JPH05172660A - Processing method of input/output wire of power detector - Google Patents

Abstract

PURPOSE:To lead a plurality of input/output wires out of a case without any external force loaded thereon concerning a processing method of the input/output wires of a power detector. CONSTITUTION:In a power detector which is provided with a cylindrical case 2 a bottom wall 2a of which is supported at the tip of a robot arm 1 and has a power receiving part 3 sticking from an upper wall of the case 2 and a power detection body 4 provided inside, a plurality of input/output wires 5 led out of the power detection body 4 are bundled to make a cable 6. Then, the cable 6 is pulled outside the bottom wall 2a through a hole 2b piercing the bottom wall 2a of the case 2. Then, the cable 6 is buried into a groove 2c which is cut into the external surface of the bottom wall 2a of the case 2 while following the hole 2b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of processing an input / output line of a force detecting device, and even if a plurality of input / output lines are directly drawn from a case, the external force is not applied to the input / output line. The input / output line processing method.

In recent years, automatic assembly of various devices and equipment using a handling robot, or automatic mounting of electronic parts has become popular.
Further, there is an increasing demand for automation of such an assembly work, even if the work is difficult to automate because of the contact between the members.

In order to realize such a demand, it is effective to introduce a work robot capable of handling the contact force between the members, and it is desired to introduce a small sensor for detecting the contact force.

[0004]

2. Description of the Related Art Generally, a contact force is detected by a force detection device that detects a strain caused by a force applied to an object (hereinafter referred to as a strain generating body) Has been done. The strain can be detected by incorporating a strain gauge attached to the strain element as a resistance of the Wheatstone bridge circuit, differentially amplifying the output voltage of the bridge, and detecting a voltage proportional to the strain.

By the way, when the force detecting device detects the six components by combining the forces and moments in three directions, for example, six bridges are required. FIG. 3 is a block diagram of an example of a force detection device, and FIG. 4 is an explanatory diagram of an example of a method of processing input / output lines of the force detection device. In the figure, 1 is a robot arm, 2 is a case, 2d is a side wall, 4c is a bridge, 5 is an input / output line, 5a is an input line, 5b is an output line, 10 is a force detection device, and 11 is a connector.

For example, when detecting 6 components, 6
Since the individual bridges 4c are assembled as shown in FIG. 3, the number of input / output lines 5 is two, that is, two input lines 5a serving as a power source and two output lines 5b from each of the bridges 4c. It will be a book. If the components to be detected are increased, the number of input / output lines 5 will be increased.

In FIG. 4, in the conventional force detecting device 10, for example, in order to bundle 14 input / output lines 5 for detecting 6 components and lead them out of the case 2, at least a 14-core connector 11 is used. It was attached to the side wall 2d of the case 2 and relayed by the connector 11 to lead out 14 input / output lines 5.

[0008]

However, in the processing method for deriving the input / output line 5 as described above, not only the connector 11 itself is large, but also the mounting case 2 is large, so that it is mounted on the tip of the robot arm 1. It was difficult to realize the small force detection device 10.

On the other hand, when the input / output line 5 is directly led out from the case 2 without using the connector 11, unless the input / output line 5 is securely fixed to the case 2, the movement of the input / output line 5 causes the force detection device. There was an annoying problem of putting 10 on the power.

Therefore, an object of the present invention is to provide a method for processing input / output lines of a force detection device in which a force is not applied to the force detection device even if a plurality of input / output lines are directly derived from a case. ..

[0011]

[Means for Solving the Problems] The above-mentioned problem is provided with a cylindrical case having a bottom wall supported at the tip of a robot arm, the force receiving portion protruding from the upper wall of the case, and the inside of the case. In a force detection device having a force detection main body provided, a plurality of input / output lines led out from the force detection main body are bundled to form a cable, and then the cable is provided with a hole penetrating the bottom wall of the case. Through the outside of the bottom wall, and then the cable is engraved on the outer surface of the bottom wall of the case and embedded in a groove connected to the hole to fix the cable. It is solved by the processing method of.

[0012]

In the present invention, the external force applied to the cable is not applied to the force detecting main body when the cable having the input / output lines bundled is led out from the small force detecting device attached to the tip of the robot arm.

Therefore, a hole is made in the bottom wall of the case, and the cable is pulled out from the hole. And
A groove is connected to the hole on the outer surface of the bottom wall, and the cable is embedded and fixed in the groove.

Then, the external force applied to the cable is blocked outside the case, and it is possible to prevent it from reaching the force detecting main body in the case. Therefore, it is possible to directly pull out the cable without changing the shape of the force detecting device. it can.

