JP2015085452A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot which is provided with a wiring structure of a rotating section with consideration of heat radiation measures having high reliability, is small in size and has high reliability.SOLUTION: A robot 10 comprises: a joint 79 serving as a first member; a link 80 which rotates about a third rotating shaft 95 with respect to the joint 79 and serves as a second member; an FPC 68 which has one end connected to the joint 79 and serves as a flat cable; and a reel 68w provided to the link 80 on which the other end side of the FPC 68 is wound around the third rotating shaft 95. By using a rotational angle of 0° of the link 80 with respect to the joint 79 as a reference, the link 80 has a first angle range R1 rotatable in a first rotational direction and a second angle range R2 which is rotatable in a second rotational direction opposite to the first rotational direction and is greater than the first angle range R1. When the link 80 rotates in the second rotational direction, a bend radius of the FPC 68 wound around the reel 68w is increased.

Description

  The present invention relates to a robot.

  2. Description of the Related Art Conventionally, industrial robots have been widely used for automation and labor saving in assembly processes of industrial products at manufacturing sites such as factories or welding processes. In recent years, as the work process has become more complicated in order to cope with the downsizing and higher functionality of industrial products, a plurality of members constituting the arm of the robot are relatively moved by the joint drive shaft (rotation shaft). There is an increasing demand for multi-axis controlled robots having articulated arms combined to rotate. For example, Patent Document 1 discloses a double-arm robot in which 6-axis articulated arms are connected to the left and right sides of a base body (body). Such a 6-axis multi-joint arm is configured with, for example, a shoulder portion, an upper arm portion, a forearm portion, and a wrist portion as members in order to realize a movement similar to the movement of a human arm. An end effector such as a robot hand that performs a predetermined operation performed by the robot is attached to the distal end side of a member that becomes a wrist portion of such an articulated arm.

  In such a robot, a cable for supplying power to a motor that is a driving source such as a connected adjacent member or an end effector, or for transmitting / receiving a control signal between the motor and the robot controller is wired. The In this case, there are two types of wiring: an internal wiring system that allows cables to pass through the base or arm, and an external wiring system that performs wiring along the outer surface of the robot. The method is advantageous. In the wiring by the internal wiring system of the robot, the wiring that does not hinder the relative rotation of the adjacent rotating members (base and arm, arm and arm, arm and wrist, etc.) at the rotating joint. It needs to be structured.

For example, in Patent Document 2, in a wiring structure in which a first member and a second member that rotate relative to each other are wired using a flat cable (flexible printed wiring board (FPC)), a flat cable having one end connected to the first member. The other end side of the flat cable is connected to the core member, and a reel is formed by winding the other end side of the flat cable outward from the core member, and the other end of the flat cable is connected to the second member or the second via the reel. A wiring structure for a rotating joint (rotating joint) connected to an end effector or the like connected to the distal end side of two members has been introduced.
According to this wiring structure, the flat cable connecting the first member and the second member follows the relative rotation between the first member and the second member at the reel portion around which the flat cable is wound. By moving in the rewinding direction or rewinding direction, the pulling force applied to the wiring particularly when moving in the rewinding direction is absorbed, and problems such as disconnection of wiring and early deterioration can be avoided.

JP 2008-188699 A JP 2010-214530 A

By the way, a plurality of flat cables such as those for power supply and driving signals are overlapped and wired on the wiring flat cable in the wiring structure of the robot described in Patent Document 2. Of these multiple flat cables, one with a relatively thick wiring pattern is used as the power supply flat cable. When the robot is driven, power is continuously supplied by this power supply flat cable. Doing so causes the flat cable to generate heat. In the wiring structure described in Patent Document 2, since heat is easily trapped in the reel portion of the flat cable, it is necessary to take some heat dissipation measures.
However, in the wiring structure of the robot described in Patent Document 2, no mention is made of measures for heat radiation of the reel of the flat cable. For this reason, if the robot is continuously driven, the temperature around the reel rises, the robot body may overheat, causing danger to the operator, and may cause malfunction of the robot or deterioration of parts due to heat. There was a problem that there was.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A robot according to this application example has a first member, a second member that rotates about one rotation axis with respect to the first member, and one end connected to the first member. A flat cable; and a reel provided on the second member, the other end of the flat cable being wound around a rotation axis substantially parallel to the one rotation axis, and the second member Is opposite to the first angle range and the first angle range that can be rotated in the first rotation direction with reference to the rotation angle of the second member with respect to the first member being 0 °. The second angle range is larger than the first angle range, and when the second angle range is rotated, the flat wound around the reel The cable has a large bending radius.

