JPH0718489U - Robot hand cable support structure - Google Patents

Abstract

(57) [Abstract] [Purpose] A robot hand part that relieves the mechanical stress of the cable, prevents the cable from being pinched between the housing box and its drive mechanism, and prevents accidents such as poor contact. Obtaining a cable support structure. [Construction] A storage box 5 in which a drive unit 7 of a robot hand is housed and which is driven by a motor 8 to move back and forth on the base 1, and one end is connected to the drive unit 7 in the storage box 5 and the other end is connected. A cable 12 connected to a power source or the like via the connectors 14a and 14b, and a cable supporter 15 having a main body 16 made of an elastic material and formed in a coil shape, and a lower portion of the main body 16 being fixed to the base 1. The cable 12 is inserted through the main body 16 of the cable supporter 15.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a cable support structure in a robot hand section.

[0002]

[Prior art]

 FIG. 7 is an explanatory diagram showing an example of a conventional cable supporting structure of a robot hand unit. In the figure, reference numeral 1 is a base, and mounting plates 2 and 3 are erected at a substantially central portion with a predetermined interval. A housing box 5 is slidably mounted on a guide rail 4 provided on the base 1, and a drive unit 7 for driving a robot hand 6 and the like are provided inside.

Reference numeral 8 is a motor attached to the support plate 3, 9 is an output shaft of the motor 8, and 10 is a ball screw supported by the attachment plate 2. One end of the ball screw is connected to the output shaft 9 of the motor 8 via the connecting portion 11. They are connected and the other end is rotatably attached to the storage box 5. Reference numeral 12 denotes a cable, one end of which is connected to the drive unit 7 in the housing box 5, supplies electric power to the drive unit 7 and transmits a signal, and is fixed to the base 1 by the fixing bracket 13 with an extra length left. The other end is guided to the outside through the connectors 14a and 15b and is connected to a power source and a control unit (both not shown).

In the robot hand unit as described above, when the motor 8 is rotated by a command from the control unit, the ball screw 10 connected to the motor 8 is also rotated. Due to the rotation of the ball screw 10, the accommodation box 5 moves on the guide rail 4 in the direction of arrow a or b according to the rotation direction. Then, the drive unit 7 operates according to a command from the control unit, and drives the robot arm 6 according to the command.

[0005]

As described above, the storage box 5 is driven by the motor 8 and moves on the guide rail 4 in the range of x as shown in FIG. 8, so that the cable 12 also moves x. It is a length that secures an extra length in anticipation. However, since the cable 12 is in a free state without being particularly supported between the housing box 5 and the fixing bracket 13, even if the housing box 5 reciprocates repeatedly, the movement of the interspace cable 12 does not occur. Not reproducible. For this reason, the mechanical stress of the cable 12 may increase, and the cable 12 may be caught between the housing box 5 and the mounting plate 2, which may cause a contact failure or a wire breakage accident. .

The present invention has been made to solve the above-mentioned problems, and alleviates the mechanical stress of the cable and prevents the cable from being caught between the housing box and its drive mechanism, resulting in poor contact. The purpose is to obtain a cable support structure for the robot hand that can prevent such accidents.

[0007]

[Means for Solving the Problems]

 The cable supporting structure of the robot hand according to the present invention is such that the driving part of the robot hand and the like are housed, and the housing is driven by a motor to move back and forth on the base, and one end is connected to the driving part in the housing. The main body of the cable supporter includes a cable whose other end is connected to a power source and the like, and a main body made of an elastic material and formed into a coil, and the lower portion of the main body is a cable supporter fixed to the base. The cable is inserted through.

Further, in place of the above-mentioned cable supporter, there is provided a cable supporter which is made of an elastic material and has at least one ring-shaped holding portion, and the lower portion of the main body is fixed to the base. It is provided and the cable is inserted into the holding part of this cable supporter.

[0009]

[Operation] When the storage box moves, the cable moves with it, but when the cable moves, the cable supporter through which the cable is inserted also follows the cable in an inclined state due to its elasticity. When the container moves in the opposite direction, the cable also moves, but at this time, the cable smoothly returns to its original position due to the elasticity of the cable supporter into which the cable is inserted. In this way, even if the cable repeatedly moves, it almost always follows the same trajectory, so that the mechanical stress of the cable can be relieved.

[0010]

【Example】

 Embodiment 1 FIG. 1 is an explanatory diagram of a first embodiment of the present invention. The same parts as those in the conventional example described in FIG. 7 are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 2, reference numeral 15 denotes a cable supporter, which includes a main body 16 formed of an elastic material in a coil shape, and a ring-shaped fixing portion 17 provided at a lower end portion thereof. 17 is fixed to a screw hole 1a formed in the base 1 with a screw 19 via a washer 18.

The cable 12 is inserted into the coiled body 16 of the cable supporter 15, one end of which is connected to the drive unit 7 in the housing box 5, and the other end of which is fixed to the lower portion of the cable supporter 15 and then the connector. The cable supporter 15 fixed to the base 1 and the part of the cable 12 held in the cable supporter 15 connected to the bases 14a and 14b are held substantially vertically between the housing box 5 and the mounting plate 2. There is.

