JPH07328982A - Wiring/piping structure for articulated robot - Google Patents

Abstract

PURPOSE:To prevent the interference with other peripheral parts and members and the occurrence of dust in a clean room, increase the storage quantities of wires and pipes, prolong the life, and facilitate the exchanging work. CONSTITUTION:A link mechanism 11 moved after the rotation of arms 3, 5 is provided between a robot main body 1 and a hand 6. The link mechanism 11 is provided with the first link member 14 rotatably supported on the robot main body 1 at one end and the second link member 16 rotatably connected to the other end of the first link member 14 at one end and rotatably connected to the second arm 5 at the other end. The first link member 14 is arranged to be moved in the same plane as the first arm 3, and the second link member 16 is arranged to be moved in the same plane as the second arm 5 respectively. The first and second link members 14, 16 are hollow, and wires such as power lines and signal lines and pipes such as air feed pipes guided by the hand 6 are arranged in the hollow spaces.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to articulated robots, and in particular, lines such as power supply lines and signal lines, and pipes such as air supply pipes, which are guided to the hands of horizontal articulated robots in which arms move two-dimensionally. The present invention relates to a wiring / pipe structure for arranging.

[0002]

2. Description of the Related Art Conventionally, a horizontal articulated robot in which each arm moves two-dimensionally has been known as a kind of articulated robot. In this type of robot, usually, as shown in FIG. 4, for example, a base end portion of a first arm b is provided in a robot main body a so as to be horizontally rotatable around a first joint axis c, and The base end of the second arm d is provided at the tip of the first arm b so as to be horizontally rotatable around the second joint axis e, and the hand f is attached to the tip of the second arm d. It has become.

In this kind of robot, the power supply line, the signal line, and the like, which are guided to the hand f, and the pipe g, such as the air supply pipe, are bundled together as shown in FIG. , D are arranged so as to be routed outside.
In FIG. 4, h is a support metal fitting that supports the middle of the wiring / pipe bundle g.
It is attached so that it can rotate around.

As another conventional wiring / piping structure,
For example, as disclosed in Japanese Patent Publication No. 4-43743, each arm b, d may be formed in a hollow shape, and wiring / piping may be performed through the inside of the hollow.

[0005]

However, in the above-mentioned conventional wiring / piping structure, when wiring / piping is performed outside the arm, a bundle g thereof swells or twists during the operation of the robot to cause the surroundings. It may interfere with other parts / members. Further, since there is a possibility that the lines, the pipes, or the lines and the pipes may rub against each other to generate dust during the operation of the robot, this is a problem particularly in a so-called clean robot used for work in a clean room.

On the other hand, when wiring / piping is performed inside the arm, not only is there a limit to the amount of accommodation in the arm, but the movable member for driving the arm arranged in the arm comes into contact with the wire / pipe. Therefore, the life of these is shortened. In addition, when replacing the wire / tube, the robot arm itself must be removed and disassembled, which is a problem that the work is very troublesome.

The present invention has been made in view of the above points, and an object of the present invention is to use a link mechanism for wiring and piping so that interference with other peripheral parts and members and in a clean room can be achieved. While preventing dust from
An object of the present invention is to provide a wiring / piping structure for an articulated robot capable of increasing the amount of wiring / piping accommodated, prolonging its life, and facilitating replacement workability.

[0008]

In order to achieve the above object, the invention according to claim 1 is such that a hand is attached to a robot body via a series of a plurality of arms, and each arm rotates about a joint axis. In a freely provided articulated robot, a link mechanism that moves following the rotation of the arm is provided between the robot body and the hand,
The constituent members of the link mechanism are formed in a hollow shape, and lines such as power supply lines and signal lines guided to the hand and pipes such as an air supply pipe are arranged in the hollow.

The invention according to claim 2 is dependent on the invention according to claim 1, and shows one mode thereof. That is, as a series of a plurality of arms, a first arm rotatably provided on the robot body about a first joint axis and a base end on the tip of the first arm about the second joint axis. Second rotatably provided with the above hand attached to the tip
And an arm. On the other hand, in the link mechanism, one end is rotatably connected to the first link member whose one end is rotatably supported by the robot body, and the other end of the first link member is rotatably connected to the other end. The second link member is rotatably connected to the second arm member. Further, the first link member is arranged so as to move in the same plane as the first arm and the second link member moves in the same plane as the second arm.

