JPH0584688A - Attached equipment for horizontal articulated robot - Google Patents

Abstract

PURPOSE:To extend a life of a lead wire by providing the lead wire of piping and wiring for supply to a handling device, provided in the point end of a robot main shaft, movably just profiling movement of a robot. CONSTITUTION:A holder is provided in a necessary place so as to copy relating to movement and inertia motion of a lead wire in each place matched with action of a robot reaching the fourth holder 20 from the first holder 12 in a route of the lead wire 11. Accordingly, stress is prevented from being concentrically applied to a certain part of the lead wire 11. Further, connection of the third holder 15 to the fourth holder 20 by an elastic member of the fourth holder 20 generates action for surely copying high speed movement. An impact, when the third holder comes into contact with a robot head part during the action of the robot, is relaxed by a buffer member provided in the third holder 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attachment device for a horizontal articulated robot, and more particularly to a holder for piping and wiring.

[0002]

2. Description of the Related Art Among robots, in a horizontal articulated robot for assembling consumer equipment, a combination of a handling device mounted on a robot spindle for handling a complex workpiece and a camera for image processing are combined. The mounted robot has multiple functions in its operation and function. Specifically, the movement is complicated such as movements in horizontal coordinates of X and Y, movements in vertical coordinates in the Z direction, and movements of rotation of the robot main axis. As shown in the side view of the conventional horizontal articulated robot of FIG. 5, the pneumatic or vacuum piping for driving the handling device 101 and the wiring for the camera 102 need to follow this complicated movement. Various attempts have been made to the conducting wire 103 (hereinafter, piping and wiring are referred to as "conducting wire"). However, in order to adapt to the complicated movement of the handling device 101, the conductor wire 103 is provided by binding the conductor wire by providing an appropriate holder 104, lengthening the conductor wire and hanging it, or winding it around the device. In the conventional techniques as described above, the conductors of the piping and the wiring hardly follow the complicated movement of the handling device, so that the conductors are stressed more than necessary, and there is a problem that the conductors are damaged and the life is shortened.
Therefore, there is a problem that the motion area of the robot must be limited to a motion that does not apply stress to the conductor. The load on the conducting wire slows down the operation speed and causes a variation in the position accuracy. In particular, in recent years, a horizontal articulated robot with a fast-moving speed equipped with a direct drive motor has been developed. Since the conductor wire is blown by inertia, its route and processing method are inadequate, so a reliable handling device is installed. There was a problem that it could not be used.

[0003]

[Problems to be Solved by the Invention] The life of the conductor is improved by providing an auxiliary device which allows the conductor of piping and wiring for supplying to the handling device provided at the tip of the robot spindle to move in a manner that follows the movement of the robot. An object of the present invention is to provide a horizontal articulated robot which can be extended and which can be used as a handling device having a high operation speed and high reliability.

[0004]

In order to solve the above-mentioned problems, the accessory device of the horizontal articulated robot of the present invention has a first rotary drive motor attached to the base shaft of the horizontal articulated robot. A third drive motor including one arm and a second arm having a second rotary drive motor provided at the tip of the first arm, and further having a second drive motor for vertically moving the robot main shaft at the tip of the second arm. And a fourth drive motor for rotating the robot main shaft, the horizontal multi-joint type robot having a pipe and a wire for supplying to a handling device provided at the tip of the robot main shaft. It is characterized in that it operates in a manner similar to the movement of a robot, and its accessory device is a first holder and a first arm which are located in the vicinity of the base shaft shown in FIG. 1 and which are made of a rod-shaped elastic member. It is composed of a second holder which is located at the center of rotation of the tip and is rotatable, a third holder which is provided on the robot spindle, and a bowl-shaped fourth holder which is provided near the tip of the robot spindle. Further, the third holder and the fourth holder are provided with elastic members connected to one end of the third holder and one end of the fourth holder as shown in FIG. 3, and the fourth holder is shown in FIG. As 4th
The outer edge of the holder is shaped like a bowl so that it bends inward, and the third holder has a cushioning member provided at the contact portion between the third holder and the second arm as shown in FIG. Characterize.

[0005]

The attachment device of the horizontal articulated robot configured as described above is arranged such that the movement of the conducting wire at each place from the first holder to the fourth holder in the conducting wire path is adjusted in accordance with the movement of the robot. A holder is provided in the necessary place to follow the inertial movement. Therefore, stress is not concentrated on the part where the conductor is present. Further, as another action, the connection of the third holder and the fourth holder by the elastic member has an action for surely following a high-speed movement. Further, the cushioning member provided on the third holder alleviates the impact at the time of contact between the third holder and the robot head during the operation of the robot.

