JP2014140959A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a piping/wiring structure for a linear object, a robot work head and an articulated robot capable of effectively preventing breakage of the linear object inserted into a hollow operating shaft rotated normally and reversely, without requiring a special piping/wiring space.SOLUTION: In a piping/wiring structure for cables 18, the cables 18 which are at least one of tubes 17 and cables 16 are inserted into a hollow part of a hollow operating shaft 12 rotated normally and reversely around its axis by a prescribed angle, are relatively fixed so as not to rotate at one shaft end side of the hollow operating shaft 12, and are relatively movable so as to rotate synchronously with the hollow operating shaft 12 at the other shaft end side. The structure includes a cylindrical protector 61 which is torsionally freely deformable around the axis and is interposed between the inner wall of the hollow operating shaft 12 and the cables 18 to surround and hold the cables 18.

Description

  The present invention relates to a piping / wiring structure for a linear object through which a linear object such as a tube or cable is inserted into a hollow portion of a hollow working shaft, a robot work head, and an articulated robot.

Conventionally, as a piping / wiring structure for this type of wiring, etc. (linear object), air piping, power supply cable, and communication cable are attached to the hollow working shaft provided at the tip of the second arm of the SCARA robot. A pipe / wire that is inserted through is known (see Patent Document 1).
In this piping / wiring structure, the operating shaft extends in the vertical direction and is configured to be able to rotate forward and reverse by a predetermined angle about the axis. Also, the wiring is piped and wired so as to reach the head fixed to the lower end of the working shaft after being wound around the shaft member extending upward from the working shaft in a coil shape. Yes.
In this case, the coiled portion such as the wiring is displaced so as to be wound around the shaft member when the operating shaft is rotated forward by a predetermined angle, and is varied with respect to the shaft member by rotating reversely by a predetermined angle. It is displaced to. As a result, stress on the wiring or the like that occurs with the rotation of the operating shaft is absorbed, and damage to the wiring or the like is prevented.

JP 2008-307637 A

  However, such a piping / wiring structure has a problem that a large piping / wiring space is required because the wiring or the like is coiled / wired above the operating shaft, and the robot becomes large. In addition, when the rotation angle of the operating shaft is large, the coil-like portion such as the wiring is greatly scattered, and there is a possibility that the surrounding shaft may be damaged due to interference.

  The present invention provides a piping / wiring structure for a linear object that can effectively prevent damage to the linear object inserted through a hollow working shaft that rotates forward and backward without requiring a large piping / wiring space, It is an object to provide a robot working head and an articulated robot.

  In the piping / wiring structure for a linear object of the present invention, a linear object that is at least one of a tube and a cable is inserted into a hollow portion of a hollow working shaft that rotates forward and reverse by a predetermined angle around an axis, and is hollow. Piping and wiring of a linear object that is relatively fixed so that it cannot rotate on one shaft end side of the operating shaft, and relatively movable so as to rotate synchronously with the hollow operating shaft on the other shaft end side A cylindrical protector that has a structure and is interposed between the inner wall of the hollow working shaft and the linear symmetry object, holds the linear object so as to surround it, and is twistable around the axis. It is characterized by.

  According to this configuration, the linear object inserted through the hollow working shaft is relatively fixed so as to be unrotatable on one shaft end side of the hollow working shaft, and on the other shaft end side with the hollow working shaft. It is relatively movable so as to rotate synchronously. Thereby, the linear object can absorb the stress which arises by the forward / reverse rotation of a hollow action shaft by itself twistingly deforming appropriately. Therefore, the present invention does not require a large piping / wiring space as in the prior art described above outside the hollow working shaft. On the other hand, the cylindrical protector interposed between the inner wall of the hollow working shaft and the linear symmetrical object is configured to hold the linear object so as to surround it and to be twisted and deformed around the axis. Thereby, a linear object does not contact a hollow action shaft directly. In addition, since the cylindrical protector is twisted together with the linear object, it is possible to prevent damage to the linear object due to mutual friction between the hollow actuating shaft or the cylindrical protector and the linear object. Can do. Further, the cylindrical protector does not cause an unnecessary rotational load to act on the hollow operating shaft due to its free torsional deformation.

