JPH10166292A - Wrist structure for vertically articulated robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To wire and pipe a cable, etc., from the wrist at the end of a robot arm to an end effector without exposing them to outside, as far as possible. SOLUTION: In the structure of mounting an end effector to the wrist of a vertically articulated robot, a wrist flange is provided on the wrist 26 rotatably mounted at the end of a robot arm 16 to be rotatable around an axial line a4 and the end effector 28 is mounted on the wrist flange via a sectionally U-shaped mounting member for which two members, separating and opposing each other in parallel to the mounting face of the wrist flange, are connected together via a member in parallel to the axial line a4 , in such a manner that at least part of a cable between the wrist 26 and the end effector 28 can be covered with the sectionally U-shaped mounting member.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to a structure for attaching an end effector to a wrist of an industrial articulated robot.

[0002]

2. Description of the Related Art In an industrial articulated robot, a power supply cable for driving an end effector or the like, a signal cable and an air tube (hereinafter referred to as a cable or the like when it is not particularly necessary to distinguish between them) are conventionally used. Various methods have been devised for the wiring and piping treatment.

For example, it is avoided from the viewpoints of safety and aesthetics that cables and the like are exposed in a state of being exposed to the outside of the robot body from a viewpoint of safety and aesthetics. It is well-known to attach cables to a side surface or the like to perform cable wiring.

Further, a well-known cable support device capable of interlocking with the turning or linear movement of the robot arm is attached to the outside of the robot arm, which is a structural element of the robot body, and a bundle of cables is provided inside the cable support device. There is also used a cable processing device in which the cable is stored and wired to avoid external exposure of a cable or the like.

[0005] However, these conventional processing devices for cables and the like of industrial robots have a robot arm that is a structural element for supporting loads such as a wrist and an end effector, while the base (base) is a functional element for robot operation. , And the wiring and piping to the wrist and end effector provided ahead are still exposed to the outside. In other words, cables, etc. are wired inside the robot from the robot trunk to the drive device provided inside the robot arm without being exposed to the outside,
Although it is piped, it is once drawn out to a wrist or an end effector provided at the end of the robot arm from a cable or other outlet provided at an appropriate position of the robot arm, and is wired and piped.

[0006]

However, even in the case of wiring and piping from the wrist of the robot arm tip to the end effector, it is only an aesthetic problem to expose cables and the like to the outside, and to perform wiring and piping. In a dirty robot operating environment where cables etc. interfere with the structural members and equipment of the building installed around the robot, or where suspended particles such as dust, paint, oil etc. are mixed in the atmosphere, There is a problem that the dust or floating oil adheres to the surface of the cable or the like and deteriorates the quality of the cable or the like.

An object of the present invention is to provide an end effector mounting structure for a vertical articulated robot in which cables and the like can be routed from the wrist at the end of the robot arm to the end effector without being exposed to the outside as much as possible. Is to provide.

[0008]

SUMMARY OF THE INVENTION The present invention relates to a structure for mounting an end effector on a wrist of a vertical articulated robot, wherein the wrist is rotatably mounted on the tip of a robot arm around an axis. A cross-section in which a wrist flange is provided rotatably about an axis perpendicular to the wrist flange, and two members parallel to and separated from and opposed to each other and parallel to the mounting surface of the wrist flange are connected by a member parallel to the axis. An end effector is attached to the wrist flange via a U-shaped mounting member, and the U-shaped mounting member covers at least a part of a cable or the like between the wrist and the end effector. The gist is the end effector mounting structure described above.

[0009]

The mounting member having a U-shaped cross section covers at least a part of a cable or the like between the wrist and the end effector.

[0010]

FIG. 1 is a perspective view showing the external structure of an articulated industrial robot subjected to cable processing according to an embodiment of the present invention. Referring to FIG. 1, an articulated industrial robot according to an embodiment of the present invention includes a robot base 10 fixed to a floor, and a vertical axis a on an upper surface of the robot base 10.
Through a robot trunk 12 pivotally pivoted about 0 and a joint 14 provided at an appropriate position in operation such as the tip of the robot trunk 12, the robot trunk 12 is pivotably pivoted about a horizontal axis a1. Robot arm 16, a robot wrist 26 pivotally mounted about a horizontal axis a 3 of a joint 24 provided at the distal end of the robot arm 16, and a robot wrist 26 perpendicular to the axis a 3. And an end effector 28 pivotally mounted about a main axis a4.

