JPH0557664A - Turning device for industrial robot - Google Patents

Abstract

PURPOSE:To provide a compact industrial robot turning device of high reliability without the abrasion and disconnection of a harness caused by the turning of the turning device. CONSTITUTION:The axes of a motor 4 and a speed reducer 6 are formed to be hollow and disposed concentrically. The axes of the motor 4 and speed reducer 6 are further disposed concentrically with the turning axis of a turning body 2, and a harness 8 is disposed piercing the hollow parts of the motor 4 and speed reducer 6. The harness 8 thereby passes the turning axis of the turning body 2, so that abrasion and disconnection caused by sliding motion can be eliminated, and a turning device can be made compact.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning device for an industrial robot which supplies driving power, electric signals, pressure fluid, etc. to a driving mechanism such as a robot arm via a harness wire.

[0002]

2. Description of the Related Art A conventional turning device for this type of industrial robot generally has a structure as shown in FIG.

The structure will be described below with reference to FIG. As shown in the drawing, a turning drive motor 14 and a speed reducer 15 are provided in the center of the turning body 12. The output of the motor 14 is transmitted through the speed reducer 15 and the housing 13 to rotationally drive the revolving body 12 having a drive mechanism portion such as the robot arm 17 on the upper portion. The harness 16 supplies electric power and electric signals to the drive motors for the respective axes provided in the drive mechanism section such as the robot arm 17, and the harness 16 includes the outer surface of the housing 13 and the inner surfaces of the revolving body 12 and the fixed base 11. It is arranged so as to be wound in a space between and, and is configured to make a sliding movement as the revolving body 12 revolves.

[0004]

In such a conventional turning device for an industrial robot, since the harness 16 turns and slides so that the harness 16 is entangled with the outer surface of the housing 13, the length of the harness 16 is equal to the outer diameter of the housing 13. Therefore, there is a problem in that the length corresponding to the large momentum determined by is required, and the turning device also becomes large accordingly.

Further, the harness 16 has a problem that it is worn by sliding contact with the housing 13 and the fixed base during the turning drive, and the wire breaks, which is unreliable.

The present invention solves the above problems, and an object of the present invention is to provide a highly reliable and compact industrial robot swivel device, which is free from the wear and disconnection of the harness due to the swivel drive of the swivel device. There is.

[0007]

In order to achieve the above object, the present invention provides a fixed base of a robot, a swing body rotatably connected to the fixed base, and a robot connected to an upper portion of the swing body. A movable mechanism section such as an arm, a motor that drives the swing body to swing, and a speed reducer that transmits the output of the motor to the swing body,
The axis of the motor and the speed reducer are made hollow and arranged concentrically, the axis of the motor and the speed reducer are arranged concentrically with the turning axis of the turning body, the robot arm, etc. The harness for supplying the electric power and the electric signal to the drive mechanism section is provided by penetrating the hollow of the motor and the hollow of the speed reducer.

[0008]

According to the present invention, as described above, the axes of the motor and the speed reducer are formed hollow and are arranged concentrically.
By arranging the shaft center of the motor and the reducer concentrically with the swing shaft of the swing body, and by disposing the harness through the hollow of the motor and the hollow of the reducer, the harness becomes the swing center of the swing body. Since it passes through, it does not slide with the housing or fixed base, and disconnection due to wear can be eliminated.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

As shown in the figure, 1 is a fixed base, to which a revolving body 2 is rotatably connected. A drive mechanism unit 3 that pivotally supports a robot arm 10 and the like is connected to the upper portion of the revolving body 2. Swivel body 2 swivel body 2
A motor 4 for driving the vehicle to rotate and a speed reducer 6 for transmitting the output of the motor 4 to the vehicle body 2 are installed.

The motor 4 has a hollow shaft center and is connected to the speed reducer 6 at the output portion 5. The speed reducer 6 has a hollow center. The motor 4 and the speed reducer 6 are vertically arranged so that their axes are concentric with each other, and a through hole is formed in the hollow of both. Further, the axes of the motor 4 and the speed reducer 6 are arranged concentrically with the axis of the revolving body 2.

Reference numeral 8 is a harness for supplying electric power and electric signals to the drive mechanism section 3 such as the robot arm 10, and is wired to the drive mechanism section 3 from the bottom of the fixed base 1 through the hollows of the motor 4 and the speed reducer 6. ing. Reference numeral 7 is a protective pipe for protecting the harness 8 in the hollow.

In the above structure, when the revolving body 2 revolves, its force is applied to the harness 8. The harness 8 is provided with the motor 4 and the speed reducer 6 arranged concentrically with the axis of the revolving body 2.
Since it is arranged so as to penetrate through the hollow inside, the problem of sliding on the housing or the fixed base as shown in the conventional example does not occur only by applying a twisting force. Thereby, disconnection due to wear of the harness 8 can be eliminated.

Since the harness 8 is arranged so as to pass through the hollows of the motor 4 and the speed reducer 6, the space for disposing the harness as shown in the conventional example is not required and the turning device can be made compact. You can

[0015]

As is apparent from the above description of the embodiments, according to the present invention, the shaft center of the motor and the speed reducer are formed hollow and arranged concentrically, and the shaft center of the motor and the speed reducer are arranged. Is arranged concentrically with the swivel axis of the swivel body, and the harness is arranged so as to pass through the hollow of the motor and the hollow of the speed reducer. It is possible to eliminate the disconnection due to abrasion because there is no sliding.

Further, since the harness is arranged so as to penetrate through the hollows of the motor and the speed reducer, a space for disposing the harness is unnecessary, and the turning device can be made compact.

As described above, according to the present invention, it is possible to provide a highly reliable and compact industrial robot swivel device which is free from wear of a harness due to swivel drive of the swivel device and disconnection thereof.

[Brief description of drawings]

FIG. 1 is a side sectional view of a main part of a turning device for an industrial robot according to an embodiment of the present invention.

[Fig. 2] Side view of the industrial robot

FIG. 3 is a side sectional view of a main part of a turning device for an industrial robot of a conventional example.

[Explanation of symbols]

 1 Fixed base 2 Revolving body 3 Drive mechanism section 4 Motor 6 Reducer 8 Harness

Claims (1)

[Claims] 1. A fixed base of a robot, a turning body rotatably connected to the fixed base, a drive mechanism unit such as a robot arm connected to an upper part of the turning body, and a turning drive of the turning body. A motor and a speed reducer for transmitting the output of the motor to the swing body,
The axis of the motor and the speed reducer are made hollow and arranged concentrically, the axis of the motor and the speed reducer are arranged concentrically with the turning axis of the turning body, the robot arm, etc. Of the industrial robot, wherein a harness that supplies electric power and an electric signal to the drive mechanism section is provided so as to pass through the hollow of the motor and the hollow of the speed reducer.