[0006]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a side view of the horizontal articulated robot, and FIG. 2 shows a plan view of the horizontal articulated robot. Figure 3
Shows a detailed view of the robot spindle. An outline of a horizontal articulated robot will be described with reference to FIG. The horizontal articulated robot includes a first arm 3 having a first rotary drive motor 2 attached to a base shaft 1 and a second arm having a second rotary drive motor 4 provided at the tip of the first arm 3. It consists of 5. The rotary drive motor is an example in which a direct motor is mounted and is shown in a conceptual abbreviated drawing. Further, at the tip of the second arm 5, a third drive motor 7 for moving the robot main shaft 6 in the vertical direction, which is the Z direction,
Fourth drive motor 8 for rotating the robot main shaft 6
Consists of. At the tip of the robot spindle 6, a handling device 9 for handling a workpiece to be assembled and a camera 10 for image processing are provided. Next, an attachment device of the horizontal articulated robot of the present invention will be described. The accessory device has a structure of holders described below in which the piping 11 and the lead wire 11 for supplying to the handling device 9 and the camera 10 for image processing are designed so as to follow the movement of the horizontal articulated robot. The first holder 12 is located in the vicinity of the base shaft 1 shown in FIG. 1, is made of an elongated rod-shaped elastic member (for example, stainless spring steel), and has a spiral end through which the conductive wire 11 passes. Therefore, when the conducting wire 11 is moved by the movement of the robot and the first holder 12 is loosened in length,
The tip moves freely in the direction of arrow F. Then lead wire 1
1 is relayed to the second holder 13. The second holder 13 is located at the center of rotation of the tip of the first arm 3, and the binding portion of the conductive wire 11 is rotatable by a ball bearing A14. Even if the robot spindle 6 moves in the vertical direction (vertical direction), the conducting wire 11 moves with the second holder 13 as a fulcrum as shown by an arrow G. Further, as in the example shown in FIG. 2, the first arm and the second arm
When the arm bends in a "to" shape, the conductive wire 11 has a large circular arc "S" shape with the second holder 13 as a midpoint. These give a smooth movement to the conductor wire 11 and reduce the stress on the conductor wire 11 to function. Subsequently, the conductive wire 11 is relayed to a third holder 15 provided on the axis of the robot spindle 6 as shown in FIG. The third holder 15 is attached to both ends of the robot main shaft 6 via ball bearings B17 using a lightweight member such as a "U" shaped aluminum tube that can maintain a position where it does not interfere with the robot head 16. The conducting wire 11 is bound in place. Therefore, even if the robot spindle 6 is moved up and down and rotated, the conducting wire 11 does not contact the robot head 16 without permission. Incidentally, 18 provided in the middle portion of the third holder 15 is a buffer member made of urethane foam or the like, and 19 is an elastic member made of a coil spring or the like, which will be described later in detail. Subsequently, the conductive wire 11 is relayed to a bowl-shaped fourth holder 20 fixed near the tip of the robot spindle 6. The bowl-shaped fourth holder 20 is made of a stainless steel thin wire (for example, an aluminum plate, a lightweight material such as a plastic may be used), and in particular, the outer edge portion 23 is bent inward. It has a shape like. The conducting wire 11 is wound in the bowl-shaped bottom portion 24 from the outside in a spiral manner and is wound inward at least one or more times, and is fixed inside. The fixed conductor 11 is piped to a handling device or a camera. FIG. 4 shows a third holder and a fourth holder operation relationship diagram, FIG. 4 (a) shows the holder in a neutral position, and FIG. 4 (b) shows a position rotated by 180 degrees or more. Although the hook portion 21 of the third holder 15 and the outer edge hook portion 22 of the fourth holder 20 are connected via the elastic member 19, the fourth holder 20
As shown in (a), when the elastic member 19 is stopped at the neutral point, the elastic member 19 tries to stabilize at the position of the minimum height. Along with this, the third holder 15 is provided with a ball bearing B17 for reducing the rotational load on the robot shaft 6, so that the third holder 15 follows in a tracing manner, and becomes a straight linear stable state as shown in the figure. Here, when the fourth holder 20 rotates (actually the robot shaft 6 and the handling device 9 also rotate) and the outer edge hook portion 22 moves, the elastic member 19 naturally grows in height, but A force is also applied in a predetermined direction to the hook portion 21 connecting the two, and the hook portions 21 rotate together while substantially following. Therefore, the above-mentioned spirally wound conductive wire 11 hardly moves and is stored in the bowl-shaped bottom portion 24. In practical operation, the robot shaft 6 needs to have a rotation angle of 180 degrees or more in the plus and minus directions with respect to the neutral point position. (B) is an example in which it is rotated 180 degrees or more in the direction of the arrow L with respect to the neutral point position, and the connected third holder 15 turns with the conducting wire 11 for a while, but follows the movement, but moves to the second position midway. It contacts the arm 5 and stops. However, since it is connected by the elastic member 19, as shown in the figure, α
Even if it turns around, the connected state is maintained by, for example, the height of the coil spring extending. However, the conductive wire 11 spirally wound around the bottom portion 24 moves so as to unwind a slight amount of α degrees, but does not cause great stress on the conductive wire. A buffer member 18 is provided in order to reduce the contact between the third holder 15 and the second arm 5.

