JPH059893U - Supporting device for flexible member - Google Patents

Abstract

(57) [Abstract] [Purpose] The displacement movement when the support frame follows the horizontal frame is suppressed, and at the same time, the exposed length of the hose is shortened.
It reduces the stress on the hose and improves its durability. [Structure] A horizontal frame 4 is supported on a vertical frame 2 via a rotary body 3 so as to be rotatable about an axis 6, and the horizontal frame 4 is supported at an arbitrary rotational position.
Is provided so as to be able to move forward and backward in the longitudinal direction of the rotating body 3. A hose 10 for supplying electricity and fluid is provided between the vertical frame 2 and the horizontal frame 4. One end of a flexible guide 11 that accommodates the hose 10 is fixed to the horizontal frame 4, and the other end is supported by a support frame 12 that is displaced along with the rotating body 3. Then, one end of the support frame 12 is attached to the shaft 6
Is supported on the vertical frame 2 by a fulcrum shaft 15 arranged in parallel with, and the other end of the support frame 12 is connected to the rotating body 3 via a rod 16.
The rod 16, the support frame 12, and the rotating body 3 are connected so as to be bent and bent freely.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

  The present invention is applicable to, for example, a flexible part in an industrial robot, a construction machine, a machine tool, or the like. Material support device, in particular, a pair of structures connected so as to be relatively movable in a plurality of directions Supports flexible members such as hoses that supply fluids such as electricity, gas, and cooling water between Related to the supporting structure.

[0002]

[Prior art]

  For example, in an industrial robot, as shown in FIG. The horizontal frame 32 is supported through the horizontal frame 32, and the horizontal frame 33 and the vertical axis 34 are orthogonal to each other at the tip of the horizontal frame 32. There is a welding robot that supports the torch 35 via. The horizontal frame 32 is the vertical frame 30. With respect to the rotary body 31, it rotates up and down around the shaft 36 to reach an arbitrary vertical rotation position. Then, it moves back and forth with respect to the rotating body 31. That is, the vertical frame 30 and the horizontal frame 32 are 2 It is connected via a rotating body 31 so as to be relatively movable in the direction. Furthermore, with the vertical frame 30 The horizontal frame 32 is a flexible member housed in a bendable flexible guide 37. Is connected by a hose 38, and an electric cord that passes through the hose 38 is used to drive current and control. Send and receive signals, or to assist gas or cooling water through the hose 38. It will be sent to Chi.

[0003]   In the above welding robot, the hose 38 and the flexible guide 37 are provided with a horizontal frame. Flexible guide to smoothly follow the vertical movement and forward movement of 32 The end of 37 on the side of the vertical frame 30 is supported by a support frame attached to the rotating body 31. Also The other end of the flexible guide 37 is fixed to the lower surface of the front end of the horizontal frame 32.

[0004]

[Problems to be solved by the device]

  However, in the above-described conventional welding robot, when the horizontal frame 32 is rotated up and down, it is supported. Since the holding frame is pivotally displaced about the axis, the pivot radius of the support frame is large and The amount is large. Therefore, the lead-out portion of the hose 38 from the vertical frame 30 and the flexible guide A large stress acts on the introduction part to the cable 37, and the hose 38 and internal electric wires are early. It has deteriorated to some extent, and in some cases has broken.

[0005]   Further, it is necessary to secure a sufficient exposed length of the hose 38 from the lead-out portion to the lead-in portion. When the hose 38 comes into contact with other things, stress due to its own weight It was one of the causes of shortening the life.

[0006]   The present invention has been made in view of these points, and supports a flexible guide. Displacement when the support frame follows the horizontal frame by improving the support structure by the holding frame The operation of the flexible member is suppressed and the exposed length of the flexible member is shortened. The purpose is to reduce the stress acting on the material and improve its durability.

[0007]

[Means for Solving the Problems]

  In order to achieve the above object, the means taken by the device according to claim 1 is arranged in a vertical frame in a horizontal direction. The frame is supported rotatably around the axis via the rotating body, and at any rotation position, A frame is provided so as to be able to move forward and backward with respect to the rotating body in its longitudinal direction. A flexible member is provided between the flexible guide and the flexible member, and the flexible guide accommodates the flexible member. One end of is fixed to the horizontal frame, and the other end is supported by a supporting frame that is displaced along with the rotating body. Intended for supporting devices for flexible members. Then, one end of the support frame is connected to the shaft. A fulcrum shaft arranged in parallel supports the vertical frame, and the other end of the support frame rotates through a rod. And the rod, the support frame, and the rotating body are connected so that they can flexibly contact each other. ing.

