JPH08155881A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPH08155881A JPH08155881A JP32360994A JP32360994A JPH08155881A JP H08155881 A JPH08155881 A JP H08155881A JP 32360994 A JP32360994 A JP 32360994A JP 32360994 A JP32360994 A JP 32360994A JP H08155881 A JPH08155881 A JP H08155881A
- Authority
- JP
- Japan
- Prior art keywords
- base
- tool
- arm
- hoses
- swivel
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、溶接や切断などを行う
産業用ロボットに関し、とくに溶接などの加工用ツール
に接続するケーブルやホースの取り付け構造に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot for welding or cutting, and more particularly to a structure for attaching a cable or a hose connected to a processing tool such as welding.
【０００２】[0002]
【従来の技術】従来、多関節アームを備えた産業用ロボ
ットでは、ベース、旋回部および各アームなどのロボッ
ト本体を構成する部材を中空状に形成し、各関節の駆動
軸の駆動用モータに電力を供給するケーブルを、ロボッ
ト本体内の中空部に配線して、アームを動作するときに
外部の物体に接触しないようにしたものが開示されてい
る（例えば、特開昭６２−２１３９８８号、実開平１−
１３８６８７号、実開昭６２−５８１８８号）。この場
合、例えば図３に示すように、ベース１の下面に対して
垂直な旋回軸Ｓ 1 の回りに旋回するようにした旋回部２
を設けている。ベース１と旋回部２の接続部分には減速
機３を設け、減速機３に旋回軸Ｓ1 と同心の中空部３ａ
を設けて、外部からベース１の内部に引き入れたケーブ
ル１０を中空部３ａに通して、旋回部２の中に通し、旋
回部２の上方に設けた各関節の駆動軸の駆動用モータに
接続するようにしてある。旋回部２には第１アーム４を
回動軸Ｓ2 の回りに回動するように支持し、第１アーム
４には第２アーム５を回動軸Ｓ3 の回りに回動するよう
に支持してある。第２アーム５の先端には手首部６を回
動軸Ｓ4 の回りに回動するように支持してあり、手首部
６には溶接トーチや切断器などの加工用ツール７を取り
つけてある。加工用ツール７に接続する溶接用心線、被
覆ガスを送るホースやツールを駆動するツールモータに
接続する電力ケーブル（以下、ツール用ホース類と略
す）８は、ロボット本体の後方または上部にスタンド９
を設けて、ツール用ホース類８を弛みを持たせて吊り上
げさらに、第１アーム４、第２アーム５に設けた取付部
材８１を介して支持している。2. Description of the Related Art Conventionally, an industrial robot equipped with an articulated arm
The robot, such as the base, swivel unit, and arms.
The members that make up the main body are formed in a hollow shape to drive each joint.
Connect the cable that supplies power to the shaft drive motor to the robot
When operating the arm by wiring in the hollow part inside
There is a disclosure that prevents contact with external objects.
(For example, JP-A-62-213988, Jikkaihei 1-
No. 138687, No. 62-58188, Shokai. This place
For example, as shown in FIG.
Vertical swivel axis S 1 Revolving part 2 designed to revolve around
Is provided. Reduce speed at the connection between base 1 and swivel unit 2.
The machine 3 is provided, and the reduction shaft 3 is provided with a swivel axis S.1 Hollow part 3a concentric with
The cable is installed inside the base 1 from the outside.
Through the hollow part 3a and the swivel part 2,
For the drive motor of the drive shaft of each joint provided above the rotation part 2.
I am trying to connect. The first arm 4 is attached to the revolving unit 2.
Rotation axis S2 Supported so as to rotate around the first arm
4, the second arm 5 is provided with a rotation axis S3 To rotate around
Is supported by. Rotate the wrist 6 to the tip of the second arm 5.
Drive axis SFour It is supported so that it can rotate around
6 has a processing tool 7 such as a welding torch and a cutter.
I put it on. Welding core wire to be connected to the processing tool 7,
For tool motors that drive hoses and tools that send cover gas
Power cable to connect (hereinafter abbreviated as tool hoses)
8) is a stand 9 at the rear or upper part of the robot body.
And hoses 8 for tools with slack
Further, a mounting portion provided on the first arm 4 and the second arm 5.
It is supported via the material 81.
