JPH056075Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a wiring structure for an industrial robot.

<Conventional technology> Industrial robots such as welding robots have adopted a quasi-direct drive system in which motors are installed near the rotational axis of each arm, etc., in response to the recent strong user needs for cost minimization. . That is, as shown in FIGS. 1 and 2,
A rotary table 2 is provided on the base 1 and is rotated by a first axis motor 3 around a first axis A, which is a vertical axis. A first arm 4 is provided at the tip of the first arm 4 to be rotated by a second axis motor 5, and a third axis motor 7 is provided at the tip of the first arm 4 around a third axis C that is parallel to the second axis B. A second arm 6 is provided, and a tool mount 30 to which a spot welding gun, hand, etc. is attached to the tip of the second arm 6 is attached to a fourth axis D coaxial with the second arm 6, and a fourth axis D around the same axis as the second arm 6. It is rotatably mounted around a fifth axis E, which is an axis perpendicular to D, and a fourth axis is mounted on the fourth axis D and the fifth axis E.
A fifth axis motor 9 is installed on the fifth axis E line, and a sixth axis motor 10 that rotates the tool mount 30 around the sixth axis F is installed on the sixth axis F line. It has a similar structure.

The electrical wiring structure of the third axis motor 7 to the sixth axis motor 10 includes an opening 17 provided in the first arm 4 and a cover provided in this opening 17, as shown in FIGS. The plate 12 is removably attached, the cover plate 12 and the turntable 2 are connected by a wiring duct 11, and the wiring duct 11
Pass the plurality of wires 16a, 16b through the opening 1.
7 into the space of the first arm 4, and the wiring 16a
is relayed by the lead wire 13 of the third axis motor 7 which is led into the space of the first arm 4 via the jack 18 (shield connector) attached to the cover plate 12 and the connector 14,
The wiring 16b is connected to the motors 8 after the third axis motor 7,
9 and 10, it passes through the space of the first arm 4, is taken out to the outside, and is wired through a wiring duct 15.

<Problems to be solved by the invention> In the conventional wiring structure described above, when the third axis motor 7 located at the tip of the first arm 4 breaks down and needs to be replaced, the cover plate 12 is removed from the first arm 4. , disconnect the connector 14, remove the jack 18, and connect the third axis motor 7 to the lead wire 13.
At the same time, it is removed from the first arm 4. Furthermore, when attaching a normal third axis motor 7 to the tip of the first arm 4, the procedure for detaching is reversed.

Therefore, it is necessary to remove the heavy cover plate 12 to which the wiring duct 11 is fixed from the first arm 4, which results in poor workability and
It is necessary to cut the wires one by one and resolder them after replacing the motor, and the problem is that soldering is done on-site, which makes the work difficult and can easily cause connection failures.

<Means for solving the problems> The present invention provides a wiring structure that improves the above-mentioned conventional problems, and its characteristic configuration is that it utilizes the space inside the arm to pass and relay wires. In a robot storing a connector, a cover plate having a wiring duct fixed thereon is attached to a wiring opening formed in the arm, and a plurality of wirings guided into the arm are housed in the wiring duct,
A notch is provided in a part of the cover plate, an auxiliary cover that fills the notch is removably attached to the cover plate, and a lead wire of a motor attached to the outer surface of the arm is passed through the auxiliary cover. An opening with a convex cross section is formed, and the lead wire of the motor is connected to one of the wirings housed in the wiring duct by the relay connector.

<Function> With the above configuration, when replacing the motor, only the auxiliary cover is removed from the cover plate, the connector of the motor lead wire is pulled out from the notch of the cover plate, and the connector is separated and connected outside the arm.

<Example> An example of the present invention will be described above based on FIGS. 3 to 5. An example of the overall configuration of an industrial robot to which the present invention is applied is the same as that shown in FIGS. 1 and 2, so a description thereof will be omitted.

