JP6069147B2 - Robot wrist device - Google Patents

Description

  The present invention relates to a wrist device for a robot capable of performing an operation in which a hand portion of a robot is bent with respect to a lower arm portion.

In recent years, various research and development of robots imitating human beings have been conducted.
For example, a wrist device of a robot that imitates a human wrist is provided on the hand side while accommodating a drive source and a first frame provided on the lower arm side, and rotatably supported by the first frame. A second frame. And it is comprised so that the operation | movement which the hand part provided in the front end side of the 2nd frame bends with respect to a lower arm part can be performed because the 2nd frame rotates with the drive force of a drive source.
Moreover, in the wrist device of the prior art robot, a force sensor is provided in the second frame so that a load acting on the hand portion can be measured.

Moreover, in the wrist device of the robot of the following patent document 1, an annular force sensor provided with a through-hole penetrating in the vertical direction connecting the lower arm portion and the hand portion on the second frame side, and in the through-hole A substantially cylindrical wiring / pipe support member fitted therein is provided. A large number of wires and pipes extending from the lower arm part to the hand part (hereinafter collectively referred to as “wiring group”) are routed in the internal space of the wiring / pipe support member, and the wiring group is It is configured not to be exposed to the outside of the second frame.
On the other hand, on the first frame side, a wiring group is routed between the driving source and the inner surface of the side wall portion of the first frame, and the wiring group is configured not to be exposed to the outside of the wrist device.

  Furthermore, in the wiring / pipe support member of the following Patent Document 1, the wiring group extending from the second frame side toward the first frame side is directed toward the extension line of the through hole of the force sensor, in other words, the first The wiring group is fixed by a binding member so as to extend toward the drive source in the frame. Therefore, in the wiring group, a curved portion that is curved to pass between the driving source and the inner surface of the side wall portion of the first frame is generated above the portion supported by the wiring / pipe support member.

JP 2013-94939 A

  However, in the conventional wiring / pipe support member, when the wiring / pipe support member pushes up the wiring group upward by the rotation of the second frame, the curved portion bulges outward greatly, and the vicinity of the force sensor. There was a possibility that extra length would occur in the wiring group. Then, if a surplus length occurs in the wiring group near the force sensor, an unnecessary interference value is generated, and the interference value may adversely affect the detection of the force sensor. For this reason, a structure in which no extra length is generated in the wiring group in the vicinity of the force sensor has been desired.

  Therefore, the present invention was devised in view of the above-described background, and suppresses the occurrence of extra length in the wiring group near the force sensor, and more accurately measures the load acting on the hand portion. It is an object of the present invention to provide a wrist device for a robot that can be used.

  In order to solve the above-described problems, a wrist device for a first robot according to the present invention is supported on one side of a lower arm portion, and is provided with a first frame of a housing provided with a drive source, and a first frame mounted on the first frame. A second frame that is movably supported and rotates around the first frame by a driving force of the driving source; and a through-hole penetrating in a vertical direction connecting the lower arm portion and the hand portion; A force sensor that rotates together with two frames, and a fixing portion that is provided in the second frame and rotates together with the second frame and fixes a wiring group that passes through the through hole of the force sensor. A wrist device of a robot in which the wiring group extending from the lower arm portion to the hand portion passes through the first frame, the second frame, and the force sensor, wherein the first frame is Formed in the upper opening and the lower wall formed in the wall The wiring group is vertically inserted through the lower opening, and the wiring group extends in the vertical direction between the inner surface of the separated side wall and the outer surface of the drive source. The wiring group is vertically inserted through an opening facing the lower opening of the first frame, and the fixing portion fixes the wiring group between the through hole and the drive source. The wiring group is fixed while being inclined with respect to the vertical direction so that the wiring group extends straightly between the outer surface of the drive source and the inner surface of the side wall portion. A bent portion is formed between an upper and lower portion extending in an up and down direction between an inner surface of the portion and an outer surface of the driving source and an inclined portion that is fixed to the fixing portion and extends inclined. Due to the rotation of the frame, the bent portion of the first frame Characterized in that it bulges toward the inner surface of the wall portion.

