JP2016068198A - robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for changing an arrangement direction of a linear object without changing a component.SOLUTION: A robot includes: a base including a first opening part and a second opening part; a linear object existing in the base; and a first cover attachable to the first opening part and the second opening part and including a linear object connection part which may connect the linear object existing in the base to a connection destination located outside the base.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot.

  2. Description of the Related Art Conventionally, a robot having an arm that is rotatably supported with respect to a base is known. In such a robot, usually, a cable for supplying power to a motor for driving an arm, various sensors, a communication line for control, a fluid pipe for driving using a fluid, etc. A linear body exists inside or outside the arm. In addition, the linear body is usually routed from the base to the inside of the robot, and electric power, a signal, a fluid, and the like are supplied to the linear body extending from the base to the outside. Patent Document 1 discloses such a robot. In Patent Document 1, openings having different shapes are formed on the lower surface and the rear surface of the base, and each opening includes a connector plate and a connector having a connector to which a tip end portion of a control cable can be attached. Any one of the non-cover portions is configured to be selectively removable.

JP 2014-1000075 A1

In the conventional technology described above, when the control cable is routed from the lower surface of the base, the control cable is connected to the connector plate with the opening on the lower surface being blocked by the connector plate, and the opening on the rear surface is blocked by the lid. Can be removed. On the other hand, when the control cable is routed from the rear surface of the base, the control cable is connected to the connector plate in a state where the opening on the rear surface is blocked with the connector plate, and the opening on the lower surface is blocked with the lid. Therefore, when the routing of the control cable is interchanged between the lower surface and the rear surface, in the conventional technique, it is necessary to change the connector plate and the lid. For example, if the control cable is routed from the lower surface, remove the control cable from the connector plate on the lower surface, prepare a lid instead of the connector plate to close the opening on the lower surface, and then remove the lid on the rear surface It was necessary to prepare a connector plate instead of the lid and connect the control cable to close the opening on the rear surface.
An object of the present invention is to provide a technique for changing the direction in which a linear body is routed without changing parts.

  A robot for achieving the above object includes a base having a first opening and a second opening, a cable routing existing inside the base, a first opening, and a second opening. 1st cover provided with the linear body connection part which can be attached to any of the part and can connect the linear body which exists in the inside of a base to the connection destination outside the base. .

  That is, the first cover provided with the linear body connecting portion can be attached to both the first opening and the second opening formed in the base. Therefore, if the first cover is used, the linear body inside the base can be pulled out from either the first opening or the second opening. For this reason, it is possible to change the routing direction of the linear body without changing the parts.

  Here, the base may be provided with the first opening and the second opening. That is, it is only necessary to form two openings on the base for routing the linear body to the outside. The base may be a part of a robot installed at the installation location, and is a part to which other parts (for example, an arm or the like) are attached. Of course, any element constituting the robot may be attached inside or outside the base. Examples of the element attached to the inside include a motor and a reduction gear, and examples of the element attached to the outside include the above-described arm and linear body.

  The 1st opening part and the 2nd opening part should just be formed in the connection part of the linear body which exists in the exterior of a base. Accordingly, the diameter may be at least larger than the diameter of the linear body connected to the linear body connecting portion, but may be a diameter necessary for work such as connection of the linear body. Moreover, although the shape of an opening part may be arbitrary shapes, it is preferable that each opening part is a magnitude | size covered with a 1st cover. The first opening and the second opening may be formed at any position of the base. For example, the first opening is located on the bottom surface of the base and the second opening is located on the side surface of the base. It is possible to adopt a configuration or the like.

  The linear body should just be a member which transmits arbitrary transmission objects, and exists in the inside of a base at least. In addition, various objects can be assumed as the transmission target by the linear body, and power, a signal, a fluid, and the like are assumed. When electric power or a signal is a transmission target, the linear body is a conductor, and when a fluid is a transmission target, the linear body is a pipe. Of course, the number of linear bodies may be plural, and the types of linear bodies may be plural.

  The first cover can be attached to either the first opening or the second opening, and the linear body that exists inside the base can be connected to the connection destination outside the base. What is necessary is just to provide the connection part. That is, the first cover that can connect the linear body existing inside the base and the linear body existing outside through the linear body connecting portion is either the first opening portion or the second opening portion. Can also be attached. With this configuration, the linear body inside the base is configured to be pulled out from both the first opening and the second opening.