  In this case, it is preferable that the cylindrical protector is formed longer than the hollow working shaft so that both ends protrude from both ends of the hollow working shaft.

  According to this configuration, it is possible to prevent direct contact between the shaft ends (edges) of the hollow working shaft and the linear object. Further, the linear object can be fixed on both shaft end sides of the hollow working shaft via the cylindrical protector, and the damage to the linear object can be effectively prevented.

  In this case, it is preferable that the cylindrical protector is formed like a coil spring by winding a wire in a coil shape.

  According to this configuration, a cylindrical protector that can be twisted and deformed around the axis can be easily formed. In this case, the cylindrical protector is slightly thinned or thickly deformed with respect to forward and reverse twists.

  In this case, a bearing unit for rotatably supporting the hollow working shaft is disposed on one shaft end side of the hollow working shaft, and an actuator unit is mounted on the other shaft end side so that the linear object is supported. The relatively fixed side of the object is fixed to the bearing unit via the first support member, and the relatively movable side of the linear object is connected to the actuator unit via the second support member. It is preferable that it is fixed.

  According to this configuration, the linear object can be inserted into the hollow portion of the hollow operation shaft in a state where the linear object is prevented from being damaged, and can be appropriately piped and wired to the actuator unit.

  In this case, the hollow working shaft is configured to be movable forward and backward by a predetermined distance in the axial direction together with the bearing unit, and is supported to be movable forward and backward in the frame, and the linear object is fixed to the frame via the third support member, It is preferable to have a loop piping / wiring portion extending in a loop shape in the axial direction from the third support member toward the first support member.

  According to this configuration, the loop piping / wiring part of the linear object is curved and looped in the axial direction with respect to the hollow working shaft that advances and retracts in the axial direction together with the bearing unit. By changing the curvature of the loop, it is possible to appropriately absorb the stress caused by the advance and retreat of the hollow working shaft. Thereby, damage to the loop piping / wiring portion can be effectively prevented.

  In this case, it is preferable that a pipe / wiring connector is provided at each end of the loop pipe / wiring section.

  According to this configuration, when the loop piping / wiring portion deteriorates due to repeated stress, this portion can be easily replaced via the piping / wiring connector.

The robot working head of the present invention is a robot working head attached to the tip of a robot arm, and is supported by the above-described piping / wiring structure of the linear object and the frame, and the hollow working shaft is set at a predetermined angle. A shaft rotating mechanism that rotates forward and backward, a shaft advancing / retracting mechanism that is supported by the frame and moves the hollow working shaft forward and backward by a predetermined distance, and a hollow working shaft and a wire with one shaft end side exposed. And a head cover that covers the object, the frame, the shaft rotation mechanism, and the shaft advance / retreat mechanism.
The articulated robot of the present invention is characterized by including the above-described robot work head.

  According to these configurations, since it is possible to effectively prevent damage to a linear object without requiring special piping / wiring space, a maintenance-free and compact robot work head and this An articulated robot provided can be provided.

It is a cross-sectional schematic diagram of an articulated robot. It is sectional drawing of a working head. It is an external appearance perspective view of the work head which removed the head cover. It is an external appearance perspective view around a bearing unit. It is a cross-sectional schematic diagram around a linear object equipped with a cylindrical protector. It is a front view of the cylindrical protector which concerns on 2nd Embodiment.

  Hereinafter, an articulated robot to which a piping / wiring structure for a linear object according to an embodiment of the present invention is applied will be described with reference to the accompanying drawings. This articulated robot is a so-called SCARA robot that is suspended from a clean environment. The present invention is applied to a connecting portion between a pivoted actuator unit and a robot arm that supports the actuator unit so as to rotate and move up and down. The articulated robot of the embodiment performs various operations such as substrate movement and device assembly work. From the robot arm side to the work head, a pneumatic tube, vacuum tube, power supply and control A linear object such as a cable is piped and wired.