According to the above-described invention, when the fixing portion pushes up the wiring group, the bending portion is more easily bulged outward than the inclined portion and the upper and lower portions extending in a substantially linear shape. For this reason, it is suppressed that an inclined part bulges outside, and extra length does not generate | occur | produce in an inclined part.
In addition, the bent portion bulges outward to contact the inner surface of the side wall portion of the first frame, but the inclination angle of the inclined portion gradually decreases due to the rotation of the fixed portion, and the direction of the force pushing the bent portion is upward. It becomes. For this reason, since the bent part which contact | abutted to the inner surface of the 1st frame slides upward along the inner surface of a 1st frame toward upper direction, the surplus length does not generate | occur | produce in a bent part.
Furthermore, since the upper and lower portions are lifted by the bent portion and move upward, no extra length is generated in the upper and lower portions.
For this reason, generation | occurrence | production of the extra length is suppressed in the inclination part, the bending part, and the up-and-down part arranged near the force sensor, and generation | occurrence | production of an unnecessary interference value can be prevented.

  In the wrist device for a robot according to the present invention, the fixing portion extends in a lateral direction perpendicular to the vertical direction above the through hole and straddles the through hole. A second straddling portion arranged in parallel to the first straddling portion with a space above the one straddling portion, and the wiring group between the first straddling portion and the second straddling portion It is preferable to be inserted and sandwiched between the first straddle portion and the second straddle portion.

  According to the wrist device of the robot having the above-described configuration, since the wiring group is sandwiched between the first straddling portion and the second straddling portion, it is not necessary to use a binding member. For this reason, there is no fear that the wire group may be damaged due to the tightening by the binding member being too strong, or the wire group may not be fixed due to the tightening by the binding member being too weak.

  In the wrist device for a robot according to the present invention, a part of the wiring group is inserted from one of the first straddle part and the second straddle part, and the other part of the wiring group is the first straddle part. It is preferable that it is inserted from between the other of the first straddling part and the second straddling part, and a part of the wiring group and the other part of the wiring group intersect and are fixed at a fixing part.

  According to the wrist device of the robot having the above-described configuration, the wiring group extending from the first straddling portion into the through hole of the force sensor is routed separately on the front side and the rear side. Therefore, compared to the case where the entire wiring group is routed on the front side of the first straddling portion, the wiring group can be routed from the central axis of the through hole, and the diameter of the through hole of the force sensor can be reduced.

In order to solve the above-described problem, a wrist device for a second robot according to the present invention is supported on one side of a lower arm portion, and includes a first frame of a housing provided with a drive source, and the first frame. A second frame that is pivotally supported by the driving source and rotates around the first frame, and a through hole that penetrates in the vertical direction connecting the lower arm portion and the hand portion, A force sensor that rotates together with the second frame, and a fixing portion that is provided on the second frame and rotates together with the second frame, and fixes a wiring group that passes through the through hole of the force sensor. A wrist device of a robot in which the wiring group extending from the lower arm portion to the hand portion passes through the first frame, the second frame, and the force sensor, wherein the first frame is Formed in the upper wall and lower wall formed in the upper wall The wiring group is vertically inserted through the lower opening formed, and the wiring group extends in the vertical direction between the inner surface of the separated side wall portion and the outer surface of the drive source. frame, the wiring group through an opening facing the lower opening of the first frame is inserted in the vertical direction, the fixing unit includes a fitted cylindrical portion in the through-hole, the lower of the cylindrical portion extending from the arm portion end to the lower arm portion, and a pair of protrusions than the force sensor projecting into the lower arm portion, both ends of the through hole through said pair of projections A penetrating member that straddles the center and divides the wiring group into one side and the other side, a binding member that clamps the wiring group divided into one side and the other side of the penetrating member together with the penetrating member, and the binding member And a rubber member interposed between the wiring group and the wiring group It features a.

According to the invention described above, since the penetrating member is interposed in the center, the wiring group is pushed out to one side and the other side across the straddling portion, in other words, between the driving source and the inner surface of the first frame. The wiring group moves in the direction. For this reason, in the wiring group, the degree of bending of the portion extending upward from the fixed portion and extending between the drive source and the inner surface of the first frame is reduced.
Therefore, when the fixing portion pushes the wiring group upward by the rotation of the second frame, the curved portion is difficult to bulge outward, and the occurrence of extra length can be suppressed.
Further, since the rubber member is interposed, the fixing force for fixing the wiring group is improved, and it is possible to avoid the possibility of damaging the wiring group because the force is too tight by the bundling member.