  As a configuration for attaching the first cover to the first opening or the second opening, various configurations can be adopted. For example, the first cover is attached by fastening means using screws and screw holes. A structure that is attached to each opening can be employed. Of course, other methods, for example, a configuration in which the first cover is attached to each opening by inserting a protrusion provided on the first cover into an insertion part provided in the vicinity of each opening, etc. Also good.

  The linear body connecting portion only needs to be able to connect a linear body existing inside the base to a connection destination outside the base. Examples of the connection destination outside the base include a linear body existing outside the base. Therefore, when the linear body is a conductor, the linear body connecting portion is a connector that secures the conduction of the linear body, and when the linear body is a pipe, the linear body connecting portion allows the fluid to flow inside and outside the pipe. It is a joint that can be circulated.

  Furthermore, the structure which can be attached to both a 1st opening part and a 2nd opening part, and is provided with the 2nd cover different from a 1st cover may be sufficient. According to this configuration, the opening to which the first cover is not attached can be closed with the second cover. Further, even if the opening to which the first cover is attached is changed between the first opening and the second opening, the opening to which the second cover is attached is changed in accordance with the change. For example, it is possible to change the handling direction of the linear body without changing the parts.

  The first cover and the second cover may be configured in the same way, but if the same linear body is not routed to the outside from both the first opening and the second opening, the second cover The cover is preferably configured differently from the first cover. In other words, the linear body connecting portions that are not used simultaneously by the first cover and the second cover need only be provided in either one.

  As a configuration example in which the second cover is different from the first cover, a configuration in which the second cover is not provided with the linear body connecting portion can be given. That is, the linear body connecting portion that can connect the linear body inside the base to an external connection destination is provided only in the first cover, and is not provided in the second cover. With this configuration, for example, the second cover can be provided by a plate-like member (simple plate-like member) having a flat surface, and the second cover can be easily configured. In addition, the second cover can be provided at a low cost.

  Further, the first cover and the second cover can be attached to the first opening and the second opening by fastening at the same fastening position, and the first opening and the second opening are attached to the first cover and the second opening by the attachment. The structure covered with 2 covers may be sufficient. According to this configuration, it is possible to change the handling direction of the linear body without changing the parts. The fastening can be realized by various methods, and may be performed by screws and screw holes, or the state in which the first cover and the second cover are clamped by the lever or the like and the state in which the clamp is released are changed. The structure etc. which can be performed may be sufficient. In addition, the first opening and the second opening are covered with the first cover and the second cover by the mounting, and in this state, the flow of fluid and objects inside and outside the base (for example, leakage of oil from the base) And intrusion of garbage into the base).

  Furthermore, the structure provided with the slit which connects a base to a 1st opening part and a 2nd opening part may be sufficient. If it is this structure, a user will remove the 1st cover from one opening part in the state in which the linear body inside the base was connected to the linear body connection part of the 1st cover, and the other opening part Can be replaced. Therefore, the work for changing the direction in which the linear body is handled becomes extremely easy. The slit should just be formed in the width | variety which can pass the linear body of the state attached to the linear body connection part of a 1st cover, and the number of slits may be one or more.

  Further, the linear body existing inside the base is bound at the first binding position and the second binding position that is vertically below the first binding position, and the first opening or It may be configured to be routed to the two openings and routed vertically above the base from the second binding position. That is, in a normal robot, at least a part of the linear body existing inside the base is routed not only in the base but also in other parts (such as arms) connected to the base. There are many cases. In many robots, other parts (such as arms) extend vertically above the base while the base is installed at the installation location. Therefore, the linear body existing inside the base is routed to the outside from the first opening or the second opening, and is also routed to the other part existing vertically above.

  In the configuration in which the linear body is routed vertically above the base from the second binding position that exists vertically below the first binding position, the second body below the first binding position in the base. From the binding position, it becomes possible to draw the linear body in a straight line along the vertical direction toward the other part above. Other parts change relative to the base due to rotation, etc., but the damage applied to the linear body due to the relative change is so small that the linear body is simply routed. Tend. Therefore, the linear body is drawn in a straight line at the connecting portion between the other part and the base, and the longer the straight line, the less likely a complex force such as a pulling force is applied. Becomes longer. For this reason, according to the configuration in which the linear body is routed vertically above the base from the second binding position that exists vertically below the first binding position, the service life of the linear body is prevented from being shortened. can do.

