JPH0295592A - Mechanism part for industrial robot - Google Patents

Abstract

PURPOSE:To prevent the damage of a cable by forming a base U groove on the outer peripheral bottom face of the inner part of a robot installing base, forming in opposition to the U groove a barrel base part U groove on the upper face of the inner part outer periphery of a robot barrel base part and arranging the elastic conduit inserted with a robot driving cable group in the state of folding and superposing it over these U grooves. CONSTITUTION:A linear elastic conduit 5 has the tendency to press-fitting to a base U groove 10 and barrel base part U groove 20 over the whole length at all times by the reaction force against the bent state of the folding. So, even if the robot barrel 23 is turned, the conduit 5 is always bent and elastic with the returning position being moved by being fitted into the U grooves 10 and 20. Thus, the conduit 5 inserted with the robot driving cable group 50 occupies only one part of the inside outer periphery of a mechanism part and bends and elastic in the state of upper and lower two layer, and so the pace occupancy at the mechanism internal part of the robot installation base 1 is small.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a mechanical part of a robot installation base of an industrial robot, and is used in various industrial robots used for welding, handling, sealing, etc. It is.

[Conventional technology]

Industrial robots are equipped with end effectors at the tip of their wrists, depending on the application for various purposes such as handling and sealing.
Equipment such as grippers, suction bands, and sealant nozzles are attached and used. These wrist-mounted devices are
Since there are a wide variety of types and formats, air supply piping, solenoid valves, limit switches, and
It is difficult to standardize and unify interfaces such as signal line connections with various sensors. Therefore, it is impossible for the robot manufacturer to install all the piping and wiring required by each user inside the robot mechanism before shipping. It only has one built-in supply tube and several general-purpose input/output signal lines connected to the robot's control device and powered by 24V DC.

Figures 3 to 5 relate to a conventional robot mechanism section, and as is clear from the figures, a group of robot drive cables 50 such as air supply cables and general-purpose input/output signal lines are shown.
is inserted into the cable carrier 8 and placed inside the mechanism section.

The cable carrier 8 includes a bridging plate piece 82 having a plurality of holes H0.
The bridge plate piece 8 is supported between plate connecting bands 81 on both sides rotatably connected around a connecting pivot 80.
It is bendable in a plane perpendicular to the length direction of 2.

The fixed end E of the cable carrier 8 is fixed to the inner periphery of the robot installation base 1 (not shown), and the movable end F is fixed to the outer periphery of the rotating shaft cylinder 25 of the robot trunk base 2 (not shown). ), and after the robot drive cable 50 is inserted from the distribution panel 3, it is distributed and inserted through the hole H0 of each bridging plate piece 82 of the cable carrier 8, and passed above the robot body.

Therefore, when the robot trunk rotates as shown by the arrow R, the moving end F of the cable carrier is rotated along with the rotating shaft cylinder 25,
The cable carrier 8 occupies the space between the inner peripheral part of the robot installation base and the fixed shaft cylinder 15 at the center of the base, and bends and expands and contracts.

[Problem to be solved by the invention]

As mentioned above, for robots in which only the robot drive cable group consisting of air supply cables and general-purpose input/output signal lines is placed in the mechanical part, the user must perform piping and wiring later when using the robot. Piping that connects the installation equipment and peripheral equipment of the robot,
Wiring must move freely while being subjected to bending, twisting, pulling, and other forces as well as complex movements of each joint during robot operation, and for this purpose, selection and support of piping and wiring routes are required. This places a large burden on the user, such as designing and arranging metal fittings and taking measures to prevent wear of cables.

In addition, within the conventional mechanism, the cable track occupies a large space for bending, expanding and contracting, so the space that the user can freely use inside the robot installation base is extremely limited. The necessary piping and wiring must be installed by the user in an exposed manner outside the robot mechanism.

Exposing piping and wiring outside of the mechanism will prevent many peripheral devices installed around the robot.
The installation space may interfere with workpieces, jigs, etc., or other convex pots, etc.

In addition, there is a risk that piping and wiring may get caught on these devices while the robot is operating, causing damage to any of them.

[Means to solve the problem]

For example, as shown in FIGS. 1 and 2, a base U groove lO is formed on the inner outer peripheral bottom surface of the robot installation base l,
A trunk base U groove 20 is formed on the upper surface of the inner outer periphery of the robot trunk base 2.
An elastic conduit 5 formed opposite to the groove 10 and having a robot drive cable group 50 inserted therethrough is folded back and placed over the base U groove 10 and the body base U groove 20.

[For production]

Since the linear elastic conduit always tends to come into pressure contact with the U grooves 10 and 20 over its entire length due to the reaction force against the bent state of folding back, even if the robot body 23 rotates, the conduit 5 always remains in contact with the U grooves 10 and 20. The conduit that fits into the U-grooves 10 and 20 can be bent and expanded by moving its folding position, and therefore the conduit into which the robot drive cable group 50 is inserted occupies only a part of the inner outer periphery of the mechanism part and has an upper and lower 2N configuration. Since it bends and expands and contracts, it occupies less space inside the mechanical part of the robot installation base.

