JP2023022954A - robot - Google Patents

Abstract

To provide a robot capable of easily exchanging piping and wiring when damage occurs to them while inserting the wiring inside the piping and saving space.SOLUTION: A configuration of a robot 100 includes a joint 150 connecting air piping 130. The joint 150 has: an almost cylindrical joint body 160; first electric wiring 170 inserting the joint body 160 inside and outside; an internal electrode 182 electrically connected to second electric wiring 172 passing inside the air piping 130; and an external electrode 184 electrically connected to third electric wiring 176 passing outside the air piping 130.SELECTED DRAWING: Figure 2

Description

The present invention relates to a robot including joints for connecting air pipes.

In recent years, industrial machines such as robot arms and manipulators have been used in production sites such as factories. Examples of industrial machines include articulated robots. Patent Literature 1 discloses a wiring and piping unit that integrates fluid pressure supply piping and control signal transmission wiring in an articulated robot. Specifically, in Japanese Unexamined Patent Application Publication No. 2002-100001, a lead wire, which is wiring for transmission of control signals, is inserted through a fluid flow tube.

Japanese Utility Model Laid-Open No. 5-60791

Here, a multi-joint robot such as a robot worm generally has a plurality of joints, and by operating the joints, a process such as picking of a workpiece is performed. At this time, if the wiring inserted inside the pipe cannot follow the movement of the articulated robot, the wiring may be damaged. If the wiring is damaged, it is necessary to replace the wiring. However, in the configuration of Patent Document 1, the entire wiring and piping unit must be replaced, which requires a great deal of labor and cost for the replacement work. Therefore, the technique of Patent Document 1 has room for further improvement.

In view of these problems, the present invention provides a robot that allows wiring to be inserted into the interior of piping to save space, and that allows easy replacement of damaged piping and wiring. It is intended to

In order to solve the above problems, a representative configuration of a robot according to the present invention is a robot including a joint for connecting air pipes, the joint comprising a substantially cylindrical joint body and a joint body extending inside and outside the joint body. a first electrical wiring, an internal electrode electrically connected to a second electrical wiring passing through the inside of the air pipe, and an external electrode electrically connected to a third electrical wiring passing through the outside of the air pipe. characterized by having

The air pipe connected to the internal electrode side of the joint is preferably provided with a bellows structure at a position corresponding to the internal electrode.

Advantageous Effects of Invention According to the present invention, it is possible to provide a robot capable of inserting wires into pipes to save space and easily replacing damaged pipes and wires.

1 is a schematic diagram illustrating a robot according to a first embodiment; FIG. It is a figure explaining the detail of a joint. It is the schematic explaining the robot concerning 2nd Embodiment.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in these embodiments are merely examples for facilitating understanding of the invention, and do not limit the invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant description, and elements that are not directly related to the present invention are omitted from the drawings. do.

(First embodiment)
FIG. 1 is a schematic diagram illustrating a robot 100 according to the first embodiment. A robot 100 shown in FIG. 1 is an articulated robot having a plurality of joints and has a robot arm 110 . The robot 100 has a foundation base 102 mounted on a pedestal or the like (not shown). A swivel base 112 is attached to the foundation base 102 , and the swivel base 112 is connected to a first arm 116 via a connecting portion 114 . A second arm 118 is connected to the first arm 116 , and an end effector 120 is provided at the tip of the second arm 118 .

In the robot 100 of the first embodiment, the air pipe 130 is inserted through the inside of its housing, and the second electrical wiring 172 is inserted through the inside of the air pipe 130 . The robot 100 also includes joints 150 that connect the air pipes 130 , and the joints 150 are provided at both ends of the air pipes 130 . One joint 150 connects an air intake pipe 132 for sucking air from a pump (not shown) and the air pipe 130, and the other joint 150 is an air supply pipe 134 for supplying air to the end effector 120. and the air pipe 130 are connected.

Although FIG. 1 shows only one air path from the air intake pipe 132 to the air pipe 130 and the air supply pipe 134, the end effector 120 can have as many as required.

FIG. 2 is a diagram illustrating the details of the joint 150. As shown in FIG. 2(a) shows the joint 150 with the air pipe 130 not connected, and FIG. 2(b) shows the joint 150 with the air pipe 130 connected. In addition, in the first embodiment, a case where the air pipe 130 and the air intake pipe 132 shown in FIG. 1 are connected will be described as an example.

As shown in FIG. 2( a ), the joint 150 of the first embodiment includes a joint main body 160 , a first electrical wiring 170 , an internal electrode 182 , an external electrode 184 and a release bush 190 . The joint main body 160 is a substantially cylindrical member, and the air pipe 130 and the air intake pipe 132 are connected by pushing the release bush 190 in a state where they are inserted. The joint main body 160 is made of an insulating material, and the first electric wiring 170 penetrates inside and outside.