[0010]

With the above construction, in the invention according to claim 1,
Since wires such as power supply lines and signal lines and pipes such as air supply pipes are arranged inside the hollow components of the link mechanism that moves following the rotation of the robot arm, these wiring and pipes There is no interference with other peripheral parts and members during the operation of. Further, even if the lines, the pipes, or the lines and the pipes rub each other during operation of the robot to generate dust, the dust remains in the constituent members of the link mechanism and does not contaminate the inside of the clean room. In addition to the wiring and piping in the arm, the amount of wiring and piping accommodated will increase significantly. Moreover, since members and parts other than the above-mentioned wires and pipes, especially movable members are not arranged in the constituent members of the link mechanism, the life of the wires and pipes will not be shortened by contact with the movable members. Also, the wire / pipe replacement work can be easily performed by simply removing only the link mechanism from the robot.

According to the second aspect of the present invention, the first and second link members constituting the link mechanism are arranged so as to move in the same plane as the first and second arms, respectively. The attachment of the mechanism does not increase the size of the robot.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a wiring / piping structure of an articulated robot according to an embodiment of the present invention, in which 1 is a robot main body, and the robot main body 1 is connected to a first joint shaft 2 through a first joint shaft 2. The base end portion of the first arm 3 is connected, and the base end portion of the second arm 5 is connected to the tip end portion of the first arm 3 via the second joint shaft 4. A hand 6 is attached to the tip of the second arm 5.

The first arm 3 is provided so as to be rotatable in the horizontal direction about the first joint shaft 2 by an actuator composed of a servo motor or the like (not shown), and the second arm is also provided. Reference numeral 5 is provided rotatably in the horizontal direction about the second joint shaft 2 by an actuator, which is not shown in the figure and is composed of a servomotor or the like. Each of the first and second arms 3 and 5 is formed in a hollow shape, and a power supply line, a signal line and the like connected to the actuator are arranged in the hollow.

Reference numeral 11 is a link mechanism provided between the robot body 1 and the second arm 5 near the hand 6, and the link mechanism 11 is enlarged and shown in detail in FIGS. 2 and 3. As described above, the main body side bracket 12 fixed to the robot main body 1 by screwing and one end portion of the bracket 1
A first link member 14 rotatably connected to 2 via a bearing 13 and a second link member having one end rotatably connected to the other end of the link member 14 via a bearing 15 and the like. Link member 16 of the first arm of the second arm 5
Of the second link member 16 is fixed to the end portion of the second link member 16 connected to the arm 3 with a screw, and the other end portion of the second link member 16 has a bearing 17
Arm side bracket 1 rotatably connected via
8 and follows the rotation of the first and second arms 3 and 5, and the first and second link members 14 and 16 move. Here, the first link member 14 includes the first arm 3 and the second link member 16 described above.
Are arranged so as to move in the same plane as the second arm 5, respectively, and by this arrangement, between the first link member 14 and the second arm 5 and the second link member 1
Member interference does not occur between 6 and the first arm 3.

Both of the link members 14 and 16 are formed in a rectangular shape having a hollow cross section. Further, in the connecting portion of both link members 14 and 16, an inner cylinder 20 fixed to one link member 16 is fitted with an outer cylinder 21 fixed to the other link member 14 via a bearing 15. The hollows of the link members 14 and 16 are communicated with each other through the inner cylinder 20. And both the link members 1
Inside the hollows of 4, 16 and the hollow of the inner cylinder 20, lines such as power supply lines and signal lines that are guided from the robot body 1 side to the hand 6 and pipes 22 such as an air supply pipe are arranged. The wire and the pipe 22 are arranged by being guided to the hand 6 from inside the hollow of the second link member 16 along one side of the second arm 5, and on the other hand, the cover member 23 attached to the second arm 5. Covered by. The link members 14 and 16 are provided with an opening 24 for wiring and piping work, while the opening 24 is closed by a lid member 25.