  Further, the first binding position is a starting point for routing the linear body to the first opening or the second opening in the base (the linear body is bound between the first binding position and each opening). It ’s free.) When the first binding position serving as a starting point for routing the linear body to the first opening or the second opening is present in the lower part of the base, one of the first opening or the second opening is the bottom surface of the base, When the other side is present on the side surface, a state in which the starting point is close to the opening on the base side and far from the side surface may occur. Thus, if the difference between the distance between the starting point and the first opening and the distance between the starting point and the second opening is large, the extra length is excessively large when the linear body is drawn around the opening having a short distance. The stress for bending the linear body becomes excessively large, and the service life is likely to be shortened. However, if the first binding position exists above the second binding position in the base, the difference between the distance between the starting point and the first opening and the distance between the starting point and the second opening can be reduced. Is possible. For this reason, it can prevent that the lifetime of a linear body becomes short.

  The first binding position and the second binding position are positions where the linear body is regulated so as to pass through the position, and each position is set to prevent excessive stress from acting on the linear body. May have a range. That is, the linear body may be fixed at the first binding position and the second binding position, or the linear body may be regulated to exist in a predetermined range as the first binding position and the second binding position. Good. Various methods can be adopted as a method for binding, and a binding object existing in a binding target site or arm in which a linear body is present inside the base by a binding band or other arbitrary clamping means. It may be bound to the target site.

  Furthermore, the robot to which the present invention is applied may be provided as a robot system including a control unit that controls the robot and cooperates with various devices, and can adopt various configurations.

(1A) is a diagram showing a robot according to an embodiment of the present invention, (1B) is a diagram showing a state when the base is viewed from the rear surface, and (1C) is a state when the base is viewed from the bottom surface. FIG. (2A) is a figure which shows the state which looked at the base from the rear surface, (2B) (2C) is a figure which shows the state which looked at the base from the bottom face. (3A) and (3B) are sectional views of the base.

Here, embodiments of the present invention will be described in the following order.
(1) Robot configuration:
(2) Cover configuration:
(3) Other embodiments:

(1) Robot configuration:
FIG. 1A is a diagram illustrating a configuration of a robot 10 according to an embodiment of the present invention. The robot 10 according to the present embodiment includes a plurality of arms 11 to 16 and a base 20. In the present specification, the arms are numbered and distinguished in order from the base 20 side. That is, the first arm 11 is rotatably supported by the base 20, and the second arm 12 is rotatably supported by the first arm 11. Further, the third arm 13 is rotatably supported by the second arm 12, the fourth arm 14 is rotatably supported by the third arm 13, and the fifth arm 15 is rotatable by the fourth arm 14. The sixth arm 16 is rotatably supported by the fifth arm 15. The rotation of each arm is realized by a base 20 or a motor (not shown) provided inside the arm. In the present embodiment, an end effector (not shown) can be attached to the sixth arm 16.

  In FIG. 1A, the robot 10 is installed by placing the base 20 at the installation location and fastening it to the installation location with a bolt or the like. In this specification, the direction perpendicular to the plane on which the base 20 is installed is up and down, and the direction in which the main drive range of each arm exists on the plane on which the base 20 is installed is the front. Correspondence is shown in FIG. 1A. Hereinafter, the directions of up and down, front and rear, left and right are based on the direction shown in FIG. 1A.

  The base 20 has a schematic shape in which a substantially cylindrical main body 20a and a substantially rectangular rectangular portion 20b are connected. In FIG. 1A, the main body 20a is disposed forward and the rectangular portion 20b is disposed rearward. . Above the main body 20a, the first arm 11 is supported by the main body 20a so that the first arm 11 can rotate about a rotation axis extending in the vertical direction in FIG. 1A. The first arm 11 includes a main body 11 a and a support portion 11 b, and is supported by the base 20 in a state where the main body 11 a is disposed above the main body 20 a of the base 20. The support portion 11b is a portion that supports the second arm 12 with the second arm 12 interposed therebetween. The second arm 12 includes a main body 12a and a support portion 12b, and a support portion so that the main body 12a can be rotated around a rotation axis extending in the left-right direction in FIG. 11b. The support portion 12 b is a portion that supports the third arm 13 with the third arm 13 interposed therebetween.

