JP2018183022A - Support fitting for wiring duct and rotating robot including the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a supporting metal that supports a wiring duct without releasing the wiring duct even when load in the twisting direction is applied to the wiring duct.SOLUTION: There is provided a support fitting 20 (30) that covers and protects a cable including a power line or an air pipe and fixes a wiring duct 10 having large-diameter flange portions 11 at both ends thereof. The support fitting 20 (30) has a contact portion 21 (31) that contacts one end side of the flange portion 11 and a guide portion 22 (32) that is slightly shorter than the entire length of the flange portion 11 and is provided along the flange portion 11. By screwing the contact portion 21 (31) and the guide portion 22 (32), the flange portion 11 is always pressed in the axial direction. As a result, even when a load in the twisting direction is applied to the wiring duct 10, the wiring duct 10 can be securely fixed and supported and hard to be dropped.SELECTED DRAWING: Figure 1

Description

  According to the present invention, there is provided a metal fitting which can be fixed so as not to divide an axially dividable wiring duct by inserting a wire connected to a working tool and a pivot wherein one end of the wiring duct fixed to the metal fitting is rotatably disposed. It is about a robot.

  As disclosed in Patent Documents 1 to 3, a conventional swing robot includes an arm pivotable in the horizontal direction, a work tool disposed at the tip of the arm and performing a predetermined operation, and a wire connected to the work tool. And the like, connected to the working tool and the arm, movable along with turning of the arm, and provided with an arm and a wiring duct extending upward from the working tool.

  The arm includes an arm extending horizontally rearward, and a turning drive source connected to an end of the arm, and the working tool is arranged to extend in the vertical direction at the other end of the arm. Thereby, the working tool can move in the range of a predetermined turning radius.

  The work tool comprises a vertically movable elevating part, and a tip attached to the elevating part and performing a predetermined operation. The tip portion is, for example, a chuck that holds a desired part, or a screw tightening machine that can screw a screw that is an example of the part.

  As shown in Patent Document 1, the wiring duct has a split part whose outer periphery is divided over the entire length, and an axially extending tube main body configured so as to be easily divided and restored to a tubular shape And a split screw attachable to both ends of the pipe body, and a split nut screwable to the split screw. The split nut is fixed to the working tool and the arm by being screwed respectively to the split male screw inserted into the working tool and the arm.

  The wiring duct which is easily divided or restored in this way is later mounted so as to cover the wiring which has been delivered from the arm to the working tool from the outside from the outside, and the pipe main body in a divided state is covered along the wiring. It is restored to a tubular shape, and the split screw is placed on the both ends of the pipe main body in a restored condition from the split state, and the split nut is screwed to the split screw via the arm and the working tool. Ru. Therefore, the conventional swing robot provided with the separable wiring duct has a feature that wiring processing such as wiring replacement can be easily performed.

  Further, since the wiring duct shown in Patent Document 1 has the opening at one end thereof disposed to coincide with the pivoting center of the arm, compared with the case where the opening is disposed offset from the pivoting center of the arm And, there is also a feature that can reduce the load such as bending applied in the vicinity of the opening.

Patent No. 5187182 gazette Japanese Utility Model Application Publication No. 64-50084 JP-A-4-269192

  However, in the conventional swing robot, since the wiring duct having the split portion is installed in alignment with the pivot center of the arm, as described above, the load applied to the wiring duct, such as bending generated when the arm pivots, is reduced. This reduced load still applies to the wiring ducts. As a result, the frictional resistance generated in each split portion of the wiring duct is increased, and the cylinder main body, split screw and split nut are still easily deformed during turning, and in particular, the split body of the split nut is divided. was there. Moreover, since the split male screw attached to the opening side is twisted in a direction to further tighten or loosen by the split nut screwed to this as it turns, it is deformed in the direction of decreasing the diameter or the split nut There was also a problem that the screw was removed from the split screw.

  Further, as shown in Patent Document 2, the conventional turning robot has a radial bearing which supports one end of the wiring duct in a pivotable manner and inserts the wiring inserted into the wiring duct. For this reason, there is also a problem that the wire moving together with the wiring duct by the turning of the turning robot contacts the radial bearing and is disconnected. And since the radial bearing is not a structure provided with the said split part, there also existed a problem that the said wiring can not be penetrated later.

