JPH0533276Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a robot that performs work by having a predetermined working machine installed at the tip of a plurality of actuating shafts connected in series. The present invention relates to an energizing device that supplies electricity.

BACKGROUND ART Robots have been widely used in the past, in which a plurality of operating shafts connected in series are rotated, and a work is performed by a working machine disposed on the operating shaft at the tip. For example, a welding stud gun is installed as a working machine on the operating shaft of the tip, and a workpiece is pinched between a lower electrode installed at a fixed position, and the workpiece is pressed between the upper electrode attached to the stud gun and its lower electrode. One example is a spot welding device that performs spot welding by applying a welding current to the welding point.

Incidentally, in such a robot, electric power for operating the working machine, such as the welding current, is supplied via a deformable current-carrying cable or the like arranged so as not to restrict the movement of the robot. It is normal for it to be stale. Furthermore, as described in Japanese Utility Model Application Publication No. 60-42480, it has been considered to use a current-carrying bar made of copper alloy, etc., but even in that case, the movement of the robot is limited only in the vicinity of the robot. In order to allow this, it is necessary to use the above-mentioned energized cable.

However, in robots whose movements are complex, such as multi-axis robots with a large number of operating axes, it is not only difficult to route the energizing cables, but it is also difficult to energize them when the robot is operating. There have been problems in that by pulling the cable, excessive force is applied to the current-carrying cable and the operating shaft, and the current-carrying cable may get caught on something and be damaged.

The present invention was developed against the background of the above-mentioned circumstances, and its purpose is to facilitate the routing of energized cables and to prevent excessive force from being applied to or damaging the energized cables or operating shafts. The goal is to avoid doing so.

Means for solving the problem In order to achieve this purpose, it is possible to attach a current-carrying bar to the robot so as not to obstruct the movement of the robot, and to minimize the use of power-carrying cables. Preferably, the first means of the present invention is a robot in which a plurality of operating shafts connected in series are individually rotated, and the work is performed by a working machine disposed on the operating shaft at the tip. An energizing device that supplies electric power for operating a machine, the device comprising: (a) a highly electrically conductive rod-shaped energizing bar whose one end is relatively rotatably attached to one of the plurality of operating shafts; ,(b)
a support member that is rotatably attached to an operating shaft different from the operating shaft to which the energizing bar is attached and supports the energizing bar movably in the axial direction;
(C) a first connecting means provided at the one end of the energizing bar and connecting the energizing member for energizing the electric power to the one end; (d) a first connecting means provided at the supporting member and connecting the energizing bar and a second connecting means for connecting a current-carrying member for supplying the electric power to the current-carrying bar while allowing movement in the axial direction, and supplying the electric power via the current-carrying bar. shall be.

Further, a second means of the present invention is the above-mentioned energizing device, which includes (e) a highly electrically conductive device having one end relatively rotatably attached to a mutually different operating shaft among the plurality of operating shafts; A pair of rod-shaped energizing bars, (f) a connector that connects the other ends of the pair of energizing bars in a relatively rotatable manner and electrically connecting them, and (g) one end of the pair of energizing bars. a pair of connecting means for connecting a current-carrying member for supplying the electric power to one end thereof,
It is characterized in that the electric power is supplied through the pair of energizing bars.

Effect In the first means, the energizing bar is moved in the axial direction with respect to the support member, and the energizing bar and the supporting member are each rotated relative to the operating axis, thereby causing the robot to move. movement is allowed, and the energizing members on the working machine side and the power supply source side are connected to the energizing bar by the first connecting means and the second connecting means, respectively.
Electric power is supplied to the working machine via these current-carrying members and current-carrying bars.

In addition, in the second means, the pair of energizing bars are rotated at one end relative to the operating shaft, and at the other end are rotated relative to each other via a connector, so that the robot can be operated. Movement is allowed, and the current-carrying members on the work machine side and the power supply side are connected to the pair of current-carrying bars by the pair of connection means, respectively, so that electric power is supplied to the work via the current-carrying members and the current-carrying bars. Even the machines are supplied.