  As shown in FIG. 1, the articulated robot 1 is connected to the first motor unit 2 installed on the top plate 10 with the tip portion penetrating the top plate 10 of the chamber, and the tip portion of the first motor unit 2. The first joint 3, the first horizontal arm 4 whose base end is supported by the first joint 3 so as to be rotatable forward and backward, and the second motor unit 5 installed at the distal end of the first horizontal arm 4. The second joint unit 6 hanging from the distal end of the second motor unit 5, the second horizontal arm 7 (frame) whose base end is supported by the second joint unit 6 so as to be rotatable forward and backward, and the second horizontal And a work head 8 attached to the arm 7. The robot arm referred to in the claims includes a first joint portion 3, a first horizontal arm 4, a second joint portion 6, and a second horizontal arm 7.

  The working head 8 is provided with a head cover 11 on the upper side of the second horizontal arm 7, and a hollow working shaft 12 provided in the head cover 11 so as to penetrate the tip of the second horizontal arm 7 in the vertical direction. A motor-driven shaft rotating mechanism 13 that rotates the hollow working shaft 12 forward and backward, and a motor-driven shaft lifting mechanism (shaft advance / retract mechanism) 14 that moves the hollow working shaft 12 up and down (up and down) (both refer to FIG. 2). ) And are housed. An actuator unit 15 that directly accesses the workpiece is detachably attached to the distal end (lower end) of the hollow working shaft 12.

  The first horizontal arm 4 is rotated forward and backward (rotated) by an angle range of ± 180 ° in the horizontal plane by the first motor unit 2 via the first joint portion 3. Similarly, the second horizontal arm 7 is rotated forward and backward (rotated) by an angle range of ± 180 ° in the horizontal plane by the second motor unit 5 via the second joint portion 6. Further, the working head 8 supports the actuator unit 15 via the hollow working shaft 12 so as to be rotatable forward and backward and freely movable up and down. In this case, the working head 8 can rotate the actuator unit 15 forward / reversely (rotate) within an angular range of ± 360 ° and can move up and down about 100 mm in the vertical direction. Thereby, the actuator unit 15 is moved to an arbitrary position in the chamber, and the movement of the workpiece and the assembly work of various apparatuses are performed.

  On the other hand, cables (linear objects) 18 (see FIG. 3) including various cables 16 and tubes 17 introduced into the actuator unit 15 are connected to the first motor unit 2 and the first joint portion 3 from the outside of the chamber. The first horizontal arm 4, the second motor unit 5, the second joint portion 6, the second horizontal arm 7, and the work head 8 are led to the actuator unit 15. The cables 18 are piped and wired inside these components, and are piped and wired to the actuator unit 15 through the hollow working shaft 12 in the work head 8.

  As shown in FIGS. 2 and 3, the second horizontal arm 7 has a horizontally extending arm main body 21 and a cylindrical portion 22 provided on the base side of the arm main body 21. This arm body 21 is supported. That is, the second horizontal arm 7 functions as a frame for supporting the components of the work head 8.

  The working head 8 includes a hollow working shaft 12 that is supported so as to penetrate the tip of the arm main body 21, and a shaft elevating motor 26 that is disposed adjacent to the hollow working shaft 12 and downward with respect to the upper surface of the arm main body 21. Are disposed on the upper surface of the arm body 21, the shaft rotation mechanism 13 having the shaft rotation motor 27 installed downwardly with respect to the upper surface of the arm body 21 adjacent to the shaft lifting motor 26. A head cover 11 covering these components. That is, the head cover 11 covers the hollow working shaft 12, the cables 18, the second horizontal arm 7, the shaft lifting mechanism 14, and the shaft rotating mechanism 13 with the tip of the hollow working shaft 12 exposed. The working head 8 includes a bearing unit 23 provided at the upper end of the hollow working shaft 12, a guide bar 24 that guides the vertical movement (lifting) of the hollow working shaft 12 through the bearing unit 23, and a shaft rotation motor 27. And the like, and a protection plate 25 that protects the cables 18 and the like, and an actuator unit 15 that is pivotally attached to the lower end portion of the hollow working shaft 12.

