JP2017121671A - robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To downsize the whole of a robot, while properly protecting its wiring, in a robot in which the wiring is disposed in an inner space of a robot arm.SOLUTION: A robot (10) is equipped with a first arm (20) and a second arm (30) coupled so as to relatively rotate, and wiring (60) inserted in the inside of the first arm and the inside of the second arm. The first arm has a first arm body (21), non-rotary portions (21 and 221), a rotary shaft (222), and an extending portion(211). The second arm has a second arm body (31) and a coupling porion (32). The extending portion surrounds at least a part of a periphery of a first clearance. The wiring is wound around the periphery of the extending portion. The second arm has a first projecting portion (33) which is provided so as to extend from an inner wall surface of the second arm body in an axial direction of the rotary shaft, and surround at least a part of a periphery of a second clearance while separating from the extending portion.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a robot in which wiring is arranged in an internal space of a robot arm.

  2. Description of the Related Art Conventionally, some robots having joints have wiring such as signal lines and power lines arranged in the internal space of a plurality of connected robot arms. In such a configuration, when the robot arm is driven, the wiring arranged in the internal space of the robot arm is also pulled and moved as the robot arm moves. Then, the wiring may be worn or damaged by rubbing or being pinched with the structure in the robot arm. For this reason, it is necessary to secure an internal space having a sufficient capacity to allow the movement of the wiring when the robot arm is driven.

  On the other hand, in recent years, robots equipped with joints tend to aim for miniaturization by making the robot arm thinner and lighter. In this case, it is difficult to secure a space having a capacity sufficient to allow movement of the wiring inside the robot arm. Therefore, in a configuration in which wiring is arranged in the internal space of the robot arm, it has been difficult to reduce the size of the entire robot while appropriately preventing wear and damage that may occur in the wiring.

JP 2005-246532 A

  The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the size of the entire robot while appropriately protecting the wiring in the case where the wiring is arranged in the internal space of the robot arm. It is to provide a robot that can.

(Claim 1)
It is desirable that the wiring arranged in the internal space of the robot arm (hereinafter simply referred to as the arm) pass through the center of the rotation center axis of the arm in consideration of the relative rotation between the connected arms. In this case, for example, it is conceivable that the rotating shaft of the motor that drives the arm is configured as a hollow shaft, and wiring is passed through the hollow shaft. However, if the motor is also downsized to reduce the size of the robot, the diameter of the rotating shaft of the motor will also be reduced, making it difficult to pass the wiring inside the rotating shaft. Further, for example, in the case of a robot having a plurality of joints, the number of arms increases. Then, the number of motors for driving the arms increases, and the number of wirings also increases. As a result, the number of wires passing through the arm near the root increases, making it more difficult to route the wires inside the motor rotation shaft.

  Further, as a method other than the method of passing the wiring through the rotating shaft of the motor, for example, there is the following method. That is, considering that the wiring is pulled with the rotation of the arm, the wiring arranged in the internal space of the arm is previously set to a length dimension having a certain margin. Thereby, even if the wiring is pulled along with the rotation of the arm, it is possible to prevent excessive tension from being applied to the wiring. However, in this case, if the wiring is loosened, stretched, or pulled and tightened with the rotation of the arm, the wiring moves in the space in the arm and rubs against the corners or the like of the structure existing in the space in the arm. . As a result, the wiring may be damaged due to wear or the like, which may eventually lead to disconnection.

  Therefore, in this case, in order to protect the wiring from abrasion or the like, for example, the joint portion of the arm around which the wiring is wound is enlarged to secure a space having a capacity sufficient to allow the movement of the wiring inside the arm. It is conceivable to provide a member for protecting the wiring between the structure inside the arm and the wiring. However, in any of the methods, since the joint portion of the arm is enlarged, it is difficult to reduce the size of the entire robot.

  Therefore, the robot according to claim 1 includes a first arm and a second arm that are relatively rotatably connected, and wiring that passes through the first arm and the second arm. Prepare. The first arm includes a first arm main body that constitutes an outer shell of the first arm, a non-rotating portion that is provided inside the first arm main body and is non-rotatable with respect to the first arm main body, A rotating shaft provided inside the first arm main body so as to be rotatable with respect to the first arm main body; and a hollow shaft provided so as to extend from the first arm main body toward the second arm side. And an extension part formed and passed through the rotating shaft inside the hollow shape. The second arm includes a second arm main body constituting an outer shell of the second arm, and is provided in the second arm main body so as not to rotate with respect to the second arm main body. And a connecting portion that is passed through the inside and to which the rotating shaft is connected. A first gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the connecting portion and the non-rotating portion. A second gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the extension portion and the inner wall surface of the second arm body. The extension portion surrounds at least a part of the periphery of the first gap. The wiring is wound around the extension portion, and the second arm projects from the inner wall surface of the second arm body toward the first arm along the axial direction of the rotating shaft. And a first protrusion that surrounds at least a part of the periphery of the second gap in a state of being separated from the extension portion.