Note that a deformable current-carrying cable is generally used as the above-mentioned current-carrying member, but depending on the configuration of the robot or working machine, a current-carrying bar may be directly connected to the connection terminal of the working machine or power supply source, or a non-deformable current-carrying cable may be used. It is also possible to use a current-carrying member.

Effects of the invention As described above, according to the robot energizing device of the present invention, the energizing bar is attached so as not to obstruct the movement of the robot, and power is supplied through the energizing bar. This greatly reduces the amount of deformable energized cables used,
Or it becomes unnecessary. This makes it easier to route the current-carrying cable, and it also prevents excessive force from being applied to the current-carrying cable or the operating shaft by pulling the current-carrying cable when the robot is operated, The problem of getting caught in crabs and getting damaged is also improved.

Embodiments Hereinafter, some embodiments of the present invention will be described in detail based on the drawings.

Figures 1 and 2 respectively show the first part of the present invention.
1 is a front view and a plan view of a spot welding device 10 which is an example of the means described above. This spot welding device 10 is composed of a vertically articulated five-axis robot, which has a rotation axis 12, a front-rear axis 14, a vertical axis 16, an arm rotation axis 18, and a wrist bending axis 20 connected in series. Five operating axes (hereinafter referred to as operating axes 12, 14, 16, 18, 20 unless otherwise specified)
). The pivot shaft 12 is arranged on a base 22 so as to be rotatable about a substantially vertical center line l ₁ , and the front-rear shaft 14 is rotatable about a substantially horizontal center line l ₂ at the upper end of the pivot shaft 12 . , and the vertical axis 16 has the center line l ₂ at the tip of the longitudinal axis 14.
arranged so as to be rotatable about a center line parallel to ₃ ,
The arm pivot axis 18 is in a state of protruding from the tip of the vertical axis 16 first, and the center line _l4 is perpendicular to the center line _l3.
The wrist bending shaft 20 is disposed at the tip of the arm pivot shaft 18 so as to be rotatable about a center line _l5 perpendicular to the center line _l4 . In addition, these operating shafts 12, 14, 16, 1
8 and 20 are respectively rotated within predetermined operating ranges by drive motors 24, 26, 28, 30, and 32 connected via reduction gears (not shown).

A welding stud gun 34 as a working machine is attached to the wrist bending shaft 20 in an orientation perpendicular to the center line _l5 . This stud gun 34
, an upper electrode 40 is attached to the tip of the output rod 38 of a reciprocating type pressure cylinder 36, and the upper electrode 40 is fixed to the wrist bending 20 at the rear end of the pressure cylinder 36. It is connected to a + terminal of a welding transformer (power supply source) (not shown) via a current-carrying cable 42.
Further, a pair of workpieces 44 and 46 to be welded are positioned and placed on a positioning jig 48, respectively, and a lower electrode 50 is fixedly provided at the welding position of the workpieces 44 and 46. ing.
This lower electrode 50 is connected to one terminal of the welding transformer via a current-carrying cable 52.

On the other hand, two air cylinders 54 and 56 with brake devices are provided between the pivot shaft 12 and the vertical shaft 16.
is installed. These air cylinders 54 and 56 with brake devices have substantially the same configuration, and the brake device 6 is attached to the tip of the cylinder bodies 58 and 60.
2 and 64 are assembled integrally to create the output rod 6.
6, 68 can be stopped at any position so that they cannot be moved in or out. For example, as shown in FIG.
Pressure air is supplied from the air source 74 to b, the pistons 76a and 76b are moved backward against the biasing force of the spring 78, and the compressed state of the disc springs 80a and 80b is released and their inner diameters are expanded.
Brake shoe 8 for output rods 66, 68
2a, 82b is released from the crimped state, allowing the output rods 66, 68 to move freely, while pressure air is supplied from the air source 74 to the rear pressure chamber 84 by the switching valve 70, and the pistons 76a, 76b are released. is moved forward, and the disk springs 80a, 80b are compressed in the axial direction to reduce their inner diameters, thereby compressing the brake shoes 82a, 82b to the output rods 66, 68.
configured to prevent the free movement of The details of the brake devices 62 and 64 are disclosed in, for example, Japanese Utility Model Application No. 59-13731.