  The guide bar 24 is erected on the arm body 21 adjacent to the shaft elevating motor 26, and supports the bearing unit 23 so as to be slidable in the vertical direction, that is, the hollow operating shaft 12 is slidable in the axial direction thereof. The protection plate 25 is formed in a “L” cross section and is fixed to the upper surface of the arm body 21. In this case, the protection plate 25 is disposed so as to partition the shaft rotation motor 27 and a piping / wiring movable space 48 described later.

  On the other hand, as shown in FIG. 2, between the output end of the shaft lifting mechanism 14 and the hollow working shaft 12, a lead screw mechanism 31 that converts the forward / reverse rotation of the shaft lifting motor 26 into the lifting motion of the hollow working shaft 12. Is configured. The lead screw mechanism 31 is configured by a ball screw including a screw groove (not shown) formed on the outer peripheral surface of the hollow working shaft 12 and a female screw block 32 rotatably supported on the upper portion of the arm body 21. The hollow working shaft 12 is moved up and down by rotating the female screw block 32 forward and backward via a timing belt 33 spanned between the shaft lifting motor 26 and the female screw block 32. That is, the shaft elevating mechanism 14 includes a shaft elevating motor 26, a belt transmission mechanism 34 including a timing belt 33, and a lead screw mechanism 31.

  Similarly, between the output end of the shaft rotating mechanism 13 and the hollow working shaft 12, forward / reverse rotation of the shaft rotating motor 27 is transmitted to the hollow working shaft 12, and the hollow working shaft 12 is moved in the axial direction (vertical direction). A spline mechanism 35 is slidably supported on the surface. The spline mechanism 35 is constituted by a ball spline including a spline groove (not shown) formed on the outer peripheral surface of the hollow operating shaft 12 and a boss block 36 rotatably supported at the lower portion of the arm body 21. The hollow working shaft 12 is rotated by rotating the boss block 36 forward and backward via the timing belt 33 spanned between the shaft rotation motor 27 and the boss block 36. That is, the shaft rotation mechanism 13 includes a shaft rotation motor 27, a belt transmission mechanism 34 including a timing belt 33, and a spline mechanism 35.

  Here, the raising / lowering operation and rotating operation of the hollow working shaft 12 by the shaft raising / lowering mechanism 14 and the shaft rotating mechanism 13 will be described. As described above, the hollow working shaft 12 is supported by the shaft elevating mechanism 14 so as to be movable up and down in the axial direction, and is supported by the shaft rotating mechanism 13 so as to be rotatable around the axis. First, when the hollow working shaft 12 is only raised and lowered in the axial direction, the shaft raising / lowering motor 26 is driven and the shaft rotation motor 27 is hold-controlled so that the female screw block 32 does not rotate. Thereby, the actuator unit 15 moves up and down through the hollow operating shaft 12 without rotating.

  On the other hand, when only the hollow working shaft 12 is rotated, the shaft rotation motor 27 is driven to rotate the boss block 36. At this time, when the hollow working shaft 12 is rotated, the hollow working shaft 12 is moved up and down by the female screw block 32. Therefore, the shaft lifting motor 26 is driven (reversed) by the amount that the hollow working shaft 12 is moved up and down. Reverse rotation. Thereby, the actuator unit 15 rotates without going up and down via the hollow working shaft 12.

  In the articulated robot 1 as a whole, when the first horizontal arm 4 and the second horizontal arm 7 are actuated (forward / reverse rotation) as the actuator unit 15 moves, the actuator unit 15 also relatively forward / reversely rotates. Therefore, when the absolute posture (direction) of the actuator unit 15 is maintained, the relative forward / reverse rotation of the actuator unit 15 by the first horizontal arm 4 and / or the second horizontal arm 7 is canceled out. The shaft lifting mechanism 14 and the shaft rotating mechanism 13 are controlled. Thereby, a workpiece | work etc. are conveyed, maintaining the direction of the actuator unit 15. FIG.