〔Example〕

As is clear from FIGS. 1 and 2, the base Unto
The copper base U groove 20 facing the base UIIO is also formed on the top surface of the inner periphery of the robot body base 2, and the U grooves 10 and 20 are formed.
The conduit 5 is formed with a distance that allows the conduit 5 to bend, expand and contract. As the elastic conduit, a spring conduit 5 having an insertion hole H formed by winding a piano wire in a coil shape without any gaps was prepared.

The distribution panel is installed by the manufacturer in advance with robot drive cable group 5.
Two pieces, 3 for wiring 0 and 3' for use by the user, are attached separately to the window frame 11 of the base 1. The branching board 3.3' is provided with a connector 31 and a screw hole 32 on the board surface, and a mounting tongue 30 is provided protruding from the inside of each, and a mounting portion 30 at the tip thereof is provided.
' is inclined outward by an angle α with respect to the right angle ∠R protruding inward from the separator surface.

The spring conduit 5 is attached to the robot body 23.
The robot drive cable group 50 disposed inside is inserted into the conduit 50, and after fitting the clap 7 into the movable end F of the conduit 5 in a supporting state from below, it is brought into contact with the top surface of the inner periphery of the robot body base. Pass the screw S through the hole 21 from the outside and screw it into the screw hole 71, and the fixed end E is screwed into the hole 41 of the attachment part of the tongue of the separating board 3 through the gangway 4 with a screw (not shown). Next, connect the screwed cable group 50 to the connector, and connect the distribution board 3 to its mounting hole 32 and the window frame 11.
A screw (not shown) was screwed into the screw hole 12 and fixed.

The length of the spring conduit 5 is ±1 for the robot body 23.
It is set to be able to rotate by 35 degrees.

In addition, a spring conduit 6 for the user with the same size and length as the spring conduit 5 is arranged in the same way as the conduit 5 between the top and bottom of 0 m 10.20 in the mechanism section on the opposite side of the conduit 5, and one end of the spring conduit 6 is connected to the separation board 3. ', the other end was set inside the base of the robot body in the same way as the spring conduit 5.

When the robot configured as described above is used by a user, the user removes the distribution panel 3' and inserts the sealant supply hose and various other cables 60 into the spring conduit 6 and installs them inside the robot. done.

That is, as shown in FIG. 2, the user cable group 60 could be arranged in the same way as the cable group 50 arranged by the manufacturer.

In addition, since a dividing line board 3' is provided for the user,
The unique arrangement of the cables 60 could be easily and independently performed without modifying the robot drive cable group 50. Also, since the tips of the tongues of the separator board are inclined outward at an angle α with respect to the right angle/R to the surface, the conduit fixed ends E, E.

could be placed along the inner circumferential surface of the installation base from the dividing board.

Note that the elastic conduit may be, for example, a rubber hose with a ring lip, and the point is that the straight conduit can be twisted and stretched as shown in Figure 1 and can be bent and expanded, and both folded parts are always straight. Any conduit with elasticity that tends to return to its original state may be used. Further, the U groove may be constructed by attaching a guide plate to the inner periphery of the base and the base of the robot body.

〔Effect of the invention〕

Therefore, for the user, since the user can install their own piping and wiring inside the robot mechanism, there is no need to worry about interference of the cable group 60 with peripheral equipment, and there is no need to worry about the interference of the cable group 60 with peripheral equipment. Restrictions can be reduced. In addition, piping and wiring can be protected from harsh external environments such as welding spatter, and abrasion of cables caused by selection of routing routes and support fittings can also be prevented.

In addition, the lifespan of piping and wiring can be significantly extended, and the time required for maintenance such as replacement can be reduced. Furthermore, the user side can save the trouble of preparing supporting metal fittings for piping and wiring.

[Brief explanation of the drawing]

FIG. 1 is an exploded perspective view of an embodiment of the present invention. FIG. 2 is a schematic partial cross-sectional view of the present invention in use. FIG. 3 is a perspective view of the conventional example, FIG. 4 is a perspective view of the main parts thereof, and FIG. 5 is a schematic partial cross-sectional view of the conventional example in use. 1... Robot installation base, IO... Base U groove, 11... Window frame, 2...
Robot trunk base, 20... Trunk base U groove, 3.3'...
・Segmentation board, 30... Mounting tongue piece, 31... Connector, 4.7... Clamp, 5.6... Spring conduit, 50... Robot drive cable group, 60... Cable group.

Claims (1)

[Claims] 1. A base U groove (10) is formed around the inside of the robot installation base (1), a body base U groove (20) is formed around the inside of the robot body base (2), and the robot Straight elastic conduit (5) through which the drive cable group (50) is inserted
The mechanical part of an industrial robot is arranged in such a manner that it is folded back and overlapped across a base U-groove (10) and a body base U-groove (20). 2. The elastic conduit (5) has a base U groove (10
) and the body base U-groove (20), and an elastic conduit (6) through which any cable group (60) is inserted is folded back and overlapped across the base U-groove on the other side and the body base U-groove (20). 2. A mechanism section of an industrial robot according to claim 1, wherein the mechanical section is arranged in a configuration. 3. The elastic conduits (5, 6) have fixed ends (E, E_1
) is attached to the branching board (3, 3'), and the moving end (F,
Claim 2, wherein F_1) is attached inside the trunk base (2).
The mechanical part of the industrial robot described in . 4. The fixed end of the elastic conduit is attached along the inner peripheral surface at an oblique angle (α) from a right angle ∠R to the surface of the separator board. Mechanical part of industrial robot.