[0007]

The attachment device of the horizontal articulated robot of the present invention constructed as described above minimizes the stress on the movement, inertia and entanglement of the lead wire in accordance with the movement of the robot. Is it? Firstly, the first holder, which is located in the vicinity of the base shaft and is made of a rod-shaped elastic member, has an effect that tension and slack of the conductor wire are not moved by the bending of the elastic member to follow the movement. Secondly, the second holder, which is located at the center of rotation of the tip of the first arm and is freely rotatable, has a conductive wire which is always bent for bending operation of the arm peculiar to the horizontal articulated robot. Since the shape is a large circular arc "S" shape, it has an effect of evenly applying stress to the conductor. Further, since it supports almost the middle point of the conductor, it also has an effect of stopping the inertia of the conductor against a high speed movement. Thirdly, the third holder and the fourth holder provided on the robot spindle are configured so that the lead wire does not come into contact with the outer shape of the robot head when the robot spindle moves up and down and the robot holder is bundled in place. The conducting wire is stressed little. Fourthly, since the third holder and the fourth holder are connected by the elastic member, it is possible to follow the rotational movement. This is a rotating area of the robot spindle with less stress on the conductor,
It is possible to secure an operation area of 180 degrees or more in the plus and minus directions. As an example, stress is suppressed in the wound conductor wire, so that there is a great effect particularly on breakage of a coaxial cable used for wiring of a camera for image processing. Fourthly, the bowl-shaped shape that is bent inside the outer edge of the holder, which is a feature of the fourth holder, has an effect that the conductor wire does not fly out of the holder due to inertia due to high-speed movement and rotation. .. Fifthly, the cushioning member provided in the third holder has an effect of absorbing and cushioning the cushion when the conducting wire collides with the robot head. The accessory device of the present invention, which is configured by the conductor holders as described above, is of course effective for each characteristic item individually, but due to the overall synergistic effect, the piping and wiring It is possible to provide a horizontal articulated robot that extends the life of the conductor wire and can be used with a highly reliable handling device that operates at high speed.

[Brief description of drawings]

FIG. 1 is a side view of a horizontal articulated robot.

FIG. 2 is a plan view of a horizontal articulated robot.

FIG. 3 is a detailed view of a robot spindle unit.

FIG. 4 is a working relationship diagram of a third holder and a fourth holder.

FIG. 5 is a side view of a conventional horizontal articulated robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Basic shaft 2 1st rotation drive motor 3 1st arm 4 2nd rotation drive motor 5 2nd arm 6 Robot main spindle 7 Drive motor 8 4th drive motor 9 Handling device 10 Camera 11 Conductor wire 12 1st holder 13 1st 2 holder 14 Ball bearing A 15 Third holder 16 Robot head 17 Ball bearing B 18 Buffer member 19 Elastic member 20 Fourth holder 21 Hook part 22 Outer edge hook part 23 Outer edge 24 Bottom part 101 Handling device 102 Camera 103 Conductor wire 104 holder

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshi Nakamura 3-5 Yamato, Suwa City, Nagano Seiko Epson Corporation

Claims (5)

[Claims] 1. A first arm having a first rotary drive motor attached to a base shaft, and a second arm having a second rotary drive motor provided at a tip end portion of the first arm, and further comprising: In a horizontal multi-joint type robot including a third drive motor for vertically moving the robot spindle and a fourth drive motor for rotating the robot spindle, the two-arm tip portion is provided at the tip of the robot spindle. An accessory device for a horizontal articulated robot, characterized in that pipes for supplying to the handling device and conductors of wiring operate so as to follow the movement of the horizontal articulated robot. 2. The accessory device according to claim 1, which comprises a first holder located near the base shaft shown in FIG. 1 and made of a rod-shaped elastic member, and rotatable at the center of rotation of the tip of the first arm. The horizontal holder according to claim 1, comprising a second holder, a third holder provided on the robot spindle, and a bowl-shaped fourth holder provided near the tip of the robot spindle. Attached device for articulated robot. 3. The third holder and the fourth holder according to claim 2.
The attachment device for a horizontal articulated robot according to claim 1, wherein the holder is provided with an elastic member connected to one end of the third holder and one end of the fourth holder as shown in FIG. 3. 4. The horizontal multi-joint according to claim 1, wherein the fourth holder in claim 2 has a bowl shape so that an outer edge portion of the fourth holder bends inward as shown in FIG. Device of type robot. 5. The horizontal holder according to claim 2, wherein a buffer member is provided in a contact portion between the third holder and the second arm as shown in FIG. Attached device for articulated robot.