One air cylinder 54 with a brake device is
Relative rotation about the center line _l2 is possible at the upper end of the pivot shaft 12 via a bracket 86 provided at the middle part of the cylinder body 58, in other words, about a center line parallel to the rotation center line _l3 . The tip 88 of the output rod 66 is mounted so as to be relatively rotatable around a pin 90 that is erected on the vertical shaft 16 in parallel with the rotation center line _l3 . There is. Therefore, when the output rod 66 of the air cylinder 54 with the brake device can freely move in and out, the longitudinal axis 14 and the vertical axis 16
It can be rotated freely around _the center line of rotation, but
When the output rod 66 is prevented from going in and out by the brake device 62 and the distance between the bracket 86 and the tip 88 is kept constant, the bracket 8
6. A triangular shape having the apex at the connecting portion 92 between the longitudinal axis 14 and the vertical axis 16, where the tip portion 88 and the rotational center line _l3 are located, is positioned in an undeformable manner, and the longitudinal axis 14 and the longitudinal axis at the connecting portion 92 are Relative rotation with the vertical shaft 16 is prevented. The protrusion stroke of the output rod 66 is set to a dimension that allows the longitudinal axis 14 and the vertical axis 16 to rotate relative to each other within a predetermined operating range. The triangle X indicated by a solid line in FIG. 4 corresponds to this case. Note that the pressure chamber of the cylinder body 58 of the air cylinder 54 with the brake device is open to the atmosphere.

Also, the other air cylinder 5 with brake device
6 is attached to the middle part of the rotation shaft 12 via a bracket 94 provided at the tip of the cylinder body 60 so as to be relatively rotatable about a center line parallel to the rotation center lines l ₂ and l ₃ . On the other hand, the tip end 96 of the output rod 68 is attached to the vertical shaft 16 so as to be relatively rotatable around a pin 98 that stands upright in parallel to the rotational center lines l ₂ and l ₃ . Therefore, when the output rod 68 of the air cylinder 56 with the brake device is freely moved in and out, the pivot shaft 12 and the longitudinal shaft 14 can freely rotate around the rotation center line _l2 , but the brake Air cylinder with device 54
The center line of rotation between the longitudinal axis 14 and the vertical axis 16
l In a state where relative rotation around ₃ is prevented,
When the output rod 68 is prevented from going in and out by the brake device 64 and the distance between the bracket 94 and the tip 96 is kept constant, the brackets 9
4. A triangular shape having the apex at the connecting portion 100 between the pivot shaft 12 and the front-rear shaft 14, where the tip portion 96 and the rotation center line _l2 are located, is undeformably positioned, and the pivot shaft 12 at the connecting portion 100 and Relative rotation with the front-rear shaft 14 is prevented. The protruding stroke of the output rod 68 is set to a size that allows the rotation shaft 12, the front and back 14, and the vertical shaft 16 to rotate relative to each other within predetermined operating ranges. Moreover, such an air cylinder 56 with a brake device
Only when the brake device 62 prevents the output rod 66 of the air cylinder 54 with the brake device from moving in and out, the relative rotation between the pivot shaft 12 and the longitudinal shaft 14 in the connecting portion 100 can be prevented. The triangle Y indicated by a broken line in FIG. 4 corresponds to this case. Note that the cylinder body 60 of this air cylinder 56 with brake device
The pressure chamber is also open to the atmosphere.

Further, the air cylinder 54 with the brake device
As clearly shown in FIG. 5, one end of a rod-shaped energizing bar 104 is attached to the pin 90 to which the output rod 66 is connected via a rotary bearing metal 102 so as to be relatively rotatable. There is. This current-carrying bar 104 is made of a material with high electrical conductivity such as a copper alloy, and a current-carrying cable 42 connected to the upper electrode 40 is connected to one end thereof by a bolt 106 as a first connection means. There is.