  According to the wrist device for a robot according to the present invention, the load acting on the hand portion can be measured more accurately.

It is a perspective view which shows the wrist apparatus and lower arm part of the robot which concern on 1st Embodiment. FIG. 3 is a route diagram illustrating a routing route of a wiring group according to the first embodiment. It is a perspective view which shows the wrist apparatus of the robot except a 1st motor. It is sectional drawing at the time of cut | disconnecting the wrist apparatus of the robot shown in FIG. 3 in the up-down direction so that the rotating shaft (protrusion part) of a 2nd frame may be included. It is a perspective view which shows the hand part connection part which concerns on 1st Embodiment. It is a route figure showing the wiring state of the wiring group when the 1st motor drives. It is sectional drawing when a 2nd motor drives. It is a perspective view which shows the hand part connection part which concerns on 2nd Embodiment. It is sectional drawing at the time of cutting the hand part connection part which concerns on 2nd Embodiment in the up-down direction.

  Embodiments of the present invention will be described with reference to the drawings. In addition, the size, positional relationship, and the like of members illustrated in each drawing may be exaggerated for clarity of explanation. Furthermore, in the following description, the same name and symbol indicate the same or the same members, and the description will be omitted as appropriate.

First, the lower arm portion 2 connected to the wrist device 1 of the robot according to the embodiment will be described.
As shown in FIG. 1, the lower arm portion 2 imitates the lower arm of a human, and an annular ring portion 3 connected to the upper arm portion (not shown) and a lower portion of the annular portion 3 A substantially cylindrical case portion 4 that is fixed is mainly provided. The case portion 4 is provided with a pair of extending portions 5 (only one is shown in FIG. 1; see FIG. 4) extending downward from the lower end edge of the case portion 4.

As shown in FIGS. 1 and 2, a plurality of pipes H <b> 1 (one of the wiring groups H) for transmitting hydraulic pressure are provided in the case part 4 of the lower arm part 2 through the central hole 3 a of the annular part 3. ) Has entered. Further, a plurality of wirings H2 (the other of the wiring group H) for sending electric signals enter the case part 4 through holes 4a (particularly see FIG. 2) formed in the upper part of the side surface of the case part 4. ing. As shown in FIG. 2, the wiring H <b> 2 is fixed by a first fixing portion 4 b provided on the inner peripheral surface of the case portion 4.
As shown in FIG. 2, the pipe H <b> 1 and the wiring H <b> 2 entering the case part 4 extend to the hand part. Hereinafter, the pipe H1 and the wiring H2 may be collectively referred to as a wiring group H. Although the numbers of the pipes H1 and the wirings H2 are one or two in the drawing, the present invention is not particularly limited with respect to the number of the pipes H1 and the wirings H2.

As shown in FIG. 1, a wrist device 1 of a robot imitates a human wrist, and is interposed between a lower arm portion 2 and a hand portion, and the hand portion is bent to the palm side of the hand, or the hand portion. Perform operations such as swinging left and right.
The wrist device 1 of the robot includes a first frame 10 having a bottomed cylindrical shape that is rotatably supported by the extension portion 5 of the lower arm portion 2, and a first portion housed in the case portion 4 of the lower arm portion 2. The motor 20, the second frame 30 disposed below the first frame 10, the second motor 40 accommodated in the first frame 10, and the hand portion fixed to the lower side of the second frame 30 A hand connecting portion 50 to be connected.
When the wrist device 1 of the robot is viewed from above and below, the rotation axis L1 of the first motor 20 and the rotation axis L2 of the second motor 40 are orthogonal, and the rotation axis L1 of the first motor 20 is. The direction in which the second motor 40 extends is referred to as the front-rear direction, and the direction in which the rotation axis L2 of the second motor 40 extends is referred to as the left-right direction.

  As shown in FIG. 3, on the front side and the rear side of the outer peripheral surface of the first frame 10, there are protrusions 11 and 11 each provided with a disk at the tip of a cylinder protruding forward or rearward (only one in FIG. 3). (See FIG. 4). The projecting portions 11 and 11 support the extending portions 5 and 5 of the lower arm portion 2, and the first frame 10 is configured to be rotatable around the projecting portions 11 and 11. In the following description, an axis around which the first frame 10 rotates around the protrusions 11 and 11 is referred to as a rotation axis L3.

