted into the main body 82. The plurality of holding holes 84 are formed to have different diameters. The holding hole 84 can be removably inserted into the holding hole 84 from the outside by a slit 85 formed by cutting the flange portion 83 and the holding hole 84. For convenience of explanation, FIG. 5 shows a state in which the control signal cable C2 is inserted through all the holding holes 84, but the control signal cable C2 is not necessarily inserted into all the holding holes 84. According to the specifications of the robot, a necessary number of control signal cables C2 are inserted into the holding holes 84 having a diameter slightly smaller than the diameter of the control signal cable C2, and are elastically held.

  When the control signal cable C2 is inserted into the holding hole 84, the hollow portion 51 side is held at the portion where the control signal cable C2 is inserted into the through hole 47a as shown in FIGS. 3 and 4, that is, the position is suppressed. ing. As shown in FIG. 4, the control signal cable C <b> 2 is configured such that the second arm 50 has a turning origin by a portion located in the hollow portion 41, a portion located in the through hole 47 a, and a portion located in the hollow portion 51. When it is located, it is placed in a U shape.

  As shown in FIG. 1, a power cable PC <b> 1 is arranged on the swivel base 30 and the first arm 40. As shown in FIG. 1, each end of the power cable PC1 is detachably connected to a power terminal portion 94 provided on the outer surface of the swivel base 30 and the power terminal portion 90 of the first arm 40, respectively. . In addition, since the attachment structure with respect to the power terminal parts 94 and 90 of power cable PC1 is performed by the well-known method, detailed description is abbreviate | omitted. The power terminal 94 is connected to a power cable (both not shown) connected to a power supply device.

  Further, as shown in FIG. 1, a power cable PC <b> 3 is provided outside the second arm 50 and the third arm 60. The power cable PC3 has one end connected to the power terminal 91 and the other end connected to a connection power cable (not shown) to supply power to the welding torch 78.

  Further, as shown in FIG. 1, the swivel base 30 and the first arm 40 have flexibility or elasticity in a state where a plurality of control signal cables for transmitting various control signals are bundled. The tube T1 is inserted and arranged outside.

  As shown in FIG. 1, a relay signal terminal box (not shown) is provided in the peripheral wall of the swivel base 30 and a control signal cable for sending a control signal from a robot controller (not shown) is connected. Then, one end of a plurality of control signal cables C1 (see FIG. 4) in the tube T1 is connected to the same signal terminal box (not shown) through an opening (not shown) of the peripheral wall. Further, as shown in FIG. 4, the tube T <b> 1 is introduced into an opening 45 a in which the lower wall 44 is omitted in the hollow portion 41 of the first arm 40. One end of each control signal cable C1 in the tube T1 is detachably connected to the signal terminal box 92.

  As shown in FIG. 1, the second arm 50 and the third arm 60 are flexible in a state where a plurality of control signal cables C3 (see FIG. 4) for transmitting various control signals are bundled. Or, it is inserted into the elastic tube T2 and arranged outside. Further, as shown in FIG. 4, the tube T <b> 2 is introduced into an opening 54 a in which the upper wall 54 is omitted in the hollow portion 51 of the second arm 50. One end of each control signal cable C2 in the tube T2 is detachably connected to the signal terminal box 93.

  Further, as shown in FIG. 1, the tube T2 is introduced into an opening (not shown) provided in the peripheral wall of the third arm 60, and the inside of the tube T2 with respect to a signal terminal box (not shown) provided in the opening. The other end of each control signal cable C2 is detachably connected. A control signal is sent from a robot control device (not shown) to a control target such as a drive motor provided at each joint portion of the manipulator 10 by the control signal cables.

(Operation of the embodiment)
Now, the operation of the welding robot configured as described above will be described.

  FIG. 6A schematically shows the state of FIG. 4, and shows a state in which the second arm 50 is located at the turning origin position with respect to the first arm 40. As shown in the figure, in this state, the power cable PC2 and each control signal cable C2 are U-shaped.

  In this state, when the second arm 50 turns +180 degrees or −180 degrees with respect to the first arm 40 from the turning origin position, the cable holder 80 is also fixed to the second arm 50 so that it rotates. 6 (b) or the state shown in FIG. 6 (c). In this state, since the power cable PC2 is loosely inserted into the through hole 81, the power cable PC2 is restrained by the through hole 81 and is held coaxially with the third rotation axis J3 of the cable holder 80. The portion inserted through the through hole 47a is twisted.

