JPH07290382A - Industrial robot - Google Patents

Abstract

PURPOSE:To prevent wirings from being loosened by winding the electric wirings to rotary shaft drive sections on a wire winding drum, winding them around the rotary shaft drive sections, and feeding them to the rotary shaft drive sections. CONSTITUTION:A Z-axis motor 9, an R-axis motor 8, and a wire winding drum 63 are regulated in attitude to face specific directions. The directions vary against the second arm, however the lengths of electric wirings 64, 65 for the motors 8, 9 extended to the motors 8, 9 from the wire winding drum 63 are made constant. Even when the directions of the wire winding drum 63, Z-axis motor 9, and R-axis motor 8 are changed, the length unwound on one side is wound on the other side, and they are not operated in the direction that the wirings 64, 65 are loosened or torn off by the movement of a robot as a result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to a full-earth type horizontal articulated robot, in which the axes of the vertically movable / rotating working end attached to the tip of the robot are the first arm and the second arm.
The present invention relates to the wiring of an industrial robot that always maintains a constant rotation angle by a command value of 1, regardless of the posture of the arm.

[0002]

2. Description of the Related Art Generally, a horizontal articulated robot has a first arm mounted on a base column so as to horizontally rotate about the base column as a central axis and a longitudinal end as a rotation center. Further, there is a second arm installed so as to horizontally rotate with the other end portion of the first arm as a central axis and the longitudinal end portion as a rotation center. In most cases, the drive mechanism serving as the rotation source of the second arm is fixed on the second arm or the first arm.

In this case, there is a problem that the drive of the drive source of the second arm is affected by the movement of the first arm and the acceleration / deceleration cannot be controlled independently. A full-earth type robot has been proposed as a means for solving this problem. In the full-earth type robot, the drive source for driving the second arm is configured to be fixed to the base without being fixed to either the first arm or the second arm, thereby driving the second arm. At that time, the influence of the movement of the first arm is being reduced.

And, in the above-mentioned full earth type robot,
Generally, it has an RZ axis at the tip of the second arm. This RZ
The axis is also referred to as the working axis, for example a tool is attached. The RZ axis expands and contracts in the vertical direction (Z axis direction) and rotates itself around the R axis. The drive mechanism for driving the RZ axis is usually fixed on the second arm.

However, in the above-mentioned full-earth type robot, since all the drive mechanisms for the RZ axis are arranged on the second arm, the second arm is irrelevant regardless of the positions of the first arm and the second arm. On the other hand, in order to maintain the absolute positional relationship of the position angle of the R-axis, the position angle of the R-axis must be corrected by the position of the first arm and the position of the second arm.

In this case, the control is too complicated, and the R-axis direction may fluctuate during movement due to the position movement of the first arm and the second arm due to a delay in servo control or the like. It was supposed to cause inconvenience when doing.

For this reason, the first arm and the second arm are connected to each other by floating support shafts so that the floating shafts always maintain the same angular relationship with the base, and the RZ axis. The driving mechanism of (1) also holds the same angular relationship with this axis, thereby canceling the relationship between the first arm and the second arm on the R axis, and by moving the positions of the first arm and the second arm. The applicant proposes that the precise control can be easily realized without causing fluctuation during movement.

[0008]

However, in the robot having the above structure, the RZ-axis drive mechanism always rotates during the operation of the robot. Therefore, wiring to the motor, which is the drive mechanism in the conventional robot, is performed. In the technique,
Excessive shearing force will be applied to the part where the wire rod comes out of the motor. In this case, the strength of the electric part of the robot is lowered, and the reliability may be lowered.

The present invention has been made in order to solve the above problems, and an object of the present invention is to provide an industrial robot in which the wiring has no slack and the wiring does not locally generate a shearing force.

[0010]

According to the first aspect of the present invention, there is provided a first base, and a first base supported by the base so as to rotate in a horizontal plane with one longitudinal end as a center of rotation. An arm and a second arm supported by the other longitudinal end of the first arm
An arm, a rotary shaft set in a vertical direction at a longitudinal end of the second arm, a shaft core for rotatably supporting the first arm and the second arm, and the above-mentioned base with respect to the base. The shaft center angle maintaining means for maintaining the same rotation angle as the shaft center, the rotary shaft drive unit rotatably provided on the second arm for rotating the rotary shaft, and the rotary shaft drive unit. A rotary shaft drive part angle maintaining means for maintaining a rotary angle at the same rotary angle as the shaft core, and a wire rod winding drum having a center of rotation aligned with a substantially central axis at an upper end portion of the shaft core. The electric wiring to the rotary shaft drive section is introduced from the upper part of the wire rod winding drum, is wound around the wire rod winding drum at least once, and is wound around the rotary shaft drive section at least once. Industrial robot configured to supply to the drive unit By, it is achieved.