Although FIGS. 2A and 2B exemplify a configuration in which two first electrical wirings 170 are provided, the present invention is not limited to this configuration. The number of first electrical wirings 170 can be changed as appropriate. Further, in the first embodiment, the joint 150 is exemplified as a "one-touch joint having a release bush 190", but the joint 150 is not limited to this. The present invention can also be applied to known general pipe joints such as insert joints and bite joints.

The internal electrode 182 is arranged inside the joint body 160 and is electrically connected to the second electrical wiring 172 (see FIG. 2(b)) passing through the inside of the air pipe 130 . The external electrode 184 is arranged outside the joint body 160 and is electrically connected to a third electric wiring 176 (see FIG. 2(b)) passing through the outside of the air pipe 130 (strictly speaking, the air intake pipe 132). be done.

When connecting the air pipe 130 and the air intake pipe 132 , the contact pin 174 of the second electrical wiring 172 is connected to the internal electrode 182 and the connector 178 of the third electrical wiring 176 is connected to the external electrode 184 . Thereby, the first electric wiring 170, the second electric wiring 172 and the third electric wiring 176 are electrically connected. Next, the air pipe 130 and the air suction pipe 132 are inserted into the joint body 160, respectively. Then, the release bush 190 is pushed into the joint main body 160 . As a result, the air pipe 130 and the air intake pipe 132 are connected via the joint 150 .

According to the robot 100 of the first embodiment described above, for example, when the third electrical wiring 176 is damaged due to use over time, the third electrical wiring 176 can be replaced by removing the connector 178 from the external electrode 184. can be easily done. On the other hand, when the second electric wiring 172 is damaged, the release bush 190 is pulled out to extract the air pipe 130 from the joint main body 160, and the contact pin 174 is removed from the internal electrode 182 to replace the second electric wiring 172. can be easily done.

Also, if the air suction pipe 132 or the air supply pipe 134 is damaged, the release bush 190 can be pulled out in the same manner as described above, so that these pipes can be easily pulled out from the joint body 160 and replaced. Therefore, according to the robot 100 of the first embodiment, it is possible to save space by inserting the wiring inside the piping, and to easily replace the piping and the wiring when they are damaged. .

(Second embodiment)
FIG. 3 is a schematic diagram illustrating the robot 200 according to the second embodiment. 3(a) shows the joint 150 with the air pipe 130 connected, and FIG. 3(b) shows the joint 150 with the air pipe 130 removed. Also in the second embodiment, the case where the air pipe 130 and the air suction pipe 132 shown in FIG. 1 are connected will be described as an example. Also, components common to the robot 100 of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 3, the robot 200 of the second embodiment (see FIG. 1 for a specific configuration) has a position corresponding to the internal electrode 182 in the air pipe 230 connected to the internal electrode 182 side of the joint 150. A bellows structure 240 is provided in the . As shown in FIG. 3A, the internal electrode 182 is arranged inside the bellows structure 240 when the air suction pipe 132 and the air pipe 230 are connected via the joint 150 .

For example, when the second electrical wiring 172 is damaged, if the air pipe 230 is pulled out from the joint main body 160, the bellows structure 240 is folded as shown in FIG. 230 is exposed to the outside. This makes it easier to remove the contact pin 174 from the internal electrode 182 .

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications or modifications within the scope described in the claims, and these also belong to the technical scope of the present invention. Understood.

INDUSTRIAL APPLICABILITY The present invention can be used as a robot including joints for connecting air pipes.

DESCRIPTION OF SYMBOLS 100... Robot, 102... Base base, 110... Robot arm, 112... Rotation base, 114... Connection part, 116... First arm, 118... Second arm, 120... End effector, 130... Air pipe, 132... Air suction Piping 134 Air supply pipe 150 Joint 160 Joint body 170 First electric wiring 172 Second electric wiring 174 Contact pin 176 Third electric wiring 178 Connector 182 Inside Electrode 184 External electrode 190 Release bush 200 Robot 230 Air pipe 240 Bellows structure

Claims (2)

A robot including a joint that connects air pipes,
The joint is
a substantially cylindrical joint body;
a first electrical wiring penetrating inside and outside the joint body;
an internal electrode electrically connected to a second electrical wiring passing through the inside of the air pipe;
an external electrode electrically connected to a third electrical wiring passing through the outside of the air pipe;
A robot characterized by having 2. The robot according to claim 1, wherein the air pipe connected to the internal electrode side of the joint is provided with a bellows structure at a position corresponding to the internal electrode.

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