[0008]   Further, the means devised by the invention according to claim 2 is that the connecting point and the shaft on the rotating body side of the rod are connected to each other. , And the distance between the other connecting point and the fulcrum axis are set to be almost the same, The rod is arranged substantially parallel to the line connecting the shaft and the fulcrum shaft.

[0009]

[Action]

  With the above configuration, in the present invention, one end of the support frame is pivotally supported on the vertical frame via the fulcrum shaft. , When the other end is connected to the rotating body via a rod, the rotating body and the horizontal frame rotate around the axis. The support frame independently rotates around the fulcrum shaft in proportion to the rotation angle of the rotating body. It By setting this proportional value to an appropriate value, the displacement of the support frame can be reduced. The length of the flexible member between the vertical frame and the flexible guide is shortened.

[0010]

[Effect of device]

  Therefore, according to the present invention, the support frame is rotatably supported by the vertical frame via the fulcrum shaft, By transmitting the movement of the rotating body to the support frame via the rod, It is possible to follow the rotational displacement. As a result, flexible members and And the flexible guide follow the vertical movement and forward movement of the horizontal frame without hindrance. The rotation displacement of the end of the flexible guide on the support frame side is wider than that of the conventional device. It becomes possible to deter. This allows between the vertical frame and the flexible guide. Eliminating the large shaking of the flexible member, the flexible member and the electric wire inside it are manufactured. The degree of stress applied can be reduced, and moreover, between the vertical frame and the flexible guide. Shorten the length of the flexible member to reduce the stress due to its own weight, and make the flexible member different from others. At the same time, it is possible to eliminate wear and tear due to contact, and improve the durability of the flexible member as a whole. Can be improved.

[0011]

【Example】

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0012]   1 to 3 show an embodiment in which the present invention is applied to a welding robot. The welding robot arranges the vertical frame 2 on the upper part of the base 1 fixed to the floor surface. The horizontal frame 4 is supported via the rotating body 3 provided on one side of the upper part of the A torch 5 is provided. The vertical frame 2 is reciprocally driven along the base 1. Also, rotation The body 3 is supported by the vertical frame 2 via a shaft 6, and is driven by a drive mechanism provided in the vertical frame 2. It is rotationally driven up and down via a shaft 6. When the rotating body 3 rotates up and down, the horizontal frame 4 also Accompany and rotate up and down.

[0013]   The horizontal frame 4 is reciprocally driven in its longitudinal direction by a drive mechanism provided inside, and Move forward and backward with respect to 3. The torch 5 has a horizontal center axis 7 parallel to the longitudinal center axis of the horizontal frame 4. To rotate around, and further to rotate around a vertical central axis 8 orthogonal to the horizontal central axis 7. It is provided in.

[0014]   A drive current or a control signal is sent to the drive mechanism in the horizontal frame 4, or the torch 5 A flexible member is provided between the vertical frame 2 and the horizontal frame 4 for supplying assist gas or cooling water to the It is connected with a hose 10 which is, and its outer surface can be freely bent to protect this hose 10. It is covered with a flexible guide 11. One end of the flexible guide 11 is It is fixed to the lower surface of the end of the frame 4 on the torch 5 side, and the other end is accompanied by vertical rotation of the rotating body 3. It is supported by a displacing support frame 12. The flexible guide 11 advances the horizontal frame 4. Following the retreat movement, the U-shaped bending position advances and retreats, and the horizontal frame 4 turns up and down together with the rotating body 3. When moving, it is displaced along with the lateral frame 4 and continues to maintain the U-shaped bending posture. In Figure 3 As shown, the inside of the flexible guide 11 is hollow, and Space 10 is passed through. Although only one hose 10 is illustrated in FIG. 3, the hose 10 There may be more than one.

[0015]   The support frame 12 includes a bottom wall 13 fixed to the lower surface of the flexible guide 11, A bottom wall 13 and a standing wall 14 that is vertically bent from one end are formed into a substantially L-shaped cross section. One end of the standing wall 14 is pivotally supported by the vertical frame 2 via a fulcrum shaft 15, and The end is connected to the rotating body 3 via the rod 16. As shown in FIG. 2 and FIG. , The rod 16 is attached to the rotating body 3 and the standing wall 14 via pins 17 and 18, respectively. The screw shafts 19 and 20 connected to each other and screwed into the screw shafts 19 and 20 at the same time It is configured as a turnbuckle with the nut body 21.

[0016]   The rotating body 3, the support frame 12, and the rod 14 are parallel to each other with the vertical frame 2 as a fixed frame body. It constitutes a link mechanism. In detail, the screw shaft 19 above the center of the shaft 6 The distance to the connection point (shaft 17) with the rotating body 3 and the screw below the center of the fulcrum shaft 15 Match the distance to the connecting point (shaft 18) between the shaft 20 and the support frame 12, and further Match the distance between the upper and lower connecting points of the cable 16 with the center distance between the shaft 6 and the fulcrum shaft 15. There is.