A second fixing portion 17 for fixing the wiring H <b> 2 is provided on the upper surface side of the outer peripheral surface of the first frame 10. The second fixing portion 17 is composed of a metal piece 15 having an L shape in a side view that is fixed to the upper surface of the first frame 10 and a binding member 16 that forms a ring and binds the wiring H2 to the metal piece 15. Yes.
According to the second fixing portion 17, the length of the wiring H <b> 2 extending upward and the wiring H <b> 2 extending downward (hand side) based on the location where the second fixing portion 17 is fixed. The length is fixed. For this reason, the extra length of the wiring H <b> 2 routed between the first fixing portion 4 b (see FIG. 2) and the second fixing portion 17 is lower than the second fixing portion 17. Moving to the vicinity is prevented.
The second fixing portion 17 fixes the wiring H2 so as to extend in the left-right direction, and the first frame after the wiring H2 extending from the second fixing portion 17 to the right side bulges greatly to the right side. 10 is entered. For this reason, an extra length is generated in the wiring H2 above the first frame 10, and no extra length is generated in the wiring H2 extending from the first frame 10 to the lower side (hand side). ing.

  As shown in FIG. 4, the second motor 40 is disposed in the central portion of the internal space of the first frame 10, and the inner peripheral surface 18 of the front wall portion of the first frame 10 and the inner portion of the rear wall portion. The peripheral surface 19 is separated from the second motor 40. Therefore, in the first frame 10, a space in which the wiring group H can be inserted in the vertical direction is provided on the front and rear sides of the second motor 40. The inner peripheral surface 18 and the inner peripheral surface 19 are flat surfaces, and the wiring group H is easy to slide.

Further, two upper openings 13 are formed in the upper wall portion 10 a of the first frame 10 so as to correspond to the spaces provided before and after the second motor 40. The wiring group H is routed separately on the front side and the rear side of the second motor 40 via the two upper openings 13. Hereinafter, in the wiring group H, portions extending between the inner peripheral surfaces 18 and 19 of the first frame 10 and the second motor 40 are simply referred to as upper and lower portions J.
Further, a lower opening 14 is formed in the lower wall portion of the first frame 10, and the wiring group H that is separately routed on the front side and the rear side of the second motor 40 extends downward. Yes.

  As shown in FIG. 1, the first motor 20 is a drive source for rotating the first frame 10. The rotation axis L1 of the first motor 20 is connected via a rotation link arm 21 fixed to the rotation axis L1 and a vertical movement link arm 22 connected to the rotation link arm 21 and moving up and down. The first frame 10 is connected to connecting portions 12 and 12 provided on the left surface of the first frame 10. When the rotation shaft L1 of the first motor 20 rotates, the vertical movement link arm 11b moves up and down, and the first frame 10 rotates around the rotation axis L3.

As shown in FIG. 3, the second frame 30 is a substantially U-shaped member opened upward in a front view, and has a flat bottom 31 disposed below the first frame 10, and an upper surface of the bottom 31. An annular ring part 32 provided on the right side and a disk part 33 provided on the left side of the upper surface of the bottom part 31 and disposed on the right side of the first frame 10 are configured.
The bottom part 31 is a part for fixing the hand part connecting part 50, and is provided with a plurality of holes (not shown) through which bolts fixing the hand part connecting part 50 pass. In addition, a hole 31a penetrating in the vertical direction is formed in the central portion of the bottom portion 31, and the wiring group H extending below the first frame 10 extends downward via the hole 31a of the bottom portion 31. doing.
The ring portion 32 is externally fitted in a groove (not shown) formed on the outer peripheral surface of the first frame 10, and the second frame 30 is rotatably supported by the first frame 10.

The second motor 40 is a drive source for rotating the second frame 30. In addition, the 2nd motor 40 which concerns on embodiment is the structure corresponded to the "drive source" in a claim.
As shown in FIG. 2, the rotation axis L <b> 2 of the second motor 40 extends through the first frame 10 to the right side of the first frame 10 and is connected to the disk portion 33 of the second frame 30. . Therefore, when the second motor 40 rotates, the second frame 30 rotates around the rotation axis L2 (see FIG. 2).