  Furthermore, in the conventional turning robot, the wiring duct is arranged to project above the arm, so there is a problem that the height is high and the installation space is required. In addition, in the conventional swing robot having such a high height, the wiring duct must be divided or restored at a high position, and there is a problem that the workability of wiring processing is low.

  The present invention is intended to solve the above-mentioned problems, and covers and protects a cable including a power line or an air pipe, and a support fitting for fixing a wiring duct including a large diameter flange portion at both ends thereof. An abutment portion contacting one end of the collar portion, and a guide portion having a dimension slightly shorter than the entire length of the collar portion and arranged along the collar portion, the abutment portion and the guide portion being screwed Thus, the flange portion is constantly pressed in the axial direction by the force. The contact portion and the guide portion are integrally formed, and the guide portion is provided with a screwing portion which is integrated with the end portion and extends in parallel with the contact portion, and the screwing portion is formed. The part is capable of inserting a mounting screw through an insertion hole arranged in the part and screwed to the mounting screw, or the contact part and the guide part are separately formed, and the contact part A U-shaped notch is provided on a flat plate, while the guide portion is formed of a hollow post on which the contact portion is abutted and mounted at one end, and the contact portion and the hollow post pass through these It is preferable that the mounting screw be screwed on and that the axial force of the mounting screw axially press the flange portion. Furthermore, the wiring duct comprises a tube main body extending in the axial direction and having the flanges at both ends, and the pipe main body comprises a split part where the outer periphery is divided over the entire length, the pipe main body Preferably, the collar portion is fixed and supported.

  Further, according to the present invention, there is provided a work tool for performing a predetermined work, an arm provided with the work tool and rotatably supported, and the cable passed from the arm to the work tool. A pivoting robot comprising a wiring duct and a support fitting having both ends of the wiring duct fixed by screwing, wherein the support fitting has a configuration according to any one of claims 1 to 4. It features. Preferably, the support fitting is fixed to a pivot bracket formed by pivotally supporting one end of the wiring duct in accordance with the pivoting of the arm. Preferably, the pivoting bracket is disposed below the upper end of the working tool, and the wiring duct pivotally fixed to the pivoting bracket is attached so as not to project upward from the pivoting bracket.

  As described above, the support for the wiring duct and the swing robot provided with the support according to the present invention can eliminate the need for a conventional split nut because it is configured to press and fix the wiring duct in the axial direction. Therefore, even if a load in the twisting direction is applied to the wiring duct due to turning or the like, there is no need to take into consideration the loosening of the split nut and the like accompanying this twisting, and there is an advantage that the wiring duct can be securely fixed and supported. Further, if the wiring duct according to the present invention can be separated in the axial direction, there is also an advantage that the work such as rewiring of the cable can be efficiently performed. Furthermore, since the swing robot according to the present invention includes the swing bracket formed by swingably supporting the wiring duct, the wiring duct also swings in accordance with the swing of the arm, so that a load in the twisting direction is applied to the wiring duct. It also has the advantage of being difficult. Furthermore, the swing robot according to the present invention has an advantage that the height can be lowered because the wiring duct attached to the swing bracket is installed at a low height so as not to be the maximum height of the swing robot.

It is a schematic explanatory drawing which shows one Embodiment of the turning robot which concerns on this invention. (A) is a top view which shows the movable area | region of a turning robot, (b) is a front view of (a). It is an explanatory view showing one embodiment of a support bracket concerning the present invention. (A) is a top view, (b) is a front view of (a). It is an explanatory view showing another embodiment of a support bracket concerning the present invention. (A) is a top view, (b) is a front view of (a). It is an explanatory view showing one embodiment of a swing bracket concerning the present invention. (A) is a top view, (b) is a front view of (a).

  Hereinafter, an embodiment of a turning robot according to the present invention will be described based on FIGS. 1 to 4. The swing robot 1 according to the present invention is passed from the work tool 2 for executing a predetermined work, the arm 3 having the work tool 2 arranged and rotatably supported, and the work tool 2 from the arm 3 It comprises a wiring duct 10 in which a cable is inserted, and support fittings 20 and 30 in which both ends of the wiring duct 10 are fixed by screwing. Further, the turning robot 1 is provided with a linear movement unit 4 which rotatably supports the arm 3 and which can linearly move in the front-rear direction.

