JP2545907Y2 - Industrial robot - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wiring structure in a robot in which an upper arm of an industrial robot is improved and an upper arm shaft driving motor is disposed in an upper arm housing.

[0002]

2. Description of the Related Art A wiring passage route in an upper arm of an in-machine wiring passing inside a swinging central axis of an upper arm avoids a gear box portion for a wrist drive which requires a sealing structure for grease lubrication or oil lubrication. The wiring inside the machine was performed using the motor room that was in contact with the vehicle. In recent years, industrial robots have tended to increase the rotation angle in response to a demand for improvement in space saving and expansion of an operation range. At the same time, the width of the lower arm supporting the upper arm should be reduced as much as possible to further save space, and the signal line for the end effector and the air pipe should be wired inside the machine in the same way as the wiring for the robot to improve ease of use. There is a tendency. Therefore, as shown in FIG. 4, the applicant enlarges the swing angle of the upper arm, reduces the width of the lower arm supporting the upper arm as much as possible, arranges the upper arm shaft drive motor in the upper arm housing, and sets the end effector. We have developed a robot in which signal lines and air piping for the robot are wired inside the machine as well as the wiring for the robot.

In FIG. 4, a wrist drive gear box 2 is mounted in front of an upper arm housing, wrist drive motors (A, B) 9 and 10 are mounted side by side in the upper center, and a wrist drive motor (C) is mounted on one side below it. 11) A wiring passage space was provided on the other side, and the wiring bundle 8 was passed through the in-machine wiring bundle. This eliminates the parallelogram link from the conventional upper-arm shaft drive structure in which the upper arm is driven by a parallelogram link, and adds an upper-arm shaft drive motor 12 and an upper-arm shaft drive reducer 19 (FIG. 2) in the upper-arm housing 1. By doing so, the swing angle of the upper arm is enlarged to 180 ° or more.

[0004]

However, the upper arm 6 is connected to the lower arm 2
Although both ends are supported by 1, one of the two ends employs a final end reduction mechanism in which a speed reducer 19 is disposed at the final part of power transmission in order to realize a highly rigid upper arm shaft drive system. 2 (this point is the same as in FIG. 2), all the wirings extend from the wiring passage hollow hole 14 on the other side to the inside of the upper arm housing 1. However, since the motor 12 for driving the upper arm shaft is provided in the upper arm housing 1, the wiring for the motor is increased, and the wiring for the end effector and the built-in air piping are provided.
Since the bundle diameter of the in-machine wiring bundle 8 is increased, there is a danger that the bending radius of the wiring becomes smaller than the diameter of the in-machine wiring bundle 8 and the wire breaks due to the relationship between the increased in-machine wiring bundle 8 and the enlarged swing angle. was there.

In FIG. 4, two wrist drive motors (A, B) 9 and 10 are arranged in parallel and closely above the center of the upper arm housing 1. The upper limit of the wiring rising from the wiring passage hollow shaft 18 at the swing axis 13 is the upper limit, and the distance from the upper arm axis swing axis 42 to the lower surface of the motor directly below the upper surface of the upper arm housing 1 can be used for wiring processing. This is because the dimensions that can be used for this wiring process were not large enough to take the bending radius of the wiring. Furthermore, the upper arm axis swing axis 13
Since the upper arm 6 and the upper arm rotation axis 42 are offset with some distance from each other, the swing operation angle of the upper arm 6 with respect to the lower arm is from the front AA line to the rear BB line as shown in FIG. 8, the bending angle became acute, and the wiring bending radius was further reduced.

The problem of the present invention is to increase the swing angle of the upper arm,
In addition, the width of the lower arm that supports the upper arm is made as small as possible, the upper arm shaft drive motor is arranged in the upper arm housing, and the signal line for the end effector and the air piping are also wired inside the body like the wiring for the robot. , The lower surface of the wrist drive motor provided above the center of the upper arm housing becomes the upper limit of the wiring, and the bending radius of the wiring could not be large due to the bundle diameter of the in-machine wiring bundle and the upper arm swinging operation angle. Is to eliminate.

