JPH0260477B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the structure of a swinging and rotating part having wiring and piping in an industrial robot or the like.

For example, in Figure 1, arm 1 of the robot
A swinging and rotating hand 2 is attached to the tip of the arm 1, and when supplying an electric wire or air tube from the arm 1 to the hand 2, conventionally the electric wire or air tube 3 is cut into lengths as shown in Figures 2 and 3. Connect directly with enough room, connect using an electric wire such as a telephone line as shown in Figure 4, or connect by wrapping a pre-formed spiral electric wire or air tube 3 around the wrist 4 as shown in Figure 5. means were used. However, with these installation methods, in the case of Figure 2, the electric wires and air tubes are twisted, resulting in poor durability, and in the cases of Figures 2 to 4, the electric wires and air tubes are exposed, so they cannot be applied from the outside. Damage (snapping, scraping, touching something hot, etc.)
Moreover, since the electric wires and air tubes move quite irregularly, even if you try to cover them, it will be large, which is extremely inconvenient when handling things in narrow spaces. In addition, in the case shown in Figure 5, special electric wires and air tubes must be used, and when the hand swings, the center diameter of the spiral changes, so when considering the cylinder formed by the spiral, the radial direction of the cylinder is also an axis. Directions also have the disadvantage of requiring considerable space.

The present invention was made for the purpose of eliminating the above-mentioned drawbacks of the conventional device, and is made by arranging a double cylindrical fixed guide and a rotating guide to face each other between the fixed part and the rotating part. A ring-shaped space is formed in the ring-shaped space, and the wiring pipe is guided into this space from the fixed part, and the wiring pipe is made to exist in this ring-shaped space for a length corresponding to the swing rotation angle, and is taken out from the rotating part. That is.

Hereinafter, embodiments of the present invention will be described based on the drawings. In FIGS. 6 to 8, a rotating part 12 is attached to a rotating shaft 11 protruding from a fixed part 10, and the rotating part 12 is rotated at an angle of 180 degrees. It is assumed that it performs a rocking motion. The fixed part 10 has a double cylindrical fixed guide 1.
3. A double cylindrical rotation guide 14 is also attached to the rotation part 12. A hole 15 is formed in the bottom of the fixed guide 13, and a hole 16 is formed in the rotary guide 14. If the position of the hole 16 in FIG. 6 is at the left rotation end, the hole 16 will be at the position indicated by the dotted line in the figure at the right rotation end.

FIG. 9 shows a ring-shaped space formed by the fixed guide 13 and the rotating guide 14. FIG. Now, insert the electric wire or air tube 3 through the hole 15, and take it out from the baffle hole 16 as shown by the solid line. When the rotating part 12 rotates 180 degrees to the right, the electric wire and air tube 3 are deformed as shown by the broken lines and are not twisted.

It is clear that the rotating guide 14 can also be oscillated and rotated counterclockwise relative to the fixed guide 13, and the length of the wiring piping existing in the ring-shaped space is determined from the reference position in FIG. It is clear that 14 can be of any desired length depending on the angle through which it is pivoted. The thickness of the ring-shaped space in the radial direction is set to a value that is slightly larger than the diameter of the bundle of electric wires and air tubes used.

Since the present invention is configured as described above, it is possible to reduce the space for wiring and piping, and since the wiring and piping does not twist, it has the effect of increasing the durability of, for example, electric wires that are susceptible to twisting. Since it is not exposed to the outside, it has a good appearance and is less likely to be damaged from the outside.

[Brief explanation of drawings]

1 to 5 are explanatory diagrams of a conventional device, FIG. 6 is a top view of an embodiment of the present invention, and FIG. 7 is a longitudinal sectional view.
FIG. 8 is a bottom view, and FIG. 9 is an explanatory diagram showing changes in the position of wiring and piping within the ring-shaped space. 10... Fixed part, 12... Rotating part, 13... Fixed guide, 14... Rotating guide, 3... Wiring piping.

Claims (1)

[Claims] 1 A ring-shaped space is formed between a fixed part and a rotating part by arranging a double cylindrical fixed guide and a rotating guide to face each other, and piping wiring is inserted from the fixed part into the ring-shaped space. exists in the space for a length corresponding to the swing rotation angle and is taken out from the rotating part,
Structure of a swinging and rotating part of a robot with wiring and piping.