  The third arm 13 is a substantially rectangular parallelepiped, and is supported by the support portion 12b so that the third arm can be rotated about the rotation axis extending in the left-right direction shown in FIG. 1A with the third arm sandwiched between the support portions 12b. The The end surface of the third arm (the end surface on the front side in the state shown in FIG. 1A) is perpendicular to the rotation axis of the third arm 13 (the left-right direction in the state shown in FIG. 1A) (the front-rear direction in the state shown in FIG. 1A). The fourth arm 14 is supported so that the fourth arm 14 can be rotated by a rotation axis parallel to ().

  The fourth arm 14 includes a main body 14a and a support portion 14b, and is supported by the third arm 13 so that the main body 14a can rotate around a rotation axis extending in the front-rear direction of FIG. 1A. That is, in the present embodiment, the direction in which the fourth arm 14 extends and the direction in which the rotation axis extends are parallel, and it can be said that the fourth arm 14 can be twisted. The support portion 14b is a portion that supports the fifth arm 15 with the fifth arm 15 interposed therebetween. The fifth arm 15 is supported by the support portion 14b so as to be rotatable about a rotation axis extending in the left-right direction in FIG. 1A while being sandwiched between the support portions 14b. The sixth arm 16 is supported by the fifth arm so as to be rotatable about a rotation axis extending in the front-rear direction of FIG. 1A. That is, the sixth arm 16 is also configured to be able to twist.

  A plurality of linear bodies for transmitting signals and fluid (air) to other parts can be connected to the base 20. That is, these linear bodies are connected to the base 20 and these linear bodies are routed inside the base 20, so that the base 20 and the first arm 11 to the sixth arm 16 Electric power, a signal, fluid, etc. are transmitted to an arbitrary arm and used.

(2) Cover configuration:
In the present embodiment, a linear body can be connected to a cover that can be attached to the base 20. Moreover, the base 20 according to the present embodiment can be attached with covers at two locations. 1B, 1C, 2A, and 2B are views showing a state in which the first cover 22a and the second cover 22b are attached to the base 20, and FIGS. 1B and 2A show the base from the rear to the front. FIGS. 1C and 2B are views of the base 20 as viewed from below to above.

  In the base 20, a first opening 21a is formed on the lower surface of the main body 20a (the lower surface (that is, the bottom surface when installed at the installation location)), and the second opening 21b is formed on the side surface (rear surface) of the rectangular portion 20b. Is formed. A first cover 22a and a second cover 22b can be attached to each of the first opening 21a and the second opening 21b. In FIG. 1B, FIG. 1C, FIG. 2A, and FIG. 2B, since the first opening 21a and the second opening 21b are on the back side of the first cover 22a and the second cover 22b, the first opening 21a and the second opening 21b A portion corresponding to the edge of the opening 21b is shown with a broken lead line.

  The first cover 22a and the second cover 22b are formed of a substantially octagonal plate-like member, and the first cover 22a includes a plurality of linear body connecting portions 23a. In FIG. 1B, FIG. 1C, FIG. 2A, and FIG. 2B, a part of the plurality of linear body connecting portions 23a provided in the first cover 22a is shown with lead lines. On the other hand, the second cover 22b does not include the linear body connecting portion 23a. That is, the second cover 22b is a substantially octagonal plate-like member, and the surface of the member is a flat surface and does not include other structures protruding in a direction perpendicular to the flat surface. The peripheral shape of the first cover 22a and the second cover 22b is the same shape.

  The shapes of the first opening 21a and the second opening 21b are substantially octagonal, and the shapes of the first opening 21a and the second opening 21b are the same. When the first cover 22a and the second cover 22b are attached to the first opening 21a and the second opening 21b, the first cover 22a and the second cover 22b are covered with the first opening 21a and the second opening 21b. Further, the shapes of the first opening 21a and the second opening 21b are determined. Therefore, when the first cover 22a and the second cover 22b are attached to the base 20, the inside of the base 20 is not exposed.