【０００３】[0003]
【発明が解決しようとする課題】ところが、従来技術で
は、ツール用ホース類をロボットの各アームの動作に支
障のないように支持するには広い空間を必要としたり、
アームの動作が制限されたりするという欠点があった。
本発明は、ツールに接続するホース類の処理を狭い空間
で行い、アームの動作に制限を与えない産業用ロボット
を提供することを目的とするものである。However, in the prior art, a wide space is required to support the tool hoses so that they do not hinder the operation of each arm of the robot.
There was a drawback that the movement of the arm was limited.
An object of the present invention is to provide an industrial robot that processes hoses connected to a tool in a narrow space and does not limit the operation of the arm.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、本発明は、ベースの下面に対して垂直な旋回軸に沿
って設けた中空部を有する支持部材と、前記ベースの上
で前記旋回軸の回りに旋回するようにした旋回部と、前
記ベースと旋回部の間に設けた中空状の入力軸を有する
減速機と、前記旋回部の上方に回動し得るように設けた
アームと、前記アームの先端に取りつけた加工用ツール
と、前記加工用ツールに接続するツール用ホース類とを
備えた産業用ロボットにおいて、前記減速機の中空状の
入力軸の中を通り、前記ベースの下部から前記旋回部の
上部フレームを貫通するガイドチューブと、前記ベース
と前記支持部材との間に形成したダクト部とを設け、前
記ツール用ホース類を前記ベースの下面から前記ガイド
チューブに通して前記旋回部の上方に引き出し、ロボッ
ト駆動用モータに電力を供給するケーブルを前記ダクト
部にＵ字形に収納したものである。In order to solve the above problems, the present invention provides a support member having a hollow portion provided along a pivot axis perpendicular to the lower surface of a base, and the pivot member on the base. A revolving unit configured to revolve around an axis, a speed reducer having a hollow input shaft provided between the base and the revolving unit, and an arm provided so as to be rotatable above the revolving unit. In an industrial robot equipped with a machining tool attached to the end of the arm and a tool hose connected to the machining tool, the industrial robot is passed through a hollow input shaft of the speed reducer, and A guide tube penetrating the upper frame of the swivel portion from a lower portion and a duct portion formed between the base and the supporting member are provided, and the tool hoses are passed from the lower surface of the base to the guide tube. Before Drawer above the pivot portion, in which is accommodated in a U-shape the cable supplying power to the motor for a robot drive on the duct section.
【０００５】[0005]
【作用】上記手段により、旋回軸と同心になるようにし
て、ベースの下部から旋回部の上部フレームを貫通する
ガイドチューブを設けて、ツール用ホース類を通してい
るので、旋回部を旋回しても各アームはガイドチューブ
の回りに旋回するだけであり、ガイドチューブから引き
出されたツール用ホース類が各アームの動作を妨げるこ
とがなく各アームの動作を妨げることがない。With the above-mentioned means, a guide tube is provided so as to be concentric with the swivel axis and penetrates from the lower part of the base to the upper frame of the swivel part, and the hose for tools is passed therethrough. Each arm only swivels around the guide tube, and the tool hoses drawn out from the guide tube do not hinder the operation of each arm and do not hinder the operation of each arm.