As shown in FIGS. 4 and 5, the hand portion connecting portion 50 is for connecting the second frame 30 and a hand portion (not shown). The hand connection portion 50 includes an annular sensor support 51 fixed to the lower surface of the bottom 31 of the second frame 30 and an annular force fixed to the lower surface of the sensor support 51 and concentric with the sensor support 51. A sense sensor 52 and a third fixing portion 53 fixed to the upper surface of the sensor support portion 51 are provided. In addition, the 3rd fixing | fixed part 53 which concerns on embodiment is a structure corresponded to the "fixed part" in a claim.
The sensor support 51 is a substantially disk-shaped member, and is fixed to the second frame 30 by a bolt (not shown) and rotates together with the second frame 30.

As shown in FIG. 4, the force sensor 52 includes an inner ring portion 54 having a through hole 57 penetrating in the vertical direction, an outer ring portion 55, and a circumferential direction between the inner ring portion 54 and the outer ring portion 55. It is comprised with the some distortion | straining part 56 arrange | positioned.
The inner ring portion 54 is fixed to the lower side of the sensor support portion 51 with a bolt (not shown). Further, the outer ring portion 55 is connected to a hand portion (not shown) via a flange 55a provided on the outer peripheral side. Then, when the outer ring portion 55 moves due to the load acting on the hand portion, the strain portion 56 is distorted, and by detecting the amount of strain, the magnitude and direction of the load acting on the hand portion are detected. Yes.

As shown in FIG. 5, the third fixing portion 53 is disposed on the front and rear sides of the through hole 57 of the force sensor 52 and fixed to the upper surface of the sensor support portion 51, and the fixing portion A pair of extending portions 61, 61 that extend upward and intervene between 60, 60, and a first straddling portion 64 and a second straddling portion 62 that extend in the left-right direction so as to straddle the through-hole 57. Yes.
Note that the pair of fixing portions 60, 60, the pair of extending portions 61, 61, and the second straddling portion 62 are integrally formed. Further, the second straddling portion 62 is a columnar member and is fitted into a notch 63 provided in the pair of extending portions 61.

As shown in FIG. 4, the first straddling portion 64 and the second straddling portion 62 are arranged with an interval in the vertical direction. The wiring group H is bent at the front side or the rear side of the first straddling portion 64 and is inserted between the first straddling portion 64 and the second straddling portion 64.
When the wiring group H is bent on the front side or the rear side of the first straddling portion 64, in order to reduce the load on the wiring group H, the low-rigidity wiring H22 having low rigidity is routed inside, and the rigidity is high on the outside. Highly rigid wiring H21 is desirable.

Moreover, the space | interval between the 1st bridge | crossing part 64 and the 2nd bridge | crossing part 62 is an interval which can pinch the inserted wiring group H. For this reason, the inserted wiring group H is fixed without moving, and a portion of the wiring group H that extends upward from the portion sandwiched between the first straddling portion 64 and the second straddling portion 62 is provided. It is inclined forward or rearward with respect to the vertical direction. Hereinafter, the inclined portion of the pipe H1 and the wiring H2 is simply referred to as an inclined portion I.
In FIG. 4, the number of the pipes H <b> 1 and the wirings H <b> 2 shown in FIG. 4 is small, so that the wiring group H passing between the first straddling part 64 and the second straddling part 62 and the first straddling part 64 or Although there seems to be a gap between the two straddling portions 62, in reality, a large number of wiring groups H are inserted between the first straddling portions 64 and the second straddling portions 62, and the wiring groups H and the first straddling portions to be inserted are inserted. There is no gap between the portion 64 or the second straddling portion 62.

Further, the first straddling portion 64 and the second straddling portion 62 are such that the inclined portion I of the wiring group H extends between the inner peripheral surfaces 18 and 19 of the first frame 10 and the second motor 40. Hold it between. For this reason, in the wiring group H, a bent portion is bent between the upper and lower portions J extending between the inner peripheral surfaces 18 and 19 of the first frame 10 and the second motor 40 and the inclined portion I. R is generated, and the inclined portion I of the wiring group H can be arranged in a substantially straight line without bending.
In addition, the position which provides the 1st bridge | crossing part 64 and the 2nd bridge | crossing part 62 is moved to an up-down direction, or the space | interval tightened from the up-down direction by the 1st bridge | crossing part 64 and the 2nd bridge | crossing part 62 is changed. The inclined portion I of the wiring group H can be set so as to extend between the inner peripheral surfaces 18 and 19 of the first frame 10 and the second motor 40.