In this application example, “substantially parallel” means that a configuration that intersects within a range of 10 ° is included in addition to a configuration that is completely parallel.
According to this application example, in the wiring structure in which the first member and the second member that rotates about one rotation axis with respect to the first member are connected by the flat cable, the second member with respect to the first member The rotation can be absorbed by the reel so that the flat cable does not hinder the rotation. In addition, the bending radius of the flat cable when the second member rotates in the second rotation direction in which the rotation angle is larger with reference to the rotation angle of the second member relative to the first member being 0 °. The reel is formed so as to be large. As a result, the bending radius of the flat cable in the reel becomes larger and the winding becomes looser as the robot is driven, so that the gap between the flat cable wound around the reel becomes larger and the heat generated in the reel is dissipated. Effect is obtained.
Therefore, it is possible to provide a small and highly functional robot while avoiding mechanical stress on the robot due to the heat of the reel of the flat cable and electrical failure.

  Application Example 2 A robot according to this application example includes a base body and a multi-joint arm including a plurality of members and connected by a joint mechanism in which the adjacent members rotate relatively, The articulated arm is connected so as to rotate around a shoulder axis that intersects the surface of the base, and the adjacent members among the members are one rotation axis that intersects the shoulder axis, or It is connected so as to rotate around one of the two rotation shafts substantially orthogonal to the one rotation shaft, and the one rotation shaft is the first first rotation in order from the base. A robot having a moving axis to an nth first rotation axis (n is an integer of 3 or more), wherein the member is connected to the nth first rotation axis on the base side. And a second member that rotates about the nth first rotation axis with respect to the first member, A flat cable having one end connected to the member and the second member, and the other end of the flat cable is wound around a rotation axis substantially parallel to the nth first rotation axis. A first angle that allows the second member to rotate in a first rotation direction with reference to a rotation angle of the second member relative to the first member being 0 °. And a second angle range that is rotatable in a second rotation direction opposite to the first angle range and larger than the first angle range, and is rotated in the second rotation direction. Then, the bending radius of the flat cable wound around the reel is increased.

In this application example, “substantially orthogonal” means a configuration that intersects in a range of 85 ° to 95 ° in addition to a configuration that is completely orthogonal.
According to this application example, in a robot having a multi-joint arm, a wrist (second member) that is a dominant element particularly for downsizing, and a member (first member) connected to the base side of the wrist It is advantageous for miniaturization of the joint structure and the wiring structure having excellent heat dissipation.
Therefore, it is possible to provide a multi-axis robot that is small, highly reliable, and highly functional.

  Application Example 3 In the robot according to the application example described above, the robot includes a plurality of the articulated arms.

  According to this application example, a plurality of robot arms having a wiring structure in which the relatively rotating first member and the second member shown in the application example are connected to each other by a flat cable with a small heat dissipation property are provided. Therefore, a robot capable of performing various operations with high accuracy can be provided.

  Application Example 4 In the robot according to the application example described above, when the second member rotates relative to the first member in a predetermined state for a predetermined time, the second member relative to the first member. It is characterized by comprising a control part for driving in the second rotation direction.

In this application example, the predetermined state is, for example, a state in which the reel is rotated in the first rotation direction from the reference (0 °) and wound, that is, a state in which heat is easily trapped in the reel. Point to.
According to this application example, in a predetermined state in which heat easily accumulates on the reel, for example, a predetermined time shorter than a time to reach a temperature at which there is a risk of adverse effects due to heat is set, and the set predetermined time and At this time, the second member is rotated in the second rotation direction with respect to the first member to increase the bending radius of the flat cable in the reel, thereby loosening the winding, and controlling the heat release of the reel.
Therefore, in the driving of the robot, it is possible to avoid an adverse effect due to the heat generation of the reel.

  Application Example 5 In the robot according to the application example described above, the temperature detection unit that detects the temperature of the reel and / or the periphery of the reel, and the temperature detected by the temperature detection unit is a preset allowable temperature. It is preferable that the controller includes a controller that drives the second member in the second rotation direction with respect to the first member.

  According to this application example, the reel and / or the temperature around the reel is actually detected, and when the temperature exceeds the allowable range, the heat is released from the reel. An adverse effect due to heat generation can be avoided.

FIG. 2 is a perspective view schematically showing a schematic configuration of the robot according to the first embodiment. FIG. 3 is a perspective view schematically illustrating a structure of a drive transmission unit of the robot according to the first embodiment. FIG. 3 is a perspective view schematically illustrating a schematic configuration of an electrical component of the robot according to the first embodiment. (A) is a schematic plan view which shows FPC as a flat cable in the electrical equipment part of the robot of Embodiment 1, (b) is a BB schematic sectional drawing of (a). FIG. 2 schematically shows changes in the behavior of a reel accompanying the rotation of a robot, (a) is an explanatory diagram of a reference state with a rotation angle of 0 °, and (b) is rotated in a first rotation direction. Explanatory drawing of the made state, (c) is explanatory drawing of the state rotated in the 2nd rotation direction. FIG. 6 is a schematic diagram illustrating a robot according to a second embodiment. FIG. 9 is a schematic diagram illustrating a robot according to a third embodiment. Explanatory drawing which shows the robot which concerns on Embodiment 4 typically.