The other end of the energizing bar 104 is fitted into the bracket 86 fixed to the cylinder body 58 so as to be slidable in the axial direction via a sliding bearing metal 108, and is connected to the + terminal of the welding transformer. The energized cable 110 is connected to the bracket 86 by a cylinder 112 that is integrally provided with the bracket 86. The cylinder 112 constitutes a second connection means, and normally cuts off the connection between the energizing bar 104 and the energizing cable 110 and connects the bracket 86.
Since the current-carrying bar 104 and the bracket 86 are allowed to move relative to each other, and the current-carrying bar 104 and the bracket 86 are rotatable about center lines parallel to the rotation center lines l ₂ and l ₃ , respectively, the front-rear axis 14 and the vertical shaft 16 are allowed to freely rotate, but relative movement between the longitudinal shaft 14 and the vertical shaft 16 is prevented at least by the air cylinder 54 with a brake device, usually the air cylinder 5 with a brake device
4 and 56 prevent the relative movement of the rotation axis 12, the longitudinal axis 14, and the vertical axis 16, and immediately before welding work, the energizing bar 104 and the energizing cable 1
10. The bracket 86 constitutes a support member, and is attached to the pivot shaft 12 via a pair of bearings 114, 116 so as to be rotatable about the pivot center line _l2 . Furthermore, the energizing cables 42 and 110 connected by the energizing bar 104 correspond to energizing members.

In the spot welding apparatus 10 configured as described above, first, the output rods 66, 68 of the air cylinders 54, 56 with brake devices can freely move in and out, and the connection between the energizing bar 104 and the energizing cable 110 is possible. In the disconnected state, each operating axis, that is, the rotation axis 12, the longitudinal axis 14, and the vertical axis 1
6. By rotating the arm rotation axis 18 and the wrist bending axis 20, the stud gun 3
Workpiece 4 is placed directly above the predetermined welding position.
4, 46 in a substantially perpendicular position. In this state, the brake device 6 of the air cylinder 54, 56 with brake device
2, 64 is activated, and the cylinder body 58, 6
The output rods 66 and 68 are prevented from moving in and out of the cylinder 112, and the energizing bar 104 and the energizing cable 110 are connected by the cylinder 112.

Next, the upper electrode 40 is pushed out by the pressure cylinder 36 of the stud gun 34, so that
The pair of works 44 and 46 is pressed between the lower electrode 50. When a welding current is output from the welding transformer in this state, the welding current is supplied to the upper electrode 40 via the current-carrying cable 110, the current-carrying bar 104, and the current-carrying cable 42, and the workpieces 44, 46, and the lower electrode 50. , and through the current-carrying cable 52 to one terminal of the welding transformer.
4 and 46 are welded.

The pressurizing force by the pressurizing cylinder 36 is usually several hundreds.
kgf, and depending on the welding conditions such as the thickness and material of the workpieces 44 and 46, a pressing force of about 700 kgf may be required. Therefore, due to the pressure reaction force, a force is applied to the wrist bending shaft 20 and the vertical shaft 16 in the direction opposite to the pressure direction, and rotational force is applied to the connecting portions 100 and 92. In the example, air cylinders 54 and 56 with brake devices are provided in parallel with these connecting parts 92 and 100, and two undeformable triangles X and Y are formed, so that the pressurizing reaction force are the pivot axis 12, the longitudinal axis 14, the vertical axis 16, which form those triangles X and Y,
and air cylinders 54, 56 with brake devices
This prevents welding defects due to the rotation of the operating shaft in the connecting parts 92, 100 and furthermore escape or misalignment of the stud gun 34, and the pressure reaction force is concentrated on the connecting parts 92, 100. This prevents damage to the reducer and the like.

When the welding work is completed in this way, the supply of welding current is stopped and the pressure cylinder 3
6 output rod 38 is pulled in, and the workpiece 44,
The pressurized state of 46 is released. Thereafter, the operation of the brake devices 62, 64 is released and the output rods 66, 68 are allowed to move in and out, and the connection between the energizing bar 104 and the energizing cable 110 by the cylinder 112 is cut off. The shafts 12, 14, 16, 18, 20 are each rotated to move the stud gun 34 to another welding position and the welding operation described above is repeated.

Here, the spot welding apparatus 10 of this embodiment is as follows:
The energizing bar 104 is attached so as not to obstruct the rotation of the longitudinal axis 14 and the vertical axis 16,
Since the welding current is supplied through the current-carrying bar 104, the current-carrying cables 42, 1
10 is significantly reduced, and the energizing cables 42, 110 can be easily routed.