In addition, the wiring group H extending to the hand side from the portion sandwiched by the third fixing portion 53 is sandwiched so that there is no extra length. Therefore, the wiring group H is in a tensioned state, extends through the through-hole 57 so as not to contact the inner peripheral surface 54a of the force sensor 52, and also when the second frame 30 rotates. The force sensor 52 is configured not to slide on the inner peripheral surface 54a.
The wiring group H sandwiched between the first straddling portion 64 and the second straddling portion 62 is inserted from both the front side and the rear side, and the first straddling portion 64 and the second straddling portion 62 are connected. They are designed to cross each other. For this reason, the wiring group H heading from the first straddling portion 64 into the through hole 57 of the force sensor 52 is divided into a front side and a rear side. For example, all of the wiring group H is on the front side of the first straddling portion 64. Compared to the case where the wiring group H is routed, the wiring group H can be routed from the central axis of the through hole 57, and the diameter of the through hole 57 of the force sensor 52 can be reduced.

In addition, in the wrist device 1 according to the embodiment, a guide (not shown) that extends in the vertical direction and moves flexibly is provided between the link arm 11 and the first frame 10, and the pipe H1 is bent by this guide. It extends in the vertical direction in a substantially straight line without any problems.
The pipe H1 is configured to be guided by a guide (not shown) and to contact (slide) the rotating link arm 11.
Further, the surface of the rotating link arm 11 is coated with Teflon (registered trademark) so that the pipe H1 slides without being locked.
And regarding piping H1, the part extended to the lower arm part 2 side is comprised more highly than the part extended to the upper arm part (not shown). Therefore, a surplus length is generated in the pipe H1 extending to the upper arm part side, and no surplus length is generated in the pipe H1 extending to the lower arm part 2 side.
In addition, rigidity can be improved by bundling the piping H1 extended to the lower arm part 2 side with a guide (not shown).

Next, the driving time of the first motor 20 and the second motor 40 will be described.
As shown in FIG. 6, when the rotation shaft L1 of the first motor 20 rotates (the rotation direction shown in FIG. 6 is counterclockwise), the second fixing portion 17 pulls the wiring H2 downward (FIG. 6). The portion of the wiring H2 that bulges to the left side is reduced.
Since the wiring H2 is fixed by the second fixing portion 17, the extra length portion of the wiring H2 pulled downward does not move toward the third fixing portion 53. Therefore, there is no possibility that an extra length is generated in the wiring H2 near the third fixing portion 53.

Further, the third fixing portion 53 is also rotated around the rotation axis L3 (see FIG. 1) by the rotation of the rotation axis L1 of the first motor 20, and the pipe H1 is pulled substantially linearly. Therefore, the extra length portion of the pipe H1 is dragged out from the upper arm portion (not shown) (see arrow B in FIG. 6).
Further, since the pipe H1 is slid on the rotation link arm 21, the movement of the pipe H1 to the lower side than the rotation link arm 21 is suppressed. For this reason, the pipe H <b> 1 does not bulge outward in the vicinity of the third fixing portion 53.

As shown in FIG. 7, when the second motor 40 rotates forward, the third fixing portion 53 rotates toward the front side (see arrow C in FIG. 7). Therefore, the third fixing portion 53 pulls the wiring H2 arranged on the rear side of the second motor 40 downward in the front side, and the wiring H2 bulging to the right side in the vicinity of the second fixing portion 17 moves downward ( (See arrow D in FIG. 7).
On the other hand, when the 3rd fixing | fixed part 53 rotates to forward rotation, the force which pushes up upwards with respect to the piping H1 acts.
Here, when a force to push up is applied to the wiring group H arranged in the vicinity of the force sensor 52, the inclined portion I extends substantially linearly in the direction in which the third fixing portion 53 pushes up. Therefore, it is difficult to bulge or bend even if a force to push up is applied. Therefore, the inclined portion I moves upward in the front side without bulging or bending.
Then, due to the pushing-up force of the inclined portion I and the rigidity of the pipe H <b> 1, the bent portion R moves so as to bulge forward and comes into contact with the inner peripheral surface 18 of the first frame 10.
When the second frame 30 is further rotated, the inclination angle of the inclined portion I is reduced and the bent portion R is pushed upward. Therefore, the bending portion R moves upward while sliding on the inner peripheral surface 18, and the upper and lower portions J also move upward along the inner peripheral surface 18.

