JPH075995Y2 - Cable handling equipment for industrial robots - Google Patents
Cable handling equipment for industrial robotsInfo
- Publication number
- JPH075995Y2 JPH075995Y2 JP1989079109U JP7910989U JPH075995Y2 JP H075995 Y2 JPH075995 Y2 JP H075995Y2 JP 1989079109 U JP1989079109 U JP 1989079109U JP 7910989 U JP7910989 U JP 7910989U JP H075995 Y2 JPH075995 Y2 JP H075995Y2
- Authority
- JP
- Japan
- Prior art keywords
- cable
- movable member
- brackets
- carrying member
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Description
【考案の詳細な説明】 （産業上の利用分野） 本考案は、直線及び旋回運動する可動部材を備える産業
用ロボット等の可動装置におけるケーブル処理装置に関
し、更に詳細には前記可動部材とこれを支持する支持部
材との間にケーブルをチェーン状のケーブル担持部材に
担持させて配線するケーブル処理装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a cable processing device in a movable device such as an industrial robot having a movable member that moves linearly and in a swivel motion, and more specifically, to the movable member and the movable member. The present invention relates to a cable processing device in which a cable is carried by a cable carrying member in the form of a chain between a supporting member for supporting and a cable is carried.
（従来の技術） 従来、直交座標型ロボットでは、実開昭60-99085号公報
に見られるように、直線運動する可動部材とこれを支持
する支持部材との間に、該両部材に両端を固定したチェ
ーン状のケーブル担持部材を可動部材の直線運動方向に
沿った面上で屈曲するように配設し、該担持部材に支持
部材と可動部材との間に配線するケーブルを担持させる
ようにしている。(Prior Art) Conventionally, in a Cartesian coordinate type robot, as shown in Japanese Utility Model Laid-Open No. Sho 60-99085, between both ends of a movable member which linearly moves and a supporting member which supports the movable member, both ends are provided. A fixed chain-shaped cable carrying member is arranged so as to bend on the surface of the movable member along the linear movement direction, and the carrying member carries a cable to be wired between the supporting member and the movable member. ing.
又、支持部材に対し旋回運動する可動部材を備える産業
用ロボットにおいて、支持部材に設けた外筒と可動部材
に設けた内筒との間に、該両筒に両端を固定したチェー
ン状のケーブル担持部材を可動部材の旋回軸線に直交す
る面上で屈曲するように配設したものも知られている
（特開昭62-79992号公報）。Further, in an industrial robot having a movable member that pivots with respect to a support member, a chain-shaped cable having both ends fixed to both cylinders between an outer cylinder provided on the support member and an inner cylinder provided on the movable member. It is also known that the carrying member is arranged so as to be bent on a plane orthogonal to the turning axis of the movable member (Japanese Patent Laid-Open No. 62-79992).
（考案が解決しようとする課題） ところで、支持部材上に旋回運動する旋回台を設け、該
旋回台に直線運動する可動部材を設けて、支持部材に対
し可動部材を直線及び旋回運動させる場合、上記従来技
術に従えば、支持部材と旋回台との間に旋回運動を許容
する上記後者のケーブル担持部材と、旋回台と可動部材
との間に直線運動を許容する上記前者のケーブル担持部
材とを配設せざるを得なくなり、構造が複雑になる。(Problems to be solved by the invention) By the way, in the case where a swivel base for swivel motion is provided on a support member and a movable member for linear motion is provided on the swivel base, and the movable member is linearly and swung with respect to the support member, According to the above-mentioned conventional technique, the latter cable carrying member that allows a swiveling motion between the support member and the swivel base, and the former cable carrying member that allows a linear motion between the swivel base and the movable member. However, the structure becomes complicated.
本考案は、直線及び旋回運動する可動部材へのケーブル
の配線を単一のケーブル担持部材で行い得られるように
した構造簡単なケーブル処理装置を提供することをその
目的としている。SUMMARY OF THE INVENTION It is an object of the present invention to provide a cable processing device having a simple structure in which a cable can be wired to a movable member that moves in a straight line and a swivel motion with a single cable carrying member.