  That is, in this configuration, the non-rotating part is, for example, a motor attached to the first arm body, the first arm body itself, or the like. In this case, a first gap is formed between the connecting portion and the non-rotating portion. Thereby, the 2nd arm can rotate smoothly, without a connection part and a non-rotating part contacting and rubbing. Moreover, the wiring is wound around the extension part provided in the 1st arm main body. In this case, the wiring is loosened or tightened as the second arm rotates, but one winding portion with wiring is placed inside the other one winding portion by being wound around the extension portion. It can prevent entanglement. Furthermore, in this case, since the wiring is wound around the extending portion, when the wiring is slackened with the rotation of the second arm, the wiring is randomly spread in the space in the second arm body. Can be suppressed. As a result, the wiring can be prevented from being bent excessively by being pressed against the inner wall in the second arm body. Therefore, according to this configuration, even if the internal space of the joint portion is relatively small, the wiring can be appropriately protected from the movement of the wiring accompanying the rotation of the second arm.

  Further, the extending portion surrounds at least a part of the periphery of the first gap. This prevents the wiring from entering the first gap even when the wiring is pulled with the rotation of the second arm and tightened inward in the radial direction of the rotating shaft. it can.

  In addition, a second gap is formed between the extension portion and the inner wall surface of the second arm body so as to open in a direction perpendicular to the axial direction of the rotation shaft. Thereby, the 2nd arm can rotate smoothly, without the extension part and the inner wall surface of a 2nd arm main body contacting and rubbing. In this case, if the wiring is pulled along with the rotation of the second arm and is tightened toward the inner side in the radial direction of the rotation shaft, the wiring may enter the second gap. Therefore, the second arm has a first protrusion. The first projecting portion is provided so as to project from the inner wall surface of the second arm main body toward the first arm side along the axial direction of the rotation shaft, and is disposed around the second gap in a state of being separated from the extending portion. Enclose at least part of it. According to this, even when the wiring is pulled with the rotation of the second arm and is tightened toward the inner side in the radial direction of the rotation shaft, the movement toward the second gap side of the wiring is caused by the first protrusion. Be inhibited. Therefore, the wiring can be prevented from entering the second gap. As a result, it is possible to prevent the wiring from rubbing between the extending portion and the inner wall surface of the second arm main body to be disconnected.

  As described above, according to this configuration, it is possible to minimize the spread of the wiring by wrapping the wiring around the extending portion, and accordingly, in the second arm for allowing the movement of the wiring. Space can be reduced. That is, according to this, it is possible to reduce the size of the connection portion, that is, the joint portion between the first arm and the second arm. Furthermore, by providing the first protrusion, it is possible to prevent the wiring from entering the second gap between the extension portion and the inner wall surface of the second arm body. As a result, when the wiring is arranged in the internal space of the arm, the entire robot can be reduced in size while appropriately protecting the wiring.

(Claim 2)
The robot according to claim 2, wherein the second arm has a hole and a cap member. The hole is formed so as to penetrate the second arm main body in the axial direction of the rotation shaft at a position facing the wiring accommodation space in the second arm main body. The cap member can be attached to and detached from the second arm body, the first projecting portion is provided, and the first projecting portion is inserted into the hole portion to close the hole portion. According to this, when connecting the first arm and the second arm, the user visually confirms the inside of the second arm body from the hole with the cap member removed from the second arm body. Each wiring can be arranged in the second arm body. As a result, the assembling workability of each arm is improved, and as a result, the time required for assembling can be shortened and the productivity can be improved.

  Further, according to this, even after the wiring is arranged in the second arm main body and the robot is assembled, the user can remove the cap member from the second arm main body to open the hole portion, thereby The wiring arranged inside can be handled from the outside of the second arm. Therefore, the maintainability after assembly of the robot is improved.

  Moreover, the cap member is comprised separately from the 2nd arm main body. Since the rigidity of the second arm is ensured by the rigidity of the second arm body, the rigidity of the cap member is not so required. Therefore, for example, the cap member can be made of a lighter material having lower rigidity than the second arm body. Thereby, a 2nd arm can be reduced in weight. Here, weight reduction of the arm leads to miniaturization and power saving of the motor that drives the arm. Therefore, according to this configuration, by reducing the weight of the second arm, the motor that drives the second arm can be reduced in size and power can be saved, and as a result, the entire robot can be reduced in size and power. be able to.

(Claim 3)
Conventionally, for example, when a part of a wiring is damaged, it is necessary to disassemble each arm in order to replace the damaged wiring. Normally, origin information is set after a robot is assembled, but once disassembled, it is necessary to set origin information again. Therefore, if each arm is disassembled each time a part of the wiring is replaced, the work for resetting the origin information becomes complicated, resulting in poor maintainability. Therefore, the wiring of the robot according to claim 3 is connector-connected at a position facing the outside from the hole portion in a state where the cap member is detached from the second arm main body.

  That is, the wiring is configured to be separable between the first arm side and the second arm side by connector connection at the connecting portion between the first arm and the second arm. According to this, the user disassembles the connection between the first arm and the second arm by removing the connector from the hole formed in the second arm body with the cap member removed from the second arm body. Damaged wiring can be replaced without doing so. Therefore, even when a part of the wiring is exchanged, there is no need to set the origin information again. As a result, the maintainability is improved.

