JPH0630386Y2 - Wiring processing device for industrial robot arm - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a motor supported by a rotating member such as a wrist, which is rotatably supported coaxially with the inner member of an industrial robot arm, and is rotatably supported on the inner member. Or, it relates to improvement of a wiring processing device for a power line and a signal line to a tool.

(Prior Art) In an industrial robot, in order to simplify a wrist drive mechanism attached to the tip of an arm, a wrist supports a drive motor for a first or second wrist movement axis or a tool motor. In the multi-axis robot having the above structure, it is necessary to lay the power line and signal line of the motor up to the wrist. However, since the wrist is supported by the arm and rotates, the electric wiring is required to be movable. As a wiring process of such a conventional industrial robot arm, for example, there is one as shown in FIG. The wrist 3, which is a rotary member rotatably supported coaxially with the arm 20 at the tip of the inner member 4 of the arm 20 of the industrial robot, is driven by a motor 9 arranged at the rear end of the arm 20 via a drive shaft (not shown). It is rotationally driven in the same rotational direction as the wrist 3 in the arrow A direction with the arm end 21 as a boundary. The wrist 3 supports the first shaft unit 1, and the first shaft unit 1 is rotationally driven in the direction of arrow B with respect to the wrist 3 by a motor 8 arranged at the rear end of the arm 20 via a drive shaft (not shown). The first shaft unit 1 fixedly supports the first shaft motor 2, and the first shaft motor 2 indicates a tool (not shown) supported by the first shaft unit 1 by an arrow C.
Rotate in the direction. The inner member 4 of the arm 20 is fixed to the fulcrum 19 of the arm 20. 1st axis motor 2
The wiring 7 of the power line and the signal line to the rotation side clamp 10
And the fixed-side clamp 11, respectively, and are loosely arranged along the arm inner member 4 with a margin between them. The outer side members 5 and 6 are further covered around them for reasons such as wiring protection and appearance. The wiring 7 is laid from the wrist 3 to the motor 2 through a hole (not shown) passing through the rotation axis BB.

(Problems to be solved by the invention) However, in such conventional wiring, the wiring margin between the rotating side clamp 10 and the fixed side clamp 11 is spirally evenly distributed around the outer circumference of the arm inner member 4 in accordance with the rotating motion of the wrist. Although it was expected to move like a wire, the wiring of the arm is different from the wiring of the turning portion of the robot body and has a small diameter and poor elasticity. Therefore, the arm inner member 4 and the arm outer members 5, 6 are actually used. When it comes into contact with and the resistance thereof prevents uniform operation, rubbing occurs. In addition, there is a drawback that the wiring margin is biased toward the wrist 3 side at the tip of the arm due to the movement of the arm, and the fulcrum 19 side hardly moves, but the movement of the rotating wrist 3 side wiring is severe,
There is a problem in that the wire is broken due to a strong bending or external force accompanying the rotation of the wrist 3 in the direction of the arrow A in the vicinity of the rotation side clamp 10 and the operating rate of the industrial robot is reduced.

The present invention is intended to solve this problem, and its purpose is to provide a power to a motor or a tool supported by a rotating member such as a wrist that is rotatably supported coaxially with the inner member of an industrial robot arm. In the wiring of lines and signal lines,
It is an object of the present invention to provide a wiring processing device for an industrial robot arm that does not generate a wire break due to rubbing with the arm inner member and the arm outer member, a deviation of the wiring, and a strong bending or external force accompanying rotation. .

(Means for Solving the Problems) Therefore, the present invention has solved the above-mentioned problems of the prior art by providing a wiring processing device for an industrial robot arm according to the claims of utility model registration.

(Operation) This will be described with reference to FIG. 1 corresponding to the embodiment. Rotating member 3
When rotating, the connecting member 15 causes the ring-shaped wire holding member 13 on the rotating member side to rotate synchronously with the rotating member 3 or to rotate slightly, so that the wire 7 is separated from the rotating member 3 by a fixed distance 18. It is supported by and moves following the movement of the rotating member 3. Therefore, the wiring between the rotating side clamp 10 and the fixed distance 18 hardly moves,
The wiring 7 is prevented from being drawn into this section. Further, the wiring 7 is not bent at the rotation side clamp 10.

Furthermore, since the wiring 7 is loosely fitted and supported in the holes 16 and 17 of the holding members 12 and 13, and is not fixed, the bending applied to the wiring is dispersed over a long range, and local bending is avoided.