  The work tool 2 is a screw tightening machine that is disposed at the tip of the arm 3 and configured to be movable in the vertical direction, and can fasten a screw, which is an example of an externally supplied component, to a work. Further, the work tool 2 includes a bit engaged with the screw, a bit rotation motor for rotationally driving the bit, an elevating unit rotatably supporting the bit and capable of moving up and down temporarily, and the screw temporarily And a chuck for holding.

  The arm 3 is connected to an AC servomotor (not shown) disposed at the end of the linear motion unit 4, and as shown in FIG. 1A, the working tool 2 is pivoted 180 degrees in the horizontal direction. It is configured to be movable. Therefore, the swing robot 1 can move the hatched area in FIG. 1A by the forward and backward motion of the linear motion unit 4 and the swing motion of the arm 3.

  The wiring duct 10 is provided with cylindrical collars 11 and 11 having a large diameter at both ends, and a pipe main body 12 connecting the collars 11 and 11 at both ends, and mounted on the working tool 2 The various types of cables such as power lines and air pipes connected to a driving source such as the bit rotating motor are inserted and protected. Further, the wiring duct 10 is provided with a split portion which can be divided into two along the entire length, and is configured to be able to open the inside.

  The collars 11 and 11 and the pipe main body 12 both include the aforementioned splits, and the collar 11 includes a lock 11a that locks its splits so as not to open them. Further, the flange portion 11 has an inner wall engaged with the unevenness formed on the outer periphery of the tube main body 12, and the flange portion 11 is covered with the end portion of the closed tubular tube main body 12 It locks by the said lock part 11a. Thus, the flanges 11 and 11 and the pipe body 12 integrally constitute the wiring duct 10. The wiring duct 10 configured in this manner is disposed on the top of the linear motion unit 4 and is installed toward the back of the working tool 2.

  The support bracket has two types shown in FIGS. 2 (a) and 2 (b) and FIGS. 3 (a) and 3 (b), and the wiring duct 10 extending from the top surface of the linear movement unit 4 is a linear unit It demonstrates in order based on the method fixed on 4 sides.

  First, the support fitting 20 shown in FIGS. 2 (a) and 2 (b) has a U-shaped notch and a contact portion 21 that contacts the upper surface of the collar 11, and extends along the collar 11. And a guide portion 22 bent in a direction perpendicular to the contact portion 21. The contact portion 21 and the guide portion 22 are integrally formed. The other end of the guide portion 22 which is not in contact with the contact portion 21 is bent in parallel with the contact portion 21 and is configured to be fixable by a mounting screw. Further, the guide portion 22 is set to a size slightly shorter than the entire length of the collar portion 11, and by screwing the mounting screw, the collar portion 11 is always downward via the contact portion 21. It is configured to be pressable. Thus, the wiring duct 10 is always urged in the axial direction by the support fitting 20.

  Next, the support fitting 30 shown in FIGS. 3 (a) and 3 (b) has a U-shaped notch and extends along the contact portion 31 that contacts the upper surface of the flange 11, and along the flange 11. A guide portion 32 is provided, and the contact portion 21 and the guide portion 22 are separately formed and configured as separate parts. The contact portion 21 is formed by processing and forming the notch in a flat plate, while the guide portion 32 forms a hollow support that can pass through the screw portion of the mounting screw. Further, two guide portions are disposed, and the entire length thereof is set to a size slightly shorter than the entire length of the flange portion 11. Thus, the wiring duct 10 is always urged in the axial direction by the support fitting 30 in the same manner as the support fitting 20 described above.

  Although the above-described support fittings 20 and 30 have an integral or separate structure, they can always be fixed by biasing the wiring duct 10 in the axial direction at all times. do not need. Further, the wiring duct 10 is fixed when the operator selects one of the support fittings 20 and 30 and is screwed with a mounting screw, but the same fixing function is exhibited regardless of which one is adopted.