  As shown in FIGS. 3 to 5, the bearing unit 23 includes a cylindrical guide 41 fixed to the upper end of the hollow working shaft 12, and a flange-shaped pipe / wiring support disposed so as to surround the cylindrical guide 41. A plate 42, a bearing 43 interposed between the cylindrical guide 41 and the piping / wiring support plate 42, and a slide block 44 standing on the piping / wiring support plate 42 are provided. A guide bar 24 is slidably penetrated through the slide block 44, and the bearing unit 23 is supported by the guide bar 24 through the slide block 44 so as to be slidable in the vertical direction and in a rotationally restricted state. ing. An “L” -shaped upper support member (first support member) 45 that supports the cables 18 is fixed to the upper surface of the slide block 44.

  The bearing unit 23 is guided by the guide bar 24 as the hollow working shaft 12 moves up and down (up and down), and the piping / wiring support plate 42 is connected to the hollow working shaft 12 via the cylindrical guide 41. Is pivotally supported. That is, when the shaft lifting mechanism 14 is driven and the hollow working shaft 12 is lifted and lowered, the bearing unit 23 is lifted and lowered together with the hollow working shaft 12. When the shaft rotating mechanism 13 (and the shaft lifting mechanism 14) is driven to rotate the hollow working shaft 12, the bearing unit 23 supports the hollow working shaft 12 together with the boss block 36 so as to be rotatable.

  On the other hand, as shown in FIGS. 2 to 5, the cables 18 around the work head 8 rise from an opening 47 formed in the leg portion of the shaft elevating motor 26 in the second horizontal arm 7, and lower intermediate support member (Third support member) 50 is fixed to the upper side of the arm body 21 through 50, and reaches the upper middle support member 46 in a larger loop. That is, the loop piping / wiring part 51 of the cables 18 piped / wired in the piping / wiring movable space 48 formed on the front surface of the protective plate 25 is piped / wired by drawing a loop in a horizontal “U” shape. Yes. Further, the cables 18 make a half turn on the piping / wiring support plate 42 via the upper intermediate support member 46, and then make a U-turn in the vertical direction to reach the upper support member 45. From here, the cables 18 pass through the hollow working shaft 12 via the cylindrical guide 41 and reach the lower support member (second support member) 49 disposed in the actuator unit 15. 3 shows only the loop piping / wiring section 51, and the cables 18 in FIG. 4 collectively show the cable 16 and the tube 17 as one pipe.

  The cables 18 are collectively fixed to the upper intermediate support member 46 and the lower intermediate support member 50, and collectively together with a cylindrical protector 61 to be described later to the upper support member 45 and the lower support member 49. And fixed. The loop piping / wiring section 51 (see FIG. 3 (a)) which is piping / wiring the piping / wiring movable space 48 in a loop is greatly curved in the shape of a loop. The stress generated by raising and lowering the unit (hollow working shaft 12) 23 is absorbed by the change in curvature of the loop (see FIG. 3B). The protection plate 25 is provided so that the loop piping / wiring section 51 does not interfere with the shaft rotation motor 27 in the curvature change of the loop piping / wiring section 51. In addition, a pair of piping / wiring connectors 52 are provided at both ends of the loop piping / wiring section 51 so that they can be replaced when the loop piping / wiring section 51 deteriorates.

  As shown in FIG. 5, the actuator unit 15 includes a shaft attachment portion 53 that is attached to the lower end of the hollow operation shaft 12, an operation portion 54 such as a suction head that protrudes from the lower surface and accesses the workpiece, and a hollow operation shaft. And a lower support member 49 for fixing the cables 18 introduced through the cable 12. The cables 18 extend downward from the tip of the hollow working shaft 12 and are supported by the lower support member 49 with a U-turn. That is, the cables 18 introduced into the actuator unit 15 are fixed to the lower support member 49 and rotate synchronously with the hollow operating shaft 12 and are relatively relative to the portion of the upper support member 45 that is relatively fixed. It is movable. The cables 18 are connected to the operating unit 54.