Further, the above object is, in the second invention,
A base, a first arm supported by the base so as to rotate in a horizontal plane with one end in the longitudinal direction as a rotation center, and a second arm supported by the other end in the longitudinal direction of the first arm. ,
A rotation shaft set in the vertical direction at the longitudinal end of the second arm, a shaft core that rotatably supports the first arm and the second arm, and the shaft core with respect to the base. Shaft core angle maintaining means for maintaining the same rotation angle, a rotation shaft drive unit rotatably provided on the second arm for rotating the rotation shaft, and a rotation angle of the rotation shaft drive unit. A rotary shaft drive part angle maintaining means for maintaining the rotary shaft at the same rotary angle as that of the shaft core; and an axial drive part that is rotatably provided on the second arm and moves the rotary shaft in the axial direction. Axial direction drive part angle maintaining means for maintaining the rotational angle of the axial direction drive means at the same rotational angle as the shaft core, and the electrical wiring to the rotary shaft drive part is the wire rod winding drum. The wire rod winding drum at least once and The wire is wound around the drive unit at least once and supplied to the rotary shaft drive unit, and electric wiring to the axial drive unit is introduced from the upper part of the wire winding drum and at least once on the wire winding drum. Wrapping, at least 1 around the axial drive
This is achieved by an industrial robot configured to be wound around and supplied to the axial drive unit.

In the first aspect of the invention, preferably, the peripheral length of the rotary shaft drive portion and the peripheral length of the wire rod winding drum are substantially the same. In the second aspect of the invention, preferably, the peripheral length of the rotary shaft drive unit, the peripheral length of the axial drive unit, and the peripheral length of the wire rod winding drum are substantially the same.

[0013]

According to the above construction, the electric wiring to the rotary shaft driving means is introduced from the upper part of the wire rod winding drum, and is wound around at least one line wire winding drum and wired to the rotary shaft driving part and the rotary shaft driving part. By winding at least once around the circumference and supplying it to the rotary shaft drive section, there is no slack in the wiring and no shearing force is locally generated by the rotation thereof. Similarly, the electrical wiring to the axial drive section is introduced from the upper part of the wire winding drum, wound around the wire winding drum at least once, and wound around the axial drive section at least once. Since the wiring is supplied to the axial driving unit, the wiring has no slack and the shearing force is not locally generated even when the wiring is rotated. Here, the shaft core acts so as to transmit a reference having the same angle as the base in the second arm, and also acts as a mechanism for pivotally supporting the first arm and the second arm. The shaft center angle maintaining means functions to maintain the shaft center at the same rotation angle as the base. A rotary shaft drive unit that drives a rotary shaft that is rotatably attached to the second arm acts to drive the rotary shaft that is attached to the tip of the second arm. As a whole, the relationship between the rotation axis and the first arm and the second arm is canceled, and the movement of the first arm and the second arm is offset by the movement of the position.

The wire rod winding drum holds the wire rod reaching the rotary shaft drive unit, and the wire rod provided between the circumference of the rotary shaft drive means and the circumference of the wire rod winding drum always keeps a substantially constant distance. Acts to become.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. The examples described below are
Since it is a preferred specific example of the present invention, various technically preferable limitations are attached, but the scope of the present invention is, unless otherwise stated to limit the present invention, in the following description.
It is not limited to these modes.

An embodiment of the industrial robot of the present invention will be described with reference to FIGS. FIG. 1 shows an axial center angle maintaining means 100 in a preferred embodiment of an industrial robot of the present invention.
And the rotary shaft drive unit angle maintaining means 200 and the like. FIG. 2 shows the working shaft 10 in the second arm, the rotary shaft drive part angle maintaining means 200, and the axial drive part angle maintaining means 300.
Is shown. FIG. 3 shows the first arm 3 and the second arm 11.
The structure of the drive system of FIG.

First, the first arm 3, the second arm 11 and the drive system in the embodiment will be described with reference to FIG.
The first arm drive unit 1 in FIG. 3 includes a motor that drives the first arm 3 and a speed reduction mechanism. The first arm driving unit 1 is fixed to the base B, transmits the rotational force to the drive rotation shaft, and the transmitted driving force moves the entire first arm 3. .

