JPH08229875A - Rectangular coordinate type robot - Google Patents

Abstract

PURPOSE: To arrange wiring cables in a more compact way in a rectangular coordinate type robot requiring cables extended in each right-angled moving direction. CONSTITUTION: A cable 4 between a base 1 and a slider 3 is extended piercing the slider 3 on the base 1 and bending in U-shape toward the moving direction of the slider 3. A cable 7 extended between the slider 3 and a slider 8 is extended bending in U-shape on the side of a base 2 and parallelly with the base 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wiring structure in a robot, particularly a Cartesian coordinate type robot.

[0002]

2. Description of the Related Art Conventionally, there is a Cartesian coordinate type robot having a structure as shown in Japanese Patent Laid-Open No. 3-251385 as a means for reducing the installation space and the number of parts. This is a Cartesian coordinate type robot configured such that a slider that reciprocates on a first basic unit and a second basic unit that reciprocates in a direction perpendicular to the reciprocating direction of the slider are provided on the slider. , A cable for protecting the wiring extending between the first basic unit and the slider is fixed to the first basic unit at one end, penetrates the slider, and extends on the first basic unit. Then, the other end is fixed to the slider.

[0003]

However, in such a structure, only the treatment of the wiring between the first basic unit and the slider is shown, and in actuality, the slider and the second slider are practically used. In many cases, a wiring cable to and from the basic unit is required, and there has not been shown a method for treating such wiring compactly.
Further, in the above-described conventional configuration, since the cable protection case is used, the bendable radius of curvature of the protection case is larger than the bendable radius of the cable, and it protrudes from the flat slide portion and is also vertically movable. Due to problems such as increasing the cost, the installation space has not yet been sufficiently reduced.

In view of the above-mentioned problems, the present invention aims to arrange these wiring cables more compactly in a Cartesian coordinate type robot which requires cables extending in respective directions moving in a right angle direction. It is intended.

[0005]

In order to achieve the above object, the cable between the first base and the first slider is
Without using a protection cable, it penetrates the first slider on the first base and is bent and extended in a U shape in the moving direction of the first slider,
Further, a cable extending between the first slider and the second slider is bent and extended in a U-shape laterally of the second base and parallel to the second base. Therefore, the entire installation space space can be reduced without reducing the work area of the robot. In addition, since no protective case is used to protect the cable, by reducing the radius of curvature in the vertical bending of the moving plane,
It is possible to minimize the protrusion of the cable in the vertical direction, thereby achieving a more compact size.

Further, by arranging the motor for driving the slider in the bending space of the cable, further compactness can be realized. In addition, a groove into which a part of the cable is inserted is formed in the position of the surface that contacts the cable on the first base, and the cable is formed along the groove so that the first base is Since it comes into contact with, it is possible to prevent the rolling of the cable.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention shown in the drawings will be described. FIG. 1 shows a perspective view of a Cartesian coordinate type robot according to an embodiment of the present invention, and FIG. 2 shows a plan view thereof. In FIG. 1, a slider 1 that is slidable on the base 1 is provided on a base 1 whose longitudinal direction extends in the left-right direction in the drawing, and a slider 3 that is slidable on the base 1 is provided on the side of an end of the base 1. Slider 3
A servo motor 11 for moving and driving is arranged.
The drive shaft tip is inserted into a relay box 5 provided at the end of the base 1, and a pulley (not shown),
A ball screw inserted and extended in the base 1 is rotationally driven via a belt or the like.

Here, as shown in FIG. 3, the slider 3 is fixed to a nut 27, and the nut 27 is
It is attached to a ball screw 28 that is rotationally driven by the servomotor 11. Therefore, when the servomotor 11 is rotationally driven, the ball screw 28 receives this rotational driving force and rotates, and this rotation also rotates the nut 27 attached to the ball screw 28. But,
The nut 27 is configured to be prevented from rotating, so that the nut 27 moves in the left-right direction. Therefore, the slider 3 fixed to the nut 27 is driven to move in the longitudinal direction of the base 1 by the rotational driving force of the servo motor 11. The tip of the drive shaft of the servomotor 11 and the ball screw 28 are arranged in a folded manner with a pulley and a belt in between, so that the structure is compact.

