JPH09150393A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent interference between the cables arranged between a base part and a movable part moved to rotate relating to the base part, by arranging the cables along a displacement direction of a robot main unit relating to the base part with a height made different. SOLUTION: A device comprises a box part 13, robot main unit 15 relatively moved to the box part 13, plurality of cable draw out ports set up in the box part 13 and a plurality of cables arranged between the cable draw out port 21 and the robot main unit 15. The cable draw out port is arranged along a displacement direction of the robot main unit 15 relating to the box part 13 with a mutual height made different.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an industrial robot.

[0002]

2. Description of the Related Art FIG. 4 is a perspective view showing a conventional industrial robot, wherein reference numeral 1 is a box portion, 2 is a movable base, 3 is a robot body mounted on the movable base 2, and 4 is an electric wire. Etc. cable. The box portion 1 also functions as a bracket that supports a rotating shaft 5 that is supported at a fixed position and that is rotated about a vertical axis by a power mechanism (not shown). The movable base 2 is attached to the rotating shaft 5 so as to be separated from the box portion 1. Cable 4
By wiring between the box unit 1 and the robot body 3, electric power is supplied to the robot body 3 and control signals are transmitted. The cable 4 is suspended from the robot body 3, and the connection state between the box unit 1 and the robot body 3 can be maintained at all times in response to a change in the orientation of the robot body 3 caused by rotation of the rotating shaft 5. Has extra length.

[0003]

By the way, in the case of the industrial robot as described above, it is necessary to prevent the cables 4 from interfering with each other when the rotating shaft 5 is rotated.
There is a problem that the distance between the movable base 2 and the movable base 2 must be limited. That is, when the separation distance between the box portion 1 and the movable base 2 is large, there arises a problem that the cables 4 easily interfere with each other when the rotating shaft 5 rotates. Therefore, the design of the industrial robot is restricted, which is an obstacle to the production of the target industrial robot.

The present invention has been made in view of the above-mentioned problems, and is an industrial robot capable of preventing interference between cables wired between a base and a movable part that rotates and moves with respect to the base. It is intended to provide.

[0005]

In order to solve the above-mentioned problems, the present invention is mounted on a base and a movable part which is separated from the base and moves relative to the base along a plane perpendicular to the separating direction. A robot main body, and a base-side arranging means that is installed in the base, and arranges and supports a plurality of cables that are wired between the base and the movable part so as to be spaced apart from each other in the relative movement direction of the movable part with respect to the base, The solution means for solving the above-mentioned problems is provided with a movable side arranging means which is installed on the movable part or the robot main body, and which arranges the cables in parallel with the base arranging means in an arrangement order that coincides with the base arranging means.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the industrial robot of the present invention will be described below with reference to FIGS. Reference numeral 10 in the figure is the industrial robot of the present embodiment. As shown in FIG. 1, the industrial robot 10 includes a rotary shaft 12 that is rotationally driven by a power mechanism 11 with a vertical rotary axis.
It is mounted on a box portion 13 as a base portion for holding the above, and on a movable base 14 as a movable portion that is rotationally driven around the axis of the rotating shaft 12 by the rotating shaft 12 at a position spaced upward from the box portion 13, The robot main body 15 has a drive direction set by rotation of the movable base 14.

As shown in FIGS. 1 and 2, in the box portion 13, a plurality of cables 16 wired between the box portion 13 and the movable base 14 are provided in a moving direction of the movable base 14 relative to the box portion 13. Fixed side array part 1 as a base side array support means for arraying and supporting them separately from each other
7 is installed. A plurality of supports 18 for supporting the cables 16 are installed in the fixed side array portion 17. The support 18 is an L-shaped pipe into which the cable 16 is inserted, and is a fixed plate 19 installed on the fixed side array portion 17.
The movable bases 14 are arranged and fixed apart from each other in the circumferential direction of rotation. One side 20 of each support 18 is fixed to the fixing plate 19, and the other side 21 and the bent portion 22 are fixed.
Are provided above the fixed plate 19. One side 20 of the support tool 18 is attached to the fixed plate 19 with a vertical axis, and the other side 21 of each support tool 18 is oriented in an appropriate direction, thereby eliminating the overlapping of the wiring routes of the cables 16. . The other side 21 functions as a cable outlet. A cover 22 having an open top is attached to the top of the box portion 13. The cable 16 is movably installed inside the cover 22. The cable 16 is inserted into the inside and outside of the cover 22 through the upper opening 23 of the cover 22.