【０００６】[0006]
【実施例】以下、本発明を図に示す実施例について説明
する。図１は本発明の実施例を示す側面図、図２は要部
側断面図である。図において、１はベース、１１はベー
ス１を据えつける架台、１２はベース１の下面に対して
垂直な旋回軸Ｓ1 に沿って設けた中空部１２ａを有する
支持部材である。ベース１は支持部材１２を囲み、支持
部材１２との間にケーブル１０を収納するダクト部１３
を形成してある。２はベース１の上で旋回軸Ｓ1 の回り
に旋回するようにした旋回部、２１は旋回部２の上部フ
レームである。３はベース１と旋回部２の間に設けた減
速機、３１は支持部材１２に固定した減速機３の固定
部、３２は固定部３１に軸受３３を介して支持された中
空状の入力軸、３４は出力軸で旋回部２に固定してあ
る。３５は入力軸３２と出力軸３４とを結合する減速機
構である。３６は旋回部２に取りつけた駆動モータで、
平歯車３７、３８を介して入力軸３２を駆動し、減速機
構３５によって減速して出力軸３４を回転し、旋回部２
を旋回するようにしてある。２２は減速機３の入力軸３
２の中を通り、ベース１の下部から旋回部２の上部フレ
ーム２１を貫通するガイドチューブで、旋回軸Ｓ1 と同
心になるようにしてある。１４はベース１とガイドチュ
ーブ２２の間に設けた防水、防塵用のオイルシールであ
る。４は旋回部２の上部フレーム２１に回動軸Ｓ2 の回
りに回動するように支持した第１アーム、５は第１アー
ム４に回動軸Ｓ3 の回りに回動するように支持した第２
アームである。６は第２アーム５の先端に回動軸Ｓ4 の
回りに回動するように支持した手首部、７は手首部６に
取りつけた溶接トーチや切断器などの加工用ツールであ
る。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an embodiment of the present invention, and FIG. 2 is a side sectional view of an essential part. In the figure, 1 is a base, 11 is a pedestal for mounting the base 1, and 12 is a support member having a hollow portion 12a provided along a turning axis S 1 perpendicular to the lower surface of the base 1. The base 1 surrounds the support member 12, and the duct portion 13 for housing the cable 10 between the base 1 and the support member 12.
Has been formed. Reference numeral 2 is a revolving portion adapted to revolve around the revolving axis S 1 on the base 1, and 21 is an upper frame of the revolving portion 2. 3 is a speed reducer provided between the base 1 and the swivel part 2, 31 is a fixed part of the speed reducer 3 fixed to the support member 12, 32 is a hollow input shaft supported by the fixed part 31 via a bearing 33. , 34 are output shafts fixed to the swivel unit 2. Reference numeral 35 is a speed reduction mechanism that connects the input shaft 32 and the output shaft 34. 36 is a drive motor attached to the swivel unit 2,
The input shaft 32 is driven through the spur gears 37 and 38, and is decelerated by the reduction mechanism 35 to rotate the output shaft 34, and the swivel unit 2
It is designed to turn. 22 is the input shaft 3 of the speed reducer 3.
A guide tube passing through the inside of the base 2 and penetrating from the lower part of the base 1 to the upper frame 21 of the revolving part 2 is concentric with the revolving axis S 1 . Reference numeral 14 denotes a waterproof and dustproof oil seal provided between the base 1 and the guide tube 22. Reference numeral 4 denotes a first arm supported on the upper frame 21 of the revolving unit 2 so as to rotate about a rotation axis S 2 , and 5 supports on the first arm 4 so as to rotate about a rotation axis S 3. Done second
It is an arm. Reference numeral 6 denotes a wrist portion supported by the tip of the second arm 5 so as to rotate about a rotation axis S 4 , and reference numeral 7 denotes a processing tool such as a welding torch or a cutting device attached to the wrist portion 6.
【０００７】旋回部２を駆動する駆動モータ３６および
第１アーム４、第２アーム５、手首部６などを駆動する
動力や検出器の出力信号を伝達するケーブル１０は、外
部からベース１の側面より引き込み、ダクト部１３にＵ
字形に収納し、旋回部２の上部フレームに通して、各駆
動軸の駆動用モータに接続するようにしてある。加工用
ツール７に溶接用心線や被覆ガスを送るホース、あるい
は電力ケーブルなどのツール用ホース類８は、ベース１
の下面より引き入れ、ガイドチューブ２２の中を通し、
旋回部２の上部フレーム２１の上に引き出し、第１アー
ム４、第２アーム５に設けた取付部材８１を介して、弛
みを持たせて吊り上げて支持している したがって、旋回部２が旋回しても、旋回軸Ｓ1 と同心
に設けたガイドチューブ２２の中を通っているツール用
ホース類８は、ベース１から取付部材８３の間の長い間
隔の中で捻じれるだけであるので、無理な力がかかるこ
とがない。また、ツール用ホース類８などは、ロボット
の下方から、ガイドチューブ２２の中を通して旋回部２
の上部フレーム２１から立ち上がるので、旋回部２を旋
回しても各アームはガイドチューブ２２の回りに旋回す
るだけであるため、ガイドチューブ２２から引き出され
たツール用ホース類８が各アームの動作を妨げることが
なく、従来のように広い空間やロボットの近傍にホース
などを支持するスタンドを設ける必要もなくなる。A cable 10 for transmitting power for driving the drive motor 36 for driving the swivel unit 2, the first arm 4, the second arm 5, the wrist 6, and the output signal of the detector is externally provided on the side surface of the base 1. Pulling in more, U in the duct part 13
It is housed in a letter shape, passed through the upper frame of the revolving unit 2, and connected to the drive motor of each drive shaft. The hose 8 for feeding the welding core wire or the coating gas to the processing tool 7 or the tool hose 8 such as the power cable is the base 1
Of the guide tube 22
The swivel unit 2 is swung up and supported by the upper frame 21 of the swivel unit 2 and is loosened and supported by the mounting members 81 provided on the first arm 4 and the second arm 5. However, since the tool hoses 8 passing through the guide tube 22 provided concentrically with the swivel axis S 1 are only twisted in the long space between the base 1 and the mounting member 83, it is impossible. It doesn't apply any force. Further, the tool hoses 8 and the like are passed through the guide tube 22 from below the robot, and the swivel unit 2 is provided.