  Hereinafter, an embodiment of a robot according to the present invention will be described with reference to the drawings. Note that the drawings to be used are appropriately enlarged or reduced so that the part to be described can be recognized.

(Embodiment 1)
First, a schematic configuration of the robot according to the first embodiment will be described. FIG. 1 is a perspective view schematically showing a schematic configuration of the robot according to the first embodiment. Note that “rotation” in the embodiments means forward rotation and reverse rotation.

  A robot 10 shown in FIG. 1 is a six-axis vertical articulated robot having six rotation axes, which are basic drive axes, in the height direction (Z-axis) imitating the structure of a human arm. Since links (arms) as a plurality of arm members are connected in series by joints (joints, joints) as a plurality of arm members, it is possible to perform complicated work with a high degree of freedom.

The robot 10 includes a base portion 70 and a main body portion 71 as a base, a control portion 72, a joint 73, a link 74, a joint 75, a link 76, a joint 77, a link 78, a joint 79, a link 80, and an end as members. It has a link 81 to which an effector (not shown) is attached, and has an articulated arm in which adjacent links and / or joints are rotatably connected by a joint mechanism.
The base portion 70 is a pedestal of the robot 10 and is firmly fixed to a floor of a work space in the factory or a plane such as a work table by a plurality of bolts (screws). The fixing place is not limited to a horizontal plane (a plane including the X axis and the Y axis), and may be on a movable cart, a wall surface, a ceiling, Or the arm connection part etc. which were provided in the robot unit which are mentioned later may be sufficient.

Although not shown, the control unit 72 is provided with an interface panel such as RS232C for inputting an operation program and USB (Universal Serial Bus) in addition to an operation panel for operating the robot 10. Alternatively, a configuration provided with an interface device such as a wireless LAN (Local Area Network) terminal or an infrared transceiver may be used.
Although details will be described later, the control unit 72 is detected by a set time storage unit that stores a time set by a time setting unit such as a timer provided in the robot 10 or a temperature detection unit such as a temperature sensor. A determination unit such as a temperature abnormality detection unit that determines that the temperature is abnormal when the temperature exceeds the allowable range, and a reel 68w formed by winding an FPC 65 (described later) based on the determination by the determination unit (FIG. 3, A reel control unit for driving in the winding direction.
The control unit 72 may be provided separately from the robot body.

On the main body 71, a joint 73 and a link 74 are arranged in this order.
First, the multi-joint arm structure (from the arm to the hand) from the joint 73 to the link 80 of the robot 10 turns in the horizontal direction around the shoulder shaft 91 penetrating the main body 71 in the Z-axis direction. That is, the joint 73 is a rotation axis that intersects the surface to which the articulated arm of the main body 71 is connected. In this embodiment, the joint 73 is a rotation axis that is substantially orthogonal to the surface of the main body 71. It has become.
The link 81 to which the end effector is attached is one end (terminal) in the multi-joint arm structure, and the joint 73 attached to the main body 71 (base 70 side) corresponds to the other end (base) in the robot arm structure. To do. In the following description, the expression “terminal side” refers to the side close to the link 81 in the robot arm structure, and “root side” refers to the side close to the base portion 70.
Further, the main body 71 incorporates a motor for rotationally driving the robot arm structure, a speed reduction mechanism including a plurality of gears, and the like. A motor for driving the corresponding link and end effector, a speed reduction mechanism, and the like are also incorporated in the vicinity of each rotation shaft described below.

A joint 75 is combined with the end side of the link 74 disposed so as to extend to the end side of the joint 73. The joint 75 is a rotation shaft that is substantially orthogonal to the shoulder shaft 91 and is driven to rotate around a first first rotation shaft 92 that penetrates the link 74 in the X-axis direction. . The first first rotation shaft 92 is located on the end side of the link 74. Here, “substantially orthogonal” is defined to include a configuration that intersects within a range of 10 ° (85 ° to 95 °) in addition to a configuration that is completely orthogonal.
In the articulated arm of the first embodiment, the first rotation shaft substantially parallel to the first first rotation shaft 92 is the first to nth first rotation shaft in order from the main body side. Add a name with the serial number. Here, “substantially parallel” is defined to include a configuration that intersects within a range of 10 ° in addition to a configuration that is completely parallel.
Further, since the extending direction of the rotating shaft changes when the robot 10 moves (for example, when the robot 10 turns around the shoulder shaft 91), the state of the articulated arm shown in FIG. 1 is defined as an initial state, A description will be given on the assumption that the apparatus is installed in this initial state.