(Claim 4)
When the winding of the wiring is loosened along with the rotation of the second arm, the winding state of the wiring spreads outward in the direction perpendicular to the rotation axis, that is, outward in the radial direction of the extending portion. At this time, if the storage space in which the wiring is stored does not have a sufficient capacity to allow the wiring to expand, the expanded wiring is pressed against the inner portion of the second arm body and bent excessively. As a result, there is a risk that the wiring may be damaged. And if it is set as the structure which provides a 1st protrusion part in accommodation space, since the accommodation space is compressed by the 1st protrusion part, ensuring of the capacity | capacitance of accommodation space becomes more difficult.

  On the other hand, in this embodiment, the 1st protrusion part has a hollow part formed so that it may become hollow toward the outward from the inner side of a 2nd arm main body. According to this, the wiring spreading outward in the radial direction of the extending portion can enter the hollow portion and bend gently. That is, the capacity of the space for arranging the wiring in the second arm main body can be increased by the capacity of the recess. As a result, the wiring spreading outward in the radial direction of the extending portion is prevented from being excessively bent by being pressed against the inner portion of the second arm body, and as a result, the wiring is appropriately protected from breakage or disconnection. be able to.

(Claim 5)
According to a fifth aspect of the present invention, the robot includes a first arm and a second arm that are relatively rotatably connected, and wiring that passes through the first arm and the arm. The first arm includes a first arm main body that constitutes an outer shell of the first arm, a non-rotating portion that is provided inside the first arm main body and is non-rotatable with respect to the first arm main body, A rotation shaft provided inside the first arm main body so as to be rotatable with respect to the first arm main body, and from the first arm main body to the second arm side so as to surround the rotation shaft. A second projecting portion provided to project. The second arm has a second arm main body constituting an outer shell of the second arm, and is provided in the second arm main body so as not to rotate with respect to the second arm main body, and the rotation shaft is connected to the second arm main body. And a connected portion. A first gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the connecting portion and the non-rotating portion, and the wiring is wound around the connecting portion, The second protrusion surrounds the first gap.

  That is, the difference between the configuration of claim 1 and the present configuration is as follows. In the configuration of claim 1, the first arm includes an extending portion, and the wiring is wound around the extending portion. On the other hand, in this structure, the 1st arm is not provided with the extension part, but wiring is wound around the connection part. And this structure is provided with the 2nd protrusion part which covers a 1st clearance gap instead of the 1st protrusion part which covers a 2nd clearance gap. According to this, the same effect as the structure of the said Claim 1 is acquired.

  That is, even when the wiring is pulled with the rotation of the second arm and is tightened toward the inner side in the radial direction of the rotating shaft, the movement of the wiring toward the first gap is inhibited by the second protrusion. . Therefore, it is possible to prevent the wiring from entering the first gap. As a result, it is possible to prevent the wiring from rubbing between the non-rotating part and the connecting part and disconnecting. Furthermore, in this configuration, the first arm main body can be reduced in weight by the amount not provided with the extending portion.

(Claim 6)
The robot according to claim 6, wherein the first arm is formed through the first arm main body and is inclined along the rotation direction of the second arm with respect to the axial direction of the rotation shaft. have. The wiring is led from the inside of the first arm body to the inside of the second arm body through the wiring hole. That is, in the configuration of the first to fifth aspects, the wiring is advanced in the axial direction of the rotating shaft with respect to the extending portion or the connecting portion. In this case, when the wiring hole is simply formed so as to penetrate the rotation shaft in the axial direction, the wiring that is passed through the wiring hole and guided into the second arm body rotates substantially at a right angle. It is bent to the shaft side and wound around the extension part or the connection part. Then, an excessive load is applied to the portion bent at a substantially right angle.

  On the other hand, according to this configuration, the wiring is led into the second arm body through the wiring hole inclined along the rotation direction of the second arm with respect to the axial direction of the rotation shaft. According to this, the wiring can be led into the second arm body in a state where the wiring is inclined along the rotation direction of the second arm with respect to the axial direction of the rotation shaft. Therefore, the wire guided through the wiring hole and guided into the second arm main body can be smoothly wound around the extending portion or the connecting portion without being bent substantially perpendicularly to the rotating shaft side. Thereby, it is possible to prevent an excessive load from being applied to the wiring, and it is possible to more appropriately protect the wiring from damage or the like.

The perspective view which shows an example of the robot by 1st Embodiment. Sectional drawing which shows the connection part of a 1st arm and a 2nd arm about 1st Embodiment The perspective view which shows the structure of a cap member about 1st Embodiment. The perspective view which shows the external appearance of a 2nd arm main body partially about 1st Embodiment Sectional drawing which shows 1st Embodiment along the X5-X5 line | wire of FIG. FIG. 5 is a cross-sectional view taken along line X6-X6 in FIG. 5 and shows a state in which wiring is wound (No. 1). The figure which shows the state by which the wiring was wound about 1st Embodiment (the 2) Sectional drawing which shows the state which wiring entered into the hollow part of the 1st protrusion part about 1st Embodiment Sectional drawing which shows the connection part of a 1st arm and a 2nd arm about 2nd Embodiment Sectional drawing which shows the connection part of a 1st arm and a 2nd arm about other embodiment

  Hereinafter, a plurality of embodiments will be described with reference to the drawings. In addition, in each embodiment, the same code | symbol is attached | subjected to the substantially same component and description is abbreviate | omitted.