Since it rises from the upper frame 21 of the tool, each arm only swivels around the guide tube 22 even when swiveling the swivel unit 2. Therefore, the tool hoses 8 pulled out from the guide tube 22 actuate each arm. There is no obstruction, and there is no need to provide a stand for supporting a hose or the like in a wide space or in the vicinity of the robot as in the past.
【０００８】[0008]
【発明の効果】以上述べたように、本発明によれば、ベ
ースの下面から旋回部の上部フレームを貫通するガイド
チューブを設けて、加工用ツールに溶接用心線、被覆ガ
ス、電力などを送るツール用ホース類を通しているの
で、各アームの動作を妨げることがない。したがって、
従来のように広い空間やロボットの近傍にツール用ホー
ス類などを支持するスタンドを設ける必要もなく、ツー
ル用ホース類の処理を狭い空間で行い、アームの動作に
制限を与えない。しかも、ツール用ホース類の取り付け
や交換が容易に行える産業用ロボットを提供できる効果
がある。As described above, according to the present invention, the guide tube penetrating from the lower surface of the base to the upper frame of the swivel portion is provided to send the welding core wire, the coating gas, the electric power, etc. to the working tool. Since it passes through the hose for tools, it does not interfere with the operation of each arm. Therefore,
Unlike the conventional case, it is not necessary to provide a stand for supporting the tool hoses in a wide space or in the vicinity of the robot, the tool hoses are processed in a narrow space, and the operation of the arm is not restricted. Moreover, there is an effect that it is possible to provide an industrial robot in which the hoses for tools can be easily attached and replaced.
【図１】 本発明の実施例を示す側面図である。FIG. 1 is a side view showing an embodiment of the present invention.
【図２】 本発明の実施例を示す要部側断面図である。FIG. 2 is a side sectional view of an essential part showing an embodiment of the present invention.
【図３】 従来例を示す側面図である。FIG. 3 is a side view showing a conventional example.