The link 76 is disposed so as to extend to the end side of the joint 75.
A joint 77 is assembled on the end side of the link 76, and a link 78 is assembled on the end side of the joint 77. The link 78 is disposed so as to extend to the end side of the joint 77. The joint 77 assembled with the link 78 is driven around a second first rotation shaft 93 penetrating the distal end side of the link 76 in the X-axis direction.
A joint 79 having a drive transmission unit 50 and an electrical component 60 is combined on the end side of the link 78. The joint 79 is driven so that the joint 79 rotates in a twisting direction with respect to the link 78 around a second rotation shaft 94 penetrating the distal end side of the link 78 in the Y-axis direction.
Further, a link 80 is combined with the end side of the joint 79, and the link 80 is driven around a third first rotation shaft 95 penetrating the end side of the joint 79 in the X-axis direction. The

  As described above, the rotation axis of one of the multi-joint arms of the robot 10 of the first embodiment is the first rotation axis 92 and the second first rotation in order from the main body 71 as the base. A rotation shaft 93 and a third rotation shaft 95 are provided. That is, the n-th first rotation shaft referred to in claim 2 of the present invention refers to the third first rotation shaft 95. Therefore, among the joint 79 and the link 80 that are connected so as to rotate about the third first rotation shaft 95, the joint 79 indicates the first member in the claims. Means the second member in the claims. The link 80 as the second member corresponds to the wrist in the articulated arm of the robot 10.

  A link 81 is disposed on the end side of the link 80 so as to extend to the link 80. The link 81 has a distal end side of the link 80 in the Y-axis direction along the extending direction of the link 81 from the link 80, that is, a link centering around two rotation shafts 96 passing through the substantially center of the columnar link 81. 81 is driven to rotate in the twisting direction with respect to the link 80.

  As described above, an end effector as an operating body that performs a predetermined operation performed by the robot 10 is combined with the distal end side of the articulated arm (not shown). Various types of end effectors can be used depending on the application of the robot 10. For example, a gripping mechanism such as a robot hand that grips a product part or the like, or a tool that performs processing such as soldering or welding is attached to the distal end side of the link 81 to be used as the robot 10 that performs a desired operation. be able to.

  Next, in the multi-joint arm of the robot 10 of the present embodiment, the joint drive mechanism of the third first rotation shaft 95 which is the first rotation shaft (the nth first rotation shaft) on the most distal side. The drive transmission part 50 which is is demonstrated along drawing. FIG. 2 is a perspective view schematically showing the structure of the drive transmission unit 50 that rotates the link 80 as the second member with respect to the joint 79 as the first member of the robot 10. In FIG. 2, a part of the members other than the drive transmission unit 50 is partially omitted, and a part of the members is seen through for the convenience of describing the structure of the drive transmission unit 50 inside the joint 79.

  As described above, in the multi-joint arm of the robot 10 having a plurality of joint driving mechanisms in which arm members such as a plurality of links and joints are connected by two rotation shafts and one rotation shaft, A drive transmission unit 50 serving as a joint drive mechanism using a third first rotation shaft 95 as a rotation shaft as a rotation shaft is installed in a joint 79 (see FIG. 1). More specifically, the drive transmission unit 50 is disposed on one of the side surfaces of the joint 79 in the direction substantially orthogonal to the third first rotation shaft 95. In the present embodiment, “substantially orthogonal” means a configuration that intersects within a range of 10 ° in addition to a configuration that is completely orthogonal.

In FIG. 2 showing the details of the drive transmission unit 50 including the third first rotation shaft 95, the joint 79 is a driven wheel that rotates using the third first rotation shaft 95 as a rotation shaft. And a motor 80M as a drive rotation source of the third first rotation shaft 95, and the motor 80M rotates around the same rotation axis as the third first rotation shaft 95. And a drive pulley 85 as a drive wheel that is rotated by a motor 80M via the drive shaft 97. In addition, a rotational position detector (position detector) 80D is provided in the vicinity of the motor 80M, but the position to be provided may be other than the illustrated position. The rotational position detector 80D may use a unit structure or a module structure.
The driving pulley 85 and the driven pulley 86 are connected via a timing belt 87 as an unrelated power transmission policy. Between the driving pulley 85 and the driven pulley 86, an idler 88 having a pulley that is rotatably contacted according to the movement of the timing belt 87 is disposed in order to adjust the tension of the timing belt 87.
As described above, according to the drive transmission unit 50 provided in the joint 79 serving as the first member having the above-described configuration, the motor 80M serving as the drive rotation source is directly connected to the third first rotation shaft 95. The joint 79 as an arm member for installing the third first rotation shaft 95 can be downsized. Specifically, an increase in the width of the joint 79 in the arm width direction orthogonal to the extending direction of the articulated arm due to the motor being arranged in the axial direction of the third first rotation shaft 95 is suppressed.