[0007]

SUMMARY OF THE INVENTION For this purpose, the present invention provides an industrial robot with an upper arm housing symmetrically about a wrist drive gear box forward, a lower upper arm drive motor, and an upper arm pivot axis, respectively. A first wrist motor which is connected to the wrist drive gear box on one side of the upper center of the upper arm shaft reduction gear and the wiring-passing hollow shaft separated from each other in the first space (in FIG. ), A wiring member adjacent to the second space on the other side above the center and a rear side thereof, and a third space separated from the wrist drive gear box adjacent above the upper arm shaft drive motor in the third space. Second and third wrist motors are disposed, and each output shaft of the second and third wrist motors extends into the connection shaft cover and is connected to the wrist drive gear box through the third space. I made it. Thereby, the first space formed in the upper arm housing,
The problem described above has been solved by providing an industrial robot characterized in that the in-machine wiring bundle extends from the wiring passing hollow shaft to the wiring member via the third space and the second space. .

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to FIGS. FIG. 1 is a sectional view of a main part of an upper arm of an industrial robot according to one embodiment of the present invention. 2 is a cross-sectional view of a main part along the line AA in FIG. 1, and FIG. 3 is a perspective view of a main part showing the entire wiring around the upper arm axis as viewed from the direction of arrow III in FIG. Show. In the upper arm housing 1, a wrist drive gear box 2 is provided forward, an upper arm shaft drive motor 12 is provided rearward and lower, and an upper arm shaft reduction gear is symmetrically separated by a first space 26 on an upper arm shaft rotation axis 13. 19 and hollow shaft 1 passing through wiring
8, a first wrist motor (A) 9 connected to the wrist drive gear box 2 on one side above the center (directly connected in FIG. 1 but may be provided with a connecting member in the middle), and a second wrist motor on the other side above the center. The second and third wrist motors (B, C) are separated from the wiring member 7 adjacent to and behind the space 27 and the wrist drive gear box 2 adjacent to and above the upper arm shaft drive motor 12 by the third space 28. 10) and 11 are arranged.

Second and third wrist drive motors (B, C) 1
The output shafts 4B and 4C of 0 and 11 are connected shaft covers 5B and 5C.
And is connected to the wrist drive gear box 2 through the third space 28. Thereby, the first space 26, the third space 28 and the second space 26 formed in the upper arm housing 1 are formed.
Via the space 27, the in-machine wiring bundle 8 is connected to the wiring passing hollow shaft 1.
8 extends from the wiring passage hollow hole 14 inside to the wiring member 7. In the embodiment, the in-machine wiring bundle 8 includes the output shafts 4B of the second and third wrist drive motors (B, C) 10 and 11,
4C, which is sufficiently thinner than the outer shape of the wrist drive motors (B, C) 10 and 11 and is supported between the connecting shaft covers 5B and 5C by the hollow member 17 fixed to the wiring support plate 16 supported by the upper arm housing 1. And the outer shape of the wrist drive motor,
The space created by the dimensional difference between the connecting shaft covers 5B and 5C is used for the wiring passage.

The pinion 4AA fixed to the output shaft 4A of the first wrist motor (A) 9 meshes with the gear 43 in the wrist drive gear box 2, and the third wrist motors (B, C) 10, 11
Pinion 4B fixed to each output shaft 4B, 4C
B and 4CC mesh with the gears 43 in the wrist drive gear box 2, respectively, and the gears 43 in the wrist drive gear box 2 drive the three wrist axes respectively.
When the wiring support plate 16 is supported by the upper arm housing 1 and performs the same swing operation as the upper arm 6, the in-machine wiring bundle 8 slides together with the wiring support plate 16, so that the surface of the wiring support plate 16 is smoothed. Care is taken so that the wiring does not wear during sliding. As shown in the main part perspective view of the entire wiring around the upper arm axis in FIG. 3 with other parts omitted, the in-machine wiring bundle 8 once reaches the wiring processing member 7 and is branched into various uses. . The end effector wiring 25 is provided between the wiring processing member 7 and the connection shaft covers 5B and 5C (or the upper arm housing 1).
And the connecting shaft cover) to reach the connecting plate 23 for piping wiring provided below the upper arm housing 1.
Reference numeral 22 denotes a wiring support plate fixed to the lower arm 21.