The movable base 14 is composed of a pair of support plates 24a, 24b which are arranged to face each other in the diametrical direction of the rotation locus of the rotary shaft 12 and are equidistant from the rotary shaft 12. As shown in FIGS. 1 and 3, the one support plate 24a is movable as a movable side arranging means for arranging the cables 16 in parallel with the fixed side arranging section 17 in an arrangement order that matches the fixed side arranging section 17. The side array unit 25 is installed. The movable side arranging portion 25 is configured by installing a plurality of supporting members 26, which are L-shaped pipes into which the cables 16 are inserted, in a portion located on the outer circumference of rotation of the supporting plate 24a. These support members 26 are arranged apart from each other in the circumferential direction of rotation of the movable side array portion 25. The support tool 26 fixes one side 27 of the L-shape vertically to the support plate 24 a, and the other side 28 and the bent portion 2
9 is projected below the support plate 24a. Each support 2
6 corresponds to the support 18 of the fixed side array portion 17 and the other side 2
8 is oriented properly. The other side 28 functions as a cable outlet.

A bracket plate 31 for supporting the shaft body 30 of the robot body 15 is vertically provided on each of the support plates 24a and 24b. The bracket plate 31 of the other support plate 24b is provided with an elongated hole 32 extending in the horizontal direction. The long hole 32 is used for the plurality of cables 16 connected to the shaft body 30.
By being inserted, the cables 16 function as movable side arranging means for arranging the cables 16 in parallel. A fixing member that fixes the cables 16 and maintains the parallel connection may be installed in the slot 32. The distances between the support plates 24 and the rotary shaft 12 may not be equal. Further, all the cables 16 passing through the movable side array portion 25 of each support plate 24 are arranged in parallel in the order of arrangement that matches the fixed side array portion 17.

The robot body 15 has a support plate 24 facing each other.
A shaft body 30 installed between them, an arm portion 31 whose one end is axially supported by the shaft body 30, and an end mechanism 32 which is axially supported by the other end of the arm portion 31 with an axis parallel to the shaft body 30. It is configured to have.

The operation and effect of this embodiment will be described below. The industrial robot 10 according to the present embodiment changes the orientation of the robot body 15 by rotating the rotary shaft 12. When the rotary shaft 12 is rotated, the cables 16 routed via the movable side array portion 25 are respectively wound around the rotary shaft 12 and unwound. At this time, since all the cables 16 wired between the fixed side array section 17 and the movable side array section 25 are arranged in parallel without intersecting each other, do not always interfere with each other,
Alternatively, the interfering portion is so small that no entanglement occurs. If the portion of the cable 16 wound around the rotary shaft 12 is always left even when the winding is released, it is easy to hold the cables 6 in parallel with each other, and the winding and the unwinding are performed more smoothly. .

Therefore, according to the industrial robot 10 of this embodiment, it is possible to prevent the cables 16 from interfering with each other when the orientation of the robot body 15 is changed, so that the cable 16 has a sufficient extra length. The distance between the box portion 13 and the movable base 14 can be freely designed.

The base side array part and the movable side array part can be applied to various sets of base parts and movable parts other than the box part and the movable base in the industrial robot. Also,
Relative movement between the base and the movable part forming a set to which the base-side array part and the movable-side array part are applied may be a slide direction or the like other than the rotational direction.

[0014]

As described above, according to the industrial robot of the present invention, the base part and the movable part which is separated from the base part and moves relative to the base part along a plane perpendicular to the separating direction are provided. A robot main body mounted, and a base-side arranging means that is installed at the base and arranges and supports a plurality of cables wired between the base and the movable part so as to be spaced apart from each other in the relative movement direction of the movable part with respect to the base. And a movable side array means installed on the movable part or the robot body, for arranging the cables in parallel with the base array means in an arraying order that matches the base array means, and the base side array part and the movable side array part. Since the cables that are routed between the cables are always in parallel, the interference between the cables is mitigated and the entanglement between the cables is prevented, so that the interference between the cables can be prevented, and there is sufficient space for the cables. Have a long It is possible to, it is possible to design the distance between the base and the movable portion freely.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of an industrial robot of the present invention.

FIG. 2 is a view showing the embodiment of the industrial robot of the present invention, and is a front sectional view showing the vicinity of the box portion.

FIG. 3 is a diagram showing an embodiment of the industrial robot of the present invention, and is a front sectional view showing the vicinity of a movable portion.

FIG. 4 is a front view showing a conventional industrial robot.

[Explanation of symbols]

10 ... Industrial robot, 13 ... Base part (box part), 1
5 ... Robot body, 16 ... Cable, 21 ... Cable outlet (other side), 28 ... Cable outlet (other side).

Claims (1)

[Claims] 1. A base, a robot main body that is displaced relative to the base about an axis on the base, a plurality of cable outlets provided in the base, and wiring between the cable outlet and the robot main body. And a plurality of cables, the cables being arranged along the displacement direction of the robot main body with respect to the base and at different heights.