The second arm drive section 2 is composed of a motor for driving the second arm 11 and a speed reduction mechanism connected to the motor output shaft. The second arm drive unit 2 is fixed to the base B in the rotation direction similarly to the first arm drive unit 1. The decelerated driving force of the motor is transmitted to the driving belt driving pulley 5 to rotate the pulley 5. The first arm driving unit 1 and the second arm driving unit 2 are arranged corresponding to the tip 3b of the first arm 3.

The drive belt 4 is a drive belt drive pulley 5
It is suspended between the second shaft driving pulley 6 and the driving force generated by the second arm driving section 2 is transmitted to the second shaft driving pulley 6. As the drive belt 4, for example, a steel belt or the like is used. The second shaft drive pulley 6 is located at the tip 3a of the first arm 3 and is rotatable, and the inside of the second shaft drive pulley 6 is hollow so as to hold other mechanisms. There is.

The central portion of the second arm 11 is fixed to the second shaft drive pulley 6. A working shaft 10 is attached to the tip 11a of the second arm 11, and the working shaft 10 is also provided on the opposite side 1 of the working shaft 11a.
1b has a Z-axis motor 9 and an R-axis motor 8. The Z-axis motor 9 and the R-axis motor 8 are preferably the second arm 11
Is set on. The working shaft 10 is a so-called tool mounting shaft, and is capable of moving in the vertical direction (Z-axis direction) and rotating in the axial direction (R direction). A tool or the like is detachably attached to the action shaft 10. Z
The shaft motor 9 moves the working shaft 10 in the vertical direction (Z-axis direction).
It is an axial driving means for moving to. Further, the R-axis motor 8 is a rotating shaft driving means for rotating the working shaft 10 in the axial direction (R direction).

Next, the operation of these drive systems will be described with reference to FIG. The force rotated by the first arm driving unit 1 is transmitted to the first arm 3, and the first arm 3 moves to the first arm 3.
The arm drive unit 1 can be rotated about the rotation center.

On the other hand, the second arm drive unit 2 is fixed in the same phase as the first arm drive unit 1, so that the posture of the second arm 11 does not change even when the first arm 3 rotates. It has become. That is, the drive belt drive pulley 5 is rotated by the second arm drive unit 2, the drive force is transmitted to the second shaft drive pulley 6 by using the drive belt 4 as a transmission means, and the second shaft drive pulley 6 is rotated. To be By this rotation, the second arm 11 fixed or attached to the second shaft drive pulley 6 can be rotated. A mechanism on the second arm 11 (not shown in FIG. 3) drives the R-axis motor 8 to rotate the action shaft 10.
Further, by driving the Z-axis motor 9, the working shaft 10 can move up and down in the Z direction.

Next, the means for regulating the postures of the R-axis motor 8 and the Z-axis motor 9 will be described with reference to FIG. These R-axis motor 8 and Z-axis motor 9 are used for the second arm 1
It is rotatably provided with respect to 1. FIG. 1 shows a shaft center angle maintaining means 100, a rotary shaft drive part angle maintaining means 200, and an axial drive part angle maintaining means 3 in an embodiment of the present invention.
00 is shown in the drawing.

First, the shaft center angle maintaining means 100 will be described. The shaft center angle maintaining means 100 is a means for maintaining the earth receiving shaft 15 as the shaft center at the same rotation angle with respect to the base B in FIG. The base fixing pulley 12, the earth belt 13, and the earth receiving pulley 14 shown in FIG.
Is incorporated inside the first arm 3.

The earth receiving shaft 15 is incorporated in the rotating shaft of the second arm 11 supported by the tip 3a of the first arm 3. The other parts are incorporated inside the second arm 11. The base fixing pulley 12 is the base B of FIG.
It has a fixed positional relationship with. Then, as shown in the drawing, a concentric opening 12 is formed in the center of the pulley 12.
a is provided so as to surround the first arm driving unit 1 and the like in FIG. 3 described above. The earth belt 13 is a timing belt (toothed belt), and is suspended between the base fixed pulley 12 and the earth receiving pulley 14.

The earth receiving pulley 14 is a pulley located substantially at the tip 3a of the first arm 3, and the earth receiving shaft 15 is attached to the center of the pulley. Earth bearing 1
Reference numeral 5 is also called a shaft core, and the earth receiving pulley 14 and the earth pulley 16 are attached to the earth receiving pulley 14 so as to rotate integrally with the earth pulley 16.