The robot arm 16 is formed by including a first structural arm 18 and a second robot structural arm 22 which are pivotally mounted on both sides of the robot trunk 12 via joints 14. The second robot structural arm 22 is pivotally attached to the structural arm 18 via a joint 20 so as to be rotatable about a horizontal axis a2. That is, the industrial robot of the present embodiment forms a vertical articulated industrial robot.

FIG. 2 is an enlarged perspective view showing the area of the wrist 26 of the industrial robot which has been subjected to the wiring and piping processing according to the present invention. In the vertical articulated industrial robot according to the present invention, the power supply and working medium supply cables 41 and 42 for driving and controlling a motor and an air actuator forming a drive source of the end effector 28 include:
Up to just before the wrist 26 of the robot, wiring and piping are carried out in a creeping manner to a storage chamber 48 provided in the robot arms 18 and 22 as usual.

The joint 24 of the wrist 26 has a hollow shaft structure rotatably mounted about a predetermined axis a3 via a bearing 44 provided at the tip of the structural arm 22. It comprises a shaft 46 and an output shaft element of a speed reducer R1 mounted on the same structural arm 22 so as to be rotatable about the axis a3. Therefore, the wrist 26 is pivotally connected to the distal end of the structural arm 22 via the joint 24 so as to be rotatable around the axis a3. The speed reducer R1 is connected to a motor M3 via pulleys 30, 32 and a belt 34, and the wrist 26 is driven by the motor M3.

A wrist flange 38 is provided at the distal end of the wrist 26 so that the end effector 28 can be exchangeably mounted in accordance with various purposes of use of the robot. For example, the end effector 28
Is attached to the wrist flange 38 via a bracket-shaped end effector attachment member 62 (see FIG. 5). The wrist flange 38 is connected to the motor M4 via the speed reducer R2, and thus the end effector 28
Is pivotally attached to the tip of the wrist 26 so as to be rotatable around an axis a4, and is driven by the motor M4.

As described above, the cables 41 and 42 for driving and controlling the respective drive sources such as the drive motor M4 and the air actuator of the end effector 28 are provided inside the storage chamber 48 provided in the robot arm 22. Wiring and piping. The cables 41 and 42 are connected to the connector 4
0, and these cables 4
1, 42 and the connector 40 are fixed at predetermined positions by a fixing member 50 such as a cable.

Here, referring also to FIG. 3, which is a side perspective view seen in the direction of arrow III in FIG. 2, the fixing member 50
The cable or the like 42 is made of a metal or plastic band material which is appropriately bent and formed, and the cable or the like 42 is fixed by a band 52 made of a flexible material such as nylon.
Has been tied up. It is needless to say that the fixing member 50 can be constituted by a cable conduit or other known cable supporting means instead of the band member formed by bending the fixing member 50.

The cable or the like 42 is connected to the robot arm 2.
After wiring and piping are carried out in a creeping manner inside the second storage chamber 48, a wiring and piping passage formed along the central axis a3 of the rotation shaft 46 of the wrist 26 at the center of the rotation shaft 46 47 is inserted so as to avoid torsion or elongation due to rotation, and is wired and piped so as to be connected to a connector 36 arranged inside the rear end of the wrist 26. The cable 42 and the connector 36 inserted into the wrist 26 are:
It is fixed at a predetermined position by a fixing means 51 such as a cable.

Here, the passage opening 47 is formed as a coaxial hollow hole along the center axis a3 of the rotating shaft 46 of the wrist 26, and when the wrist 26 rotates around the axis a3, With this structure, the cable or the like 42
When the wrist 26 rotates, it is twisted in its operating range, but passes through the center axis a3 of rotation, so that the rotation of the wrist 26 interferes with other elements, and further causes disconnection, Damage is prevented.

The cable or the like 42 is connected to the connector 36.
Then, after wiring and piping inside the wrist 26, the wrist 26 is connected via a cable outlet 54 and an air tube outlet 56 (see FIG. 4) provided at appropriate positions outside the wrist 26. It is pulled out of the wrist 26.
Here, it is also possible to wire and pipe to the end effector without pulling out a cable or the like through the cable outlet 54 and the air tube outlet 56, but as described above, the end effector 28 Since the cable and the air tube are exchanged for various purposes of use of the robot, it is convenient to pull out the cable and the air tube from the wrist once to exchange the end effector.

Referring now to FIG. 5, an end effector mounting member 62 is attached to the wrist flange 38 of the wrist 26.
Through which the end effector 28 is pivotally mounted so as to be rotatable about an axis a4. And the outlet 5
The cable 58 (see FIG. 4) and the air tube 60 drawn out of the wrist 26 from the terminals 4 and 56 are inserted through a passage port 64 formed in the center of the attachment member 62, and are inserted into the end effector 28. Wiring to predetermined elements,
Piped.