１ ベース、１１ 架台、１２ 支持部材、１２ａ 中
空部、１３ ダクト部、１４ オイルシール、２ 旋回
部、２１ 上部フレーム、２２ ガイドチューブ、２３
取り出し穴、３ 減速機、３１ 固定部、３２ 入力
軸、３３ 軸受、３４ 出力軸、３５ 減速機構、３６
駆動モータ、３７、３８ 平歯車、４第１アーム、５
第２アーム。６ 手首部、７ 加工用ツール、８ ツ
ール用ホース類、８１ 取付部材1 base, 11 mount, 12 support member, 12a hollow part, 13 duct part, 14 oil seal, 2 revolving part, 21 upper frame, 22 guide tube, 23
Extraction hole, 3 speed reducer, 31 fixed part, 32 input shaft, 33 bearing, 34 output shaft, 35 speed reduction mechanism, 36
Drive motor, 37, 38 spur gear, 4th arm, 5
Second arm. 6 wrists, 7 processing tools, 8 tool hoses, 81 mounting members
Claims (1)
って設けた中空部を有する支持部材と、前記ベースの上
で前記旋回軸の回りに旋回するようにした旋回部と、前
記ベースと旋回部の間に設けた中空状の入力軸を有する
減速機と、前記旋回部の上方に回動し得るように設けた
アームと、前記アームの先端に取りつけた加工用ツール
と、前記加工用ツールに接続するツール用ホース類とを
備えた産業用ロボットにおいて、前記減速機の中空状の
入力軸の中を通り、前記ベースの下部から前記旋回部の
上部フレームを貫通するガイドチューブと、前記ベース
と前記支持部材との間に形成したダクト部とを設け、前
記ツール用ホース類を前記ベースの下面から前記ガイド
チューブに通して前記旋回部の上方に引き出し、ロボッ
ト駆動用モータに電力を供給するケーブルを前記ダクト
部にＵ字形に収納したことを特徴とする産業用ロボッ
ト。1. A support member having a hollow portion provided along a swivel axis perpendicular to a lower surface of a base, a swivel portion configured to swivel on the base around the swivel axis, and the base. And a revolving part having a hollow input shaft provided between the revolving part, an arm provided so as to be rotatable above the revolving part, a machining tool attached to the tip of the arm, and the machining In an industrial robot having a tool hose connected to a tool for use, a guide tube passing through the hollow input shaft of the speed reducer and penetrating the upper frame of the revolving part from the lower part of the base, A duct section formed between the base and the support member is provided, and the tool hoses are drawn from the lower surface of the base through the guide tube to above the swivel section, and the robot drive motor is electrically charged. An industrial robot characterized in that a cable for supplying power is housed in a U-shape in the duct portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32360994A JP3488899B2 (en) | 1994-11-30 | 1994-11-30 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32360994A JP3488899B2 (en) | 1994-11-30 | 1994-11-30 | Industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08155881A true JPH08155881A (en) | 1996-06-18 |
| JP3488899B2 JP3488899B2 (en) | 2004-01-19 |
Family
ID=18156636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32360994A Expired - Fee Related JP3488899B2 (en) | 1994-11-30 | 1994-11-30 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3488899B2 (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980085882A (en) * | 1997-05-30 | 1998-12-05 | 윤종용 | Load arm robot for wafer transfer in semiconductor device manufacturing equipment and power supply |
| WO2006001177A1 (en) * | 2004-06-24 | 2006-01-05 | Matsushita Electric Industrial Co., Ltd. | Arc welding robot |
| EP1640121A1 (en) * | 2004-09-28 | 2006-03-29 | Kawasaki Jukogyo Kabushiki Kaisha | Robot with a flexible elongate member extended through a base unit |
| CN100358685C (en) * | 2004-05-21 | 2008-01-02 | 发那科株式会社 | Pipeline processing structure of an industrial robot |
| JP2009107116A (en) * | 2009-01-26 | 2009-05-21 | Fanuc Ltd | Sealing device for joint section of robot and articulated robot |
| JP2010036231A (en) * | 2008-08-06 | 2010-02-18 | Fanuc Ltd | Arc welding robot |
| JP2011152591A (en) * | 2010-01-26 | 2011-08-11 | Daihen Corp | Welding robot |
| US8003916B2 (en) | 2005-08-29 | 2011-08-23 | Panasonic Corporation | Industrial robot |
| JP2014018929A (en) * | 2012-07-20 | 2014-02-03 | Fanuc Ltd | Filament body processing structure of industrial robot including hollow member |
| JP2014097573A (en) * | 2014-02-28 | 2014-05-29 | Daihen Corp | Articulated robot |
| CN105269590A (en) * | 2014-07-24 | 2016-01-27 | 株式会社安川电机 | Robot joint mechanism and robot |
| DE102016003953A1 (en) | 2015-04-09 | 2016-10-13 | Fanuc Corporation | Articulated structure for a robot with motor and reduction gear |
| CN106584425A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Industrial robot using multi-tool switchover wiring mode |
| US20200038985A1 (en) * | 2018-07-31 | 2020-02-06 | Fanuc Corporation | Robot |
| CN111469162A (en) * | 2019-01-23 | 2020-07-31 | 发那科株式会社 | Robot joint structure and robot |
| WO2021005968A1 (en) * | 2019-07-08 | 2021-01-14 | 株式会社神戸製鋼所 | Suspended industrial robot |
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1994
- 1994-11-30 JP JP32360994A patent/JP3488899B2/en not_active Expired - Fee Related
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