(First embodiment)
First, a first embodiment will be described with reference to FIGS.
A robot 10 shown in FIG. 1 is a six-axis vertical articulated robot, and includes a base 11, a shoulder unit 20, a lower arm 30, a first stage upper arm 12, a second stage upper arm 13, a wrist 14, and a flange 15. It has. The base 11 is fixed to an installation surface such as a work table. The shoulder portion 20 is connected to the upper portion of the base 11 so as to be rotatable in the horizontal direction around a first axis J1 that extends in the vertical direction. The lower arm 30 is provided so as to extend upward with respect to the shoulder portion 20. The lower arm 30 is connected to the shoulder portion 20 so as to be rotatable in the vertical direction around the second axis J2 extending in the horizontal direction.

  The first-stage upper arm 12 is coupled to the distal end portion of the lower arm 30 so as to be rotatable in the vertical direction around a third axis J3 that extends in the horizontal direction. The second stage upper arm 13 is connected to be rotatable about the fourth axis J4 that extends in the direction perpendicular to the third axis J3. The wrist 14 is coupled to be rotatable in the vertical direction about a fifth axis J5 set in parallel with the third axis J3. The flange 15 is connected to be rotatable about a sixth axis J6 set coaxially with the fourth axis J4.

  The base 11, shoulder portion 20, lower arm 30, first stage upper arm 12, second stage upper arm 13, wrist 14, and flange 15 each function as an arm of the robot 10. Although not shown, a tool such as an air chuck is attached to the flange 15 (corresponding to the hand) that is the tip of the arm. A plurality of axes (J1 to J6) provided in the six-axis robot 10 are driven by motors provided corresponding to the respective axes.

  In the present embodiment, among the above-described arms, the relationship between the two arms connected to each other is that the first arm is on the base 11 side and the second arm is on the flange 15 side. Become. That is, for example, when the base 11 is the first arm, the shoulder portion 20 is the second arm. For example, when the shoulder portion 20 is the first arm, the lower arm 30 is the second arm.

  Hereinafter, the shoulder portion 20 will be described as the first arm 20, and the lower arm 30 will be described as the second arm 30. As shown in FIG. 2, the first arm 20 includes a first arm main body 21 and a motor 22. The first arm body 21 constitutes an outer shell of the first arm 20. The first arm main body 21 is made of, for example, metal or resin having high rigidity, and has a first space 41 and a second space 42 inside. The first space 41 is provided in a portion other than the connection portion with the second arm 30, and is formed in, for example, a cylindrical shape extending in the vertical direction. The second space 42 is provided in a connection portion with the second arm 30, that is, a portion that always overlaps the second arm 30, and is formed in a cylindrical container shape that opens toward the second arm 30 side. . The first space 41 and the second space 42 communicate with each other.

  The motor 22 is provided inside the end of the first arm body 21 on the second arm 30 side, that is, in the second space 42. The motor 22 has a motor body 221 and a rotating shaft 222. The motor main body 221 is fixed to the inner wall surface of the first arm main body 21 so as not to rotate with respect to the first arm main body 21. In this case, the motor main body 221 is a non-rotating portion in relation to the second arm 30. The rotating shaft 222 is provided so as to be rotatable with respect to the motor main body 221. That is, the rotation shaft 222 is rotatable with respect to the first arm main body 21. The rotation shaft 222 extends in a direction perpendicular to the longitudinal direction of the first arm 20.

  The first arm main body 21 integrally has an extending portion 211. The extending portion 211 is provided in a portion of the first arm body 21 that always faces the second arm 30. The extension part 211 is formed in a hollow shape and is provided so as to extend toward the second arm 30 side. As for the hollow inside of the extension part 211, one side is connected to the 2nd space 42, and the other side is connected to the exterior. And the extending part 211 has the rotating shaft 222 of the motor 22 passed through the hollow inner side.

  The second arm 30 has a second arm main body 31 and a connecting portion 32. The second arm body 31 constitutes the outer shell of the second arm 30. The second arm main body 31 is made of, for example, a metal or a resin having high rigidity, and is configured in a long shape, and has a third space 43 and a fourth space 44 inside. The third space 43 is provided at a connection portion with the first arm 20 and is formed in a cylindrical container shape opened toward the first arm 20 side. The fourth space 44 is formed along the longitudinal direction of the second arm body 31. The third space 43 and the fourth space 44 communicate with each other.

  The connecting portion 32 is provided in the third space 43 of the second arm body 31 and includes a connecting shaft 321 and a speed reducer 322. The connecting shaft 321 is formed in, for example, a columnar shape, and the base end portion is fixed to the inner wall surface 311 of the second arm main body 31. In this case, the connecting portion 32 protrudes from the inner wall surface 311 portion serving as the container-shaped bottom of the third space 43 toward the first arm 20 side along the axial direction of the rotation shaft 222. As described above, the base end portion of the connecting portion 32 is fixed to the wall surface 311, and as a result, the connecting portion 32 is not rotatable with respect to the second arm body 31.