（課題を解決するための手段） 上記目的を達成すべく、本考案では、直線及び旋回運動
する可動部材とこれを支持する支持部材との間にケーブ
ルをチェーン状のケーブル担持部材に担持させて配線す
るケーブル処理装置において、該支持部材と該可動部材
との間に、該ケーブル担持部材を該可動部材の直線運動
方向に沿った面上で屈曲するように配設すると共に、該
支持部材と該可動部材とに夫々該可動部材の旋回軸線に
平行な軸線回りに回動自在なブラケットを設け、該両ブ
ラケットに該ケーブル担持部材の両端を固定し、且つ、
該各ブラケットに該各ブラケットの回転軸線に対しオフ
セットさせてケーブルクランパーを取付けた。(Means for Solving the Problems) In order to achieve the above object, in the present invention, a cable is supported by a chain-shaped cable-carrying member between a movable member that moves linearly and in a swivel motion and a support member that supports the movable member. In a cable processing device for wiring, the cable carrying member is disposed between the support member and the movable member so as to be bent on a surface along a linear movement direction of the movable member, and the support member is provided. The movable member is provided with brackets which are rotatable around an axis parallel to the turning axis of the movable member, and both ends of the cable carrying member are fixed to the brackets, and
A cable clamper was attached to each of the brackets offset from the rotation axis of each of the brackets.
（作用） 可動部材の直線運動に際しては、ケーブル担持部材が屈
曲しつつ可動部材に追従して動き、又可動部材の旋回運
動に際しては、ケーブル担持部材の両端のブラケットが
該可動部材の旋回軸線と平行な軸線回りに該可動部材の
旋回に合わせて回動する。(Operation) When the movable member is linearly moved, the cable carrying member is bent and moves following the movable member, and when the movable member is swung, the brackets at both ends of the cable carrying member are aligned with the swivel axis of the movable member. It rotates about parallel axes in accordance with the turning of the movable member.
（実施例） 第１図乃至第３図を参照して、（１）は横方向に長手の
基台、（２）は該基台（１）上のガイドレール（1a）
（1a）に横方向に摺動自在に支持させた前後方向に長手
の第１スライド台、（３）は該第１スライド台（２）上
のガイドレール（2a）（2a）に前後方向に摺動自在に支
持させた第２スライド台を示し、該第１スライド台
（２）の前端部下面に、基台（１）に固定のラック（1
b）に咬合するピニオン（4a）を減速機（4b）を介して
駆動するモータ（４）を搭載して、該モータ（４）によ
り該第１スライド台（２）を横方向に移動するように
し、又第２スライド台（３）の後端にモータブラケット
（3a）を取付け、該ブラケット（3a）上に、第１スライ
ド台（２）に固定のラック（2b）に咬合するピニオン
（5a）を減速機（5b）を介して駆動するモータ（５）を
搭載して、該モータ（５）により該第２スライド台
（３）を前後方向に移動するようにし、更に該第２スラ
イド台（３）上に垂直軸線回りに旋回自在な旋回台
（６）を軸支し、前記ブラケット（3a）に該旋回台
（６）の周縁一側に固定の扇形ラック（6a）に咬合する
ピニオン（7a）を減速機（7b）を介して駆動するモータ
（７）を搭載して、該モータ（７）により該旋回台
（６）を一定角度範囲で旋回するようにした。(Embodiment) Referring to FIGS. 1 to 3, (1) is a laterally long base, (2) is a guide rail (1a) on the base (1).
A first slide base that is slidably supported laterally on (1a) and is long in the front-rear direction, and (3) is mounted on guide rails (2a) and (2a) on the first slide base (2) in the front-rear direction. A second slide base slidably supported is shown, and a rack (1) fixed to the base (1) is provided on the lower surface of the front end portion of the first slide base (2).