  On the inner diameter side of the circumference of the first opening 21a and the second opening 21b, screw holes for inserting screws and fastening are formed. In the present embodiment, each screw hole is formed at the same position in the first opening 21a and the second opening 21b. On the other hand, in the first cover 22a and the second cover 22b, holes into which screws can be inserted are formed at positions corresponding to the respective screw holes. Accordingly, the first cover 22a and the second cover 22b can be attached to the first opening 21a and the second opening 21b by fastening screws at the same fastening position.

  With the above configuration, the first cover 22a and the second cover 22b can be attached to either the first opening 21a or the second opening 21b. That is, the first cover 22a can be attached to the second opening 21b as shown in FIG. 1B, and the first cover 22a can be attached to the first opening 21a as shown in FIG. 2B. It is. On the other hand, the second cover 22b can be attached to the first opening 21a as shown in FIG. 1C, and the second cover 22b can be attached to the second opening 21b as shown in FIG. 2A. It is.

  Therefore, the opening to which the first cover 22a is not attached can be closed with the second cover 22b. Moreover, even if the opening to which the first cover 22a is attached is changed between the first opening 21a and the second opening 21b, the opening to which the second cover 22b is attached in accordance with the change. If the part is changed, it is possible to change the handling direction of the linear body without changing the parts.

  The linear body connecting portion 23a provided in the first cover 22a is a member that can connect a linear body existing inside the base 20 and a connection destination outside the base 20, and the linear body is In the case of a conductor, the linear body connecting portion 23a is a connector that ensures the conduction of the linear body, and when the linear body is a pipe, the linear body connecting section 23a can circulate fluid to the inner and outer pipes. It is a joint. Since the first cover 22a can be attached to either the first opening 21a or the second opening 21b, the user attaches the opening to which the first cover 22a is attached as shown in FIG. 1B or 2B. By selecting, the user can pull out the linear body inside the base 20 to the outside from both the first opening 21a and the second opening 21b.

  Since the second cover 22b can be attached to either the first opening 21a or the second opening 21b, the first cover 22a is attached to the first opening 21a or the second opening 21b. It is attached to the opening which is not made. According to the above configuration, it is possible to change the direction in which the linear body is routed without changing the cover as a component (using the same cover in any state of routing).

  In addition, the state which attaches the 1st cover 22a to the 1st opening part 21a side which is the bottom face of the base 20, and draws a linear body in the said bottom face side is utilized when installing the base 20 in an installation stand etc. . That is, in the configuration in which the plane that forms the upper surface of the installation base is the installation location of the base 20, an opening that is covered with the bottom surface of the base 20 is formed on the plane. And if the 1st cover 22a is attached to the 1st opening part 21a and the base 20 is placed and fixed so that the opening part of an upper surface of an installation base may be covered, the linear body in an installation base will be drawn in the base 20 Is possible.

  Furthermore, according to the present embodiment, each of the first opening 21a and the second opening 21b is covered with either the first cover 22a or the second cover 22b, so that fluids and objects inside and outside the base 20 can be obtained. Flow (for example, leakage of oil from the base and entry of dust into the base) can be prevented.

  Furthermore, in this embodiment, the 2nd cover 22b is not provided with the linear body connection part 23a. For this reason, it is possible to provide the second cover 22b with a simple plate-like member having a flat surface, the second cover 22b can be easily configured, and the second cover 22b can be formed at low cost. Can be provided.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other configurations can be adopted. For example, the form of the robot 10 is not limited to the form shown in FIG. 1A, and may be any other robot such as a double-arm robot, a humanoid robot, or a scalar robot. Of course, the configuration of the arms is not limited to the embodiment shown in FIG. 1A, and a 7-axis robot including seven arms may be used, and the number of arms is not limited.

  Furthermore, the base 20 may be configured to include a slit that communicates with the first opening 21a and the second opening 21b. FIG. 2C is a diagram illustrating a configuration example of the base 20 in which a slit 24 communicating with the first opening 21a and the second opening 21b is formed on the bottom surface, and the base 20 is arranged from below to above in FIG. 1A. It is shown as seen. That is, in FIG. 2C, the site | part in which the slit 24 was formed by the cross hatch is shown. In the housing of the base 20, the slit 24 extends from one side of the octagon forming the first opening 21 a to one side of the octagon forming the second opening 21 b. Therefore, in the state where the linear body inside the base 20 is connected to the linear body connecting portion 23a of the first cover 22a, the opening for attaching the first cover 22a is changed without removing the internal linear body. be able to.