Next, as shown in FIG. 1, the slider 3
A base 2 extending in a direction orthogonal to the base 1 is fixed to the base 3, and a relay box 6 is provided on the side of the slider 3. Here, the internal configuration of the relay box 6 will be described with reference to FIG. As shown in FIG. 8, the internal space of the slider 3 and the internal space of the relay box 6 communicate with each other, and the flange of the servomotor 12 is fixed to a plate provided in the center of the internal space. The servo motor 12 is arranged so as to be folded back so as to be parallel to the longitudinal direction of the base 2, and a pulley 22 is inserted into the drive shaft of the servo motor 12, and the key 21 positions and fixes it in the rotational direction. A timing belt 25 is hung on the pulley 22. The timing belt 25 is used to rotate the pulley 24 and a shaft 26 inserted in the pulley 24. A key 23 is fitted between the shaft 26 and the pulley 24, and transmits the rotational force between the pulley 24 and the shaft 26. Further, a ball screw extending inside the base 2 is connected to the shaft 26, and the rotational force of the shaft 26 is transmitted to the ball screw. A nut is screwed on the ball screw, and the nut moves in the longitudinal direction of the ball screw, that is, the longitudinal direction of the base 2 in response to the rotational movement of the ball screw. Therefore, the slider 8 fixed to the nut is
The rotational driving force of (1) causes the base 2 to move in the longitudinal direction. A relay box 10 is fixed to one end of the slider 8 extending above the base 2, and the relay box 10 also moves and drives in the longitudinal direction of the base 2 as the slider 8 moves (see FIG. 5).

As described above, the moving range of the slider 3 is
As shown in FIG. 2, a movement area of ΔY is secured in the Y-axis direction, and similarly, the movement range of the slider 8 is ΔX in the X-axis direction.
Is secured to the slider 3, and the slider 8 is attached to the slider 3 via the base 2. Therefore, the slider 8
The movable range of the relay box 10 attached to is the moving plane S indicated by ΔX and ΔY. That is, this plane S becomes a work area of the work unit 29 such as a chuck attached to the relay box 10.

Next, the cable wiring structure between the sliders will be described. First, as shown in FIG. 4, a relay box 5 is fixed above the end of the base 1. Then, as shown in FIG. 9, the relay box 5
A connector 15 is provided on the end surface 5a of the device, and a cable from an external control device is connected to the connector 15.
The external control device is the robot 1 of the present embodiment.
It controls the 00 control and inputs / outputs an external signal.

On the other hand, the cables 4 extending from the relay box 5 toward the slider 3 are arranged in parallel in the width direction of the base 1 as shown in FIG. As shown in FIG. 3, a lead wire 27 for supplying power to the servo motor 12, an air supply pipe 26 for driving a working part 29 such as a chuck attached to the tip end, and the like are internally provided.

As shown in FIG. 7, the upper surface of the base 1 is formed with a plurality of semi-circular recesses 31 into which the cylindrical coating portion of the cable 4 is inserted. for that reason,
Each of the cables comes into contact with the base 1 along the concave portion, so that the rolling of the cable 4 can be prevented. On the other hand, the cable 4 that was in contact with the base 1
As shown in FIG. 4, while bending upward in the middle in a U-shape with a radius of curvature R, it becomes parallel again above the base 1 and above the slider 3 above the clamper 1
It is fixed by 4 and is inserted toward the relay box 6.

Therefore, the space required for the cable 4 in the upward direction is defined by the upper end surface of the base 1 and the cable 4.
It suffices to have a space about twice the radius of curvature of, and we are aiming for compactness. Next, the cable 4 inserted in the relay box 6 passes above the pulley 22 of the servo motor 12 in the relay box 6 and is on the side of the servo motor 12 as shown in FIG. As shown in FIG. 7, the space portion is bent downward and connected to the cable 7 by the connector 9. Cable 7
Are extended downward from the connector 9 and are twisted toward the horizontal direction while extending downward from the connector 9 (see FIG. 8), and are parallel to the side of the base 2. Then, the cables 7 are arranged in parallel to the moving plane S in parallel.

