JPH0340553Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a cable attachment device for connecting to a working tool that is attached to the end of an arm of an industrial robot so that it can move vertically and rotate freely.

(Prior Art) As shown in FIG. 7, an industrial robot is provided with a lifting shaft 102 at the tip of a rotating arm 101, and a working tool 103 is connected to the lower end of the lifting shaft 102. Electric wires extended from the base,
A cable 104 such as an air tube is connected to the work tool 10
When wiring and piping to 3, conventionally the rotating arm 10
Fixed part 1 of cable 104 fixed to the side wall of 1
05 to the working tool 103 is provided with enough slack to allow the working tool 103 to move up and down and turn.

(Problem to be solved by the invention) By the way, in the above conventional technology, the working tool 10
3 and when the rotating arm 101 rotates, the cable portion 104a swings significantly, so the cable portion 104a becomes a hindrance to the work and may come into contact with or collide with the work arm 101 or peripheral equipment, resulting in damage or disconnection. There was a problem with this.

(Means for Solving the Problems) The present invention has been made in view of the above problems, in which a ball screw and a spline shaft are disposed parallel to each other at the tip of the arm, and a connecting member screwed onto the ball screw is connected to a spline shaft. In an industrial robot that is fixed to a shaft and a working tool is attached to the tip of the spline shaft, a lever is provided protruding from the side of the connecting member, a pulley is pivotally attached to the tip of the lever, and a lever is attached to the side of the arm below the pulley. The clamped cable is passed around the pulley and the tip thereof is connected to a power tool.

(Example) Hereinafter, a detailed explanation will be given based on the illustrated example. A ball screw 3 and a spline shaft 4 are disposed parallel to each other at the tip of a second arm 2 which is pivoted inside the tip of the first arm 1, and a connecting member 5 screwed onto the ball screw 3 is fixed to the spline shaft 4. A servo motor 6 for driving a ball screw is attached to the upper part of the first arm 1, and a work tool 7 is attached to the tip of the spline shaft 4.
is installed. 8 is a cable connected to the working tool 7, and 9 is a guide tube in which the cable 8 is installed.

In the present invention, in such an industrial robot, a lever 10 is provided protruding from the side of the connecting member 5, and a pulley 11 is pivotally attached to the tip protruding outward from a window hole 2a formed on the side of the second arm 2. are doing. Reference numeral 12 denotes a guide member fixed to the side surface of the second arm 2 below the pulley 11. The cable 8 pulled out outward from the hole 2b at the upper side of the second arm 2 is clamped by a clamp 13 near the hole 2b, then passed over the guide member 12 from below and clamped by the clamp 14, and then turned upward to pulley 11. The tip is connected to the working tool 7 by passing it over from above and further turning it downward. 15 is a cover.

Next, the effect will be explained. Servo motor 6
When the working tool 7 is lowered, the connecting member 10
Since the pulley 11, spline shaft 4, and working tool 7 move down as one, the wound portion of the cable 8 shrinks and follows from the state shown in FIG. 4a to the state shown in FIG. 4b. Also, when the working tool 7 rotates, the pulley 11 rotates, and the cable changes from the state shown in Fig. 5a to Fig. 5b.
It moves to the state of , and the slack shrinks and follows. When the working tool 7 descends and rotates, the wound portion of the cable 8 contracts from the state shown in FIG. 6a to the state shown in FIG. 6b,
The slack will shrink and follow.

(Effects) According to the present invention, a ball screw and a spline shaft are arranged parallel to each other at the tip of the arm, a connecting member screwed to the ball screw is fixed to the spline shaft, and a working tool is attached to the tip of the spline shaft. In the robot, a lever is provided protruding from the side of the connecting member,
A pulley is pivotally attached to the tip of the pulley, and a cable clamped to the side of the arm below the pulley is passed through the pulley, and the tip is connected to the power tool, so that it can be connected to the power tool against vertical movement and rotation of the power tool. The cable can be made to follow smoothly, and cutting and damage to the cable can be reliably prevented.

[Brief explanation of the drawing]

Fig. 1 is a cutaway perspective view of essential parts of an embodiment of the present invention, Fig. 2 is a perspective view showing the cable installation state of Fig. 1, Fig. 3 is an external perspective view of Fig. 1, and Fig. 4 is a working tool. Explanatory diagram showing the descent of the cable and the movement of the cable, No. 5
6 is an explanatory diagram showing the rotation of the working tool and the movement of the cable, FIG. 6 is an explanatory diagram showing the lowering and rotation of the working tool and the movement of the cable, and FIG. 7 is a front view of the conventional device. 1...First arm, 2...Second arm, 3...
Ball screw, 4...Spline shaft, 5...Connecting member, 6...Servo motor, 7...Work tool, 8
...Cable, 10...Arm, 11...Pulley, 14...Clamp.

Claims (1)

[Scope of utility model registration request] In an industrial robot, a ball screw and a spline shaft are arranged parallel to each other at the tip of the arm, a connecting member threaded onto the ball screw is fixed to the spline shaft, and a work tool is attached to the tip of the spline shaft.
A lever is provided protruding from the side of the connecting member, a pulley is pivotally attached to the tip of the lever, a cable clamped to the side of the arm below the pulley is passed over the pulley, and the tip is connected to the working tool of an industrial robot. Cable attachment device.