  The speed reducer 322 is provided on the end side opposite to the inner wall surface 311 side of the connecting shaft 321, that is, the tip end side. The rotating shaft 222 of the motor 22 is attached to the speed reducer 322 so as to be coaxial with the central axis of the connecting portion 32. The speed reducer 322 has, for example, a speed reduction mechanism (not shown) inside. The speed reducer 322 transmits the rotational force generated on the rotating shaft 222 of the motor 22 to the connecting shaft 321 in a state where the rotational speed is reduced.

  The extension part 211 of the first arm 20 is inserted into the third space 43 of the second arm 30. And the connection part 32 is inserted in the inside of the extension part 211 in the state spaced apart from the hollow inner peripheral surface of the extension part 211. A first gap 51 is formed between the speed reducer 322 of the connecting portion 32 and the motor body 221. That is, the first gap 51 is a space formed between the surface of the speed reducer 322 on the motor body 221 side and the surface of the motor body 221 on the speed reducer 322 side. Further, a second gap 52 is formed between the distal end portion of the extending portion 211 and the second arm body 31. That is, the second gap 52 is a space formed between the distal end surface portion on the inner wall surface 311 side in the extending portion 211 and the inner wall surface 311 of the second arm body 31.

  The first gap 51 is a space that needs to be secured in order to prevent the connecting portion 32 and the motor main body 221 from coming into contact when the second arm 30 rotates relative to the first arm 20, so-called. It is a margin. Similarly, the second gap 52 prevents the extension portion 211 from contacting the inner wall surface 311 of the second arm body 31 when the second arm 30 rotates relative to the first arm 20. It is a so-called margin that needs to be secured. The first gap 51 and the second gap 52 are opened in a direction perpendicular to the axial direction of the rotary shaft 222, that is, outward in the radial direction of the rotary shaft 222, the connecting shaft 321, and the extending portion 211. In this case, the extending portion 211 surrounds the entire periphery of the first gap 51.

  The second arm 30 has a first protrusion 33. The first protrusion 33 is provided so as to protrude from the inner wall surface 311 of the second arm body 31 toward the first arm 20 side along the axial direction of the rotation shaft 222. The first projecting portion 33 surrounds at least a part of the periphery of the second gap 52 in a state of being separated from the extending portion 211.

  The second arm 30 has a cap member 34. The cap member 34 is made of, for example, resin and is detachably attached to the second arm main body 31. The cap member 34 is attached to the outer surface of the second arm main body 31 and the surface opposite to the first arm 20 in the connection portion with the first arm 20. In the case of this embodiment, as shown in FIG. 3, the cap member 34 integrally includes a plurality of, in this case, four first protrusions 33. Each first protrusion 33 is formed in an arc shape, and is provided on the inner surface of the cap member 34. Each first projecting portion 33 is formed in an annular shape surrounding the second gap 52 as a whole.

  As shown in FIG. 4, the second arm 30 has a plurality of holes 312. The hole 312 is formed through a portion corresponding to the inner wall surface 311 of the second arm body 31 in the axial direction of the rotation shaft 222. The inner shape of each hole 312 is formed to be substantially the same as the outer shape of the first protrusion 33. When the cap member 34 is attached to the second arm main body 31, the first protrusion 33 of the cap member 34 is inserted into the hole 312 of the second arm main body 31. As a result, the hole 312 is closed by the first protrusion 33.

  Moreover, the 1st protrusion part 33 has the hollow part 331, as shown in FIG.2 and FIG.3. The recess 331 is a portion formed by recessing the inside of the first protrusion 33. That is, the recessed portion 331 is formed so as to be recessed outward from the inner side of the second arm main body 31, that is, from the third space 43 side, in a state where the cap member 34 is attached to the second arm main body 31. That is, the recessed portion 331 is recessed along the axial direction of the rotation shaft 222 in a state where the cap member 34 is attached to the second arm main body 31.

  The robot 10 includes a plurality of wires 60. Note that the closer the target arm is to the base 11 side, the greater the number of wirings 60. However, in the drawing of this embodiment, only one wiring 60 is shown for easy understanding of the contents of the drawing. Yes. The wiring 60 is connected to a device provided in the arm at the tip of the second arm 30. The wiring 60 includes, for example, a signal line for transmitting and receiving signals to and from the target device, a power line for supplying power and air to the target device, and the like. In this case, the dimensions of the first gap 51 and the second gap 52 are set to be smaller than the outer diameter dimension of the wiring 60. The wiring 60 is connected in the third space 43 by connectors 61 and 62 that are detachable from each other. By removing the connectors 61 and 62, the wiring 60 can be separated into the first arm 20 side portion and the second arm 30 side portion.

  As shown in FIGS. 5 to 7, the first arm 20 has a wiring hole 23. The wiring hole 23 is formed at a position facing the third space 43 in the second arm 30 and penetrating the first arm main body 21. The wiring hole 23 communicates the spaces 41 and 42 in the first arm body 21 with the outside. In the case of this embodiment, the wiring hole 23 communicates the second space 42 in the first arm body 21 and the third space 43 of the second arm body 31.