In other words, since the energizing cable 42 is not affected by the rotation of the rotation axis 12, the longitudinal axis 14, and the vertical axis 16, the rotation of these operating axes 12, 14, and 16 should be considered. In addition, the current-carrying cable 110
In this case, it is sufficient to arrange the rotary shaft 12 so as to allow the rotation thereof.

In addition, since the length of the energizing cables 42, 110 is shortened in this way, the movement of the energizing cables 42, 110 when the arm pivot shaft 18 and the wrist bending shaft 20 are rotated or when the pivot shaft 12 is turned is facilitated. Since the energizing cables 42, 110 are no longer forced to be pulled, there is also almost no possibility that the energizing cables 42, 110 will get caught on something and be damaged.

Next, another embodiment of the present invention will be described. In addition,
In the present invention described below, parts substantially common to those in the first embodiment are designated by the same reference numerals, and description thereof will be omitted.

First, in the embodiment shown in the front view of FIG. 6 and the plan view of FIG.
and 122, and an energizing bar 124 for connecting the energizing cables 42 and 110 is attached to the outside of the side plate 120 in parallel with the air cylinder 56 with brake device. is compactly constructed. Note that 126 and 128 in FIG. 6 are covers.

Furthermore, in the embodiment shown in the front view of FIG. Vertical axis 16
The air cylinder 132 with a brake device prevents the rotation of the connecting portion 92 with the brake device, and the cylinder body 134 of the air cylinder 130 with a brake device rotates around a center line parallel to the rotation center line _l2 . The output rod 36 is attached between two side plates of the pivot shaft 12 so as to be relatively rotatable, and the output rod 36 is attached to the pivot center line.
It is attached to the front-rear shaft 14 so as to be relatively rotatable around a center line parallel to _l2 . Further, the cylinder body 138 of the air cylinder 132 with a brake device is attached to the rotation shaft 12 so as to be relatively rotatable about a center line parallel to the rotation center lines l ₂ and l ₃ , and the output rod 140 is attached to the rotation axis l 2 , l 3 . It is attached to the vertical shaft 16 so as to be relatively rotatable about a center line parallel to ₂ and _l3 .

In this case, the rotational force in the same direction as the direction in which the drive motors 26 and 28 rotate the longitudinal shaft 14 and the vertical shaft 16 is applied to the longitudinal shaft 14 and the vertical shaft 16.
6, the cylinder body 13 of the air cylinder 130, 132 with the brake device
By supplying pressurized air to the motors 4 and 138, the output torque of the drive motors 26 and 28 can be reduced. Note that the rotation of the connecting portion 92 by the air cylinder 132 with a brake device is prevented by the air cylinder 130 with a brake device.
It only works if rotation of 0 is prevented.

On the other hand, the pivot shaft 12 and the vertical shaft 16 include
A pair of current-carrying bars 142 and 144 are attached at one end thereof via fixtures 146 and 148, respectively, so as to be relatively rotatable about center lines parallel to rotation center lines l ₂ and l ₃ . Mounting tools 146, 148
are constructed in exactly the same way, and for example, as shown in FIG. 9, the rotation center line l ₂ ,
The current-carrying bars 142, 144 are configured to include a shaft 154 arranged to be relatively rotatable about a center line parallel to l ₃ , and a connection terminal 156 fixed to the head of the shaft 154. bolt 158
is fixedly connected to the connecting terminal 156.

Further, a connecting terminal 164 is attached to the shaft 154 so as to be relatively rotatable via a pair of bearings 160 and 162.
The energizing cables 110 and 42 are connected to the bolts 16.
6. The connection terminal 164 has a contact 168 divided into a plurality of parts in the circumferential direction and is pressed by a plurality of disc springs 170 via a pressure ring 172 against the inner peripheral surface of the connection terminal 164 and the end surface of the connection terminal 156. By this, the connection terminal 1 is allowed to rotate relative to the connection terminal 156.
56. Connection terminal 1 above
64, bolt 166, contact 168, disc spring 17
0, energizing cable 11 including pressure ring 172
Connecting means 174, 176 are configured to connect 0, 42 to the energizing bars 142, 144. In addition,
The above connection terminals 156, 164 and contacts 168
is made of a material with high electrical conductivity such as a copper alloy. Further, the energizing cables 110, 42 may be directly connected to the energizing bars 142, 144 or the connection terminals 156. Furthermore, it is also possible to use such connecting means 174, 176 as the first connecting means in the first embodiment.