  The hollow operating shaft 12 is formed in a straight cylindrical shape, and the above-described spline groove is formed on the entire outer peripheral surface thereof, and the above-described screw groove is formed on the outer peripheral surface of the upper half portion in addition to the spline groove. (Both not shown). The hollow operating shaft 12 extends in the vertical direction and is supported by the arm body 21 via the bearing unit 23, the shaft lifting mechanism 14 and the shaft rotating mechanism 13, and the actuator unit 15 is fixed to the lower end portion thereof. Has been. The cables 18 connected to the actuator unit 15 are inserted into the hollow portion of the hollow working shaft 12 while being held so as to be surrounded by the cylindrical protector 61.

  As shown in FIGS. 2 to 5, the cylindrical protector 61 is interposed between the cables 18 inserted through the hollow working shaft 12 and the inner wall of the hollow working shaft 12. Although details will be described later, the cables 18 are held so as to be wound around the cylindrical protector 61. The cylindrical protector 61 is loosely inserted into the hollow working shaft 12 so that a gap is formed between the cable 18 and the inner wall. Yes. Moreover, the cylindrical protector 61 is formed sufficiently longer than the hollow working shaft 12, and is loosely inserted into the hollow working shaft 12 so as to protrude from both shaft ends. This prevents both shaft ends (edges) of the hollow working shaft 12 from directly contacting the cables 18. Further, the protruding portion on the upper side of the cylindrical protector 61 is supported and fixed to the bearing unit 23 via the upper support member 45 while holding the cables 18, and the protruding portion on the lower side holds the cables 18. Thus, the actuator unit 15 is supported and fixed via the lower support member 49. Thereby, the cylindrical protector 61 will absorb the stress which arises between the cables 18 and the upper support member 45 and the lower support member 49, and the damage of the cables 18 is prevented effectively.

  The cylindrical protector 61 is formed like a coil spring in which a wire is wound in a coil shape, and is formed to have a slightly smaller diameter than the inner wall of the hollow working shaft 12. Specifically, the cylindrical protector 61 has a form similar to a tension spring having a low spring constant in which a wire is wound in a coil shape with almost no gap. In this case, the cylindrical protector 61 is lightly wound so as to surround the cables 18 and is held so as not to be displaced from each other.

  On the other hand, as described above, the cylindrical protector 61 and the cables 18 are fixed to the upper support member 45 of the bearing unit 23 on the upper side of the hollow operating shaft 12 and on the lower side of the hollow operating shaft 12. It is fixed to the lower support member 49. For this reason, when the hollow operating shaft 12 rotates forward and backward, the cylindrical protector 61 and the cables 18 are subjected to forward and reverse kinks (twisting) on the lower side. In this case, the cables 18 are in a state in which forward / reverse bending is generated around the axis of the hollow working shaft 12. Further, the cylindrical protector 61 is deformed slightly thick and thin in the radial direction. For example, when the hollow working shaft 12 rotates in one direction, the cylindrical protector 61 is slightly thinly deformed so that the cables 18 are slightly wound. Further, when the hollow operating shaft 12 rotates in the other direction, the cable 18 is deformed thickly so as to be loosened. That is, when the cylindrical protector 61 in the hollow working shaft 12 is rotated, the cylindrical protector 61 is twisted and deformed thickly and thinly (mainly deformable around the axis) while maintaining the cylindrical basic form.

  Thereby, even if the hollow operating shaft 12 rotates in the forward (or reverse) direction, the cables 18 are kept protected by the cylindrical protector 61. Therefore, although the cables 18 are twisted around the axis, they are not directly rubbed against the inner wall of the hollow working shaft 12 and are not damaged. On the other hand, the cylindrical protector 61 rubs against the inner wall of the hollow working shaft 12, but rubs over a relatively wide area, so that stress concentration does not occur. In addition, the cylindrical protector 61 absorbs stress in the twisting direction as appropriate in structure, and thus does not become a load on the shaft rotation mechanism 13.

  According to the above configuration, the cables 18 inserted through the hollow working shaft 12 absorb the stress generated by the rotation of the hollow working shaft 12 by twisting itself. Further, since the cables 18 are held so as to be surrounded by the cylindrical protector 61 that can be deformed by twisting, they do not come into direct contact with the hollow operating shaft 12. Therefore, damage due to mutual friction can be prevented. Furthermore, in the work head 8 and the articulated robot 1 having the piping / wiring structure for the cables 18, damage to the cables 18 can be effectively prevented without requiring a large piping / wiring space. Maintenance free and compact.