(Embodiment) FIG. 1 is a perspective view of an essential part showing a wiring processing device for an industrial robot arm according to an embodiment of the present invention. The same members as those in FIG. 3 are designated by the same reference numerals and the description thereof will be omitted. The industrial robot arm wiring processing apparatus of the present invention is provided with two ring-shaped wiring holding members 12 and 13 rotatably supported at intervals in the axial direction of the arm inner member 4. Wiring 7 for the power line and the signal line to the shaft motor 2 is fixed by a rotation side clamp 10 and a fixed side clamp 11, respectively, and is connected from the arm fulcrum 19 side to the wrist 3 side with a sufficient length. Each ring-shaped wiring holding member 12,
It is loosely fitted and supported in holes 16 and 17 provided between the inner and outer circumferences of 13. Wiring 7 loosely fitted and supported in these holes 16 and 17
Is helically laid around the arm inner member 4 at a distance from the outer periphery of the arm inner member 4, and the arm outer members 5 and 6 are wrapped around the spiral inner member 4 as in the conventional case. Where the first and second
Simply clamp the ring-shaped wiring holding members 12, 13 of
When it is arranged between 0 and 11, while the wrist 3 repeatedly turns, the margin of the wiring 7 is gradually drawn into the space between the holding member 13 and the clamp 10 and stays in this space.
Instead, it will be in a bad state. Therefore, the wrist 3 which is a rotating member
And the ring-shaped wiring holding member 1 on the wrist 3 side so as to perform a synchronous rotation with a constant distance 18 or a slight deviation.
A drive rod 15 that is a connecting member that connects the wrist 3 and the wrist 3 is provided. In this way, since the ring-shaped wiring holding member 13 is given a swiveling motion substantially in synchronization with the wrist 3, the wiring between the rotating side clamp 10 and the fixed distance 18 hardly moves, so that the wiring 7 is provided in this section. Are prevented from being drawn in. Further, the wiring 7 is not bent at the rotation side clamp 10. Further, since the wiring 7 is loosely fitted and supported in the holes 16 and 17 of the holding members 12 and 13, and is not fixed, the bending applied to the wiring is dispersed over a long range and local strong bending is avoided.

FIG. 2 shows the holes 16 of the ring-shaped wiring holding members 12, 13.
It is an enlarged view of the part of 17. Holes 1 in holding members 12, 13
A low-friction protective tape 14 is wound around the wiring 7 in order to prevent rubbing between the wirings 7, 17 and the wiring 7. Further wiring 7
Is held by the holes 16 and 17 of the holding members 12 and 13, but since it is not completely rubbed with the arm inner member 4 and the arm outer members 5 and 6, the surface roughness of these members is reduced. Preferably, a solid lubricant is also used to improve the slip.

(Effect of the Invention) As described above, according to the present invention, two ring-shaped wiring holding members rotatably supported by the inner member of the arm are connected to the rotating member from the arm fulcrum side with a sufficient length. In addition, the wirings loosely fitted and supported in the holes provided between the inner and outer circumferences of the ring-shaped wiring holding members and the rotating members are rotated so as to be synchronously rotated with a constant distance or slightly deviated from each other. Since the ring-shaped wiring holding member on the member side and the connecting member for connecting the rotating member are provided,
The wire loosely fitted and supported in the hole is held in the space inside the arm around the arm inner member with a space from the outer periphery of the arm inner member, and the ring-shaped wire holding member on the wrist side is imparted with almost the same turning motion as the wrist. Therefore, the wiring hardly moves for a certain distance from the rotation side clamp, which prevents the wiring from being drawn into this section. Further, since the locally bent portions of the wiring are dispersed, it is possible to avoid receiving a strong bending or an external force due to the rotation, so that it is possible to prevent disconnection of the wiring in the robot arm for a long period of time. As a result, the operating rate of the industrial robot is improved and the repair cost is reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part of a wiring processing device for an industrial robot arm according to an embodiment of the present invention, and FIG. 2 is an enlarged view of a portion in which a wire is inserted through a hole of a ring-shaped holding member shown in FIG. , Third
FIG. 1 is a perspective view of a main part of a conventional wiring processing device for an industrial robot arm. 3 ... wrist (rotating member), 4 ... arm inner member, 7 ...
... Electrical wiring, 12, 13 ... Ring-shaped wiring holding member, 1
5 ... Driving rod (connecting member), 16, 17 ... Hole, 18 ...
… Constant distance, 19 …… arm fulcrum, 20 …… arm.

Claims (1)

[Scope of utility model registration request] 1. An electric wiring processing device for a rotating member, which is rotatably supported coaxially with the inner member of an industrial robot arm, the inner member being spaced apart in the axial direction of the arm. Two ring-shaped wiring holding members rotatably supported by the members, and are provided between the inner and outer circumferences of the ring-shaped wiring holding members, which are connected to the rotating member from the arm fulcrum side with a sufficient length. The wiring that is loosely fitted and supported in the hole and the ring-shaped wiring holding member on the rotating member side and the rotating member are connected so as to rotate synchronously with the rotating member at a constant distance or to rotate synchronously with a slight deviation. A wiring processing device for an industrial robot arm, comprising: a connecting member.