Next, the rotating shaft drive unit angle maintaining means 200 will be described. The rotary shaft drive unit angle maintaining means 200 is
This is a means for maintaining the rotation angle of the R-axis motor 8 which is the rotation shaft driving means at the same rotation angle as the earth receiving shaft 15 which is the above-mentioned shaft core.

The earth pulley 16 is a direction regulating pulley, and a Z axis direction regulating belt 18 is suspended on the earth pulley 16. The Z-axis direction regulation pulley 19 has the Z-axis motor 9 at the center of rotation. Z-axis direction regulation pulley 19
A Z-axis direction regulation belt 18 is suspended from the ground pulley 16 so that the rotation of the ground pulley 16 is the rotation of the Z-axis direction regulation pulley 19. The Z-axis direction regulation belt 18 is also referred to as a rotation axis direction regulation belt. The R axis direction regulation belt 20 is used for the Z axis direction regulation pulley 1.
It is suspended between 9 and the R-axis direction regulation pulley 21.
The R-axis direction regulation belt 20 is a rotation axis direction regulation belt. At the center of the R-axis direction regulation pulley 21, the R-axis motor 8
Is fixed. The R axis direction regulation pulley 21 is a rotation axis direction regulation pulley.

Next, the axial drive section angle maintaining means 300 will be described. The axial driving section angle maintaining means 300 is
This is a means for maintaining the rotation angle of the Z-axis motor 9 as the axial drive means at the same rotation angle as the earth receiving shaft 15 which is the above-mentioned shaft core. Z-axis direction regulating pulley 1 described above
9 and a Z-axis direction regulation belt 18.

Next, a mechanism for transmitting power from the R-axis motor 8 and the Z-axis motor 9 to the working shaft 10, which is a rotating shaft, will be described with reference to FIG. The mechanism described in FIG. 2 is
All are stored in the second arm 11.

The input shaft of the R-axis speed reducer 22 is connected to the output shaft of the R-axis motor 8. The output shaft of the R-axis motor 8 is attached to the rotating shaft of the R-axis drive pulley 23. Therefore, the R-axis speed reducer 22 reduces the rotation of the R-axis motor 8 at a predetermined ratio and transmits it to the R-axis drive pulley 23.

Based on the rotation of the output shaft of the R-axis motor 8,
The R-axis drive belt 24 suspended by the R-axis drive pulley 23 is moved. The output shaft of the Z-axis motor 9 is directly attached to the rotary shaft of the Z-axis drive pulley 25. The Z-axis drive pulley 25 includes a Z-axis drive belt 2
6 is suspended, and a ball screw nut pulley 29 is suspended on the other side of the Z-axis drive belt 26. The ball screw nut pulley 29 is rotated based on the output of the Z-axis motor 9.

On the other hand, a spline nut pulley 30 is suspended on the other side of the R-axis drive belt 24. As a result, the spline nut pulley 30 is rotated with a predetermined reduction ratio by the rotation of the output shaft of the R-axis motor 8. A ball screw nut 28 is attached to the center of rotation of the ball screw nut pulley 29. The ball screw nut 28 is screwed onto the screw portion of the working shaft 10 and
The action shaft 10 moves up and down in the Z direction by the rotation of the ball screw nut 28 driven by the shaft motor 9.

The center of rotation of the spline nut pulley 30 is provided with a spline engagement portion (not shown), and the action shaft 10 is rotated in the R direction by the rotation of the spline nut pulley 30 driven by the R-axis motor 8. It is designed to be rotated around the center.

Next, the operation of the above configuration will be described. First of FIG. 3 of the industrial robot in the embodiment of the present invention.
Consider a case where the arm 3 moves. Since the base fixing pulley 12 of FIG. 1 is fixed to the base B of FIG. 3,
Due to the movement of the first arm 3, the rotation angle of the ground receiving pulley 14 suspended on the ground belt 13 and the ground receiving shaft 15 attached to the ground receiving pulley 14 does not depend on the posture of the first arm 3. It is immutable.

On the other hand, since the direction of the earth pulley 16 attached to the earth receiving shaft 15 is unchanged, Z
The Z-axis direction regulation pulley 19 suspended together with the axial direction regulation belt 18 also faces in a fixed direction regardless of the posture of the first arm 3. Therefore, since the Z-axis motor 9 is fixed to the rotation center of the Z-axis direction regulation pulley 19, the direction of the Z-axis motor 9 in the axis center direction is also the first arm 3.
It faces a certain direction regardless of the posture.