  The central axis of the wiring hole 23 is inclined with respect to the rotational direction of the second arm 30 with respect to the axial direction of the rotational shaft 222. That is, the wiring hole 23 is formed along the circumference of a circle C centered on the rotation shaft 222 as shown in FIG. In other words, as shown in FIG. 5, when the wiring hole 23 is viewed in the axial direction of the rotation shaft 222, the opening on the second space 42 side and the opening on the third space 43 side of the wiring hole 23 are circular. It is formed so as to be displaced along the circumference of C. In this case, an inclined surface 231 that is inclined along the rotation direction of the second arm 30 with respect to the axial direction of the rotation shaft 222 is included in a part of the peripheral surface constituting the wiring hole 23.

  As shown in FIG. 6, the wiring 60 is first passed through the first space 41 and the second space 42 of the first arm body 21, and then passed through the wiring hole 23 to the outside of the second space 42. After being pulled out, it is pulled into the third space 43 of the second arm body 31. Thereafter, the wiring 60 is wound around the outer peripheral surface portion of the extending portion 211, then passed through the fourth space 44, and led to a target device provided on the distal end side with respect to the second arm 30.

  In this case, the wiring 60 is wound around the extension part 211 as follows. That is, the wiring 60 is drawn from the second space 42 in the first arm 20 into the third space 43 in the second arm 30 through the wiring hole 23, and then the root side of the extending portion 211, that is, the motor 22. Winding is advanced from the side toward the tip side, that is, the inner wall surface 311 side. Thereafter, when the wiring 60 is wound up to the distal end side of the extending portion 211, it is wound again toward the base side of the extending portion 211. Thereafter, the wiring 60 is wound around the extending portion 211 at the central portion in the axial direction of the extending portion 211, and is drawn into the fourth space 44 side. In this case, as shown in FIG. 6, the wiring 60 is wound in a relatively loose state, that is, with a certain margin.

Next, the function and effect of the above configuration will be described with reference to FIG.
In the case of this embodiment, when the second arm 30 rotates in the direction indicated by the arrow A in FIG. 6, the wiring 60 is pulled toward the distal end side of the second arm 30 as shown in FIG. Tightens. Then, the winding state of the wiring 60 is tightened toward the inner side in the direction perpendicular to the rotation shaft 222, that is, the inner side in the radial direction of the extending portion 211. At this time, for example, if the second gap 52 is not covered by the first projecting portion 33, the wiring 60 tightened inward in the radial direction of the extending portion 211 may enter the second gap 52. is there. In this case, the extension part 211 of the first arm 20 and the inner wall surface 311 of the second arm 30 are relatively rotated. For this reason, when the wiring 60 enters the second gap 52, the wiring 60 is rubbed between the tip of the extending portion 211 and the inner wall surface 311 and may be worn and damaged.

  On the other hand, according to the present embodiment, the second arm 30 has the first protrusion 33. The first protrusion 33 is provided so as to protrude from the inner wall surface 311 toward the first arm 20 along the axial direction of the rotation shaft 222. The first protrusion 33 surrounds the second gap 52. According to this, even when the wiring 60 is tightened toward the inner side in the radial direction of the extending portion 211 when the second arm 30 is driven, the wiring 60 is connected to the second gap 52 side by the first protrusion 33. Blocked from moving to. This prevents the wiring 60 from entering the second gap 52.

  Further, when the second arm 30 rotates in the direction indicated by the arrow B in FIG. 6, the wire 60 is loosely wound. Thereby, the winding state of the wiring 60 spreads outward in the direction perpendicular to the rotation shaft 222, that is, outward in the radial direction of the extending portion 211. At this time, if the third space 43 in which the wiring 60 is accommodated does not have sufficient capacity to allow the wiring 60 to spread, the widened wiring 60 is pressed against the inner portion of the second arm body 31. May be bent excessively, and as a result, the wiring 60 may be damaged. In this case, when the first protrusion 33 is provided in the third space 43, the third space 43 is pressed by the first protrusion 33, so that it is more difficult to secure the capacity of the third space 43.

  On the other hand, in this embodiment, the 1st protrusion part 33 has the hollow part 331 formed so that it might hollow toward the outward from the inner side of the 2nd arm main body 31. As shown in FIG. According to this, the capacity | capacitance which can accept | permit the expansion of the wiring 60 in the 3rd space 43 by the capacity | capacitance of the hollow part 331 can be enlarged. That is, the wiring 60 spreading outward in the radial direction of the extending portion 211 enters the hollow portion 331 and bends gently as shown in FIG. As a result, the wiring 60 spreading outward in the radial direction of the extending portion 211 is prevented from being excessively bent by being pressed against the inner portion of the second arm main body 31, and as a result, the wiring 60 is prevented from being damaged or disconnected. Can be properly protected.

  Further, as shown in FIG. 2 and the like, the second arm 30 has a hole 312 and a cap member 34. The hole 312 is formed at a position facing the wiring space in the second arm body 31, that is, the third space 43, and is formed through the second arm body 31 in the axial direction of the rotation shaft 222. The cap member 34 is detachable from the second arm body 31 and is provided with a first protrusion 33. In the cap member 34, the first protrusion 33 is inserted into the hole 312 to close the hole 312. According to this, when connecting the first arm 20 and the second arm 30, the user removes the cap member 34 from the second arm main body 31 and then inserts the inside of the second arm main body 31 from the hole 312. The wiring 60 can be arranged in the second arm body 31 while visually confirming the above. As a result, the assembling workability of each arm is improved, and as a result, the time required for assembling can be shortened and the productivity can be improved.