  The cylindrical protector 61 is not limited to the coil spring-like configuration as long as it can be twisted and deformed. For example, as shown in FIG. 6, a form in which a plurality of cylindrical portions 62 and linear portions 63 are connected with a material such as resin may be used. Specifically, a plurality of cylindrical portions 62 provided on the same axis at equal intervals and a plurality of linear portions 63 that connect adjacent cylindrical portions 62 are integrally formed. (See FIG. 6A). In this case, when the hollow working shaft 12 rotates in the forward (or reverse) direction, the linear portion 63 of the cylindrical protector 61 slightly extends and slightly deforms so as to slightly tighten the cables 18 ( (Refer FIG.6 (b)). Therefore, the cables 18 do not directly rub against the inner wall of the hollow working shaft 12 and are not damaged.

  DESCRIPTION OF SYMBOLS 1 ... Articulated robot 8 ... Work head 11 ... Head cover 12 ... Hollow operation shaft 13 ... Shaft rotation mechanism 14 ... Shaft raising / lowering mechanism 15 ... Actuator unit 16 ... Cable 17 ... Tube 18 ... Cables 23 ... Bearing unit 45 ... Upper support member 46 ... Lower intermediate support member 49 ... Lower support member 51 ... Loop piping / wiring section 52 ... Piping / wiring connector 61 ... Cylindrical protector.

The present invention relates to robots.

Claims (8)

A linear object that is at least one of a tube and a cable is inserted through a hollow portion of a hollow working shaft that rotates forward and reverse by a predetermined angle around the axis,
A linear object which is relatively fixed so as not to rotate on one shaft end side of the hollow working shaft and relatively movable so as to rotate synchronously with the hollow working shaft on the other shaft end side. Piping and wiring structure,
A cylindrical protector is provided between an inner wall of the hollow working shaft and the linear symmetry object, and holds the linear object so as to surround it, and is provided with a cylindrical protector that can be twisted and deformed around the axis. Piping / wiring structure for linear objects.   2. The tubular object pipe according to claim 1, wherein the cylindrical protector is formed to be longer than the hollow working shaft so that both end portions protrude from both ends of the hollow working shaft. Wiring structure.   3. The pipe / wiring structure for a linear object according to claim 1, wherein the cylindrical protector is formed in a coil spring shape by winding a wire in a coil shape. A bearing unit for rotatably supporting the hollow working shaft is disposed on one shaft end side of the hollow working shaft, and an actuator unit is mounted on the other shaft end side,
The relatively fixed side of the linear object is fixed to the bearing unit via a first support member,
4. The linear object according to claim 1, wherein the relatively movable side of the linear object is fixed to the actuator unit via a second support member. 5. Piping and wiring structure of things. The hollow operating shaft is configured to be movable forward and backward by a predetermined distance in the axial direction together with the bearing unit, and is supported by the frame so as to be movable forward and backward.
The linear object is fixed to the frame via a third support member, and extends from the third support member toward the first support member so as to bend and extend in a loop shape in the axial direction. The piping / wiring structure for a linear object according to claim 4, further comprising a portion.   6. The piping / wiring structure for a linear object according to claim 5, wherein piping / wiring connectors are respectively provided at both ends of the loop piping / wiring section. A robot work head attached to the tip of the robot arm,
A piping / wiring structure for a linear object according to claim 5 or 6,
A shaft rotation mechanism that is supported by the frame and rotates the hollow working shaft forward and backward by a predetermined angle;
An axial advance / retreat mechanism that is supported by the frame and advances and retracts the hollow working shaft by a predetermined distance;
A head cover that covers the hollow working shaft, the linear object, the frame, the shaft rotation mechanism, and the shaft advance / retreat mechanism in a state where one shaft end side of the hollow working shaft is exposed. Robot working head characterized by   An articulated robot comprising the robot working head according to claim 7.

Images