Similarly, the R-axis direction regulating pulley 21 suspended by the R-axis direction regulating belt 20 with respect to the Z-axis direction regulating pulley 19 also faces a certain direction regardless of the posture of the first arm 3. . Therefore, since the R-axis motor 8 is fixed to the R-axis direction regulation pulley 21 at the center of rotation, the R-axis motor 9 also faces a certain direction. Then, the R-axis speed reducer 22 and the R-axis drive pulley 23 in which the drive shaft is attached to the shaft of the R-axis motor 8 in FIG.
Also faces a certain direction regardless of the posture of the first arm 3. Then, through the R-axis drive belt 24, the spline nut pulley 30 has a predetermined rotation angle.
That is, according to this configuration, the direction of the action shaft 10 is always oriented in the same direction regardless of the posture of the first arm 3. Then, by operating the R-axis motor 8, the working shaft 10 is controlled to a predetermined angle through the R-axis decelerator 22, so that an arbitrary angle can be provided.

On the other hand, the Z-axis drive pulley 25 is also rotated by the rotation of the Z-axis motor 9 fixed coaxially with the Z-axis direction control pulley 19. Through this, the ball screw nut pulley 29 is rotated, and accordingly the ball screw nut 28 is rotated, so that the working shaft 10 screwed into the ball screw nut 28 moves up and down.

Now, consider a case where the first arm 3 moves without driving the R-axis motor 8 and the Z-axis motor 9. Then, since the R-axis motor 8 and the Z-axis motor 9 continue to maintain the predetermined angle, the action shaft 10 eventually does not generate the vertical force and the turning force, so that the predetermined angle is maintained.

When the R-axis motor 8 is rotated, the action shaft 10 is rotated with respect to the ball screw nut 28, so that the ball screw nut 28 is applied with a vertical force. become. In order to avoid such a problem, it is necessary to move the Z-axis motor 9 in accordance with the rotation of the R-axis motor 8 and consequently control the ball screw nut 28 so as not to receive the force. In such control, the ball screw nut pulley 29 is operated by the spline nut pulley 3
It suffices to perform rotation by the same angle with respect to 0. Therefore, the calculation is extremely easy.

Next, specific examples of the first arm 3 and the second arm 11, the action shaft 10 and the mechanism for maintaining the postures thereof will be described with reference to FIGS. 4 and 5. FIG. 4 illustrates a specific configuration of the first arm 3 in the embodiment of the present invention. A speed reducing mechanism 48 is connected to the output shaft of the first arm motor 45 of the first arm driving section 1, and the first arm 3 is directly connected to the output shaft of the speed reducing mechanism 48.

Further, a speed reducing mechanism 44 is connected to the output shaft of the second arm motor 43 of the second arm driving section 2, and the output shaft of the speed reducing mechanism 44 is connected to the drive belt drive pulley 5. . Here, the first arm motor 45 and the speed reducer structure 48 form the first arm drive unit 1 of FIG. Further, the second arm motor 43 and the reduction mechanism 44 are
The second arm drive unit 2 of FIG. 3 is formed. The second arm drive unit 2 is attached to the second arm drive unit holding unit 40 via the second arm drive unit support bearing 42 so as to float with respect to the movement of the first arm 3.

The second arm driving portion holding portion 40 rotatably holds the second arm driving portion 2 and is provided substantially at the turning center of the first arm 3 in order to reduce the moment of inertia of the first arm 3. ing.

A holding tension adjusting screw 41 is screwed from the longitudinal direction of the first arm 3. By rotating this screw, the second arm drive unit 2 can be moved in the longitudinal direction with respect to the drive belt 4, so that the drive belt 4 is moved.
The tension can be adjusted.

On the other hand, the earth belt 13 suspended on the base fixing pulley 12 is suspended on the earth receiving pulley 14, and the earth receiving shaft 15 attached to the rotation center of the earth receiving pulley 14 is the earth receiving shaft 15. Is supported by a support bearing 46 at the bottom of the. The second shaft drive pulley support bearing 51 is attached between the first arm 3 and the second shaft drive pulley 6, and is rotatably supported by the first arm 3.

The earth receiving shaft upper part supporting bearing 49 and the earth receiving shaft middle part supporting bearing 50 are attached between the second shaft driving pulley 6 and the earth receiving shaft 15 so as to support the earth receiving shaft 15. . Therefore, the second shaft drive pulley support bearing 51 and the second shaft drive pulley 6
The earth receiving shaft 15 is supported by the first arm 3 through the earth receiving shaft upper part supporting bearing 49 and the earth receiving shaft middle part supporting bearing 50.