Therefore, in the above embodiment, the robot arms 3 and 5 are provided between the robot body 1 and the hand 6.
And a first and second link member 1 of the link mechanism 11 are provided.
By forming the wires 4 and 16 in a hollow shape and arranging wires 22 such as a power supply wire and a signal wire guided to the hand 6 and a pipe 22 such as an air supply pipe in these hollows, these wiring / piping 22
Does not interfere with other parts and members in the vicinity while the robot is operating. Further, even if the lines, the pipes, or the lines and the pipes rub each other during operation of the robot to generate dust, the dust remains in the link members 14 and 16 of the link mechanism 11 and contaminates the clean room. There is no such thing. Further, in combination with wiring and piping in the robot arms 3 and 5, the amount of wiring and piping accommodated can be greatly increased.

In addition, in the link members 14 and 16 of the link mechanism 11, members and parts other than the wire and the pipe 22,
In particular, since the movable member is not arranged, the life of the wire / tube 22 is not shortened by the contact with the movable member, and the life can be extended. Further, the wire / tube 22 can be easily replaced by simply removing only the link mechanism 11 from the robot, and the replacement can be simplified and speeded up.

In addition, the first link member 14 of the link mechanism 11 includes the first arm 3 and the second link member 16.
Are arranged so as to move in the same plane as the second arm 5, respectively. Therefore, the attachment of the link mechanism 11 does not increase the size of the robot, and can contribute to the miniaturization of the robot.

In the above embodiment, the link member 16 near the hand of the link mechanism 11 is connected to the end of the second arm 5 on the side of connection with the first arm 3, but in the second arm 5. The hand 6 may be connected to the end portion on the side of connection, and at that time, the link mechanism may be configured by using three or more link members.

[0021]

As described above, according to the wiring / piping structure of the articulated robot of the present invention, it is possible to prevent the wiring / piping from interfering with other peripheral parts / members during the operation of the robot. Even if the lines, the pipes, or the lines and the pipes rub against each other to generate dust, the clean room is not contaminated and is suitable for a clean robot. In addition, it is possible to increase the amount of wiring / pipe accommodated, extend the life of the wire / pipe, and facilitate replacement work.

In particular, the invention according to claim 2 has an effect that it is possible to prevent the robot from expanding in size due to the attachment of the link mechanism while avoiding the interference between the link mechanism and the arm.

[Brief description of drawings]

FIG. 1 is a plan view showing a wiring / piping structure of an articulated robot according to an embodiment of the present invention.

FIG. 2 is a side view of a link mechanism.

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

FIG. 4 is a side view showing a conventional wiring / piping structure.

[Explanation of symbols]

 1 Robot Main Body 2 First Joint Axis 3 First Arm 4 Second Joint Axis 5 Second Arm 6 Hand 11 Link Mechanism 14 First Link Member (Constituent Member) 16 Second Link Member (Constituent Member)

Claims (2)

[Claims] 1. A multi-joint robot in which a hand is attached to a robot body via a series of a plurality of arms, and each arm is rotatably provided around a joint axis. Is provided with a link mechanism that moves in accordance with the rotation of the arm, and the constituent members of the link mechanism are formed in a hollow shape. Inside the hollow, a power supply line and a signal line guided to the hand are provided. Wiring and piping structure of an articulated robot characterized in that lines such as lines and air supply pipes are arranged. 2. A first arm rotatably provided on a robot body around a first joint axis as a series of a plurality of arms, and a second joint having a base end at a tip end of the first arm. The link mechanism has a second arm rotatably provided around an axis and having the hand attached to the tip thereof, while the link mechanism has a first link member rotatably supported by the robot body. A second link member having one end rotatably connected to the other end of the first link member and the other end rotatably connected to the second arm member, The first link member includes the first arm and the second arm.
2. The wiring / piping structure for an articulated robot according to claim 1, wherein the link member is arranged so as to move in the same plane as the second arm.