  For example, when the linear body inside the base 20 is connected to the linear body connecting portion 23a and the first cover 22a is attached to the first opening 21a, the first cover 22a is replaced with the first cover 22a. The first cover 22a can be moved and attached to the second opening 21b so that the linear body inside the base 20 passes through the slit 24. Therefore, the work for changing the direction in which the linear body is handled becomes extremely easy. The slit 24 should just be formed in the width | variety which can pass the linear body of the state attached to the linear body connection part 23a of the 1st cover 22a, and the number of slits may be one or more. But you can. Moreover, when not using the slit 24, you may be comprised so that attachment of the cover which covers the slit 24 is possible.

  Furthermore, in the configuration in which the first cover 22a and the second cover 22b that can be attached to both the first opening 21a and the second opening 21b are used as in the present embodiment, the inside of the base 20 By appropriately handling the linear body, it is possible to prevent the service life of the linear body from being shortened.

  In the robot 10 according to the present embodiment, a first arm in which at least a part of a linear body existing inside the base 20 is connected not only within the base 20 but also above the base 20 (vertically upward). 11 is drawn around. Accordingly, the linear body existing in the base 20 is routed to the outside from the first opening 21a or the second opening 21b and is also routed to the inside of the first arm 11 that exists vertically upward. The Furthermore, the rotating shaft of the first arm 11 is a hollow tubular rotating shaft member, and a linear body is passed through the hollow portion of the rotating shaft member, so that the first arm 11 is interposed between the first arm 11 and the base 20. The linear body is drawn around.

  3A and 3B are cross-sectional views of the base 20, FIG. 3A shows a state in which the base 20 is cut along a cross section perpendicular to the left-right direction, and FIG. 3B shows a cross-section perpendicular to the front-rear direction. FIG. 3B shows a state in which the main body 20a side is viewed. In addition, a part of the configuration within the base 20, for example, the above-described rotating shaft member and motor are omitted. In any case, in the base 20 according to the present embodiment, the linear body 25 extends vertically downward from above the base 20 in order to pass the hollow portion of the rotating shaft member. The rotating shaft member extends to the vicinity of the center portion of the base 20, but does not reach the lower portion of the base 20. Therefore, the linear body 25 in this embodiment is bound by the binding tool 25 b at the lower portion of the base 20. ing. That is, a binding tool 25b can be attached to the lower part of the base 20 with respect to the plate-like member 25d connected to the base 20, and the binding tool 25b includes the binding tool 25b and the plate-like member 25d. It is possible to fix on the rotating shaft while sandwiching the linear body 25 therebetween. In addition, also in the 1st arm 11 which is not illustrated in FIG. 3A and 3B, the linear body 25 is bundled on the rotating shaft of a rotating shaft member.

  In the present embodiment, the linear body 25 is drawn linearly along the vertical direction from the binding position (second binding position described later) in the binding tool 25 b toward the upper first arm 11. The first arm 11 rotates with respect to the base 20, but the damage exerted on the linear body 25 by the stress acting on the linear body 25 due to the rotation tends to be smaller as the linear body 25 is simply routed. is there. Therefore, the linear body 25 is drawn in a straight line within the rotary shaft member that is a connecting portion between the first arm 11 and the base 20, and a complicated force such as a pulling force acts as the straight line becomes longer. It becomes difficult and the service life of the linear body becomes longer. For this reason, according to the present embodiment in which the linear body 25 is routed vertically above the base 20 from the binding tool 25b existing at the lower part of the base 20, the service life of the linear body 25 is shortened. Can be prevented.

  Furthermore, since the linear body 25 is bound by the binding tool 25b, in order to draw the linear body 25 inside the base 20, the linear body 25 existing below the binding tool 25b is first connected. The first opening 21a or the second opening 21b is routed. In such a configuration, when the linear body is routed without providing a surplus portion between the binding tool 25b and the outside of the base 20, excessive stress tends to act on the linear body, and the linear The life of the body is shortened.