As shown in FIG. 3, the second shaft drive pulley 6
An opening is provided at the center of rotation of the ground receiving shaft 1
5 penetrates. The second arm 11 is directly fixed to the upper end of the second shaft drive pulley 6.

Next, a specific example of the mechanism inside the second arm 11 will be described with reference to FIG. As shown in FIG. 1, the ground receiving shaft 15 does not engage with the second arm 11,
The upper end of the earth receiving shaft 15 is attached to the center of rotation of the earth pulley 16. Z-axis motor support bearing 60
Is a bearing that is provided between the housing of the second arm 11 and the Z-axis motor 9 and rotatably supports the Z-axis motor 9. The R-axis motor support bearing 61 is a bearing that is provided between the housing of the second arm 11 and the R-axis motor 8 and rotatably supports the R-axis motor 8.

As described above, the Z-axis direction regulation belt 18 is suspended between the Z-axis direction regulation pulley 19 and the ground pulley 16, and the Z-axis direction regulation pulley and R
The R axial regulation belt 20 is provided between the axial regulation pulley 21 and
Is suspended. And the drive shaft of the Z-axis motor 9 has Z
An axis drive pulley 25 is attached, and an R axis drive pulley 23 is attached to the output shaft of the R axis motor 8 via an R axis reducer 22.

With the above-mentioned structure, the mechanism of the first arm 3 and the mechanism of the second arm 11 described above are combined. In the above mechanism, the base fixing pulley 12 and the earth receiving pulley 14 shown in FIG.
Must have a turn ratio of 1: 1. Also, Z
The earth pulley 16 and the Z-axis direction regulation pulley 19 on which the axial direction regulation belt 18 is suspended, and the Z-axis direction regulation pulley 19 and the R-axis direction regulation pulley 21 on which the R-axis direction regulation belt is suspended are also one to one. The rotation ratio must be

Specifically, the radius of these pulleys is the first
It is advantageous in terms of accuracy and the like to make the size as large as possible by the capacity of the arm and the second arm. In the embodiment of the present invention, in the full-earth type robot, the second
By setting the Z-axis motor 9 and the R-axis motor 8 attached on the arm 11 so that the deflection angle does not change with respect to the rotation of the first arm 3, the first control is performed in the robot control mechanism.
The Z axis / R axis relating to the working axis 10 can be controlled without depending on the angle between the arm and the second arm.

That is, the first arm and the second arm are connected to each other by the floating support shafts, and the floating shafts are always kept in the same angular relationship with the base. The relationship between the (R axis) and the first arm and the second arm is maintained, and the drive mechanism of the RZ axis also cancels the same angular relationship as this axis, and the positions of the first arm and the second arm. Precise control can be easily realized without causing fluctuation during movement even by movement.

By the way, in the above embodiment, preferably, for example, in the illustrated embodiment, a pulley and a belt are used, but instead of this, a driving force transmitting means such as a combination of a gear and a chain may be used. .

Next, the wire wiring portion will be described with reference to FIG. The wire rod introducing portion 62 is connected to a pipe from the vicinity of a base (not shown) through the upper portion of the robot so as to include electric wiring or the like for supplying the inside thereof to a motor or the like on the second arm. The wire rod introducing portion 62 is fixed to the upper end of the wire rod winding drum 63.

The wire winding drum 63 is located above the ground pulley 16 and is pivotally mounted so that its central axis is substantially the same as the center of rotation of the second arm 11. The wire rod obtained through the wire rod introducing portion 62 is a wire rod winding drum 63.
Is pulled out to the outside through a part of the side surface of the wire rod, is once wound around the wire winding drum 63 at least once, and is led to the outer peripheral portion of the Z-axis motor 9 or the R-axis motor 8.

That is, the wire rod 64 for the Z-axis motor 9 that has passed through the wire rod introducing portion 62 is pulled out to the outside of a part of the wire rod winding drum 63, and once wound around the Z-axis motor 9 at least once more. It is wound and pulled into the lead-in part of the wire. Similarly, the wire rod 65 for the R-axis motor 8 is also wound around the R-axis motor 8 after being wound at least once on the wire rod winding drum 63,
Furthermore, it is adapted to be connected to the wire rod introducing portion of the R-axis motor 8.

