JPH0520890U - Cable dust proof device for industrial straight running robot - Google Patents

Abstract

(57) [Abstract] [Purpose] The object of the present invention is to configure a cable dust-proof device for an industrial linear traveling robot that facilitates artificial maintenance and management such as periodic inspection while storing and protecting cables. Especially. According to the present invention, in view of the object, a slider 14 that linearly travels on a traveling base 12 of a box-shaped structure is a movable base, and a robot movement mechanism 16 including robot arms 20 and 22 on the movable base. A cable 28 supports and stores a cable 28 in a traveling base 12 of an industrial linear traveling robot 10 in which is installed upright. The door 32 is provided, and when the door is closed, the dustproof door 32 is fixed from the outside of the traveling base 12 with a small number of detachable fixing screws 36. If the fixing screw 36 is removed, the dustproof door 32 can be removed. It is a configuration that can be easily opened.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an industrial linear traveling robot in which a slider that linearly travels on a traveling base is a movable base, and a robot motion mechanism including a robot arm is erected on the movable base. The cables for supplying electric power to the electric motor that drives the operation of the robot, control signals, and other working media such as pressurized air and assist gas from the outside of the robot body to the robot motion mechanism are held in a well-known cable carrier for traveling. The present invention relates to a cable dust preventer for an industrial straight running robot capable of protecting a cable held by a cable carrier from dust, oil drops, etc. generated in an external work environment when wiring inside a base.

[0002]

[Prior Art]

 Industrial straight running robots have been conventionally used for assembly work, positioning work, welding, cutting, and other processing work on automatic production lines, etc.The basic configuration of such an industrial straight running robot is based on a running base. It is installed at the robot work site, and has a configuration in which the robot motion mechanism moves linearly back and forth along a straight travel path on the traveling base via a slider.At this time, the arm of the robot motion mechanism, power for power to the wrist, Cables that supply electric signals and that supply assistant gas etc. to the end effector at the tip of the wrist are stored inside the traveling base while being held by a commercially available cable bear, and from there to the robot motion mechanism. It has a wired configuration.

[0003]

[Problems to be solved by the device]

 However, the cables in the conventional linear traveling robot are stored and protected while being held inside the traveling base by the cable bear, and one end of the traveling base is used as a connecting portion with the external cable to make the flexible movement of the cable bear. Due to the function, the robot movement mechanism was wired so that it would follow the movement when traveling with the slider. In other words, when performing various repairs and cleaning of the cables themselves and the cable track for regular maintenance work, rotate the fixed bolt screws of the lid plate stretched over the side surface of the traveling base one by one. In this method, the lid plate is removed from the side surface of the traveling base, and the cable bear stored in the internal space is pulled out to carry out repair work and cleaning work.

Therefore, when the traveling stroke of the linear traveling robot is long, the cables stored in the traveling base are inevitably long, and the cover plate stretched on the side surface of the traveling base is also in the traveling direction. It is a long plate, and the work to remove the fixing bolts and screws is complicated, and improvements are required. Therefore, in view of the above-mentioned state of the art, an object of the present invention is to provide a dustproof device that facilitates maintenance and management while accommodating and protecting cables in a conventional manner. .

Another object of the present invention is to provide a cable dustproof device for an industrial linear traveling robot, which can easily and quickly process artificial maintenance such as periodic inspection of the industrial linear traveling robot and management work. It is in.

[0006]

[Means for Solving the Problems]

 According to the present invention, a slider that linearly travels on a traveling base is a movable base, and a robot motion mechanism including a robot arm is erected on the movable base and is housed in the traveling base of an industrial linear traveling robot. In a cable dust-proof device for an industrial linear traveling robot that dust-proofs the cables, the traveling base is a box-shaped structure whose inner space is formed in the movement space of the cables held by the cable bear, and An industry characterized in that a dustproof door pivotally attached to the side in a single-opening manner is provided, and when the single-opening door is closed, the dustproof door is fixed from the outside of the box structure by a small number of detachable fixing screw means. It is intended to provide a cable dustproof device for a straight running robot.

[0007]

[Advantageous Effects] According to the above-mentioned configuration, the operator can easily access the cables and cable bears housed in the box-shaped traveling base by simply opening the one-sided door instead of the conventional lid plate. It is possible to carry out desired maintenance and inspection work by inserting. Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings.

[0008]

【Example】

 FIG. 1 is a perspective view showing an open state of a dustproof door in an industrial linear traveling robot equipped with a cable dustproof device according to the present invention. In FIG. 1, an industrial linear traveling robot 10 has a traveling base 12 having a rectangular shape arranged along a robot work line, and the traveling base 12 has a rectangular parallelepiped box-shaped hollow structure. . The upper surface of the traveling base 12 is formed as a traveling surface, and the slider 14 is formed so as to be movable in the axial direction indicated by the arrow Y through a guide device such as a linear motion guide (not shown). A robot motion mechanism 16 having a motion function around the joint axis (for example, 5 axes) is mounted, and the robot motion mechanism 16 can reciprocate in the Y-axis direction indicated by the arrow together with the slider 14. Therefore, it is possible to carry out a desired robot work by stopping the traveling base 12 at a desired position. The robot motion mechanism 16 is composed of a robot body 18, a robot upper arm 20, a robot forearm 22 and the like, and an end effector for performing a predetermined robot work is attached to the tip of the robot forearm 22 via a robot wrist 24. It