A motor (4) for driving a pinion (4a) that engages with b) is driven via a speed reducer (4b) so that the first slide base (2) can be moved laterally by the motor (4). The motor bracket (3a) is attached to the rear end of the second slide base (3), and the pinion (5a) that engages with the rack (2b) fixed to the first slide base (2) is mounted on the bracket (3a). ) Is driven by a speed reducer (5b), and the motor (5) is used to move the second slide base (3) in the front-rear direction. (3) A pinion that pivotally supports a swivel base (6) that can swivel around a vertical axis, and that engages with a fan-shaped rack (6a) fixed to the bracket (3a) at one side of the peripheral edge of the swivel base (6). A motor (7) for driving (7a) via a speed reducer (7b) is mounted, and the motor (7) drives the motor (7). Times stand (6) and adapted to pivot at a certain angle range.
該旋回台（６）の上面には、上方にのびるガイド枠
（８）が固設されており、該ガイド枠（８）に固定のガ
イドレール（8a）（8a）に昇降枠（９）を昇降自在に支
持させ、該旋回台（６）に該昇降枠（９）に固定のラッ
ク（9a）に咬合するピニオン（10a）をガイド枠（８）
の外面に取付けた減速機（10b）を介して駆動するモー
タ（10）を搭載すると共に、該昇降枠（９）の重量を受
けるバランスシリンダ（9b）を立設して、該モータ（1
0）により該昇降枠（９）を昇降させるようにし、該昇
降枠（９）に、これに搭載したモータ（11）により減速
機（11a）を介して水平軸線回りに回動される溶接ガン
（12）を取付け、全体として５軸構造の溶接ロボットを
構成した。A guide frame (8) extending upward is fixedly provided on the upper surface of the swivel base (6), and a lifting frame (9) is attached to guide rails (8a) (8a) fixed to the guide frame (8). A guide frame (8) that supports a pinion (10a) that is supported by the swivel base (6) and engages with a rack (9a) fixed to the lifting frame (9).
A motor (10) that is driven via a speed reducer (10b) attached to the outer surface of the motor is mounted, and a balance cylinder (9b) that receives the weight of the lifting frame (9) is erected so that the motor (1
The welding gun is configured to move up and down the elevating frame (9) by means of (0), and is rotated around the horizontal axis by a motor (11) mounted on the elevating frame (9) via a speed reducer (11a). (12) was attached to construct a welding robot with a 5-axis structure as a whole.
図中（1c）は基台（１）の後側部に配置したケーブル支
持板を示し、該支持板（1c）上にケーブルを担持する複
数のブロックを連設して成るチェーン状のケーブル担持
部材（131）を水平面上で横方向にＵ字状に屈曲するよ
うに配設して、該担持部材（131）の一端と他端とを夫
々該支持板（1c）と第１スライド台（２）とに固定し、
又前記モータブラケット（3a）上に支柱（3b）を介して
第２のケーブル支持板（3c）を取付け、第１スライド台
（２）と該支持板（3c）との間に上記と同様の第２のケ
ーブル担持部材（132）を垂直面上で前後方向に屈曲す
るように配設して、該担持部材（132）の一端と他端と
を夫々第１スライド台（２）と該支持板（3c）とに固定
し、基台（１）と第１スライド台（２）の間及び第１ス
ライド台（２）と第２スライド台（３）の間のケーブル
配線を行うようにした。In the figure, (1c) shows a cable support plate arranged on the rear side of the base (1), and a chain-shaped cable carrier formed by connecting a plurality of blocks for carrying cables on the support plate (1c). The member (13 1 ) is arranged so as to be bent in a U shape in the lateral direction on a horizontal plane, and one end and the other end of the carrying member (13 1 ) are respectively connected to the support plate (1c) and the first slide. Fixed to the table (2),
A second cable support plate (3c) is mounted on the motor bracket (3a) through a column (3b), and a second cable support plate (3c) is mounted between the first slide base (2) and the support plate (3c) as described above. The second cable carrying member (13 2 ) is arranged so as to be bent in the front-rear direction on a vertical plane, and one end and the other end of the carrying member (13 2 ) are respectively connected to the first slide base (2). It is fixed to the support plate (3c), and cable wiring is performed between the base (1) and the first slide base (2) and between the first slide base (2) and the second slide base (3). I chose