[0015]

1 is a partially cutaway perspective view of a first embodiment of the present invention, and FIG. 2 is a perspective view of an essential part of a second embodiment of the present invention. 1 is a robot arm, 2 is a case, 2a is a bottom wall, 2b is a hole, 2c is a groove, 2d is a side wall, 3 is a force receiving portion, 4 is a force detection main body,
Reference numeral 4a is a flexure element, 4b is a detection circuit, 5 is an input / output line, 6 is a cable, 7 is a heat shrink tube, 8 is an adhesive, 9 is a lid, and 10 is a force detection device.

Embodiment 1 In FIG. 1, the bottom wall 2a of the case 2 of the force detection device 10 is attached to the tip of the robot arm 1, and the force receiving portion 3 projects from the upper wall. A detection body 4 is provided.

The force detecting main body 4 is constructed such that a detecting circuit 4b consisting of a strain gauge and a bridge is attached to the side faces of the flexure element 4a of various shapes such as a dozen shape and a circle shape. Then, the external force received by the force receiving portion 3 is a strain generating body.
4a is distorted so that the detection circuit 4b receives the distortion.

A hole 2b is opened in the bottom wall 2a of the case 2,
A groove 2c is engraved in an arc shape which is continuous with the hole 2b and half-circulates the bottom wall 2a. The tip of the groove 2c is opened at a right angle to the side wall 2d of the case 2.

The plurality of input / output lines 5 moved from the detection circuit 4b are bundled into a cable 6 by a heat-shrinkable tube 7 and drawn out through a hole 2b in the bottom wall 2a of the case 2. Then, it is embedded along the groove 2c and led out to the outside of the case 2 from the side wall 2d of the case 2. A thermosetting adhesive 8 such as epoxy is poured into the hole 2b and the groove 2c to fix the cable 6.

EXAMPLE 2 2 The cable 6 is embedded in the groove 2c of the case 2, and then the cover 9 is covered and fixed by screwing or the like. Then, the cable 6 is sandwiched between the groove 2c and the lid 9.

As described above, according to the treatment method of the present invention, the cable 6 is securely fixed to the case 2 because the means for filling the cable 6 along the groove 2c carved in an arc shape is filled. As a result, even if the cable 6 is directly taken out from the case 2 without using a connector or the like, it is possible to prevent the external force applied to the cable 6 from reaching the individual input / output lines 5 and being loaded.

The longer the arc-shaped groove 2c engraved on the bottom wall 2a of the case 2 is, the more effective it is. However, it is sufficient if the groove 2c is halfway around the bottom wall 2a. In addition, the input / output line 5 is connected to the heat shrink tube 7
Although the cable 6 is formed by bundling with, it may be bundled with, for example, a spiral bundled wire member, and various modifications are possible.

[0023]

The force detecting device is indispensable for automating the assembling work particularly involving contact between members. According to the present invention, the force detecting device attached to the tip of the robot arm can be downsized. it can.

As a result, it becomes easy to automate the assembly work involving the contact between the members, which has been difficult to automate the assembly work.
The present invention largely contributes to efficient realization of automatic assembly work using a handling robot.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view of a first embodiment of the present invention.

FIG. 2 is a perspective view of a main part of a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a bridge as an example of a force detection device.

FIG. 4 is an explanatory diagram of an example of a method of processing the input / output lines of the force detection device.

[Explanation of symbols]

1 Robot arm 2 Case 2a Bottom wall 2b
Hole 2c Groove 2d Side wall 3 Force receiving portion 4 Force detection body 4a Strain element 4b
Detection circuit 5 Input / output line 6 Cable 7 Heat shrink tube 8 Adhesive 9 Lid 10 Force detection device

Claims (5)

[Claims] 1. A robot arm (1) is provided with a cylindrical case (2) having a bottom wall (2a) supported at the tip thereof.
In a force detecting device having a force receiving portion (3) protruding from an upper wall and a force detecting main body (4) provided inside, a plurality of input / output lines derived from the force detecting main body (4) are provided.
(5) is bundled to form a cable (6), and then the cable (6) is connected to the bottom wall (2) of the case (2).
It is pulled out to the outside of the bottom wall (2a) through the hole (2b) penetrating in a), and then the cable (6) is connected to the bottom wall (2) of the case (2).
A method for processing an input / output line of a force detecting device, characterized by being engraved on the outer surface of a) and being embedded and fixed in a groove (2c) continuous with the hole (2b). 2. The groove (2c), one end of which is continuous with the hole (2b), the middle of which is arcuate, and the other end of which is the case.
The method for processing an input / output line of a force detecting device according to claim 1, wherein the side wall (2d) of (2) is opened at a right angle. 3. The input / output line (5) is the cable (6).
The method for treating input / output lines of a force detection device according to claim 1, wherein the heat-shrinkable tube (7) is coated and bundled. 4. The method of processing an input / output line of a force detecting device according to claim 1, wherein the cable (6) is fixed by a thermosetting adhesive (8) filled in the groove (2c). 5. The method according to claim 1, wherein the cable (6) is fastened by a lid (9) covering the groove (2c).