The support plate 66 is a flange-shaped plate attached to the lower side of the R-axis motor 8 and prevents the winding position of the wire rod 65 for the R-axis motor 8 to be wound from becoming unstable. Similarly, the support plate 67 is a flange-shaped plate attached to the lower side of the Z-axis motor, and prevents the winding position of the 64 wire rod for the Z-axis motor 9 to be wound from becoming unstable. The perimeter of the R-axis motor 8, the perimeter of the Z-axis motor 9, and the perimeter of the wire winding drum 63 are
It is preferably about the same. By doing this, it is possible to prevent the slack of the wiring.

By the way, when arranging a tool or the like at the tip of the working shaft 10, the tool may require electric wiring, air piping, or the like. An embodiment in this case will be described with reference to FIG. The working shaft is hollow on its axis, and the wiring and piping communicate with the axis.

The tray 70 has at least one flat surface portion.
It has one opening 7a and is rotatably provided so that the axis of the action shaft 10 becomes the center of rotation.

The saucer pool 73 is pivotally attached to the center of rotation of the saucer 70. The saucer drive belt 71 is a timing belt suspended between the saucer pulley 73 and the saucer drive pulley 72.

The tray drive belt tensioner 74 is in contact with the tray drive belt 71 and acts so that a constant tension is generated in the drive belt 71.

The tray drive pulley 72 is located directly below the wire rod winding drum 63 and is pivotally mounted so as to interlock with the rotation of the earth receiving shaft 15.

The wiring 75 of the working shaft 10 is pulled out from the tool to the upper part of the working shaft 10 through the hollow portion of the working shaft 10, and has a spiral margin at least once around the working shaft 10 and is provided in the tray 70. It is provided in the flat surface portion, is led out to the lower part from the upper part through the opening 70a, is further wound just below the tray, and is then guided so as to be wound around the wire rod winding drum 63.

Next, this operation will be described. When the first arm 3 operates, the Z-axis motor 9, R
The postures of the shaft motor 8 and the wire winding drum 63 are regulated so as to face a specific direction. Therefore, the direction of the second arm 11 is changed, but the second arm 11 is wound around the outer periphery of the wire rod winding drum 63 to the motors 8 and 9 respectively.
The lengths of the wire rods 64 and 65 extending to the constant length are constant. That is, even if the directions of the wire rod winding drum 63, the Z-axis motor 9, and the R-axis motor 8 are changed, the relationship in which the other one winds up by the length that one rolls out is maintained. The direction where 64 and 65 are slack,
Or, it does not move in a tearing direction.

The operation of the tray pulleys 72, 73 will be described. The saucer drive pulley 7 is operated by the operation of the first arm 3.
2 rotates together with the rotation of the earth receiving shaft 15 (see FIG. 3), rotates the tray pulley 73 via the tray drive belt 71, and consequently rotates the tray 70.

Therefore, the wire 75 of the working shaft 10 led out from the wire winding drum 63 is suspended without slack.

Further, since the wiring 75 of the working shaft 10 is spirally provided on the tray 70, the posture of the working shaft 10 is not significantly disturbed even when the working shaft 10 is rotated or moved up and down. The damage to the wiring 75 of 10 is prevented from becoming large.

In the embodiment of the present invention, in the full earth type robot, the center of rotation of the second axis (that is, the earth receiving shaft 1).
The wire rod winding drum 63 is attached to 5), and the wire rods 65 and 64 are also called wirings to the R-axis motor 8 and the Z-axis motor 9.
By providing a winding portion in each drum motor around the above, it is possible to prevent an unnecessary burden from being applied to the wiring material.

As described above, in the embodiment of the present invention, the first arm and the second arm are connected to each other by the floating support shafts, and the floating shafts always have the same angular relationship with the base. And the drive mechanism of the RZ shaft (also referred to as the working shaft or the rotary shaft) keeps the same angular relationship as this shaft, and further, the rotation center is set to the substantially central shaft at the upper end of the support shaft. It is provided with a matched wire rod winding drum 63. The electrical wiring to the R-axis drive section is introduced from the upper part of the wire rod winding drum, is wound around the wire rod winding drum at least once, is wired to the R-axis drive means, and is at least 1 around the R-axis drive section. By winding the wire and supplying it to the R-axis drive section, it was possible to prevent the wiring from having slack and to prevent shearing force from being locally generated by the rotation thereof. Similarly, the electrical wiring to the Z-axis drive section is introduced from the upper part of the wire rod winding drum, wound around the wire rod winding drum at least once, and wound around the Z axis drive unit at least once to drive the Z-axis drive unit. By supplying to the section, there is no slack in the wiring,
Also, the rotation should prevent local shearing force.