  Next, the wiring structure of the joint 79 as the first member and the link 80 as the second member connected to the joint 79 so as to be rotatable is illustrated in the drawing with the electrical component 60 of the joint 79 as a center. It explains along. FIG. 3 is a perspective view schematically showing a schematic configuration of the electrical unit 60 in the robot 10. In FIG. 3, members other than the electrical component 60 are partially omitted, and a part of the members 79 is shown in a perspective view for convenience of explanation of the wiring structure inside the joint 79 and the link 80. 4A is a schematic plan view showing an FPC as a flat cable used in the wiring structure in the electrical component 60, and FIG. 4B is a schematic cross-sectional view taken along line BB in FIG. 4A. It is. FIG. 5 schematically shows a change in the behavior of the reel 68w of the FPC 68 accompanying the rotation of the robot 10. FIG. 5A is an explanatory diagram of a reference state in which the rotation angle is 0 °, and FIG. Is an explanatory view of the state rotated in the first rotation direction, and (c) is an explanatory view of the state rotated in the second rotation direction. In FIG. 5, for convenience of explaining the relationship between the rotation direction of the link 80 with respect to the joint 79 and the behavior of the reel 68 w, the position of the electrical component 60 of the joint 79 is partly shown by a broken line and partly seen through. Show.

  In FIG. 3, the electrical component 60 is disposed on the side surface (the other side surface) opposite to the one side surface of the joint 79 where the drive transmission unit 50 described above is installed. The electrical unit 60 provides a drive source such as a wiring board 161 and a link 80 on the end side of the third first rotation shaft 95 and an end effector (not shown) attached thereto via the wiring board 161. FPC (Flexible Printed Circuits) 68 as a flat cable wired to supply power to the motor and to send and receive control signals between the motor and the robot controller.

  On a wiring board 161 in which circuit wiring is formed on an insulating base material, various electronic components 163 constituting a driving circuit and a connector 167 as a connecting portion to which the FPC 68 is connected are mounted. In the present embodiment, a plurality of FPCs 68 are overlapped and wired, and a plurality of connectors 167 corresponding to the FPCs 68 are mounted on the wiring board 161.

One end side of the FPC 68 is inserted and fixed in each of the plurality of connectors 167 mounted on the wiring board 161, and the other end side of the FPC 68 is substantially the same as the third rotation shaft 95 on the end side of the joint 79. It is routed to the link 80 from a wiring path that is bent in a parallel direction and goes in the direction of the link 80. The other end side of the FPC 68 routed in the link 80 is once fixed to the core member 168 provided in the link 80, and the FPC 68 is connected to the other end side of the FPC 68 fixed to the core member 168. A reel 68w wound in a predetermined winding direction around a winding axis Pw substantially parallel to the third first rotation axis 95 is formed. Further, the other end of the reel 68w around which the FPC 68 is wound reaches a connector (not shown) disposed in a wiring relay portion (not shown) in the link 80.
Regarding the reel 68w, in particular, the “predetermined winding direction” of the reel 68w will be described in detail later.

As shown in FIGS. 4A and 4B, the FPC 68 has a metal wiring pattern 65 formed on one surface of a flexible insulating base 64 such as polyimide. An insulating film 66 made of an insulating resin is laminated on a part of the base material 64 on which the wiring pattern 65 is formed. One end side of the FPC 68 without the insulating film 66 is a connection portion with the connector 167 of the wiring board 161. Similarly, a connection portion without the insulating film 66 is also formed on the other end side (not shown) of the FPC 68. A reinforcing plate 69 as a reinforcing member that is harder than the base material 64 is provided on the surface opposite to the surface on which the wiring pattern 65 is formed on the base material 64 at the connection portion on one end side of the FPC 68. The reinforcing plate 69 is made of an insulating resin material, and may be formed using, for example, PET (Polyethylene Terephthalate) or the like, or formed using the same material as the base material 64 that is thicker than the base material 64. It may be. Similarly, a reinforcing plate 69 is also provided at the connection portion on the other end side of the FPC 68 (not shown).
The FPC 68 is particularly flexible among the flat cables, and is thin, which is effective in reducing the thickness and size of the mounting structure of the electrical component 60. Further, since it is easy to bend, the degree of freedom of the routing route of the wiring is high, and the reel 68w described later is easy to form. Therefore, it is suitable as a wiring material for each member of the robot 10.

Hereinafter, the reel 68w described above, in particular, the “predetermined winding direction” of the reel 68w will be described in detail with reference to the drawings.
In FIG. 5A, the other end side of the FPC 68 drawn out from the wiring path of the joint 79 as the first member to the link 80 side is temporarily connected to the first fixing portion 68s of the core member 168 provided in the link 80. It is fixed. The central axis Pw of the core member 168 (first fixed portion 68s) is a starting point for winding the reel 68w of the FPC 68. In the present embodiment, the center axis Pw is described as being the same as the third rotation axis 95 that is the rotation axis of the joint 79 and the link 80, but the center serving as the base point of the reel 68w is described. The axis Pw may be substantially parallel to the third first rotation axis 95 and may not coincide with the third first rotation axis 95.