As described above, according to the wrist device 1 of the robot according to the embodiment, when the wiring group H is pushed up by the rotation of the second frame 30, it is bent more than the inclined portion I and the upper and lower portions J that extend substantially linearly. The portion R is easy to bulge outward. For this reason, it is suppressed that the inclined portion I of the wiring group H bulges outward, and no extra length is generated in the inclined portion I.
Further, the bent portion R of the wiring group H slides upward along the inner peripheral surface 18 so as not to bulge out greatly toward the outside, so that no extra length is generated in the bent portion R. ing.
Further, since the upper and lower portions J of the wiring group H are lifted by the bent portion R and moved upward, no extra length is generated in the upper and lower portions J.
For this reason, generation | occurrence | production of extra length is suppressed in the inclination part I, the bending part R, and the up-and-down part J which were routed in the vicinity of the force sensor 52, generation | occurrence | production of an unnecessary interference value can be prevented, and the force sensor 52 Can measure the load acting on the hand part more accurately.
Further, in the wrist device 1 of the robot according to the embodiment, since the wiring group H is sandwiched between the first straddling portion 64 and the second straddling portion 62, it is not necessary to use a binding member. For this reason, there is no possibility that the wire group H will be damaged due to the tightening by the binding member being too strong, or the wire group H will not be fixed due to the tightening by the binding member being too weak.

Next, a second embodiment of the wrist device 1 for a robot according to the present invention will be described with reference to FIGS. The difference between the wrist device of the robot according to the second embodiment and the wrist device 1 of the robot according to the first embodiment is the configuration of the third fixing portion. Therefore, only the third fixing unit 70 of the second embodiment, which is a difference, will be described below.
As shown in FIGS. 8 and 9, the third fixing portion 70 according to the second embodiment includes a columnar cylindrical portion 72 fitted in the through hole 57 of the force sensor 52 and an upper end of the cylindrical portion 72. A pair of projecting portions 71, 71 projecting upward, a penetrating member 73 that penetrates the pair of projecting portions 71, 71, and a binding member that penetrates both ends of the penetrating member 73 and binds the wiring group H to the penetrating member 73. 74 and a plate-like rubber member 75 interposed between the bundling member 74 and the wiring group H.

The cylindrical portion 72 is fixed by being fitted to the inner peripheral surface 54 a of the force sensor 52.
The penetrating member 73 straddles the center of the through hole 57 and divides the wiring group H into one side and the other side. Further, since the penetrating member 73 is routed in the center of the through hole 57, the positions where the wiring group H is routed are more forward and rearward than the center axis of the through hole 57 than when the penetrating member 73 is not provided. And move on. For this reason, in the wiring group H, it extends upward from the third fixing portion 70 and extends between the second motor 40 and the inner peripheral surfaces 18 and 19 (see FIG. 4) of the second frame 30. The curved portion generated in the portion can be reduced.
Furthermore, holes 73a are formed at both ends of the penetrating member 73 to allow the bundling member 74 to pass therethrough so that the bundling member 74 does not fall off.

  The rubber member 75 is a plate-like rubber plate interposed between the wiring group H and the bundling member 74. According to the rubber member 75, the frictional force between the wiring group H and the bundling member 74 is improved, the fixing force for fixing the wiring group H is improved, and the wiring group H is damaged due to excessive tightening by the bundling member 74. The risk of doing so can be avoided.

  As described above, according to the wrist device of the robot including the third fixing unit 70 according to the second embodiment, the bending portion of the wiring group H is small, and the third fixing unit 70 is wired by the rotation of the second frame 30. When the group H is pushed upward, the possibility that the bending portion bulges outside is reduced. For this reason, it is possible to suppress the occurrence of extra length in the bending portion arranged in the vicinity of the force sensor 52.

The robot wrist device according to the first embodiment and the second embodiment has been described above. However, the present invention is not limited to the example described in the embodiment, and the design may be changed as appropriate.
For example, as shown in FIG. 4, in the embodiment, only the pipe H <b> 1 enters the front upper opening 13 of the two upper openings 13, and only the wiring H <b> 2 enters the rear upper opening 13. However, the present invention is not limited to this, and both the pipe H <b> 1 and the wiring H <b> 2 may enter the upper opening 13.