4 is a first arm, 17 is an opening for wiring formed in the first arm 4, and 12 is the opening 17.
a substantially rectangular cover plate attached to the
1 is a wiring duct whose one end is fixed to the cover plate 12; 16a is a wiring connected to the motor lead wire 13 guided through the wiring duct 11 into the space of the first arm 4 by a connector 14;
16b is a wiring connected to the motors after the third axis motor 7.

The above structure is the same as the conventional one, and the present invention forms a notch 19 in the corner of the cover plate 12 in an L shape, and inserts an auxiliary cover 20 into the notch 19 to fill the notch 19. The guide is attached removably to the As a guide attachment means for this auxiliary cover 20, guide members 21 are fixed to the back surfaces of two sides of the L-shaped notch 19. Note that the guide member 21 may be fixed to the back side of the auxiliary cover 20.

The auxiliary cover 20 is formed with an opening 22 having a convex cross section through which the motor lead wire 13 passes.
The dustproof material 23 is fixed inside the cover plate 12. The shape of the cover plate 12 is not necessarily limited to a substantially rectangular shape, and the cutout portion 19 is not necessarily limited to an L-shape, nor is it limited to a corner portion of the cover plate 12.

Since the present invention has the above structure, the relay connector 14 is connected to the motor lead wire 13 in advance, and after the third axis motor 7 is assembled to the end of the first arm 4, the auxiliary cover 20 is removed and opened. The connector 14 in the space of the first arm 4 is pulled out and connected through the notch 19 of the cover plate 12, and the connected connector 14 is stored in the space of the first arm 4. Thereafter, the auxiliary cover 20 is guided and attached to the notch 19 of the cover plate 12 by passing the motor lead wire 13 through the opening 22 of the convex cross section. The cover plate 12 is fixed to the first arm 4 with a plurality of screws, and the auxiliary cover 20 is fixed to the first arm 4 with a plurality of screws.
Fix it to the first arm 4 with screws.

When removing the third axis motor 7 from the first arm 4, it is performed in the reverse order of the above-mentioned assembly. Also,
The above invention is not limited to the first arm 4 of the robot.
Also applies to other arms.

<Effects of the invention> As described above, according to the invention, a part of the cover plate that fixes the wiring duct that is attached to the wiring opening in the robot arm is cut out, and the motor lead wire is inserted into this notch. Since the auxiliary cover, which has an opening with a convex cross section that can be passed through, is removably guided, the heavy cover plate to which the wiring duct is fixed can be fixed to the arm when the motor is installed or removed from the arm. You can remove only the auxiliary cover and connect and disconnect the motor lead wires using the connector. In addition, it is possible to connect the connector to the motor lead wire in advance, eliminating the need for soldering on site, which facilitates motor replacement and maintenance.

[Brief explanation of the drawing]

Figure 1 is a rear view of the industrial robot, Figure 2 is a view in the direction of the arrows in Figure 1, Figure 3 is a front view of the main parts of the present invention, Figure 4 is a sectional view taken along the line shown in Figure 3, and Figure 5 is a Figure 3 - Line sectional view, Figure 6 is a front view of main parts of the conventional structure,
FIG. 7 is a sectional view taken along the line of FIG. 6. 4...First arm, 7...Third axis motor, 11
... Wiring duct, 12 ... Cover plate, 13
...Motor lead wire, 17...Opening, 19...
Notch, 20... Auxiliary cover, 21... Guide member, 22... Opening, 23... Dustproof material.

Claims (1)

[Scope of utility model registration request] In a robot that utilizes the space inside the arm to pass wires or store relay connectors, a cover plate with a wiring duct fixed thereto is attached to the wiring opening in the arm, and the wiring duct is connected to the inside of the arm. A plurality of wires led to the auxiliary cover are housed, a notch is provided in a part of the cover plate, an auxiliary cover that fills the notch is removably attached to the cover plate, and the auxiliary cover is attached to the arm. an opening with a convex cross section through which a lead wire of the motor is passed, and the lead wire of the motor is connected to one of the wirings housed in the wiring duct by the relay connector. Wiring structure.