On the other end side of the FPC 68, a part of which is fixed to the first fixing portion 68s of the core member 168, a central axis Pw that is substantially parallel to the third first rotation shaft 95 (generally matches in the present embodiment). As a starting point, a reel wound in a predetermined direction is formed.
The other end side of the reel 68w around which the FPC 68 is wound is fixed to the second fixing portion 68e, and the other end side is pulled out to a wiring relay portion (not shown) in the link 80, and the wiring relay is performed. This leads to a connector (not shown) arranged on the relay board.
By the reel 68w of the FPC 68, the reciprocation in the length direction of the FPC 68 accompanying the relative rotation of the joint 79 and the link 80 around the third first rotation shaft 95 is absorbed, and the wiring does not hinder the relative rotation. A structure is realized.

Here, the above-mentioned “predetermined winding direction” in the reel 68w of the FPC 68 will be described.
FIG. 5A shows a state in which the rotation angle of the link 80 with respect to the joint 79 is 0 °. That is, in the multi-joint arm of the robot 10, the third first rotation shaft 95 that is the one end rotation shaft and the second first rotation on the main body 71 side (base side) as the base body. The center line P1 (see also FIG. 2) connecting the moving shaft 93 and the center line P80 extending to the distal end side of the link 80 and the link 81 connected to the distal end side thereof coincide with each other. Yes.
In the articulated arm of the robot 10 of the present embodiment, when the link 80 is rotated with respect to the joint 79 with reference to the state where the rotation angle of FIG. 5A is 0 °, FIG. The first angle range R1 when the link 80 is rotated in the first rotation direction shown in FIG. 5 and the second angle range R1 when the link 80 is rotated in the second rotation direction shown in FIG. The second angle range R2 is larger than the angle range R2. The “predetermined winding direction” of the reel 68w described above refers to the rotation in the second rotation direction having the second angle range R2 larger than the first angle range R1 in the first rotation direction with respect to the reference. It shows the direction in which the bending radius of the FPC 68 wound around the reel 68w increases when it moves.

According to the wiring structure that connects the joint 79 and the link 80 in the robot 10 according to the first embodiment, the following effects can be obtained.
First, according to the configuration of the first embodiment, in the wiring structure in which the joint 79 and the link that rotates around the third first rotation shaft 95 are connected to the joint 79 by the FPC 68, the link 80 to the joint 79 is provided. The rotation can be absorbed by the reel 68w so that the FPC 68 does not hinder the rotation.

In the wiring structure of the first embodiment, the FPC 68 is wired with a plurality of FPCs 68 such as a power supply FPC 68 and a drive signal FPC 68 overlapped. Each of the plurality of FPCs 68 generates heat when energization is continuously performed. In particular, the FPC 68 for supplying electric power is used in which a relatively thick wiring pattern 65 is formed. Since heat generation during driving occurs remarkably, it can cause heat to accumulate in the reel 68w where heat tends to be trapped.
In general, the robot 10 is designed so that it can be used for work in a direction in which the movable range of the joint structure on the end side (end effector side) of the articulated arm is large. In many cases, the arm is driven in the second rotation direction shown in FIG.
According to the wiring structure of the first embodiment, when the link 80 rotates in the second rotation direction in which the rotation angle is larger with reference to the rotation angle of the link 80 with respect to the joint 79 being 0 °. The reel 68w is formed in the winding direction in which the bending radius of the FPC 68 is increased. Thereby, as the robot 10 is driven, the bending radius of the flat cable 65 of the reel 68w becomes larger and the winding is loosened, so that the heat radiation of the FPC 68 in the reel 68w can be performed more effectively.

  Further, since the reel 68w is formed so that the bending radius of the reel 68w is increased when the multi-joint arm is driven in the second rotation direction in which the driving opportunity is more frequent, the tension applied to the FPC 68 is reduced. Accordingly, problems such as disconnection due to stress on the FPC 68 can be suppressed, and the life of the FPC 68 can be extended.

(Embodiment 2)
FIG. 6 is a schematic diagram illustrating the robot according to the second embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

The control unit 72 of the robot 10 according to the second embodiment illustrated in FIG. 6 includes a main control unit 721, a set time storage unit 726, and a reel drive control unit 723.
The control unit 72 is connected to an operation panel 722 on which an operator operates the robot 10 and inputs control information.

In the robot 10 according to the second embodiment, the operator operates the operation panel 722 to input a predetermined set time confirmed in advance, and saves it in the set time storage unit 726. Here, the predetermined set time refers to a time during which the rotation state of the link 80 with respect to the joint 79 is in a predetermined state, and the predetermined state is, for example, the first rotation from the reference (0 °). It refers to a state in which the reel 68w is easily trapped by rotating in the moving direction, that is, a state in which heat is easily trapped on the reel 68w.
More specifically, the “predetermined time” set by the operator is a temperature at which there is a risk of adverse effects of heat in the robot 10 according to the second embodiment in a predetermined state in which heat easily accumulates on the reel 68w. The time that is shorter than the time to reach.

