JP2542749Y2 - Industrial robot cable enclosure - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable storage device for an industrial robot.

[0002]

2. Description of the Related Art As shown in a front view of FIG. 5, an industrial robot has a rotating drum 2 rotatable around an axis on a base 1, and an arm 3 and an arm 4 are sequentially rotated at the upper end of the rotating drum. A hand grip 5 is pivotally attached to the tip of the arm 4 so as to be rotatable.

[0003] The rotating cylinder 2 with respect to the base 1
As shown in FIGS. 6 and 7, a cylindrical rotating table 6 integrally fixed to the lower end of the rotating drum 2 is provided with a ring between the rotating table 2 and the base 1. A cable storage chamber 7 is formed, and is rotatably supported on the upper portion of the base 1 via a bearing 8. The bearing 8 is held by upper and lower bearing retainers 9 and 10. In the center of the base 1, a reduction motor 11 is installed with its output shaft facing upward. A gear coupling 12 attached to the output shaft of this reduction motor 11 meshes with the internal toothed wheel of the turntable 6. Thus, the output of the deceleration motor 11 is transmitted to the turntable 6 so that the rotary drum 2 can be turned.

[0004] In the ring-shaped cable storage chamber 7, there is provided a flexible sleeve-like cable carrier 14 through which cables 13 connected to the actuators and sensors of the arms 3 and 4 and the handgrip 5 shown in FIG. 5 are inserted. I have.
The cable 13 passes through a mounting bracket 15 (FIG. 1) mounted on the base 1 from an external operation panel (not shown), and passes through a cable carrier 14 to a fixing bracket 16 (FIG . 1) mounted on the turntable 6 . ) Is provided in the rotary drum 2.

The cable carrier 14 extends in a clockwise direction along a circumferential outer wall 17 of the cable storage chamber 7 as shown in FIG. It is wound clockwise, that is, it is arranged in the cable storage room 7 in a double manner. A sliding plate 18 having a small coefficient of friction for preventing abrasion of the cable carrier 14 is laid at the bottom of the cable storage room 7.

In such an apparatus, the speed reduction motor 1
When 1 is rotated, the turntable 6 and the rotary drum 2 rotate clockwise, and when rotated reversely, they rotate counterclockwise,
The arms 3, 4 and the hand grip 5 are moved to required positions.

However, in such an apparatus, when the turntable 6 rotates in a direction in which the cable 13 wound therearound is unwound, for example, clockwise in the explanatory view of FIG. Pressed E
The cable storage room 7 swells in a radial direction like a part and meanders.
There is a problem that the outer wall 17 contacts the outer wall 17 and falls into a locked state. In addition, the cable carrier 14 repeatedly bends and expands due to the repetition of the normal rotation and the reverse rotation of the turntable 6, and as a result, strong contact between the cable 13 and the cable carrier 14 occurs frequently, and the cable 13 may be worn or damaged.

[0008]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and prevents a large meandering of a cable carrier in a cable storage room during rotation of a rotating body to prevent rotation of the cable carrier by the cable carrier. In addition to preventing locking and avoiding strong contact between the cable and the cable carrier due to the bending motion of the cable carrier, preventing damage to the cable, and also ensuring that the inner surface of the cable carrier is
An object of the present invention is to provide a cable storage device for an industrial robot that can prevent damage to a cable.

[0009]

For this purpose, the present invention provides:
A ring-shaped cable storage chamber formed by a base of an industrial robot and a lower end of a rotating body rotatably mounted on the base, and a lower end of the rotating body having one end supported by the base and the other end being supported by the base; A flexible cable bearer which is inserted in the cable storage room, folded back in the rotating direction of the rotary drum and disposed in the cable storage room in a double manner, and a cable bearer around a lower end of the rotary drum. An arc-shaped guide installed with a clearance, and both ends of the above cable carrier
Curved surfaces that are provided and each conform to the surface of the cable
Sealed cushioning material 20 formed with
Is provided in the middle part of
And a loose type cushioning material 20 'formed in a ring shape .

[0010]

In the cable storage device of the industrial robot according to the present invention, the rotation of the cable carrier is guided by the guide when the rotary drum rotates in the direction of unwinding the cable carrier wound therearound, and thus the cable carrier is guided. Does not dance from the outer periphery of the lower end of the rotating body and meander. Also, strong contact between the cable and the cable carrier due to the bending motion of the cable carrier is avoided by the cushioning material inside the cable carrier, so that wear and damage of the cable are prevented.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings.
2 is a longitudinal sectional view taken along the line II-II of FIG. 1, FIG. 3 is an explanatory view of the operation procedure of the cable carrier, and FIG. 4 is a perspective view showing a cushioning material of the cable carrier.

1 and 2, a cylindrical turntable 6 integrally fixed to the lower end of the rotary drum 2 forms a ring-shaped cable storage chamber 7 with the base 1, and a bearing 8
The bearing 8 is rotatably supported on the upper portion of the base 1 through the support, and the bearing 8 is held by upper and lower bearing retainers 9 and 10. In the center of the base 1, a deceleration motor 1 is installed with its output shaft facing upward, and a gear coupling 12 attached to the output shaft of this deceleration motor 11 is connected to the internal toothed wheel of the turntable 6. The gears mesh with each other, and the output of the reduction motor 11 is transmitted to the turntable 6 so that the rotary drum 2 can be turned.