Then, the pair of energizing bars 142 and 14
4 is connected at the other end by a connecting member 178 so as to be relatively rotatable about a center line parallel to the rotation center lines l ₂ and l ₃ . This coupling 178, as shown in FIG. 10, has bearings 150,
152 etc., and the current-carrying bars 142, 144 are fixed to the connection terminals 180, 182, thereby connecting the current-carrying bars 142 and 144 to the contact 1.
They are electrically connected via 84 and connected so that they can rotate relative to each other. By connecting the pair of energizing bars 142, 144 so that they can rotate relative to each other via the connector 178 in this way, the energizing bars 142, 144 can rotate relative to the operating shafts 12, 16, respectively. Coupled with the fact that the shaft 14 is attached to the shaft 12, rotation of the longitudinal shaft 14 and the vertical shaft 16 is allowed.

In this embodiment, there is no need to connect or disconnect the energizing cable 110 using the cylinder 112 as in the first embodiment, and the energizing bar protrudes largely as the actuating shafts 14 and 16 rotate. There will be no more. In addition, the energizing bar 142,1
44 is attached so as to be bent in a direction away from the welding position, which has the advantage of reducing problems caused by adhesion of spatter, etc. This embodiment corresponds to an embodiment of the second means of the present invention.

Furthermore, the embodiment shown in the front view of FIG. 11 is different from the embodiment shown in FIG.
The cylinder body 134 is made compact by including two side plates, and an air cylinder 130 with a brake device installed between them to prevent rotation of the connecting part 100. 14, and an output rod 136 is attached to the pivot shaft 12. In addition, 186, 18
8 is a cover.

Furthermore, the energizing bar 190 in FIG.
Bearing 1 is attached to the shaft 194 installed vertically at 92.
A plurality of passages 198 are provided in the shaft 194 through an annular groove 200 formed on the outer peripheral surface of the shaft 194. By communicating with the passage 202, it is possible to supply fluids such as cooling water and pressurized air to working machines such as the stud gun 34. 13 and 14 show the shaft 19
4. It is a figure which shows the end surface of the energization bar 190. Note that this current-carrying bar 190 is suitably used, for example, as the current-carrying bar 104 in the first embodiment.

Although several embodiments of the present invention have been described above in detail based on the drawings, the present invention can also be implemented in other embodiments.

For example, in all of the above embodiments, the vertically articulated 5
Although we have explained the case where the present invention is applied to the energizing device of a spot welding device consisting of an axial robot,
The present invention can be similarly applied to energizing devices for other robots.

Moreover, the energizing bars 104, 124,
142, 144, and 190 are all attached to the operating shafts 12, 16, and 192 so that they can rotate relative to one center line, but they can also be rotated three-dimensionally by using a ball joint or the like. It can also be installed. In that case, it is also possible to arrange a current-carrying bar between actuation axes that are moved relative to each other in three dimensions.

Further, in the first embodiment, the output rod 66 of the air cylinder 54 with the brake device is made of a material with high electrical conductivity, so that it can be used as a current-carrying bar. That is, while connecting the energizing cable 42 to the tip of the output rod 66 by a first connecting means such as a bolt,
A second connecting means such as the cylinder 112 is provided on the cylinder body 58 to connect the energizing cable 110 to the output rod 66, thereby making the device simple and compact. Note that in this case, the cylinder body 58 corresponds to the support member. Further, in the embodiments shown in FIGS. 6 and 7, the output rod 68 of the air cylinder 56 with a brake device can be similarly used as a current-carrying bar.