As shown in FIG. 3, when the storage box 5 is driven by the motor 8 to move in the direction of the arrow a, the cable 12 also moves, but the cable supporter 15 having the cable 12 inserted also moves. Following this, the cable 12 is held in a state where the cable 12 is tilted with the fixed portion 17 as a fulcrum. When the storage box 5 moves in the direction of the arrow b, the cable 12 also moves so as to return to the original state, but this movement is smoothly performed by the elasticity (returning force) of the cable supporter 15 and again the state of the one-dot chain line. Return to.

As described above, according to this embodiment, the cable 12 is always moved by the cable supporter 15 that holds the storage box 5 with respect to the movement of the storage box 5, so that the mechanical stress of the cable 12 is reduced. be able to. Further, when it is returned to the original state, it is held almost upright between the accommodation box 5 and the mounting plate 2, so that it is not sandwiched between them.

Embodiment 2 FIG. 4 is an explanation of a second embodiment of the present invention. The same parts as those in the conventional example described with reference to FIG. 7 are designated by the same reference numerals, and the description thereof will be omitted. In the figure, 20 is a cable supporter, which is provided with ring-shaped holding portions 22 and 23 at the upper and lower portions of a rod-shaped main body 21 made of an elastic material, and a ring-shaped fixing portion 24 at the lower end. The fixing portion 24 is fixed to the screw hole 1a provided in the base 1 with a screw 19 via a washer 18. It should be noted that the ring-shaped holding portions 22 and 23 may be provided in the upper portion of the main body 21 only once, or in three or more.

The cable 12 is inserted into the holding portions 22 and 23 of the cable supporter 12, and if necessary, one or two or more places are tied to the main body 21 between the holding portions 22 and 23 with a string or the like. One end is connected to the drive unit 7 in the housing box 5 and fixed to the lower part of the cable supporter 12, and the other end is connected to the connectors 14a and 14b. As a result, the cable supporter 20 fixed to the base 1 and the portion of the cable 12 held by the cable supporter 20 are held substantially vertically between the housing box 5 and the mounting plate 2.

Now, as shown in FIG. 6, when the storage box 5 is driven by the motor 8 to move in the direction of arrow a, the cable 12 also moves, but the cable supporter 20 holding the cable 12 also moves. Following this, the cable 12 is held in a state where the cable 12 is tilted with the fixed portion 24 as a fulcrum. When the storage box 5 moves in the direction of the arrow b, the cable 12 also moves so as to return to the original state, but this movement is smoothly performed by the elasticity (returning force) of the cable supporter 15, and the state of the one-dot chain line again. Return to.

As described above, according to the present embodiment, the cable 12 always moves in almost the same locus by the cable supporter 20 which holds the storage box 5 with respect to the movement of the storage box 5, so that the mechanical stress of the cable 12 is reduced. Can be relaxed. Further, when it returns to the original state, it is held almost upright between the accommodation box 5 and the mounting plate 2, so that it is not sandwiched between the two.

[0018]

[Effect of device]

 As is apparent from the above description, the present invention includes a cable supporter having a coil-shaped body and fixed to the base, or a cable supporter having a rod-shaped body with a ring-shaped holding portion and fixed to a base. One end of the cable supporter body or the holding part is connected to the drive part housed in the housing box, and the other end is inserted and held by the cable connected to the power supply through the connector. , Even if the storage box moves repeatedly, the cable can always move in almost the same trajectory. Therefore, it is possible to relieve the mechanical stress of the cable, prevent a contact failure and a wire break accident, and obtain a highly reliable robot hand.

Further, since the cable supporter and the cable inserted therein are held substantially vertically by the elasticity of the cable supporter when the accommodation box returns to the original position, it is sandwiched between the accommodation box and its drive mechanism. It will not be

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a first embodiment of the present invention.

FIG. 2 is a perspective view of a cable supporter forming a main part of FIG.

FIG. 3 is a diagram for explaining the action of the robot hand of FIG.

FIG. 4 is an explanatory view of a second embodiment of the present invention.

5 is a perspective view of a cable supporter forming a main part of FIG. 4. FIG.

FIG. 6 is an explanatory view of the action of the robot hand of FIG.

FIG. 7 is an explanatory diagram of an example of a conventional robot hand unit.

FIG. 8 is a diagram for explaining the operation of FIG.

[Explanation of symbols]

 1 Base 2, 3 Mounting Plate 5 Housing Box 7 Drive Unit 8 Motor 10 Ball Screw 12 Cable 14a, 14b Connector 15, 20 Cable Supporter 16, 21 Main Body 17, 24 Fixed Part 22, 23 Holding Part

Claims (2)

[Scope of utility model registration request] 1. A robot hand drive unit and the like are housed,
A storage box that is driven by a motor to move back and forth on the base, a cable that has one end connected to the drive section inside the storage box, and the other end that is connected to a power source, and the like. And a cable supporter fixed to the base at a lower portion of the main body, wherein the cable is inserted into the main body of the cable supporter. 2. A robot hand drive unit is housed,
A storage box driven by a motor to move back and forth on the base, a cable having one end connected to a drive section in the storage box and the other end connected to a power source, and at least one ring made of an elastic material. A robot having a rod-shaped main body having a holding portion, and a cable supporter having a lower portion of the main body fixed to the base, wherein the cable is inserted into the holding portion of the cable supporter. Cable support structure for the hand part.