In the above-mentioned ring-shaped cable storage chamber 7, there is provided a flexible sleeved cable carrier 14 through which cables 13 connected to the actuators and sensors of the arms 3 and 4 and the hand grip 5 shown in FIG. 5 are inserted. I have.
The cable 13 passes through an attachment 15 attached to the base 1 from an external operation panel (not shown), passes through a cable carrier 14, and a fixing fixture 16 attached to the turntable 6.
And is disposed in the rotary drum 2 via the rotary shaft.

The cable carrier 14 extends clockwise along the outer peripheral wall 17 of the cable storage chamber 7 in the figure, and then turns back and winds counterclockwise along the outer cylindrical surface of the turntable 6. That is, it is disposed in the cable storage room 7 in a double manner. A sliding plate 18 having a small coefficient of friction for preventing abrasion of the cable carrier 14 is laid at the bottom of the cable storage room 7.

Further, an arc-shaped guide 19 is provided in the cable carrier storage chamber 7 from a position facing the mounting bracket 15 around the turntable 6 to an appropriate range in front thereof with a clearance for accommodating the cable carrier 14. The cable carrier 14 is pressed so as not to be separated from the outer periphery of the turntable 6.

In such a device, the reduction motor 1
1, the rotating table 6 and the rotating body 2 rotate clockwise,
As shown in FIG. 3, the cable carrier 14 rotates forward and backward in the counterclockwise direction, rotates clockwise and goes around the range of the solid line, and the cable carrier 14 is in the state shown in the final position. Although the cable carrier 14 is in the state shown in the final position around the range of the chain line, even when the turntable 6 rotates clockwise, the rotation of the cable bear 14 is guided by the guide 19, so that the turntable 6 There is no meandering from the outer periphery.

Referring to FIG. 4, a mechanism for preventing damage to the cable 13 will be described.
Inside of 4a, a close-type cushioning member 20 made of soft rubber, plastic, or the like and having an inner surface formed into a curved surface conforming to the surface of the cable 13 or a large-diameter ring is formed in combination with the opposed cushioning material. A loose type cushioning material 20 'is attached, the former is suitable for both ends of the cable carrier 14, and the latter is suitable for the middle portion. Avoid direct contact of the cable 13 and therefore wear of the cable 13,
Prevent damage.

[0018]

In summary, according to the present invention, a ring-shaped cable storage chamber formed by a base of an industrial robot and a lower end portion of a rotary body rotatably provided on the base,
One end is supported by the base and the other end is inserted in a cable supported by the lower end of the rotary drum, and is bent in the rotation direction of the rotary drum to be doubled in the cable storage room. Cable guides, arc-shaped guides installed around the lower end of the rotating drum with a clearance provided for the cable bears, provided at both ends of the cable bears,
A curved surface conforming to the surface of the above cable was formed
A closed cushioning material 20 and an intermediate part
To form a large-diameter ring to fit the cable
With the loose type cushioning material 20 '
The cable carrier inside the cable storage room is prevented from large meandering during rotation of the rotating drum, thereby preventing rotation locking due to the cable carrier, and further, avoiding strong contact between the cable and the cable carrier due to the bending motion of the cable carrier to prevent the cable from moving. The present invention is industrially very useful because it provides a cable storage device for an industrial robot that can prevent damage.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of an embodiment of the cable storage device of the industrial robot of the present invention.

FIG. 2 is a cross-sectional view taken along the line II-II of FIG.

FIG. 3 is an explanatory diagram of an operation procedure of the cable carrier in the above.

FIG. 4 is a perspective view showing a cushioning material of the cable carrier in the above.

FIG. 5 is a front view of a known industrial robot.

FIG. 6 is a cross-sectional view of the conventional cable storage device, and is a cross-sectional view along VI-VI in FIG. 5;

FIG. 7 is a longitudinal sectional view taken along the line VII-VII of FIG. 6;

FIG. 8 is an explanatory diagram of a problem of the above device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 base 2 rotating body 3 arm 4 arm 5 hand grip 6 turntable 7 cable storage room 8 bearing 9 bearing retainer 10 bearing retainer 11 deceleration motor 12 gear coupling 13 cable 14 cable carrier 14a crossbar 15 mounting bracket 16 fixing bracket 17 outer wall 18 Sliding slope 19 Guide 20 Buffer material 20 'Buffer material

Claims (1)

(57) [Scope of request for utility model registration] 1. A ring-shaped cable storage chamber formed by a base of an industrial robot and a lower end of a rotary body rotatably mounted on the base, and one end is supported by the base and the other end is formed by the base. A flexible cable carrier which is inserted in a cable supported at the lower end of the rotating drum, is folded in the rotating direction of the rotating drum, and is disposed in the cable storage chamber so as to be doubled; and a lower end of the rotating drum. An arc-shaped guide installed with a cable carrier clearance around it, and the cable
Provided at both ends of the bear, each on the surface of the cable
Closed cushioning material 20 having a curved surface conforming to
It is provided in the middle of the cable carrier and
Loose cushioning material 2 formed in a large ring shape
A cable storage device for an industrial robot, comprising: 0 ' .