At this time, in the internal space of the traveling base 12, a cable connected to an external cable (not shown) at the side surface 12 a at one end of the traveling base 12 is held and stored by the cable carrier 26. , It is protected from dirt such as dust on the outside work site. A part 28 of the cable is pulled out from the traveling base 12 and connected to the lower end of the robot movement mechanism 16, and is connected to each drive motor and the like via the inside of the robot body 18. The cable carrier 26 forms a flexible cable guide supporting device in which a number of link elements are pivotally connected to each other as shown in the drawing, and guides the cable introduced from one end to the other end, The cable 28 is supported by a structure that is pulled out from the other end. When the robot motion mechanism 16 travels in a straight line on the traveling base 12 via the slider 14, the cable carrier 26 moves in a meandering motion following the traveling motion and protects the supported cables from damage. ing.

According to the present invention, at least one side surface 12b on the long side of the traveling base 12 is hinged to the bottom side of the traveling base 12 in the shape of a box-shaped structure with a hinge 30, and from top to bottom. A cover door (dustproof door) 32 is provided that opens toward one side. The cover door 32 may be provided separately in two or more doors depending on the length of the traveling base 12 in the traveling direction. In the illustrated example, the two cover doors 32 are arranged side by side. Then, a return ear 34 is provided on a lateral side portion of the door 32, and a bolt screw 36 is screwed into the return ear 34 from the side surface 12a of the traveling base 12 so as to be fixed when the cover door 32 is closed. In other words, if the door structure using the hinge 30 is provided in this way, the number of fixing bolts and screws 36 can be reduced, and the cover door 32 can be easily opened by simply removing a small number of bolts and screws. The cable carrier 26 and the cable 28 housed in the inner space of the space 12 can be inspected and maintained.

When a plurality of cover doors 32 are arranged in a row in the lateral direction, if the return ears 34 adjacent to each other are fixed by at least one or two fixing bolt screws 36, The door 32 does not open when the door is closed. Further, in the above-described embodiment, the dust-proof cover door 32 is pivotally attached to the lower side of the side surface of the traveling base 12 of the box-type structure with the hinge 30 to open the door from the upper side to the lower side. The door 32 may be locked at a fixed position and maintained in the open state when it is pivotally attached at, and pulled up from below.

[0012]

[Effect of the device]

 As is clear from the above description, according to the present invention, a slider that travels straight on a traveling base is a movable base, and an industrial linear robot on which a robot motion mechanism including a robot arm is erected is installed on the movable base. A cable dustproof device for dustproofing the cables stored in the above-mentioned traveling base of the traveling robot is used as a traveling base of a box-shaped structure formed in the moving space of the cable held by the cable bear in the internal space. Since a dustproof door pivotally attached to the side of the door with a hinge is installed, and when the door is closed, the dustproof door is fixed from the outside of the traveling base with a few removable fixing screws. By simply removing a small number of fixing screws, the dustproof door can be easily opened, and the operator can perform the necessary maintenance and inspection work for the cables and cable tracks inside the traveling base. Bot maintenance, an effect that can be achieved faster and easier inspection.

[Brief description of drawings]

FIG. 1 is a perspective view showing a state in which a dustproof door is opened in an industrial linear traveling robot equipped with a cable dustproof device according to the present invention.

[Explanation of sign]

 10 ... Industrial linear traveling robot, 12 ... Traveling base, 12a ... Side surface, 12b ... Side surface, 14 ... Slider, 16 ... Robot movement mechanism, 26 ... Cable bear, 28 ... Cable, 30 ... Hinge, 32 ... Cover door, 36 … Fixing bolt screw.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Mizuno 3580 Koshinoba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture Inside the Product Development Laboratory, Fuanatsu Co., Ltd. (72) Kyoji Iwasaki Shinobu, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture 3580 Kobaba, Product Development Laboratory, Fanatsk Co., Ltd.

Claims (2)

[Scope of utility model registration request] 1. A slider for linearly traveling on a traveling base is used as a movable base, and a robot movement mechanism including a robot arm is erected on the movable base, and the slider is housed in the traveling base of the industrial linear traveling robot. In a cable dust proof device for an industrial linear traveling robot that dust-proofs a cable, the traveling base is a box-shaped structure having an internal space formed in a moving space of a cable held by a cable bear, and on a side surface of the box-shaped structure A dustproof door pivotally attached in a one-sided shape is provided, and when the one-sided door is closed, the dust-proof door is fixed from the outside of the box-shaped structure with a small number of detachable fixing screw means. Cable dustproof device for straight running robot. 2. The dustproof door is pivotally attached to a lower side of a side surface of the box-shaped structure by a hinge so as to open in one direction from bottom to top, and the fixing screw is screwed to a lateral side of the dustproof door. The cable dustproof device for an industrial linear traveling robot according to claim 1, comprising return ears having mating engagement holes.