  Further, although the wiring duct 10 is movable along with the turning of the arm 3, a load is easily applied to the split body by being largely twisted or the like. As described above, when a load is applied to the split body, the lock state of the lock portion 11a of the flange portion 11 is released, and the load on the wiring duct 10 is reduced when the arm 3 is turned. There is also a need. In such a case, a support fitting (corresponding to the support fitting 20 in the case of FIGS. 1 (a) and 1 (b)) to which the flange 11 on the side of the work tool 2 is largely shaken by swinging of the arm 3 is fixed. A pivoting bracket 50 rotatably supported is installed.

  The pivot bracket 50 is screwed so as to be suspended from the L plate 51 screwed to the back surface of the working tool 2 as shown in FIGS. 4 (a) and 4 (b) and the L plate 51. A stepped shaft 52, a bearing holder 53 rotatably supporting the stepped shaft 52, and a support fitting fixing plate 54 fixed to the bearing holder 53 and rotated integrally with the bearing holder 53 are provided.

  The support fitting fixing plate 54 is bent in an L-shape, and is configured such that the opening on one end side of the wiring duct 10 can be disposed horizontally. Further, the support fitting fixing plate 54 is configured such that the cable in the wiring duct 10 can be inserted into the work tool 2 side, and includes a female screw capable of screwing the support fitting 20 for fixing the wiring duct 10. .

  The swing bracket 50 supporting the wiring duct 10 in a pivotable manner as described above is formed by arranging the L plate 51 at a position lower than the upper end of the work tool 2, and the wiring duct 10 pivotally attached to this is heightened It can be arranged so as not to reach the maximum height of

  In the present embodiment, the swing robot 1 may be provided with a second arm that supports the arm 3 in a pivotable manner instead of the linear motion unit 4 and also performs a swing drive separately from the swing. That is, the swing robot 1 may be configured by connecting at least one or more arms, and may be provided with a plurality of the wiring ducts 10 and the support fittings 20 (30) according to the number of the configured arms. .

DESCRIPTION OF SYMBOLS 1 ... rotation robot 2 ... work tool 3 ... arm 10 ... wiring duct 11 ... flange part 20 ... support bracket 21 ... contact section 22 ... guide section 30 ... support bracket 31 ... contact section 32 ... guide section 50 ... pivot bracket

Claims (7)

A support fitting for covering and protecting a cable including a power line or an air pipe and fixing a wiring duct comprising a large diameter flange at both ends thereof,
And a guide portion having a dimension slightly shorter than the total length of the collar portion and a guide portion disposed along the collar portion, and screwing the contact portion and the guide portion A support fitting characterized by always pressing the flange in an axial direction by means of a hook. The contact portion and the guide portion are integrally formed.
The guide portion is provided at its end with a screwing portion which is integral with it and extends parallel to the contact portion,
The support fitting according to claim 1, wherein the screwing portion allows the mounting screw to be inserted into an insertion hole disposed in the screwing portion and is screwed to the mounting screw. The contact portion and the guide portion are formed separately.
The contact portion has a U-shaped notch in a flat plate,
The guide portion includes a hollow support on which the contact portion is abutted and mounted at one end,
The contact portion and the hollow support are screwed together by a mounting screw inserted through them, and the axial force of the mounting screw presses the flange in the axial direction. Support bracket as described in. The wiring duct comprises a tube body extending in the axial direction and having the collar at each end,
The pipe main body is provided with a split portion formed by dividing the outer circumference over the entire length thereof,
The support fitting according to any one of claims 1 to 3, wherein the flange portion of the pipe body is fixed and supported. A work tool for performing a predetermined work, an arm for arranging and rotatably supporting the work tool, the wiring duct for inserting the cable passed from the arm to the work tool, and the wiring And a support fitting formed by screwing both ends of the duct.
The turning robot according to any one of claims 1 to 4, wherein the support fitting is configured as described in any one of claims 1 to 4.   The swing robot according to claim 5, wherein the support fitting is fixed to a swing bracket configured to rotatably support one end of the wiring duct in accordance with the swing of the arm.   The pivoting bracket is disposed below the upper end of the work tool, and the wiring duct pivotally fixed to the pivoting bracket is attached so as not to project upward from the pivoting bracket. Or the turning robot according to claim 6.

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