更に、前記第２のケーブル支持板（3c）と前記昇降枠
（９）との間に、第４図に明示する如く、上記と同様の
第３のケーブル担持部材（133）を垂直面上で上下方向
に屈曲するように配設して第２スライド台（３）と昇降
枠（９）間のケーブル配線を行うようにした。ここで該
昇降枠（９）は第２スライド台（３）に対し垂直方向に
直線運動すると共に旋回台（６）を介して垂直軸線回り
に旋回運動することから、該支持板（3c）と該昇降枠
（９）とに夫々垂直の枢軸（14a）（15a）回りに回動自
在なブラケット（14）（15）を取付けて、該ケーブル担
持部材（133）の両端を該両ブラケット（14）（15）に
固定し、該昇降枠（９）の旋回運動により該昇降枠
（９）側のブラケット（15）が移動しても、該ケーブル
担持部材（133）が常に両ブラケット（14）（15）の枢
軸（14a）（15a）を含む垂直面上に位置するように該両
ブラケット（14）（15）が回動し、該ケーブル担持部材
（133）の捩りを生ずることなく該昇降部材（９）が旋
回されるようにした。Furthermore, between the second cable support plate (3c) and the elevating frame (9), a third cable carrying member (13 3 ) similar to the above is placed on the vertical surface as clearly shown in FIG. It is arranged so as to be bent in the vertical direction so that the cable wiring between the second slide base (3) and the elevating frame (9) is performed. Here, since the elevating frame (9) moves linearly in the vertical direction with respect to the second slide base (3) and pivots around the vertical axis via the revolving base (6), attached the lifting frame (9) and the respective vertical pivot (14a) (15a) rotates around freely bracket (14) (15), both ends the both brackets of the cable carrying member (13 3) ( 14) (fixed to 15), even if the elevator frame by pivotal movement of the lifting frame (9) (9) of the bracket (15) moves, the cable-carrying member (13 3) is always both brackets ( 14) (to the both brackets (14) (15) is rotated so as to be positioned on a vertical plane containing the pivot (14a) (15a) 15), to produce the twisting of the cable carrying member (13 3) Instead, the elevating member (9) is swung.
図中（16）は各ケーブル担持部材から導出されるケーブ
ルをクランプするケーブルクランパー、（17）は第１ス
ライド台（２）の前端に設けたチップドレッサーを示
す。In the figure, (16) is a cable clamper for clamping the cables led out from the respective cable carrying members, and (17) is a chip dresser provided at the front end of the first slide base (2).
前記各ブラケット（14）（15）に取付けるケーブルクラ
ンパー（16）は各ブラケット（14）（15）の枢軸（14
a）（15a）に対しオフセットしており、そのためケーブ
ル担持部材（133）からケーブルクランパー（16）を介
して導出されるケーブルは各ブラケット（14）（15）の
回動に伴って該各ブラケット（14）（15）の回動方向に
振られるだけになり、ブラケット（14）（15）の回動に
伴うケーブルの捩れが抑制されてケーブルの耐久性が向
上する。The cable clamper (16) attached to each bracket (14) (15) is the pivot (14) of each bracket (14) (15).
a) (15a) are offset with respect to, respective with the rotation of the for cables each bracket derived from the cable carrier member (13 3) via a cable clamper (16) (14) (15) Only the brackets (14) and (15) are swung in the rotating direction, the twisting of the cable due to the rotating of the brackets (14) and (15) is suppressed, and the durability of the cable is improved.
以上、第２スライド台（３）を支持部材、昇降枠（９）
を旋回運動及び旋回軸線方向に直線運動する可動部材と
して、両者間のケーブル配線に本案装置を適用した実施
例について説明したが、旋回軸線と直交方向に直線運動
する可動部材へのケーブル配線にも本案装置を適用でき
る。As described above, the second slide base (3) is supported by the supporting member and the elevating frame (9).
As an example of applying the device of the present invention to the cable wiring between the rotating member and the movable member that linearly moves in the direction of the rotating axis, the invention has been described. The device of the present invention can be applied.