  Further, according to this, even after the user arranges the wiring 60 in the second arm body 31 and assembles the robot 10, the user can remove the cap member 34 from the second arm body 31 to open the hole 312. Thus, the wiring 60 arranged inside the second arm 30 can be handled from the outside of the second arm 30. Therefore, the maintainability after assembly of the robot 10 is improved.

  The cap member 34 is configured separately from the second arm main body. Since the rigidity of the second arm is ensured by the rigidity of the second arm body, the rigidity of the cap member 34 is not so required. Therefore, for example, the cap member 34 can be made of a lighter material that is less rigid than the second arm body 31. Thereby, the 2nd arm 30 can be reduced in weight. Here, the weight reduction of the second arm 30 leads to a reduction in size and power saving of the motor 22 that drives the second arm 30. Therefore, according to the present embodiment, by reducing the weight of the second arm 30, the motor 22 that drives the second arm 30 can be reduced in size and power can be saved. Power saving can be achieved.

  Further, the wiring 60 is connected by connectors 61 and 62 at the connecting portion between the first arm 20 and the second arm 30. That is, the wiring 60 is connected by the connectors 61 and 62 at a position where it can face the outside from the hole 312 in a state where the cap member 34 is detached from the second arm main body 31. Therefore, the wiring 60 is configured to be separable into the first arm side and the second arm side by disconnecting the connectors 61 and 62. According to this, the user removes the connectors 61 and 62 from the holes formed in the second arm body with the cap member removed from the second arm body, whereby the first arm 20 and the second arm 30 are removed. The damaged wiring 60 can be partially exchanged without disassembling the connection with. Therefore, even when a part of the wiring 60 is replaced, it is not necessary to set the origin information again. As a result, the maintainability is improved.

  The first arm 20 has a wiring hole 23. The wiring hole 23 is formed through the first arm main body 21, and is inclined along the rotation direction of the second arm main body 31 with respect to the axial direction of the rotation shaft 222. The wiring 60 is guided from the internal space 41 of the first arm main body 21 to the internal space 43 of the second arm main body 31 through the wiring hole 23. In the present embodiment, the wiring 60 is wound in the axial direction of the rotation shaft 222 around the extension portion 211. In this case, if the wiring hole 23 is simply formed so as to penetrate in the axial direction of the rotary shaft 222, the wiring 60 that is passed through the wiring hole 23 and led into the second arm body 31 is In this case, it is bent at a substantially right angle toward the rotating shaft 222 and wound around the extending portion 211. Then, an excessive load is applied to the wiring 60 at a portion bent at a substantially right angle.

  On the other hand, according to the present embodiment, the wiring 60 is passed through the wiring hole 23 inclined along the rotation direction of the second arm body 31 with respect to the axial direction of the rotation shaft 222 and into the second arm body 31. Led. According to this, the wiring 60 can be guided into the second arm body 31 in a state where the wiring 60 is inclined along the rotation direction of the second arm body 31 with respect to the axial direction of the rotation shaft 222. Therefore, the wiring 60 that has been passed through the wiring hole 23 and led into the second arm body 31 can be smoothly wound around the extending portion 211 without being bent at a substantially right angle toward the rotating shaft. Thereby, it is possible to prevent an excessive load from being applied to the wiring 60, and to protect the wiring 60 from damage and the like more appropriately.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIG.
In the first embodiment, the first arm 20 includes an extension part 211, and the wiring 60 is wound around the extension part 211. On the other hand, in the second embodiment, the first arm 20 does not include the extending portion 211, and the wiring 60 is directly wound around the connecting portion 32. In this case, the wiring 60 may enter the first gap 51. Therefore, the robot 10 of the present embodiment includes a second protrusion 24 that covers the first gap 51 instead of the first protrusion 33 that covers the second gap 52.

  That is, the first arm main body 21 of the present embodiment has the second protrusion 24 integrally. The 2nd protrusion part 24 is a form which cut | disconnected the extension part 211 of the said 1st Embodiment on the way. The second protrusion 24 is provided in a portion of the first arm body 21 that faces the second arm 30. The 2nd protrusion part 24 is provided so that it may protrude to the 2nd arm 30 side. The inside of the second protrusion 24 communicates the second space 42 and the outside. The protruding portion 24 surrounds the entire periphery of the first gap 51.

  According to this, the same effect as the first embodiment can be obtained. That is, even when the wiring 60 is pulled and tightened inward in the radial direction of the rotation shaft 222 as the second arm 30 rotates, the movement of the wiring 60 toward the first gap 51 side is the first. 2 is inhibited by the protrusion 24. Therefore, the wiring 60 can be prevented from entering the first gap 51. As a result, it is possible to prevent the wiring 60 from rubbing between the motor main body 221 that is a non-rotating portion and the connecting portion 32 to break the wire. Furthermore, according to the structure of 2nd Embodiment, the 1st arm main body 21 can be reduced in weight by the part which is not equipped with the extension part 211 with respect to 1st Embodiment.