DESCRIPTION OF SYMBOLS 1 Wrist apparatus 2 Lower arm part 4b 1st fixing | fixed part 10 1st flame | frame 13 Upper opening 14 Lower opening 17 2nd fixing | fixed part 18, 19 Inner peripheral surface 20 1st motor 30 2nd frame 40 2nd motor (drive source)
52 Force sensor 53, 70 Third fixing part (fixing part)
57 penetrating member 57 through hole 62 second straddling portion 64 first straddling portion 71 projecting portion 72 cylindrical portion 73 penetrating member 74 binding member 75 rubber member I inclined portion R bent portion J upper and lower portion

Claims (4)

A first frame of a housing supported on one side of the lower arm and provided with a drive source;
A second frame rotatably supported by the first frame and rotated around the first frame by a driving force of the driving source;
A force sensor having a through-hole penetrating in the vertical direction connecting the lower arm part and the hand part and rotating together with the second frame;
A fixing portion that is provided in the second frame, rotates together with the second frame, and fixes a wiring group that is inserted through the through hole of the force sensor;
A wrist device for a robot in which the wiring group extending from the lower arm portion to the hand portion passes through the first frame, the second frame, and the force sensor,
The first frame allows the wiring group to be vertically inserted through an upper opening formed in the upper wall portion and a lower opening formed in the lower wall portion, and the inner surface of the separated side wall portion and the drive Extend the wiring group in the vertical direction between the outer surface of the source,
The second frame has the wiring group inserted vertically through an opening facing a lower opening of the first frame,
The fixing portion fixes the wiring group between the through hole and the driving source, and the wiring group extends straight between the outer surface of the driving source and the inner surface of the side wall portion. The wiring group is inclined and fixed with respect to the vertical direction,
The wiring group includes a bent portion between an upper and lower portion that extends in the vertical direction between an inner surface of the side wall portion and an outer surface of the drive source and an inclined portion that is fixed to the fixing portion and extends in an inclined manner. Formed,
The wrist device for a robot, wherein the bent portion bulges toward an inner surface of a side wall portion of the first frame by the rotation of the second frame. The fixing part is
A first straddling portion extending in a lateral direction perpendicular to the vertical direction above the through hole and straddling the through hole;
A second straddling portion disposed in parallel to the first straddling portion while being spaced above the first straddling portion,
The said wiring group is inserted between the said 1st bridge | crossing part and the said 2nd bridge | crossing part, and is clamped by the said 1st bridge | crossing part and the said 2nd bridge | crossing part. Robot wrist device. A part of the wiring group is inserted between one of the first straddle part and the second straddle part,
The other part of the wiring group is inserted between the other of the first straddle part and the second straddle part,
The robot wrist device according to claim 2, wherein a part of the wiring group and the other part of the wiring group intersect and are fixed at a fixing part. A first frame of a housing supported on one side of the lower arm and provided with a drive source;
A second frame rotatably supported by the first frame and rotated around the first frame by a driving force of the driving source;
A force sensor having a through-hole penetrating in the vertical direction connecting the lower arm part and the hand part and rotating together with the second frame;
A fixing portion that is provided in the second frame, rotates together with the second frame, and fixes a wiring group that is inserted through the through hole of the force sensor;
A wrist device for a robot in which the wiring group extending from the lower arm portion to the hand portion passes through the first frame, the second frame, and the force sensor,
The first frame allows the wiring group to be vertically inserted through an upper opening formed in the upper wall portion and a lower opening formed in the lower wall portion, and the inner surface of the separated side wall portion and the drive Extend the wiring group in the vertical direction between the outer surface of the source,
The second frame has the wiring group inserted vertically through an opening facing a lower opening of the first frame,
The fixing part is
A cylindrical portion fitted in the through hole;
Extending the lower arm portion from the lower arm portion end of said cylindrical portion, and a pair of projecting portions projecting to the lower arm portion than the force sensor,
Both ends through said pair of projecting portions straddling the center of the through hole, and the penetrating member to divide the wiring group on the one side and the other side,
A bundling member for fastening the wiring group divided into one side and the other side of the penetrating member together with the penetrating member;
A robot wrist device comprising a rubber member interposed between the binding member and the wiring group.

Images