（考案の効果） 以上の如く本考案によるときは、直線及び旋回運動する
可動部材と支持部材との間に単一のケーブル担持部材を
用いてケーブルを配線でき、構造を簡素化してコストダ
ウンを図れると共に、ケーブルの捩れを抑制してケーブ
ルの耐久性を向上できる効果を有する。(Effects of the Invention) As described above, according to the present invention, the cable can be wired by using the single cable carrying member between the movable member and the supporting member that move linearly and in a swivel motion, and the structure can be simplified and the cost can be reduced. In addition to having the effect, it is possible to suppress the twist of the cable and improve the durability of the cable.
第１図は本案装置を具備するロボットの平面図、第２図
は第１図の右側面図、第３図は第２図の左側面図、第４
図は第１図の左側から見た要部の拡大側面図である。 （３）……第２スライド台（支持部材） （９）……昇降枠（可動部材） （133）……ケーブル担持部材 （14）（15）……ブラケット1 is a plan view of a robot equipped with the device of the present invention, FIG. 2 is a right side view of FIG. 1, FIG. 3 is a left side view of FIG.
The drawing is an enlarged side view of the main part viewed from the left side of FIG. (3) .... The second sliding base (supporting member) (9) ... elevator frame (movable member) (13 3) ...... cable carrying member (14) (15) ... Bracket
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 実開 昭64−50084（ＪＰ，Ｕ) 実開 昭59−183394（ＪＰ，Ｕ) 実公 昭63−38937（ＪＰ，Ｙ２) ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Bibliography Sho 64-50084 (JP, U) Rikai 59-183394 (JP, U) Shokoku 63-38937 (JP, Y2)
Claims (1)
持する支持部材との間にケーブルをチェーン状のケーブ
ル担持部材に担持させて配線するケーブル処理装置にお
いて、該支持部材と該可動部材との間に、該ケーブル担
持部材を該可動部材の直線運動方向に沿った面上で屈曲
するように配設すると共に、該支持部材と該可動部材と
に夫々該可動部材の旋回軸線に平行な軸線回りに回動自
在なブラケットを設け、該両ブラケットに該ケーブル担
持部材の両端を固定し、且つ、該各ブラケットに該各ブ
ラケットの回転軸線に対しオフセットさせてケーブルク
ランパーを取付けたことを特徴とする産業用ロボット等
のケーブル処理装置。1. A cable processing device in which a cable is carried by a chain-shaped cable carrying member and wired between a movable member that moves linearly and in a swivel motion and a supporting member that supports the movable member, the supporting member and the movable member. And the cable carrying member is disposed so as to bend on a surface along the linear movement direction of the movable member, and the supporting member and the movable member are respectively parallel to the pivot axis of the movable member. A bracket that is rotatable around an axis is provided, both ends of the cable carrying member are fixed to the both brackets, and a cable clamper is attached to each of the brackets while being offset with respect to the rotation axis of each of the brackets. Cable processing equipment for industrial robots, etc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989079109U JPH075995Y2 (en) | 1989-07-06 | 1989-07-06 | Cable handling equipment for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989079109U JPH075995Y2 (en) | 1989-07-06 | 1989-07-06 | Cable handling equipment for industrial robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0319689U JPH0319689U (en) | 1991-02-26 |
| JPH075995Y2 true JPH075995Y2 (en) | 1995-02-15 |
Family
ID=31622977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989079109U Expired - Lifetime JPH075995Y2 (en) | 1989-07-06 | 1989-07-06 | Cable handling equipment for industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH075995Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009119564A (en) * | 2007-11-15 | 2009-06-04 | Denso Wave Inc | Robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59183392U (en) * | 1983-05-16 | 1984-12-06 | 三菱電機株式会社 | robot traveling device |
| JPS59183394U (en) * | 1983-05-18 | 1984-12-06 | 三菱電機株式会社 | Robot arm wiring |
| JPS59224290A (en) * | 1983-05-30 | 1984-12-17 | 松下電器産業株式会社 | Industrial robot |
| JPH0437686Y2 (en) * | 1986-08-29 | 1992-09-04 | ||
| JPS6450084U (en) * | 1987-09-24 | 1989-03-28 |
-
1989
- 1989-07-06 JP JP1989079109U patent/JPH075995Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0319689U (en) | 1991-02-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |