JPH10249784A - Lead wire fixing structure of rotary revolute joint part of industrial robot - Google Patents

Lead wire fixing structure of rotary revolute joint part of industrial robot

Info

Publication number
JPH10249784A
JPH10249784A JP8213497A JP8213497A JPH10249784A JP H10249784 A JPH10249784 A JP H10249784A JP 8213497 A JP8213497 A JP 8213497A JP 8213497 A JP8213497 A JP 8213497A JP H10249784 A JPH10249784 A JP H10249784A
Authority
JP
Japan
Prior art keywords
arm
lead wire
industrial robot
fixed
loop
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.)
Pending
Application number
JP8213497A
Other languages
Japanese (ja)
Other versions
JPH10249784A6 (en
Inventor
Masahiro Ogawa
昌寛 小川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP8213497A priority Critical patent/JPH10249784A/en
Priority to AU63112/98A priority patent/AU6311298A/en
Priority to PCT/JP1998/001079 priority patent/WO1998041367A1/en
Publication of JPH10249784A publication Critical patent/JPH10249784A/en
Publication of JPH10249784A6 publication Critical patent/JPH10249784A6/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PROBLEM TO BE SOLVED: To reduce the width of an arm, and to reduce the interference of the arm and a workpiece or the like, by forming the loops of the lead wires of a rotary revolute joint part of an industrial robot, in between a fixed side fastening part and a rotating side fastening part. SOLUTION: A lead wire 6 is looped once inside of an arm 1 to form a loop 11, and is fixed to a fixed side fastening part 12 on the way of the loop 11 by a band 10. Similarly, a lead wire 7 is looped once inside of the arm 1 to form a loop 13, and is fixed to a fixed side fastening part 14 on the way of the loop 13 by the band 10. Further these lead wires 6, 7 are bundled at a right side of the loops 11, 13, and are fixed to a rotating side fastening part 9 by the band 10. Whereby the lead wires 6, 7 are not deformed in a width direction of the arm 1, and the width of the arm 1 can be reduced, which reduces the interference of the arm 1 and a workpiece or the like.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、産業用ロボットの
回転関節部の固定側から回転側に延びるリード線の固定
構造に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for fixing a lead wire extending from a fixed side to a rotating side of a rotary joint of an industrial robot.

【０００２】[0002]

【従来の技術】従来、産業用ロボットの回転関節部の固
定側から回転側に延びるリード線の固定構造は図２およ
び図３のようになっている。図２は従来技術による、産
業用ロボットのアームと手首の接合部を示す平断面図で
あり、図３は前記アームからカバーを取り除いて、図２
のＡ−Ａ’方向から見た側面図である。図において、１
はアームであり、２は手首であり、３はカバーである。
手首２は本体４とシャフト５からなり、シャフト５でア
ーム１に回転自在に軸承されている。アーム１とシャフ
ト５と本体４は中空であり、内部の空間がつながってい
る。６と７はリード線であり、アーム１からシャフト５
を通って手首２に延びて配設されている。リード線６、
７は束ねられて、アーム１内部の固縛部８とシャフト５
に取り付けられた固縛プレート９に、バンド１０で固定
されている。１５は手首２がアーム１に対して回転した
時のリード線６、７の変形を示す。2. Description of the Related Art Conventionally, a structure for fixing a lead wire extending from a fixed side to a rotating side of a rotary joint of an industrial robot is as shown in FIGS. FIG. 2 is a plan sectional view showing a joint between an arm and a wrist of an industrial robot according to the prior art, and FIG.
FIG. 3 is a side view as viewed from the AA ′ direction of FIG. In the figure, 1
Is an arm, 2 is a wrist, and 3 is a cover.
The wrist 2 includes a main body 4 and a shaft 5, and is rotatably supported on the arm 1 by the shaft 5. The arm 1, the shaft 5, and the main body 4 are hollow, and the internal spaces are connected. Reference numerals 6 and 7 denote lead wires.
And extending to the wrist 2. Lead wire 6,
7 are bundled, and the securing portion 8 and the shaft 5 inside the arm 1 are bundled.
Is fixed by a band 10 to a lashing plate 9 attached to the. Reference numeral 15 denotes deformation of the lead wires 6, 7 when the wrist 2 rotates with respect to the arm 1.

【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、次の様な問題があった。リード線６、７は固縛部８
と固縛プレート９で固定されているので、手首２がアー
ム１に対して回転すると、リード線６、７に曲げとねじ
りが加わる。そのためリード線６、７が、変形して図２
の上方に膨れるので、アーム１の幅Ｂをこの変形に対応
して大きくしなければならないという問題があった。こ
の問題は産業用ロボットを小型化する上で大きな障害に
なっていた。そこで本発明は、産業用ロボットの回転関
節部において、アーム１の幅Ｂを最小にするリード線固
定構造を提供することを目的とする。However, the prior art has the following problems. Lead wires 6 and 7 are securing parts 8
When the wrist 2 rotates with respect to the arm 1, the lead wires 6 and 7 are bent and twisted. As a result, the lead wires 6 and 7 are deformed and
Therefore, there is a problem that the width B of the arm 1 has to be increased corresponding to this deformation. This problem has been a major obstacle in miniaturizing industrial robots. Accordingly, an object of the present invention is to provide a lead wire fixing structure that minimizes the width B of the arm 1 in a rotary joint of an industrial robot.

【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
に、本発明は、産業用ロボットの回転関節部のリード線
を固定側固縛部と回転側固縛部の間でループ状に形成す
る。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is to form a lead wire of a rotary joint of an industrial robot into a loop between a fixed securing portion and a rotating securing portion. I do.

【０００５】[0005]

【発明の実施の形態】以下、本発明の実施例を図に基づ
いて説明する。基本的な構成は従来技術と同じなので、
異なる部分についてだけ説明する。図１は、本発明の実
施例を示す産業用ロボットのアームと手首の接合部を示
す側面図である。リード線６は、アーム１の内部で１回
巻いてループ１１を形成して、ループ１１の途中で固縛
部１２にバンド１０で固定されている。同様にリード線
７は、アーム１の内部で１回巻いてループ１３を形成し
て、ループ１３の途中で固縛部１４にバンド１０で固定
されている。リード線６，７はループ１１，１３の右側
で束ねられて、固縛プレート９にバンド１０で固定され
ている。手首２がアーム１に対して回転する時に生じる
曲げとねじりによるリード線６，７の変形は、ループ１
１，１３で吸収される。つまり、リード線６，７が伸び
る時はループ１１，１３の径が大きくなり、リード線
６，７が縮む時はループ１１，１３の径が小さくなる。
したがってリード線６，７はアーム１の幅方向に変形し
ないので、アーム１の幅Ｂは小さくてよい。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. Since the basic configuration is the same as the conventional technology,
Only the different parts will be described. FIG. 1 is a side view showing a joint between an arm and a wrist of an industrial robot according to an embodiment of the present invention. The lead wire 6 is wound once inside the arm 1 to form a loop 11, and is fixed to a securing portion 12 by a band 10 in the middle of the loop 11. Similarly, the lead wire 7 is wound once inside the arm 1 to form a loop 13, and is fixed to a securing portion 14 by a band 10 in the middle of the loop 13. The lead wires 6 and 7 are bundled on the right side of the loops 11 and 13 and fixed to the securing plate 9 with a band 10. The deformation of the lead wires 6, 7 due to bending and torsion that occurs when the wrist 2 rotates with respect to the arm 1,
Absorbed at 1,13. That is, when the lead wires 6 and 7 extend, the diameter of the loops 11 and 13 increases, and when the lead wires 6 and 7 contract, the diameter of the loops 11 and 13 decreases.
Therefore, since the lead wires 6 and 7 do not deform in the width direction of the arm 1, the width B of the arm 1 may be small.

【０００６】[0006]

【発明の効果】以上述べたように、本発明によれば、次
のような効果がある。 （１）アームの幅を小さくできるので、アームと作業対
象物等との干渉が少なくなる。 （２）ロボットの小型、軽量化に有効である。 （３）簡単な構造であり特殊な部品を必要としないので
安価である。As described above, according to the present invention, the following effects can be obtained. (1) Since the width of the arm can be reduced, interference between the arm and the work object or the like is reduced. (2) It is effective for reducing the size and weight of the robot. (3) It is inexpensive because it has a simple structure and does not require special parts.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明の実施例を示す産業用ロボットのアーム
と手首の接続部からカバーを除いた側面図である。FIG. 1 is a side view of an industrial robot according to an embodiment of the present invention, in which a cover is removed from a connection portion between an arm and a wrist.

【図２】従来技術における産業用ロボットのアームと手
首の接続部の平断面図である。FIG. 2 is a plan sectional view of a connection portion between an arm and a wrist of an industrial robot according to the related art.

【図３】従来技術における産業用ロボットのアームと手
首の接続部からカバーを除いた側面図である。FIG. 3 is a side view of a connection portion between an arm and a wrist of an industrial robot according to the related art, from which a cover is removed.