  When the control unit 72 reaches a predetermined time stored in the set time storage unit 726, the reel drive control unit 723 connects the link 80 to the joint 79 in the direction in which the bending radius of the reel 68w increases, that is, FIG. Control to rotate in the second rotation direction shown in (c) is performed to radiate heat from the FPC 68 of the reel 68w.

According to the robot 10 of the second embodiment, the set time storage unit 726 is set by setting a predetermined time that is shorter than the time to reach a temperature at which there is a risk of adverse effects due to heat in a predetermined state where heat easily accumulates on the reel 68w. When the set predetermined time is reached, heat can be dissipated by increasing the bending radius of the flat cable 65 of the reel 68w and loosening the winding.
Therefore, in the continuous driving of the robot 10, it is possible to perform an operation for semi-automatically avoiding the adverse effect caused by the heat generated by the reel 68w.

(Embodiment 3)
FIG. 7 is a schematic diagram illustrating the robot according to the third embodiment. The same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and redundant description is omitted.

In the robot 10 according to the second embodiment shown in FIG. 7, the link 80 as the second member is provided with a temperature sensor 727 as temperature detecting means for detecting the temperature around the reel 68w.
The control unit 72 includes a main control unit 721, a temperature abnormality detection unit 728, and a reel drive control unit 723. A temperature sensor 727 is connected to the temperature abnormality detection unit 728.

  The temperature abnormality detection unit 728 stores a preset allowable temperature range, and an actual temperature measurement value around the reel 68w detected by the temperature sensor 727 is abnormal with respect to the allowable temperature range. It is determined whether or not there is. Here, the temperature abnormal value refers to a temperature at which the temperature around the reel 68w may have an adverse effect or danger on the operation of the robot 10 or the operator's body.

  In the control unit 72, when the temperature abnormality detection unit 728 determines that the temperature around the reel 68w is abnormal and exceeds the allowable range, the reel drive control unit 723 places the link 80 with respect to the joint 79 so that the bending radius of the reel 68w is large. In this direction, i.e., the second turning direction shown in FIG. 5C is controlled to release heat from the FPC 68 of the reel 68w.

According to the robot 10 of the third embodiment, the temperature around the reel 68w is actually measured, and when the temperature exceeds the allowable range, the heat radiation of the reel can be performed. It is possible to avoid an adverse effect caused by the heat generation of the reel.
Note that the temperature sensor 727 may be configured to detect the temperature of the reel 68w (FPC 68) itself by contacting the FPC 68 of the reel 68w.

(Embodiment 4)
FIG. 8 is an explanatory diagram schematically showing a robot according to the fourth embodiment. In addition, about the component same as Embodiment 1, the same code | symbol is used and the overlapping description is abbreviate | omitted.
In FIG. 8, the robot 200 of the fourth embodiment is a double-arm robot in which two first robot arms 10 </ b> A and a second robot arm 10 </ b> B having the same configuration as the robot 10 of the first embodiment are installed on the body 213. .

  The robot 200 includes a gantry 211 that supports the robot 200, a cylindrical body part 213 fixed to the gantry 211, and an upper part of the body part 213 opposite to the gantry 211 side at a substantially right angle from the body part 213. The first arm connecting portion 215A and the second arm connecting portion 215B are provided so as to project.

The first robot arm 10A installation surface side opposite to the body portion 213 side of the first arm connection portion 215A is rotatable about a 0th rotation axis J0AL penetrating in the projecting direction of the first arm connection portion 215A. The first arm fixing portion J0A is provided. The main body 71 of the first robot arm 10A having the same configuration as the robot 10 of the above embodiment is fixed to the first arm fixing portion J0A.
Similarly, the installation surface side of the second robot arm 10B opposite to the body 213 side of the second arm connection portion 215B rotates about the 0th rotation axis J0BL penetrating in the protruding direction of the second arm connection portion 215B. A movable second arm fixing portion J0B is provided. The main body 71 of the second robot arm 10B having the same configuration as that of the robot 10 of the first embodiment is fixed to the second arm fixing portion J0B.

  In both the 6-axis control first robot arm 10A and second robot arm 10B, the first arm fixing portion J0A and the second arm fixing portion J0B have a 0th rotation axis J0AL and a 0th rotation axis J0BL, respectively. Accordingly, the first robot arm 10 </ b> A and the second robot arm 10 </ b> B can be moved with a high degree of freedom in various trajectories as the seven-axis control robot 200.