In addition, the connector 178 in FIG.
Although the connection terminals 180 and 182 are electrically connected through the wire 4, it is also possible to connect the current-carrying bars 142 and 144 using a current-carrying cable or the like. In addition, a pair of energizing bars 14
Furthermore, one or more energizing bars may be interposed between 2 and 144 so as to be rotatable relative to each other. In that case, a connector is constructed including those current-carrying bars.

In addition, in each of the above embodiments, the energizing bar 104,
124, 142, 144 are energized cables 42, 1
However, depending on the configuration of the robot or working machine, the current-carrying bar may be connected directly to the working machine without using such a current-carrying cable, or a non-deformable current-carrying member may be used. You can also use

In addition, in the embodiment described above, the air cylinders 54, 56, 130, 132 with brake devices are arranged to receive pressurizing reaction force, but the pressurizing force of the pressurizing cylinder 36 may be small or the driving motor may 2
If the output torque of 6, 28 is sufficiently large, the air cylinder 54 with brake device,
56, 130, and 132 are not necessarily necessary.

Although no other examples are given, the present invention can be implemented with various modifications and improvements based on the knowledge of those skilled in the art.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an example in which the present invention is applied to an energizing device of a spot welding device. 2 is a plan view of the apparatus of FIG. 1; FIG. FIG. 3 is a sectional view showing an example of the brake device of the air cylinder equipped with a brake device in the device shown in FIG. FIG. 4 is a diagram illustrating the operation of the air cylinder with brake device in the device shown in FIG. 1. FIG. 5 is a partial sectional view showing the mounting structure of the current-carrying bar in the device of FIG. 1. FIG. 6 is a front view showing another embodiment of the present invention. FIG. 7 is a plan view of the embodiment of FIG. 6. FIG. 8 is a front view showing still another embodiment of the present invention. FIG. 9 and FIG. 8 are cross-sectional views showing the fixture and connection means of the embodiment. 1st
FIG. 0 is a sectional view showing the connector of the embodiment of FIG. 8. FIG. 11 is a front view showing still another embodiment of the present invention. FIG. 12 is a sectional view showing the main parts of yet another embodiment of the present invention. FIG. 13 is an end view of FIG. 12. FIG. 14 is an end view of the current-carrying bar in FIG. 12. 10... spot welding device (robot), 12,
14, 16, 18, 20, 192...operating axis, 3
4... Stud gun (work machine), 42,110
... Current-carrying cable (current-carrying member), 86 ... Bracket (supporting member), 104, 124, 142, 1
44,190...Electricity bar, 106...Bolt (first connection means), 112...Cylinder (second connection means), 174,176...Connection means, 178...
...Connection tool.

Claims (1)

[Claims for Utility Model Registration] (1) A robot in which a plurality of operating shafts connected in series are individually rotated, and a work is performed by a working machine disposed on the operating shaft at the tip. An energizing device that supplies electric power for operating a machine, comprising: a rod-shaped energizing bar with high electrical conductivity, one end of which is relatively rotatably attached to one of the plurality of operating shafts; and the energizing bar. a support member that is relatively rotatably attached to an operating shaft different from the operating shaft to which the bar is attached and supports the energizing bar so as to be movable in the axial direction; a support member that is provided at the one end of the energizing bar; a first connecting means for connecting an energizing member for energizing the electric power to the part; and a first connecting means disposed on the support member for energizing the electric power to the energizing bar while allowing movement of the energizing bar in the axial direction. A energizing device for a robot, comprising: a second connecting means for connecting the energizing member, and the power is supplied through the energizing bar. (2) In a robot in which a plurality of operating shafts connected in series are individually rotated and work is performed by a working machine installed on the operating shaft at the tip, electric power is supplied to operate the working machine. An energizing device for supplying electricity, comprising: a pair of rod-shaped energizing bars with high electrical conductivity, each of which has one end relatively rotatably attached to a different operating shaft among the plurality of operating shafts; and the pair of energizing bars. a connector that connects the other end portions so as to be relatively rotatable and electrically connects them; and a connector provided at one end portion of the pair of current-carrying bars, and connecting a current-carrying member for energizing the electric power to the one end portion. 1. A robot energizing device comprising: a pair of connecting means, and the power is supplied through the pair of energizing bars.