(Other embodiments)
The embodiments of the present invention are not limited to the embodiments described above and illustrated in the drawings, and can be appropriately changed without departing from the scope of the invention. The embodiment of the present invention can be modified or expanded as follows, for example.

For example, in each of the above-described embodiments, a 6-axis multi-joint robot has been described. However, the robot type is not limited to this, and any robot having one or more joints may be used.
For example, as shown in FIG. 10, the extension portion 211 may be configured separately from the first arm body 21. In this case, the wall portion 212 of the extending portion 211 through which the rotation shaft 222 of the motor 22 passes is a non-rotating portion in relation to the second arm 30.

For example, in the first embodiment, the extending portion 211 does not necessarily surround the entire periphery of the first gap 51, and the periphery of the first gap 51 is such that the wiring 60 does not enter the first gap 51. It suffices to surround at least a part of. The first protrusion 33 does not necessarily surround the entire periphery of the second gap 52, and surrounds at least a part of the periphery of the second gap 52 to the extent that the wiring 60 does not enter the second gap 52. It only has to be.
Similarly, in the second embodiment, the second projecting portion 24 does not necessarily have to surround the entire periphery of the first gap 51, and the first gap 51 does not enter the first gap 51. What is necessary is just to surround at least a part of the circumference.
Further, the wiring hole 23 is not necessarily inclined with respect to the rotation shaft 222. For example, a support member that supports the wiring 60 passed through the wiring hole 23 while being inclined with respect to the rotation shaft 222 along the rotation direction of the second arm 30 may be provided separately.

  In the drawings, 10 is a robot, 20 is a shoulder part (first arm), 21 is a first arm body (non-rotating part), 211 is an extension part, 221 is a motor body (non-rotating part), 222 is a rotating shaft, 23 is a wiring hole, 24 is a second protrusion, 30 is a lower arm (second arm), 31 is a second arm body, 311 is an inner wall surface, 312 is a hole, 32 is a connecting portion, and 33 is a first protrusion. , 331 is a recess, 34 is a cap member, 51 is a first gap, 52 is a second gap, 60 is a wiring, 61 and 62 are connectors, and 212 is a wall (non-rotating part).

Claims (6)

A first arm and a second arm, which are relatively rotatably coupled;
Wiring inside the first arm and the second arm, and
The first arm is
A first arm body constituting an outer shell of the first arm;
A non-rotating portion provided in the first arm main body and provided non-rotatable with respect to the first arm main body;
A rotation shaft provided inside the first arm body and rotatably provided to the first arm body;
An extension portion that is provided so as to extend from the first arm main body toward the second arm side, is formed in a hollow shape, and the rotation shaft is passed through the inside of the hollow shape,
The second arm is
A second arm body constituting an outer shell of the second arm;
A coupling portion that is provided inside the second arm main body and is non-rotatable with respect to the second arm main body and is connected to the rotation shaft through the extension portion;
A first gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the connecting portion and the non-rotating portion,
A second gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the extension portion and the inner wall surface of the second arm body,
The extension portion surrounds at least a part of the periphery of the first gap,
The wiring is wound around the extension part,
The second arm is
The second arm main body is provided so as to protrude from the inner wall surface of the second arm main body toward the first arm along the axial direction of the rotation shaft, and at least around the second gap in a state of being separated from the extending portion. Having a first protrusion surrounding the part;
robot. The second arm is
A hole formed in the second arm main body in a position facing the wiring accommodation space and penetrating the second arm main body in the axial direction of the rotation shaft;
A cap member that is detachable from the second arm main body, is provided with the first protrusion, and the first protrusion is inserted into the hole to close the hole.
The robot according to claim 1. The wiring is connected by a connector at a position facing the outside from the hole in a state where the cap member is removed from the second arm body.
The robot according to claim 2. The first protrusion has a recess formed to be recessed from the inside of the second arm body toward the outside.
The robot according to any one of claims 1 to 3. A first arm and a second arm, which are relatively rotatably coupled;
A wiring passing through the first arm and the arm; and
The first arm is
A first arm body constituting an outer shell of the first arm;
A non-rotating portion provided in the first arm main body and provided non-rotatable with respect to the first arm main body;
A rotation shaft provided inside the first arm body and rotatably provided to the first arm body;
A second projecting portion provided so as to project from the first arm main body toward the second arm so as to surround the periphery of the rotation shaft,
The second arm is
A second arm body constituting an outer shell of the second arm;
A connecting portion that is provided inside the second arm main body and is non-rotatable with respect to the second arm main body and to which the rotary shaft is connected;
A first gap opened in a direction perpendicular to the axial direction of the rotation shaft is formed between the connecting portion and the non-rotating portion,
The wiring is wound around the connecting portion,
The second protrusion surrounds the first gap.
robot. The first arm has a wiring hole formed through the first arm body and inclined along the rotation direction of the second arm with respect to the axial direction of the rotation shaft.
The wiring is led from the inside of the first arm body through the wiring hole to the inside of the second arm body,
The robot according to any one of claims 1 to 5.

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