  Since the robot 200 according to the second embodiment includes the first robot arm 10A and the second robot arm 10B having the same configuration as the robot 10 described in the above embodiment, wiring associated with continuous driving of the robot 200 is provided. It is possible to provide a small-sized and highly reliable double-arm robot 200 that can dissipate heat appropriately and perform various operations with high accuracy.

  Although the embodiments of the present invention made by the inventor have been specifically described above, the present invention is not limited to the above-described embodiments and modifications thereof, and various modifications can be made without departing from the spirit of the present invention. It is possible to make changes.

  For example, in the above-described embodiment, the configuration using the FPC 68 as the flat cable that is the wiring member has been described, but the configuration is not limited thereto. For example, a configuration using a flat cable which is generally called a flat cable and is thicker and harder than the FPC 68 or another flat cable called a harness may be used.

  DESCRIPTION OF SYMBOLS 2 ... Actuator, 10,200 ... Robot, 10A ... 1st robot arm, 10B ... 2nd robot arm, 14 ... Power transmission shaft outer cylinder, 16 ... Reduction gear output shaft outer cylinder, 22 ... Motor, 24 ... Reduction gear, 26 ... Reducer output shaft collar, 28 ... Linear body, 30 ... Reducer output shaft, 32 ... Motor frame, 34 ... Power transmission shaft, 36 ... Frame, 38 ... Rotor, 40 ... Rotor shaft, 42 ... Stator, 44 DESCRIPTION OF SYMBOLS Rotation position detection part, 46 ... Mechanical brake, 50 ... Drive transmission part, 60 ... Electrical equipment part, 65 ... Wiring pattern, 66 ... Insulating film, 68 ... FPC as flat cable, 68w ... Reel, 69 ... Reinforcement plate, 70 ... base part, 71 ... body part as base part, 72 ... control part, 73, 75, 77 ... joint as member, 74, 76, 78, 81 ... link, 79 Joint as first member, 80 ... Link as second member, 80M ... Motor, 81 ... Link, 83 ... Wiring path, 85 ... Driving pulley, 86 ... Driving pulley, 87 ... Timing belt, 88 ... Idler, 91 ... Shoulder shaft, 92... First rotation shaft, 93. Second rotation shaft, 94, 96. Second rotation shaft, and 95... Nth first rotation shaft. Third third rotation shaft, 97 ... drive shaft, 110 ... base link, 112 ... rotation link, 721 ... main control unit, 722 ... operation panel, 723 ... reel drive control unit, 726 ... set time storage unit 727 ... a temperature sensor as a temperature detection unit, 728 ... a temperature abnormality detection unit.

Claims (5)

A first member;
A second member that rotates about one rotation axis with respect to the first member;
A flat cable having one end connected to the first member;
A reel provided on the second member, the other end of the flat cable being wound around a rotation axis substantially parallel to the one rotation axis,
The second member includes a first angle range that is rotatable in a first rotation direction with reference to a rotation angle of the second member with respect to the first member being 0 °, and the first member. A second angle range that is rotatable in a second rotation direction opposite to the rotation direction of the first angle range and is larger than the first angle range;
When the robot rotates in the second rotation direction, a bending radius of the flat cable wound around the reel increases. A substrate;
A multi-joint arm including a plurality of members and connected by a joint mechanism in which adjacent members rotate relatively;
The articulated arm is connected to rotate around a shoulder axis that intersects the surface of the base body,
The adjacent members among the members rotate about one of the rotation shafts that intersect the shoulder shaft or the two rotation shafts that are substantially orthogonal to the one rotation shaft. The one rotation axis is a robot having a first rotation axis to an nth first rotation axis (n is an integer of 3 or more) in order from the base. There,
The member includes a first member on the base side connected by the nth first rotation shaft, and a first member that rotates about the nth first rotation shaft with respect to the first member. Two members,
A flat cable having one end connected to the first member;
A reel provided on the second member, the other end of the flat cable being wound around a rotation axis substantially parallel to the one rotation axis,
The second member includes a first angle range that is rotatable in a first rotation direction with reference to a rotation angle of the second member with respect to the first member being 0 °, and the first member. A second angle range that is rotatable in a second rotation direction opposite to the rotation direction of the first angle range and is larger than the first angle range;
When the robot rotates in the second rotation direction, a bending radius of the flat cable wound around the reel increases. The robot according to claim 2, wherein
A robot having a plurality of the articulated arms. The robot according to any one of claims 1 to 3,
A control unit that drives the second member in the second rotation direction with respect to the first member when a predetermined time has passed in a rotation state of the second member with respect to the first member. A robot characterized by comprising The robot according to any one of claims 1 to 3,
Temperature detecting means for detecting the temperature of the reel and / or the periphery of the reel;
A controller that causes the first member to drive the second member in the second rotation direction when the temperature detected by the temperature detection unit exceeds a preset allowable temperature; A robot characterized by having.

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