That is, as in the present embodiment, in order to configure the linear body to be pulled out from both the first opening 21a and the second opening 21b, the distance between the binding tool 25b and the first opening 21a. L ₁ and the distance L ₂ between the binding tool 25 b and the second opening 21 b need to define the length of the inside of the base 20 in accordance with the longer distance L ₂ . For example, the length of the tie under the linear body 25 from 25b is a length in which a slight margin to the distance L ₂ between the closure 25b and the second opening 21b. However, in this case, when routing the linear body 25 to the first opening 21a from the closure 25b, the distance L ₁ between the closure 25b and the first opening portion 21a due to the shorter than the distance L ₂ And the linear body 25 between the binding tool 25b and the 1st opening part 21a is bent too much, and stress will act too much. As a result, the service life of the linear body 25 is shortened.

  Therefore, in the present embodiment, the linear body 25 existing inside the base 20 is bound at the first binding position and the second binding position that is vertically below the first binding position, and the first binding is performed. A configuration is adopted in which the cable is routed from the position to the first opening 21a or the second opening 21b and is routed vertically above the base 20 from the second binding position. That is, in the base 20, the binding band 25a is attached to the plate-like member 25c connected to the base 20 above the binding tool 25b. Further, the linear body below the binding tool 25b is once bent vertically upward and then bent in the horizontal direction, thereby being bound to the plate-like member 25c by the binding band 25a. Prior to the binding band 25a, the linear body 25 is free (not bound).

  Accordingly, the linear body 25 ahead of the binding band 25a is drawn around the first opening 21a or the second opening 21b (that is, the binding position by the binding band 25a causes the linear body 25 to be in the first position). It becomes a starting point for drawing around the opening 21a or the second opening 21b). In this configuration, when the binding position by the binding tool 25b is regarded as the second binding position, and the binding position by the binding band 25a is regarded as the first binding position, the linear body 25 existing inside the base 20 becomes the first binding position. Bundling is performed at the position and the second bundling position, routed from the first bundling position to the first opening 21a or the second opening 21b, and led from the second bundling position vertically above the base 20. It becomes the composition which is.

In the above configuration, the distance L ₃ between the binding bands 25a and first opening 21a, the difference between the distance L ₄ between the binding bands 25a and second opening 21b, the difference between the distance L _1, L ₂ of the above Smaller than. That is, in the present embodiment, the distance L _3, such that the difference L ₄ is less than the difference between the distance L _1, L _2, and the position of the binding band 25a are determined in the upper than the position of the closure 25b Yes. Therefore, even if the linear body 25 ahead of the binding band 25a is drawn around either the first opening 21a or the second opening 21b, the linear body 25 is not excessively bent. . For this reason, it can prevent that the lifetime of the linear body 25 becomes short.

DESCRIPTION OF SYMBOLS 10 ... Robot, 11-16 ... 1st-6th arm, 11a ... Main body, 11b ... Support part, 12a ... Main body, 12b ... Support part, 14a ... Main body, 14b ... Support part, 20 ... Base, 20a ... Main body 20b ... rectangular portion, 21a ... opening portion, 21b ... opening portion, 22a ... cover, 22b ... cover, 23a ... linear body connecting portion, 24 ... slit, 25 ... linear body, 25a ... binding band, 25b ... binding Tools, 25c, 25d ... plate-like members

Claims (7)

A base comprising a first opening and a second opening;
A linear body present inside the base;
A linear body that can be attached to both the first opening and the second opening, and can connect the linear body existing inside the base to a connection destination outside the base. A first cover provided with a connecting portion;
Robot equipped with. It can be attached to both the first opening and the second opening, and includes a second cover different from the first cover.
The robot according to claim 1. The second cover does not include the linear body connecting portion.
The robot according to claim 2. The first opening is located on the bottom surface of the base,
The second opening is located on a side surface of the base;
The robot according to any one of claims 1 to 3. The first cover and the second cover are:
It can be attached to the first opening and the second opening by fastening at the same fastening position, and the first opening and the second opening are covered by the first cover and the second cover by the attachment. ,
The robot according to any one of claims 1 to 4. The base is
Comprising a slit leading to the first opening and the second opening;
The robot according to any one of claims 1 to 5. The linear body present inside the base is
The first bundling position and the second bundling position that are vertically below the first bundling position,
It is routed from the first binding position to the first opening or the second opening, and is routed vertically above the base from the second binding position.
The robot according to any one of claims 1 to 6.

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