  On the other hand, each control signal cable C1 held in each holding hole 84 of the cable holder 80 rotates in particular, as shown in FIGS. 6 (b) and 6 (c). The inner part is displaced. The displacement of the portion in the through hole 47a of the control signal cable C1 when the cable holder 80 is rotated only moves around the portion of the power cable PC2 that is also located in the through hole 47a. The cables C1 do not disturb each other's displacement.

  Now, according to this embodiment, there are the following features.

  (1) The welding robot having seven degrees of freedom according to the present embodiment includes the third rotation axis J3 in the support member 47 and the bearing member 48 (support part) of the first arm 40, and the third rotation axis J3. And a through hole 47a (cable insertion hole) extending in the same direction. Then, the power cable PC2 and the control signal cable C2 (cables) were disposed through the first arm 40, the through hole 47a, and the second arm 50.

  As a result, during the operation of the robot, the interference between the power cable PC2 and the control signal cable C2 (cables) arranged on the first arm 40 and the second arm 50 and the obstacle located around the robot can be eliminated. it can.

  (2) In the present embodiment, the welding robot has a cable holder 80 (cable movement suppression means) that suppresses the movement of the power cable PC2 and the control signal cable C2 (cables) in the through hole 47a (cable insertion hole). It is provided in the through hole 47a (cable insertion hole). Further, when the second arm 50 pivots around the third rotation axis J3, the cable holder 80 suppresses the movement of the power cable PC2 and the control signal cable C2. As a result, according to the present embodiment, when the second arm 50 is turned by the cable holder 80, the movement of the power cable PC2 and the control signal cable C2 can be suppressed. The durability of the control signal cable C2 can be improved.

  (3) In the present embodiment, the cable holder 80 (cable movement restraining means) is disposed coaxially with the third rotation axis J3 and has a through hole 81 (allowing passage of the power cable PC2 (cables)). A rotation axis passage hole) is provided. The cable holder 80 is provided with a plurality of holding holes 84 located around the through hole 81, and the control signal cable C <b> 2 (cables) is passed through and held in the plurality of holding holes 84. . As a result, according to the present embodiment, the power cable PC2 passing through the through hole 81 is twisted when the second arm 50 is turned, but on the other hand, the control signal cable C2 (passed through the holding hole 84) ( Cables) are accompanied by deformation and movement other than twisting. For this reason, the holding hole 84 can be inserted into the holding hole 84 with cables that can cope with this deformation and movement. Further, the power cable PC2 having a high twisting durability can be inserted into the through hole 81.

  (4) In the present embodiment, a plurality of holding holes 84 of the cable holder 80 are formed so as to have different diameters. As a result, control signal cables C2 (cables) having different diameters can be inserted and held in the plurality of holding holes 84, and for example, cables for signal transmission can be inserted and arranged.

  (5) In the present embodiment, the through hole 81 (rotational axis passage hole) of the cable holder 80 is formed to have a larger diameter than the holding hole 84. As a result, according to the present embodiment, cables (for example, power cables) having a diameter larger than that of the control signal cable can be inserted. For this reason, when the second arm 50 is turned, a large load other than twisting is not applied to the cables having a large diameter inserted into the through-hole 81 and to the cables having a large diameter.

  (6) In the present embodiment, both ends of the power cable PC2 and the control signal cable C2 (cables) are connected to the power terminal portion 90 and the signal terminal box 92 (which are respectively provided in the first arm 40 and the second arm 50). The first terminal portion), the power terminal portion 91, and the signal terminal box 93 (second terminal portion) are detachably connected. As a result, the power cable PC2 and the control signal cable C2 (cables) can be exchanged. In particular, since there are a plurality of individual control signal cables inside the first arm 40, the through hole 47a (cable insertion hole), and the second arm 50, only the control signal cable is used depending on the degree of pain. Can be exchanged. Alternatively, only the power cable PC2 can be replaced.

  Further, the power cable PC2 can be exchanged in a cycle different from that of the externally arranged power cables PC1 and PC3. Furthermore, the control signal cable C1 can be exchanged in a different cycle from the control signal cables in the tubes T1 and T2 provided outside.

  (7) In the present embodiment, the cables include a plurality of control signal cables. In the first arm 40, the through hole 47a, and the second arm 50, the plurality of control signal cables C2 are arranged separately from each other. For this reason, when the second arm 50 turns, the control signal cables C2 are not restrained from each other and can move freely, and the operation of the second arm 50 is not disturbed.

  In addition, you may change embodiment of this invention as follows.

  In the above-described embodiment, the arc welding robot is used. However, in addition to the arc welding robot, other industrial robots such as a spot welding robot and a painting robot may be used.

  In the above-described embodiment, the support portion is configured by the support member 47 and the bearing member 48. However, the support member 47 may be configured such that the bearing is integrated with the support member 47.