[0017]   Next, the operation of rotating the rotating body 3 will be described.

[0018]   When the rotating body 3 rotates up and down, the support frame 12 follows the displacement and accompanies the displacement. Although the fulcrum shaft 15 is provided at one end of the support frame 12, All displacement amounts of the support frame 12, especially displacement of the hose introduction end of the flexible guide 11. The amount can be reduced. Moreover, as described above, the rotating body 3, the support frame 12, and the rod 16 When a parallel link mechanism is constituted by the vertical frame 2 and the vertical frame 2, the rotation angle of the support frame 12 is set to the rotary body. Since it can be made to coincide with the rotation angle of 3, the support frame 1 of the flexible guide 11 Keeping the straight part on the 2 side always in parallel with the horizontal frame 4, the bending radius of the U-shaped bent part The change in can be reduced.

[0019]   Therefore, when the rotating body 3 rotates up and down, the lead-out end of the hose 10 from the vertical frame 2 and the flap. Prevents stress from being applied to the flexible guide 11 due to large shaking of the lead-in end it can. Moreover, since the displacement amount of the support frame 12 can be reduced, the hose 10 can be correspondingly reduced. The exposed length of the hose 10 can be shortened, stress due to the weight of the hose 10 and hose 10 It can reduce the wear caused by contact with the hose 10 and improve the durability of the hose 10 as a whole. It

[0020]   The rotating body 3, the support frame 12, the rod 16, and the vertical frame 2 are not necessarily parallel link machines. It is not necessary to adopt the arrangement form that constitutes the structure, for example, in the fulcrum shaft 15 and the pin 18. The center distance may be different from the center distance between the shaft 6 and the pin 17.

[0021]   In addition, the rod 16 is a turnbuckle structure, and a strip plate or a round bar is used for the pin 1. It is also possible to connect the rotating body 3 and the support frame 12 with 7 and 18 for simplification.

[0022]   Moreover, the positional relationship between the fulcrum shaft 15 and the end of the hose 10 that is pulled out from the vertical frame 2 is limited to that in the embodiment. No, you can set it freely.

[0023]   The flexible member may be something other than a hose.

[Brief description of drawings]

FIG. 1 is an overall front view of a welding robot.

FIG. 2 is a main part front view showing the detailed structure of the hose support device.

3 is a cross-sectional view taken along the line AA in FIG.

FIG. 4 is a front view of a main part of a conventional hose support device.

[Explanation of symbols]

2 vertical frames 3 rotating body 4 horizontal frames 6 axes 10 Hose (flexible member) 11 Support frame 15 fulcrum axis 16 rod

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI technical display location H02G 11/00 P 7161-5G (72) Creator Kiyoshi Takeuchi 6-10 Takino-cho, Nishinomiya-shi, Hyogo No. Shin-Meiwa Kogyo Co., Ltd. Development Technology Headquarters (72) Inventor Masakazu Kobayashi 6-107 Takino-cho, Nishinomiya-shi, Hyogo Prefecture Shin-Meiwa Kogyo Co., Ltd. Development Technology Headquarters (72) Inventor Shigeki Fujinaga Ichida Nishinomiya, Hyogo Prefecture 6-107 Konnocho Shinmeiwa Industrial Co., Ltd. Development Technology Headquarters (72) Creator Ryuhei Mito 1-1-1 Shinmeiwacho Takarazuka-shi, Hyogo Shinmeiwa Industrial Co., Ltd. Industrial Machinery Division

Claims (2)

[Scope of utility model registration request] 1. A vertical frame is provided with a horizontal frame rotatably supported around a shaft through a rotary body, and the horizontal frame is provided so that the horizontal frame can be moved forward and backward with respect to the rotary body in an arbitrary rotary position. A flexible member is provided between the vertical frame and the horizontal frame. One end of a flexible guide that houses this flexible member is fixed to the horizontal frame, and the other end is displaced along with the rotating body. A supporting device for a flexible member supported by a supporting frame, wherein one end of the supporting frame is pivotally supported on a vertical frame by a fulcrum shaft arranged in parallel with the shaft, and the other end of the supporting frame is supported by a rod. A support device for a flexible member, characterized in that the rod, the support frame, and the rotating body are connected to each other via a rotating body so as to be bent and bent freely. 2. A line connecting the shaft and the fulcrum shaft while the distance between the connecting point on the rotating body side of the rod and the shaft and the distance between the other connecting point and the fulcrum shaft are set to be substantially the same. The support device for a flexible member according to claim 1, wherein a rod is arranged substantially parallel to the rod.