[0011]

As described above, according to the present invention, in the upper arm housing of the industrial robot, the first space is located on the upper arm pivot axis, the second space is located on one side above the center, and the upper arm drive is provided. A third space adjacent to and above the motor, wherein the output shafts of the second and third wrist motors extend into the connecting shaft cover so as to be connected to the wrist drive gear box through the third space; By extending the in-machine wiring bundle from the wiring passing hollow shaft to the wiring member through the first space, the third space, and the second space, and connecting them with a connecting shaft cover thinner than the wrist drive motor, the upper arm is connected to the upper arm. Even if the provided wrist drive motor and upper arm shaft drive motor are arranged closely when viewed from behind, the distance to the upper part in the upper arm shaft housing is determined by the wiring process without disturbing those motors. Use for distance It is possible to provide a large wiring space even if the swinging angle of the upper arm is large with respect to the lower arm, and it is possible to increase the swing angle of the upper arm and minimize the width of the lower arm supporting the upper arm. In addition, similarly to the wiring for the robot, the problem that the bending radius of the wiring could not be made large in the robot in which the signal line for the end effector and the air pipe were wired similarly to the wiring for the robot could be solved. Furthermore, since the stress when the wiring is twisted due to the swinging motion of the upper arm can be reduced, the time until the disconnection can be lengthened, and since a wide space is realized, the wiring work is also facilitated, and the upper arm housing is provided. Since the width of the rotation and the fulcrum of the upper arm can be reduced, a compact industrial robot is provided.

[Brief description of the drawings]

FIG. 1 is a sectional view of a main part of an upper arm of an industrial robot according to an embodiment of the present invention.

FIG. 2 is an essential part cross-sectional view along the line AA of FIG. 1;

FIG. 3 is an essential part perspective view showing the entire wiring around the upper arm axis viewed from the direction of arrow III in FIG. 2 with other parts omitted;

FIG. 4 is a diagram showing an essential part of an upper arm of an industrial robot in which the swing angle of the upper arm developed by the applicant is increased, the width of the lower arm supporting the upper arm is made as small as possible, and an upper arm shaft drive motor is arranged in the upper arm housing. Part sectional drawing.

[Explanation of symbols]

 1. . Upper arm housing 2. . Wrist drive gear box 4B, 4C. . Output shafts of second and third wrist drive motors 5B, 5C. . Connection shaft cover 6. . Upper arm 7. . Wiring member 8. . In-machine wiring bundles 9, 10, 11. . Wrist drive motor 12. . 12. Upper arm shaft drive motor . Upper arm axis pivot axis 16. . Wiring support plate 17. . Hollow member 18. . Wiring passing hollow shaft 19. . Upper arm shaft reduction gear 26. . First space 27. . Second space 28. . Third space

Claims (2)

(57) [Scope of request for utility model registration] 1. An industrial robot in an upper arm housing,
A wrist drive gear box in the front, an upper arm drive motor in the lower rear, an upper arm pivot reducer and a wire passing hollow shaft symmetrically spaced apart in the first space on the upper arm pivot axis, and a central upper side on one side A first wrist motor connected to the wrist drive gear box, a wiring member adjacent to the second space on the other side above the center and a rear side thereof, and the wrist drive gear box adjacent above the upper arm shaft drive motor; The second and third wrist motors are spaced apart in the third space, and the output shafts of the second and third wrist motors extend into the connecting shaft cover and pass through the third space to drive the wrist. An industrial robot that is connected to a gear box and extends an in-machine wiring bundle to the wiring member via the wiring-passing hollow shaft, the first space, the third space, and the second space. 2. The in-machine wiring bundle is supported by a hollow member fixed to a wiring support plate supported by the upper arm housing between output shafts of the second and third wrist motors.
The industrial robot as described.