  In the embodiment, the plurality of holding holes 84 provided in the cable holder 80 are provided so as to have different diameters, but all may have the same diameter. Alternatively, a plurality of holding holes 84 having the same diameter may be provided as one group, and a plurality of holding holes 84 having a different diameter from this group may be provided as another group.

  In the embodiment described above, the attachment position of the cable holder 80 is positioned close to the hollow portion 51 side of the through hole 47a, but the attachment position of the cable holder 80 is not limited. For example, the mounting position of the cable holder 80 may be an intermediate position in the height direction of the through hole 47a (vertical direction in FIG. 3) or a position close to the hollow portion 41 side in the through hole 47a.

  In the above-described embodiment, the cable holder 80 is attached to the cylindrical body 58, but it may be attached to any one of the through holes 52a, 47a, 43a so as to be directly detachable.

  -In the said embodiment, although the cable holder 80 was formed from elastic members, such as an elastomer, a synthetic rubber, and natural rubber, the material is not limited. For example, it may be made of metal. Note that. In the case of metal, the slit 85 is omitted.

  In the above embodiment, the articulated robot has 7 degrees of freedom, but is not limited to 7 degrees of freedom, and may be embodied in an articulated robot with 8 degrees of freedom or more.

DESCRIPTION OF SYMBOLS 10 ... Manipulator, 20 ... Base, 30 ... Turntable, 40 ... 1st arm,
47 ... support member (support part), 47a ... through hole (cable insertion hole),
48 ... bearing member (support part), 49 ... cylindrical part,
50 ... second arm, 51 ... hollow part,
60 ... third arm, 70 ... wrist assembly,
72 ... trunk, 74 ... rocking body, 76 ... rotating body, 78 ... welding torch,
80: Cable holder (cable movement restricting means),
81 ... through hole (rotational axis passage hole), 82 ... main body,
83 ... Flange, 84 ... Holding hole, 85 ... Slit,
86 ... mounting ring, 90 ... power terminal part (first terminal part),
91 ... Power terminal part (second terminal part),
92 ... signal terminal box (first terminal part),
93 ... Signal terminal box (second terminal part),
94: Power terminal, C2: Control signal cables (cables),
PC2 ... Power cable (cables).

Claims (8)

A base, a swivel provided so as to be turnable about a first rotation axis with respect to the base, and a second rotation axis in a plane perpendicular to the first rotation axis with respect to the turntable And a second arm provided on a support portion provided at a tip of the first arm so as to be rotatable around a third rotation axis perpendicular to the second rotation axis. An arm, a third arm provided at the tip of the second arm so as to be rotatable around a fourth rotation axis in a plane orthogonal to the third rotation axis, and a tip of the third arm In an articulated robot with a wrist assembly attached to
A cable insertion hole including the third rotation axis in the support portion of the first arm and extending in the same direction as the third rotation axis;
Cables are arranged through the first arm, the cable insertion hole, and the second arm, and one side of a part of the cables is provided on the outer wall of the first arm. And projecting the other side of the part of the cable to the outside of the second arm through a through-hole provided in the outer wall of the second arm. An articulated robot.   Cable movement suppression means for suppressing movement of the cables in the cable insertion hole is provided in the cable insertion hole, and the cable movement suppression is performed when the second arm pivots around the third rotation axis. The articulated robot according to claim 1, wherein movement of the cables is suppressed by means. The cable movement suppressing means is provided coaxially with the third rotation axis and provided with a rotation axis passage hole that allows passage of the cables.
The cable movement restraining means is provided with a plurality of holding holes positioned around the rotation axis passage hole, and the cables are passed through and held in the plurality of holding holes. The articulated robot according to claim 2.   The articulated robot according to claim 3, wherein a plurality of the holding holes are formed so as to have different diameters.   The articulated robot according to claim 4, wherein the rotation axis passage hole is formed to have a larger diameter than the holding hole.   One end of the part of the cables is detachably connected to a first terminal part provided on an outer surface of the outer wall of the first arm, and the other end of the part of the cables is provided on the other side. The end portion is detachably connected to a second terminal portion provided on an outer surface of the outer wall of the second arm. 6. Articulated robot. The cables include a power cable as a part of the cables and a plurality of control signal cables,
The articulated robot according to claim 6, wherein the plurality of control signal cables are arranged separately from each other inside the first arm, the cable insertion hole, and the second arm. .   The opening according to any one of claims 1 to 7, wherein an opening is formed in an outer wall of the second arm, and a cover covering the opening is detachably attached to the second arm. Articulated robot.