JPH0317635B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cable handling device for an industrial robot, and more particularly, to a cable handling device for an industrial robot that supports cables guided from a support casing of an industrial robot to a swivelable casing. This invention relates to a robot cable processing device.

(Prior art) Industrial robots are fixed to the floor or mounted on a base that can move along the floor. Figure 4 shows an industrial robot with a base fixed to the floor. FIG. 2 is a side view showing an example of a robot.

In the figure, reference numeral 1 is a base fixed to the floor of the installation location, and a support housing 2 on the θ-axis fixed side is provided on the top of this base 1, and the support housing 2 is rotatable within a predetermined rotation range. A rotating housing 3 is provided which is a movable side of the θ axis. And above the rotating housing 3,
A W shaft 4 is attached which has an arm 05 having a wrist 06 at its tip and which moves within a predetermined movement range W in the horizontal direction.

In this type of industrial robot, a cable for guiding power and signals to the W-axis 4 is normally introduced to the W-axis via the rotating housing 3. The cable passing through the inside of the rotating housing 3 is connected to the rotating housing 3.
It moves by being twisted or pulled according to the rotational movement of
The outer surfaces of the cables rub against each other or come into contact with the inside of the rotating housing 3, and the rotating housing 3 is rotated.

(Problems to be Solved by the Invention) As described above, the outer surface of the cable comes into contact with other objects due to the rotational movement of the rotating housing 3, so the outer surface of the cable may be damaged, and if the damage progresses, the cable may become damaged. Not only will the core wire of the robot be cut, causing a breakdown of the industrial robot, but also the power line may be grounded to the casing, causing an unexpected accident.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a cable handling device for an industrial robot that does not damage the outer surface of a cable guided to the W axis via a rotating housing. It is in.

(Means for Solving the Problems) According to the present invention, a cable is provided which is introduced from a cylindrical support case into the inside of the swing case that is rotatably supported by the support case and rotates. In the cable processing device for an industrial robot, the cable processing device includes: an annular plate having a hollow portion through which the cable is inserted and connected to the rotating housing; and a disc connecting to a drive unit that drives the rotating housing to rotate. , a connecting part consisting of a pillar part connecting the annular plate and the disc in a U-shape when viewed from the side to form an opening corresponding to the rotation angle, and a cable is introduced through the opening, A cable processing device for an industrial robot is provided in which the pivot axis of the annular plate serves as a cable passage.

According to the present invention, there is also provided a cable processing device for an industrial robot, in which a cable whose axis is the axis of the hollow portion is peeled off to form separate wires, and a synthetic resin plate is mounted on the top surface of the disk. be done.

(Function) A U-shaped connecting portion is provided between the rotating housing and the drive unit that drives it to rotate, and a cable is introduced from the side opening direction of the connecting portion to connect the upper annular plate. The hollow part that serves as the center line of the turning axis is used as a passageway to guide the inside of the turning case, and at least the part of the cable that passes through the hollow part is stripped of its outer jacket and made into loose wires, giving the cable flexibility. In response to the turning operation of the turning case, the cable is simply twisted around the axis, and the cable does not come into contact with other members and rub against each other. Further, even if the cable comes into contact with the lower part of the connecting part, the synthetic resin plate covers the upper surface of the lower disc, thereby preventing damage to the cable.

(Example) Next, an example of the present invention will be described in detail using the drawings.

FIG. 1 is a longitudinal cross-sectional view of related parts showing an embodiment of the cable handling device for an industrial robot according to the present invention, and FIG. The same parts as in FIG. 4 are given the same reference numerals, and their explanation will be omitted.

As shown in FIG. 1, the θ-axis motor 2a provided inside the support casing 2 is provided with a deceleration mechanism 2b at the top that serves as a drive section for the rotating casing 3, and a connecting portion attached above the deceleration mechanism 2b. The rotary housing 3 is rotationally driven via the rotary housing 5.

FIG. 3 is a perspective view of the connecting part 5, which is formed by an annular plate 5a having a hollow part 5b cut out at the upper part, and a circular plate 5c at the lower part, which is formed by a pillar part 5d having a thick arc-shaped cross section. It is connected. A plurality of bolt holes 5e are provided in the annular plate 5a for bolting to the lower end portion 3a of the rotating housing 3 having the hollow portion 3b. Further, the disc 5c of the connecting portion 5 is provided with a plurality of bolt holes 5f for bolting to the upper end of the speed reduction mechanism 2b. Furthermore, the disk 5c has a synthetic resin plate 5g on the top surface.
A plurality of mounting holes 5h for screwing are also drilled.