Here, the passage opening 64 is formed coaxially with the center axis a4 of the rotation of the end effector 28, similarly to the passage opening 47 of the wrist 26, and the end effector 28 is rotated. At this time, the cable 58 and the air tube 60 may be twisted in the range of the rotation operation, but are prevented from interfering with other elements, or being disconnected or damaged due to the twist.

In the case where a protective cover 66 is provided around the mounting member 62 so as to surround the cable 58 and the air tube 60, the cable 58 and the air tube 60 and a building installed around the robot are provided. Interference with the structural members and equipment of the
Needless to say, it can protect against contamination by suspended particles such as oil droplets and paint.

Further, in order to stop the end effector 28 at an appropriate angular position with respect to the axis a4 and prevent excessive rotation, the end effector 28 is positioned at an appropriate angular position with the mounting member 62 around the wrist flange 38. It is also possible to provide a stopper (not shown) that engages with.

[0024]

As is apparent from the above description, according to the present invention, the cable between the wrist and the end effector attached to the tip of the robot arm of the vertical articulated robot has a U-shaped cross section. Protected by the attachment member. Furthermore, by providing a protective cover, wiring and the like can be routed to the end effector without exposing any cables or the like to the outside.
Piping becomes possible. Therefore, the cable is not exposed to the outside, and therefore, even if it is used in a site where robots with low cleanliness are used, for example, a site where a cutting oil is scattered, such as a site of a machine tool, the quality of the cable becomes dirty. The fear of deterioration and a shortened life is eliminated.

Further, since the passage port for the cable or the like is formed along the axis of the rotation shaft of the wrist flange,
When the end effector rotates, the cable and the like are twisted within the range of the rotation operation.However, the rotation operation does not interfere with other elements, and further prevents disconnection and damage due to the interference. You.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an external structure of an articulated industrial robot provided with a structural arm, a wiring arm, and a pipe processing arm according to an embodiment of the present invention in a dual arm structure.

FIG. 2 is a sectional view showing an internal structure of a wrist region of the robot.

FIG. 3 is a perspective view of a wrist region viewed in a direction of an arrow line III in FIG. 2;

FIG. 4 is a side view of the wrist region viewed in the direction of arrow IV in FIG. 3, showing a cable outlet and an air tube outlet.

5 is a side view of a wrist region viewed in a direction of an arrow V in FIG. 2, illustrating a method of wiring and piping to an end effector.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Robot base 12 ... Robot trunk 16 ... Robot arm 18 ... First structural element 20 ... Joint part 22 ... Second structural arm 24 ... Joint part 26 ... Wrist 28 ... End effector 38 ... Wrist flange 46 ... Wrist Rotating shaft 47 ... Passing port 48 ... Storage chamber 50 ... Fixing member such as cable 54 ... Cable outlet 56 ... Air tube outlet 62 ... End effector mounting member

──────────────────────────────────────────────────続 き Continued on front page (51) Int.Cl. ⁶ Identification code FI H02G 11/00 301 H02G 11/00 301Z

Claims (5)

[Claims] 1. A structure for mounting an end effector on a wrist of a vertical articulated robot, wherein said axis is attached to a wrist (26) rotatably mounted on a tip of a robot arm (16) about an axis (a3). A wrist flange (38) is provided rotatably about an axis (a4) perpendicular to (a3), and two members parallel to the mounting surface of the wrist flange (38) and spaced apart from each other and opposed to each other. The end effector (28) is attached to the wrist flange (38) via a mounting member (62) composed of a member having a U-shaped cross section connected by a member parallel to the axis (a4). An end effector mounting structure in which at least a part of a cable or the like between the wrist and the end effector is covered by a V-shaped mounting member. 2. In the mounting member (62), a passage (64) is formed along the axis (a4) at a position where the end effector (28) is mounted, and the passage is formed through the passage (64). Cables (60) are wired from the wrist (16) to the end effector (28),
The end effector mounting structure according to claim 1, wherein the end effector mounting structure is piped. 3. The end effector mounting structure according to claim 1, further comprising a stopper that stops the end effector (28) at a predetermined angular position with respect to the axis (a4) to prevent excessive rotation. . 4. A protective cover (66) for protecting cables (60) between said wrist (16) and said end effector (28).
The end effector mounting structure according to the paragraph. 5. A motor (M4) for rotating said wrist flange (38) about said axis (a4) is arranged in said wrist (16).
The end effector mounting structure according to the paragraph.