【符号の説明】[Explanation of symbols]

１：アーム ２：手首 ３：カバー ４：本体 ５：シャフト ６：リード線 ７：リード線 ８：固縛部 ９：固縛プレート １０：バンド １１：ループ １２：固縛部 １３：ループ １４：固縛部 １５：リード線６，７の変形 Ｂ：アームの幅 1: arm 2: wrist 3: cover 4: body 5: shaft 6: lead wire 7: lead wire 8: securing portion 9: securing plate 10: band 11: loop 12: securing portion 13: loop 14: securing Binding part 15: Deformation of lead wires 6, 7 B: Width of arm

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 産業用ロボットの回転関節部の固定側か
ら回転側に延びるリード線を前記固定側において固縛す
る固定側固縛部と、前記回転側において前記リード線を
固縛する回転側固縛部とを有する前記産業用ロボットの
回転関節部のリード線の固定構造において、前記固定側
固縛部と前記回転側固縛部の間で前記リード線がループ
状を成すことを特徴とする産業用ロボットの回転関節部
のリード線固定構造。1. A fixed side securing section for securing a lead wire extending from a fixed side to a rotating side of a rotating joint of an industrial robot on the fixed side, and a rotating side securing the lead wire on the rotating side. In the structure for fixing a lead wire of a rotary joint part of the industrial robot having a securing part, the lead wire forms a loop between the fixed securing part and the rotating securing part. Lead wire fixing structure for rotating joints of industrial robots.
JP8213497A 1997-03-14 1997-03-14 Lead wire fixing structure of rotary revolute joint part of industrial robot Pending JPH10249784A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP8213497A JPH10249784A (en) 1997-03-14 1997-03-14 Lead wire fixing structure of rotary revolute joint part of industrial robot
AU63112/98A AU6311298A (en) 1997-03-14 1998-03-12 Lead wire bearing structure for rotary joint of industrial robot
PCT/JP1998/001079 WO1998041367A1 (en) 1997-03-14 1998-03-12 Lead wire bearing structure for rotary joint of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8213497A JPH10249784A (en) 1997-03-14 1997-03-14 Lead wire fixing structure of rotary revolute joint part of industrial robot

Publications (2)

Publication Number Publication Date
JPH10249784A true JPH10249784A (en) 1998-09-22
JPH10249784A6 JPH10249784A6 (en) 2004-09-02

Family

ID=13765953

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8213497A Pending JPH10249784A (en) 1997-03-14 1997-03-14 Lead wire fixing structure of rotary revolute joint part of industrial robot

Country Status (3)

Country Link
JP (1) JPH10249784A (en)
AU (1) AU6311298A (en)
WO (1) WO1998041367A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003305683A (en) * 2002-04-10 2003-10-28 Fanuc Ltd Linear member placement structure in wrist of robot
JP2007030145A (en) * 2005-07-29 2007-02-08 Toyota Motor Corp Joint device
CN104470688A (en) * 2012-07-13 2015-03-25 Abb技术有限公司 Structure used for robot
JP2020093315A (en) * 2018-12-10 2020-06-18 日本電産株式会社 Robot and method of manufacturing robot
US10814500B2 (en) 2018-03-20 2020-10-27 Fanuc Corporation Cable clamp and robot
CN112850355A (en) * 2019-11-27 2021-05-28 株式会社安川电机 Robot system, transfer device, and wiring method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05169390A (en) * 1991-12-24 1993-07-09 Matsushita Electric Ind Co Ltd Industrial robot
JPH06179192A (en) * 1992-12-15 1994-06-28 Matsushita Electric Ind Co Ltd Robot arm

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003305683A (en) * 2002-04-10 2003-10-28 Fanuc Ltd Linear member placement structure in wrist of robot
US7069808B2 (en) 2002-04-10 2006-07-04 Fanuc Ltd Line laying structure for robot wrist
JP2007030145A (en) * 2005-07-29 2007-02-08 Toyota Motor Corp Joint device
CN104470688A (en) * 2012-07-13 2015-03-25 Abb技术有限公司 Structure used for robot
US10814500B2 (en) 2018-03-20 2020-10-27 Fanuc Corporation Cable clamp and robot
JP2020093315A (en) * 2018-12-10 2020-06-18 日本電産株式会社 Robot and method of manufacturing robot
CN112850355A (en) * 2019-11-27 2021-05-28 株式会社安川电机 Robot system, transfer device, and wiring method
JP2021084172A (en) * 2019-11-27 2021-06-03 株式会社安川電機 Robot system, carrier device and wiring method
US11731266B2 (en) 2019-11-27 2023-08-22 Kabushiki Kaisha Yaskawa Denki Robot system, conveying device, and wiring method

Also Published As

Publication number Publication date
AU6311298A (en) 1998-10-12
WO1998041367A1 (en) 1998-09-24

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