In addition, as shown in FIG. 1, this synthetic resin plate 5
A material such as a Teflon plate, which will not easily damage the outer surface even if it rubs against the cable 6 to be described later, is used for g, and the outer periphery is also processed to be smooth. Further, a synthetic resin collar 5k made of the same material is fitted into the hollow portion 5b of the annular plate 5a. Reference numeral 7 denotes a cross roller bearing, which rotatably supports the swing housing 3 to which the W shaft 4 is attached in the support housing 2. A step portion 5i that contacts the cross roller bearing 7 is formed on the upper outer periphery of the annular plate 5a that is bolted to the lower end portion 3a of the rotating housing 3.
Further, reference numeral 8 denotes a bearing, which rotatably supports the disc 5c rotating inside the support casing 2. A step portion 5j that contacts the bearing 8 is formed on the lower outer periphery of the disc 5c.

The cable 6 is introduced from the side opening direction of the connecting portion 5, inserted into the hollow portion 5b of the connecting portion 5, and guided to the upper W-axis 4, thereby transmitting power and transmitting/receiving signals. The outer sheath 6a of the cable 6 passing through the connecting portion 5 is peeled off at a predetermined length, and the cable 6 is bound as a loose wire 6b with only the inner wire sheathed, and is arranged so as to pass through the axis of the hollow portion 5b. It is set up.

Next, the operation of this embodiment having such a configuration will be explained.

Power is supplied to the θ-axis motor 2a, and the deceleration mechanism 2
When the bolted connecting portion 5, the rotating housing 3, and the W shaft 4 are rotated through the connecting portion 5b, the cable 6 is connected to the hollow portion 5b of the connecting portion 5 in response to this rotating movement. It is subjected to a torsional force of left or right rotation around its axis. Sheath 6a of cable 6
The portion of the loose wire 6b which is flexible and free of cracks is twisted without being subjected to excessive force and corresponds to the rotational movement of the rotating housing 3. Furthermore, even if the cable 6 is twisted off the axis of the hollow part 5b or comes into contact with the lower part of the connecting part 5, the cable 6 will only contact the synthetic resin collar 5k or the synthetic resin plate 5g. External damage can be prevented.

Although the present invention has been described by way of one embodiment, various modifications can be made within the scope of the gist of the present invention.
These are not excluded from the scope of the present invention.

(Effects of the Invention) According to the present invention, a connecting portion is provided between the rotating housing and the drive unit that drives the rotating case, and the cable is introduced from the side opening direction of the connecting portion to connect the upper annular plate. The swivel axis core wire is guided into the swivel housing as a passage, and the outer sheath of the cable is stripped and the cables are made into loose wires and bound.When the swivel housing rotates, the cable is centered around the swivel shaft core wire. The cable is only subjected to twisting as a result of the cable processing, and the cable is not subjected to excessive stress due to the separate wire treatment, and the outer surface of the cable is less likely to rub against other members. In addition, even if the disc at the bottom of the connection part or the edge of the hollow part comes into contact with the edge of the hollow part, the cable is covered with a synthetic resin plate or a collar made of a similar material, which prevents damage to the cable. Accidents can be prevented.

[Brief explanation of drawings]

Fig. 1 is a longitudinal sectional view showing an embodiment of the cable handling device for an industrial robot according to the present invention, Fig. 2 is a sectional view taken along the cutting line -', and Fig. 3 is a connection of the same embodiment. FIG. 4 is a side view showing an example of an industrial robot having a base fixed to the floor. 2...Support housing, 2b...Deceleration mechanism, 5...Connection part, 5a...Annular plate, 5b...Hollow part, 5c...
...Disk, 5d...Column part, 5g...Synthetic resin plate, 5
k...Tsuba, 6...Cable, 6a...Cable jacket.

Claims (1)

[Scope of Claims] 1. In a cable handling device for an industrial robot, which includes a cable introduced from a cylindrical support housing into a rotating housing that is rotatably supported by the support housing and rotates. , an annular plate having a hollow portion through which the cable is inserted and connected to the rotating casing, a circular plate connected to a drive unit that swings the rotating casing, and the annular plate and the disc. A connecting part is provided with a pillar part that connects in a U-shape when viewed from the side to form an opening corresponding to the rotation angle, and a cable is introduced through the opening to align the pivot axis of the annular plate. A cable processing device for an industrial robot, characterized by having a cable passage. 2. The cable processing device for an industrial robot according to claim 1, wherein the outer sheath of the cable portion disposed along the axis of the annular plate is peeled off to form separate wires. 3. A cable processing device for an industrial robot according to item 1 of the patent scope, characterized in that a synthetic resin plate is mounted on the surface of the disk.