[0070]

As described above, according to the present invention, when the first arm and the second arm are moved, the wiring has no slack and the wiring does not locally generate a shearing force.

[Brief description of drawings]

FIG. 1 is a diagram showing a shaft center angle maintaining means and a rotary shaft drive part angle maintaining means in a preferred embodiment of an industrial robot of the present invention.

FIG. 2 is a view showing a working shaft in a second arm, a rotation shaft driving unit angle maintaining unit, and an axial direction driving unit angle maintaining unit.

FIG. 3 is a diagram showing a driving portion and the like of a first arm and a second arm.

FIG. 4 is a view showing a mechanism of a first arm.

FIG. 5 is a diagram showing a mechanism of a second arm and a wiring processing system.

FIG. 6 is a diagram showing a wiring processing system.

[Explanation of symbols]

1 1st arm drive part 2 2nd arm drive part 3 1st arm 8 R axis motor (rotation axis drive part) 9 Z axis motor (axial direction drive part) 10 Working axis (rotation axis, RZ axis) 11 2nd arm 15 earth receiving shaft (axial core) 16 earth pulley (direction regulation pulley) 18 Z axis direction regulation belt (rotation axis direction regulation belt) 20 R axis direction regulation belt (rotation axis direction regulation belt) 21 R axis direction regulation pulley (rotation axis) Direction regulating pulley) 62 Wire rod introduction portion 63 Wire rod winding drum 64 Z-axis motor wire rod (wiring) 65 R-axis motor wire rod (wiring) 66, 67 Support plate 70 Saucepan 71 Saucepan drive belt 72 Saucepan drive pulley 73 Saucepan pulley 74 Saucepan Drive belt tensioner 75 Wiring 100 Shaft core angle maintaining means 200 Rotation angle Drive part angle maintaining means 300 Axial direction drive part angle maintaining means

Claims (4)

[Claims] 1. A base, a first arm supported by the base so as to rotate on a horizontal plane with one end in the longitudinal direction as a rotation center, and supported by the other end in the longitudinal direction of the first arm. A second arm, a rotary shaft set in a vertical direction at a longitudinal end of the second arm, a shaft core for rotatably supporting the first arm and the second arm, and the base. On the other hand, a shaft center angle maintaining means for maintaining the same rotation angle as the shaft center, a rotary shaft drive unit rotatably provided on the second arm for rotating the rotary shaft, and the rotary shaft. A rotary shaft drive unit angle maintaining means for maintaining the rotary angle of the drive unit at the same rotary angle as the shaft core; and a wire rod winding drum having a center of rotation aligned with a substantially central axis at the upper end of the shaft core. , And the electrical wiring to the rotary shaft drive section is introduced from above the wire rod winding drum. In addition, the industrial robot is configured to be wound around the wire rod winding drum at least once, wound at least once around the rotary shaft drive unit, and supplied to the rotary shaft drive unit. 2. A base, a first arm supported by the base so as to rotate in a horizontal plane with one end in the longitudinal direction as a center of rotation, and supported by the other end in the longitudinal direction of the first arm. A second arm, a rotary shaft set in a vertical direction at a longitudinal end of the second arm, a shaft core for rotatably supporting the first arm and the second arm, and the base. On the other hand, a shaft center angle maintaining means for maintaining the same rotation angle as the shaft center, a rotary shaft drive unit rotatably provided on the second arm for rotating the rotary shaft, and the rotary shaft. Rotation shaft drive unit angle maintaining means for maintaining the rotation angle of the drive unit at the same rotation angle as the shaft center, and the second arm rotatably provided to move the rotation shaft in the axial direction. Axial drive section and axial direction for maintaining the rotational angle of the axial drive means at the same rotational angle as the shaft core. Direction driving unit angle maintaining means, electrical wiring to the rotary shaft driving unit is introduced from above the wire rod winding drum, and at least once wound around the wire rod winding drum, It is wound around at least once and supplied to the rotary shaft drive section, and electric wiring to the axial direction drive section is introduced from above the wire rod winding drum and at least once wound around the wire rod winding drum. An industrial robot characterized in that it is wound around the axial drive section at least once and supplied to the axial drive section. 3. The industrial robot according to claim 1, wherein a peripheral length of the rotary shaft drive unit and a peripheral length of the wire rod winding drum are substantially the same. 4. The industrial robot according to claim 2, wherein a perimeter of the rotary shaft drive unit, a perimeter of the axial drive unit, and a perimeter of the wire rod winding drum are substantially the same.