Then, as shown in FIG. 5, one end of the cable 7 is grasped by a clamper 13 whose one end is fixed to a side surface of the slider 3 by a fastening component such as a bolt, and thereafter, the cable 7 is directed upward similarly to the cable 4. , Bend in the shape of U with the radius of curvature of each cable 7, and become horizontal again,
The relay box 10 is extended toward the relay box 10.
It is fixed inside. The cable 7 moves toward the end of the base 2 with the movement of the relay box 10. However, even when the relay box 10 is maximally moved (the state indicated by the chain double-dashed line), The cable 7 so that the bent portion of 7 does not protrude from the end of the base 2.
The position, height, etc. of the fixed part of the are adjusted.

In FIG. 10, a stay 18 is extended downward from the cable 7 from the slider 8 inserted in the relay box 10, and the cable 7 is sandwiched by the clamper 19 above the stay 18. It is fixed at 18. Also, from the tip of each cable, a conductor wire or the like is connected toward the connector 20 fixed to the end surface of the relay box 10 as shown in FIG.

In the above embodiment, the cable 4,
7 are arranged such that those formed by the cylindrical covering portions are arranged in parallel, but the present invention is not limited to this.
As shown in 2, these cylindrical cables are further
The shape may be integrally molded by the molding portion 40 made of rubber or the like. In this case, since the whole is flat, it is not necessary to provide the semicircular recess formed on the upper surface of the base 1, and it is sufficient to simply form a flat surface.

Further, even if each cable has a shape having a cylindrical covering portion, instead of the semicircular concave portion, as shown in FIG. 13, guide portions protruding on both sides on the base 1 are provided. The guide 30 may be provided to guide the plurality of cables as a whole.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall configuration of a Cartesian coordinate robot that is an embodiment of the present invention.

FIG. 2 is a plan view of FIG.

3 is a configuration diagram showing details of a base 1 and a slider 3 in FIG.

FIG. 4 is a view on arrow A in FIG.

5 is a view on arrow B in FIG.

FIG. 6 is a cross-sectional view of a cable.

FIG. 7 is a cross-sectional view showing details of the inside of a slider 3 and a relay box 6.

FIG. 8 is another cross-sectional view showing details inside the slider 3 and the relay box 6.

FIG. 9 is a cross-sectional view showing the inside of a relay box 5.

10 is a cross-sectional view showing the inside of the relay box 10. FIG.

11 is a view on arrow E in FIG.

FIG. 12 is a sectional view of another embodiment of the cable.

FIG. 13 is a cross-sectional view of the main parts of another embodiment of the guide portion of the cable.

[Explanation of symbols]

 1, 2 Base 3 Slider 4, 7 Cable 5, 6, 10 Relay Box 8 Slider 11, 12 Servo Motor 100 Robot

Claims (3)

[Claims] 1. A first base (1), a first slider (3) slidable on the first base (1), and fixed to the first slider (3). A second base (2) extending in a direction perpendicular to the sliding direction of the first slider (3) and a second base (2) slidable on the second base (2). In a Cartesian coordinate type robot which comprises a slider (8) and forms a horizontal moving plane, one end is fixed to the first base (1) and the other end is fixed to the first base.
A cable (4) fixedly mounted on the slider (3) of the first slider (3) moves through the first slider (3) on the first base (1). A cable (7) that is bent and extended in a U shape in the direction, and has one end fixed to the first slider (3) and the other end fixed to the second slider (8). ),
A Cartesian coordinate robot characterized by bending and extending in a U-shape toward the moving direction of the second slider (8) on the side of the second base (2). 2. A cable (7) extending from said first slider (3) to said second slider (8) is provided with a motor (12) for moving and driving said second slider (8). The Cartesian coordinate robot according to claim 1, wherein the robot is arranged inward. 3. The first base (1) is provided with a groove (31) into which a part of the cable (4) is inserted, at a position of a surface in contact with the cable (4). The Cartesian coordinate type robot according to claim 1, wherein